The characteristics of industrial robot pose are important indexes to judge robot performance, and directly influence production efficiency of enterprises. At present, the detection ability of most robot manufacture is limited, which restricted the robot innovation development. Laser tracker is a noncontact precise measuring instrument, which used to test robot 6-dimensional（6D）pose performance. According to the requirements of GB/T 12624-2013 standard, the fixture was designed. The kinematics parameter model of the robot was established according to the direction of the robot coordinate system, the length of the connecting rod and the torsion angle of the connecting rod, then set up the laser tracker and the robot I/O communication parameters. Finally the robot and the laser tracker coordinate system is aligned, and realized test of the industrial robot pose characteristics.