EN ISO 11593:1997
(Main)Manipulating industrial robots - Automatic end effector exchange systems - Vocabulary and presentation of characteristics (ISO 11593:1996)
Manipulating industrial robots - Automatic end effector exchange systems - Vocabulary and presentation of characteristics (ISO 11593:1996)
Defines terms relevant to automatic end effector exchange systems used for manipulating industrial robots. The terms are presented by their symbol, unit, definition and description. The definition includes references to existing standards.
Industrieroboter - Automatische Wechselsysteme für Endeffektoren - Begriffe und Darstellung charakteristischer Eigenschaften (ISO 11593:1996)
Diese Norm enthält eine Zusammenstellung der Begriffe, die für automatische Werkzeugwechselsysteme beim Einsatz zusammen mit Handhabungssystemen/Industrie- robotern in automatisierten Fertigungssystemen wichtig sind. Diese Begriffe werden durch die Benennung ihrer Kenngrößen, Formelzeichen, Einheit, DefinitioDefinitionen und Bemerkungen dargestellt. Die Definitionen enthalten Verweise auf existierende Normen. Der informative Anhang A enthält ein Format für die Darstellung der charakteristischen Eigenschaften von automatischen Werkzeugwechselsystemen.
Robots manipulateurs industriels - Systèmes de changement automatique de terminal - Vocabulaire et présentation des caractéristiques (ISO 11593:1996)
La présente Norme internationale définit les termes relatifs aux systèmes de changement automatique de terminal utilisés pour les robots manipulateurs industriels fonctionnant dans un environnement de fabrication. Les termes sont accompagnés de leur symbole, unité, définition et description. La définition des termes s'appuie sur les normes existantes. L'annexe A propose un modèle de présentation des caractéristiques des systèmes de changement automatique de terminal.
Manipulating industrial robots - Automatic end effector exchange systems - Vocabulary and presentation of characteristics (ISO 11593:1996)
General Information
Standards Content (Sample)
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.Manipulating industrial robots - Automatic end effector exchange systems - Vocabulary and presentation of characteristics (ISO 11593:1996)Industrieroboter - Automatische Wechselsysteme für Endeffektoren - Begriffe und Darstellung charakteristischer Eigenschaften (ISO 11593:1996)Robots manipulateurs industriels - Systemes de changement automatique de terminal - Vocabulaire et présentation des caractéristiques (ISO 11593:1996)Manipulating industrial robots - Automatic end effector exchange systems - Vocabulary and presentation of characteristics (ISO 11593:1996)25.040.30Industrijski roboti. ManipulatorjiIndustrial robots. Manipulators01.040.25Izdelavna tehnika (Slovarji)Manufacturing engineering (Vocabularies)ICS:Ta slovenski standard je istoveten z:EN ISO 11593:1997SIST EN ISO 11593:1998en01-junij-1998SIST EN ISO 11593:1998SLOVENSKI
STANDARD
INTERNATIONAL STANDARD First edition 1996-08-01 Manipulating industrial robots - Automatic end effector exchange systems - Vocabulary and presentation of characteristics Robots manipula teurs indus triels - Sys t&mes de changement de terminal - Vocabulaire et pksentation des caractbris tiques automa tique Reference number IS0 11593:1996(E) SIST EN ISO 11593:1998
IS0 11593:1996(E) Contents Page 1 Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 2 Normative references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 3 Terms and definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 31 . External shape and main dimensions of the exchange system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 3.2 Positioning and orientation in coupling procedures . . . . . . . . . . . . . . . . . 3 3.3 Coupling and releasing forces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3.4 Load characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3.5 Magazine interface of the tool mounted part . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3.6 Tool exchange time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Aphabetical index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 ‘Annex A Format for the presentation of automatic end effector exchange systems characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 0 IS0 1996 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from the publisher. International Organization for Standardization Case Postale 56 l CH-1211 Geneve 20 l Switzerland Printed in Switzerland ii SIST EN ISO 11593:1998
@ IS0 IS0 11593:1996(E) Foreword IS0 (the International Organization for Standardization) is a worldwide fed- eration of national standards bodies (IS0 member bodies). The work of preparing International Standards is normally carried out through IS0 technical committees. Each member body interested in a subject for which a technical committee has been established has the right to be represented on that committee. International organizations, governmental and non-governmental, in liaison with ISO, also take part in the work. IS0 collaborates closely with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization. Draft International Standards adopted by the technical committees are circulated to the member bodies for voting. Publication as an International Standard requires approval by at least 75 % of the member bodies casting a vote. International Standard IS0 11593 was prepared by Technical Committee ISO/TC 184, Industrial automation systems and integration, Subcommittee SC 2, Robots for manufacturing environment. Annex A of this International Standard is for information only. . . . III SIST EN ISO 11593:1998
