calculation of energy consumed in a robot

The R30ib has a power consumption meter of some sort, have never really paid attention to it. Otherwise, to calculate it will be almost totally inaccurate because it depends on speed of moves, payload, torque from leverage of each axis...so many variables. You might consider doing some sort of clamp on amp metering of the incoming AC lines and data log them over time during a normal production run.

Hope this helps -Eric