The position stability time and position overshoot were tested according to the requirements of the national standard, and its algorithm was studied according to the definition in the standard, so as to provide algorithm support for the subsequent development of performance evaluation software. The standard for determining the actual position is not given in detail, and different values will have a certain impact on the results. Different values of the threshold band have the most obvious impact on the results， the larger the threshold band is, the smaller the position stability time is, but the impact on the position overshoot is not significant. When the value of the threshold band is greater than the position overshoot, there will be an over damping state. The robot is prone to over damping when running at no-load low speed (50% and 10% rated speed) and 100% load 10% speed.