IS0 11593:1996(E) @ IS0 Introduction IS0 11593 is one of a series of standards dealing with the requirements of manipulating industrial robots. Other documents cover such topics as terminology, general characteristics, coordinate systems, performance cri- teria and related test methods, safety, robot programming languages, and robot companio n sta ndards to MMS. It is noted that these interrelated and also related to other International Standards. standards are Automatic exchange systems for end effecters increase in importance for handling devices. This International Standard contains the vocabulary and presentation of characteristics, e.g. forces, moments (torques), and ex- change times, for end effector exchange systems. This International Stan- dard does not contain any details for the development and design of these systems. SIST EN ISO 11593:1998
- INTERNATIONAL STANDARD o Is0 IS0 11593:1996(E) Manipulating industrial robots - Automatic end effector exchange systems - Vocabulary and presentation of characteristics 1 Scope This International Standard defines terms relevant to automatic end effector exchange systems used for manipulat- ing industrial robots operated in a manufacturing environment. The terms are presented by their symbol, unit, definition and description. The definition includes applicable refer- ences to existing standards. Annex A provides a format for the presentation of automatic end effector exchange systems characteristics. 2 Normative references The following standards contain provisions which, through reference in this text, constitute provisions of this Inter- national Standard. At the time of publication, the editions indicated were valid. All standards are subject to revision, and parties to agreements based on this International Standard are encouraged to investigate the possibility of ap- plying the most recent editions of the standards indicated below. Members of IEC and IS0 maintain registers of currently valid International Standards. IS0 8373: 1994, Manipulating industrial robots - Vocabulary. IS0 9409-I : 1996, Manipulating industrial robots - Mechanical interfaces - Part 1: P/a tes (form A) . IS0 94092 1996, Manipulating industrial robots - Mechanical interfaces - Part 2: Shafts (form A) . IS0 9787: 1990, Manipulating industrial robots - Coordinate systems and motions. 3 Terms and definitions For the purposes of this International Standard, the definitions given in IS0 8373 apply. SIST EN ISO 11593:1998
IS0 11593:1996(E) @ IS0 No . Term Symbol Unit Definition and description 3.1 External shape and main dimensions of the exchange system Overall dimensions of device: external diameter (for circular shape) length of the individual robot-mounted part 3.12 face-to-face dimension Distance measured from the robot interface to the tool interface: L-total k A f-m-n L,, + A mm Let + A mm length of the coupled systems; coupling length of the robot part; coupling length of the tool part. The tolerance of the length L,, and LCt has a signifi- cant effect on the pose accuracy of the complete system when using different tools. 3.1.3 centre of gravity in the L, mm Distance of the centre of gravity in the coupled sys- coupled system tern from the reference plane of the mechanical in- terface of the robot. 3.1.4 moment of inertia of I kg-m* Moment of inertia of the coupled system about the the coupled system 2, axis. 3.1.5 mass mr kg Mass of the robot part. mt kg Mass of the tool part. 3.1.6 interface for robot side Description and marking for robot part and tool part and tool side according to IS0 9409-I and IS0 9409-Z. SIST EN ISO 11593:1998
@ IS0 IS0 11593:1996(E) No . Term Symbol Unit Definition and description 3.1.7 cable routing Position and dimension of routing and tracking of cable for robot part and tool part in one drawing. 3.2 Positioning and orientation in coupling procedures 3.2.1 coupling direction The coupling direction is the direction in which the robot-mounted and/or the tool-mounted part are moved to each other. Kinds of coupling direction: On axial coupling direction the motion of coupling runs vertical to the level of separation of the inter- face. Coupling direction 1 Level of separation On lateral coupling direction the motion of coupling runs parallel to the level of separation of the inter- face. Coupling direction Robot part I t \ I \ I , I I I I J Tool part Level of separation SIST EN ISO 11593:1998
IS0 11593:1996(E) @ IS0 No . 3.2.2 length of the approach distance Symbol La L al La2 La3 Unit mm mm mm mm Definition and description The length of the approach distance shows the total distance of operation of the robot-mounted (and/or tool-mounted) part in coupling direction until the complete coupling of both parts. The approach distance results from the total of the following single coupling distances: distance of operation for precentring; distance of operation for centring; distance of operation thereafter until the complete coupling La = La1 + La* + Las. On axial coupling direction the approach distance runs vertical to the reference plane, on lateral coupling direction it runs parallel to the reference plane. Example for axial coupling direction: Coupling direction t part part 4 SIST EN ISO 11593:1998
