This paper presents a comprehensive analysis of the energy consumption patterns of vertical articulated industrial robots executing linear movements in the Cartesian space. The study focuses on quantifying the energy requirements associated with various linear movement tasks performed by a six—degree-of-freedom vertical articulated robot. By employing a detailed trajectory generation model experimentally validated, the paper analyses how energy consumption (EC) is influenced by the motion pattern and speed profile. The findings reveal significant variations in energy use based on different operational parameters, highlighting the importance of trajectory planning and control strategies in minimizing EC. The results demonstrate that optimizing movement profiles leads to substantial energy savings, which is vital for reducing operational costs and environmental impact. The model-based EC analysis is embedded in a hybrid data- and model-driven digital twin aggregate (DTA) architecture for design, planning and operating of energy-efficient robots in the Industry 4.0 (I4.0) framework.