0 IS0 IS0 11593:1996(E) No . 3.2.3 Term start position Symbol xs Y, ZS Unit Definition and description mm mm mm The start position represents the position of the robot-mounted part of the exchange device in re- lation to the tool-mounted part shortly before the coupling process begins. If the start position is re- lated to a typical kind of arrangement, the start position can be defined in the Cartesian coordinate system XI, YI, IS0 9787) as Xs, Example for axia 21 of the robot (according to ys, 2s. I coupling direction: r Start posit ion IX,, Y, ,Zs) 5 SIST EN ISO 11593:1998
IS0 11593:1996(E) @ IS0 No . 3.2.4 Term position tolerance in the start position Symbol s f Unit mm mm Definition and description To permit the assembly of both parts of the ex- change system, the start position must be fixed with a defined accuracy. The position tolerance in the start position is fixed by the attained pose within a cylindrical space. The command start position represents the centre of thus tolerancing space, which is marked by the diameter s in circular direction and the height f in axial direction. Example for axial coupling direction: chat 1 t t Z, target Z, actual SIST EN ISO 11593:1998
0 IS0 IS0 11593:1996(E) No . Term Symbol Unit Definition and description 3.2.5 orientation tolerance in The orientation tolerance must be fixed with a pre- the start position cise accuracy. All values concerning the orientation tolerance are related to the mechanical interface coordinate system X,, Ym, Z,-,,. The command value for the orientation is given by the alignment X,, Ym, Zm, A, B, C. . * Zl A NOTE -The orientation tolerance is defined from the two measures “limit value of the misalignment” and ” limit value of distortion “. 3.2.6 limit value of the mis- + 0,5 a rad or The limited deviations of the attained pose from the alignment degree command pose according to the X, and Ym axis k 0,5 p rad or (rotations + a and + p respectively) can normally be degree regarded as identical and are represented as limit values of the misalignment Ifr 0,5 a and k 0,5 p re- spectively (see the figure in 3.25). 3.2.7 limit value of the dis- +0,5 y rad or The deviation of the attained pose from the com- tortion degree mand pose according to the 2, axis is represented as limit value of the distortion k 0,5 y(see the figure in 3.2.5). 3.2.8 tolerance of the cou- The deviation of the coupling path shall be within pling path the approved position tolerance in the start pos- ition. SIST EN ISO 11593:1998
IS0 11593:1996(E) 0 IS0 No . 3.2.9 Term coupling repeatability -Symbol St ft at, Pt Yt Unit I position mm mm rad or degree rad or degree Definition and description The coupling repeatability defines the deviation be- tween the robot part and the tool part in case of multiple coupling operations. Reference point is the centre of the interface on the robot part (according to IS0 9409-I and IS0 9409-Z) in the mechanical in- terface coordinate system X,, Ym, 2, and on the tool part in the coordinate system Xt, Yt, Zt. The command pose is placed on the 2, axis of the me- chanical interface coordinate system X,, Y,,,, 2,-r, and is displaced by L, in the direction of &-,. The deviations will be decomposed into deviation of - in lateral direction (St), - in axial direction (Q, and deviation of orientation - misalignment (at, /It), - distortion (rt). --l-t=+ - Yt target u, < If C target i ! 1 aZ+ actual Lll i Zt target after coupling 0 command pose of the tool part of the interface after coupling l attained pose of the tool part of the interface SIST EN ISO 11593:1998
0 IS0 IS0 11593:1996(E) No . Term Symbol 3.3 Coupling and releasing forces 3.3.1 coupling force F, Unit N 3.3.2 releasing force 3.4 Load characteristics 3.4.1 reference plane Fe N Definition and description The force to be applied by the robot in order to couple the robot-mounted part of the exchange system with the tool-mounted part. During this process the tool-mounted part is considered to be held in the tool magazine. The coupling force includes all external forces re- quired to couple all mechanical, electrical, hydraulic or pneumatic connectors. The force to be applied by the robot in order to re- lease the robot-mounted part of the exchange sys- tem from the tool-mounted part. During this process the tool-mounted part is considered to be held in the tool magazine. The releasing force includes all external forces re- quired to release all mechanical, electrical, hydraulic or pneumatic connectors. NOTE -All permissible maximum values for the load characteristics are valid for the sum of both static and dynamic loads. All load characteristics are stated for the reference plane. The reference plane is the tool mounting surface on the tool part of the exchange system designed ac- cording to IS0 9409-I and IS0 94092. Robot-mountec part Tool-mounted part 9 SIST E
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