ISO 22166-202:2025
(Main)Robotics — Modularity for service robots — Part 202: Information model for software modules
Robotics — Modularity for service robots — Part 202: Information model for software modules
This document specifies requirements and recommendations for information models for software modules used in service robots. This document specifies the information model for software modules related to nine principles in ISO 22166-1. It specifies a structured method to define the characteristics of a software module, or a module that has a software-related interface (modules with software aspects, as defined in ISO 22166-1). This document is not a safety standard. However, it specifies the information necessary for software modules, including safety-related information. This document focuses on interfaces, properties, composition and execution-specific information, which are related to software modules. The information is utilized in the runtime and design/developing stages. In particular, the interfaces are classified and described into two types such as variables and methods. The document can also be applied to the following software lifecycle stages: the design stage, development stage, operation stage, and maintenance stage.
Robotique — Modularité des robots de service — Partie 202: Modèle d'information pour les logiciels
General Information
Standards Content (Sample)
International
Standard
ISO 22166-202
First edition
Robotics — Modularity for service
2025-03
robots —
Part 202:
Information model for software
modules
Robotique — Modularité des robots de service —
Partie 202: Modèle d'information pour les logiciels
Reference number
© ISO 2025
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ii
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Information model for software modules . . 3
4.1 General requirements .3
4.2 Class model of a software information model .4
4.2.1 General .4
4.2.2 Class for Module ID .6
4.2.3 Class for Properties.7
4.2.4 Class for IOVariables . 13
4.2.5 Class for Status .14
4.2.6 Class for Services . 15
4.2.7 Class for Infrastructure .17
4.2.8 Class for SafeSecure. 20
4.2.9 Class for Modelling . 20
4.2.10 Class for ExecutableForm .21
Annex A (normative) Assignment rule of a software Module ID .23
Annex B (normative) Representation of common information for software modules .26
Annex C (informative) Examples for application of the software information model . 47
Annex D (informative) How to use software information models .48
Annex E (informative) Services .50
Annex F (informative) Mapping between an information model and ROS 2 .52
Annex G (informative) Mapping between an information model and OMG SDO/RTC/OpenRTM’s
RTCProfile .57
Annex H (normative) Data types for software information model.60
Bibliography . 61
iii
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out through
ISO 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. ISO collaborates closely
with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are described
in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the different types
of ISO document should be noted. This document was drafted in accordance with the editorial rules of the
ISO/IEC Directives, Part 2 (see www.iso.org/directives).
ISO draws attention to the possibility that the implementation of this document may involve the use of (a)
patent(s). ISO takes no position concerning the evidence, validity or applicability of any claimed patent
rights in respect thereof. As of the date of publication of this document, ISO had not received notice of (a)
patent(s) which may be required to implement this document. However, implementers are cautioned that
this may not represent the latest information, which may be obtained from the patent database available at
www.iso.org/patents. ISO shall not be held responsible for identifying any or all such patent rights.
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and expressions
related to conformity assessment, as well as information about ISO's adherence to the World Trade
Organization (WTO) principles in the Technical Barriers to Trade (TBT), see www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 299, Robotics.
A list of all parts in the ISO 22166 series can be found on the ISO website.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www.iso.org/members.html.
iv
Introduction
This document provides an information model for software modules based on ISO 22166-1 and ISO 22166-201.
The information model for software modules defined here is based on current industrial practices and
recent research results in model-driven system engineering. It is designed to enhance the interoperability,
reusability and composability of modules. The document presents guidelines for interoperability, reusability
and composability of modules for ensuring their effective connectivity and their correct functionality
providing the relevant information for safety/security.
Using the information model for software modules, robot system builders and developers of composite
modules (as defined in ISO 22166-1) can effectively compare modules from different vendors, identify the
modules matching their requirements and easily integrate them to create a service robot, a subsystem
thereof, or even larger composite modules. The information model can be considered a digital datasheet
for software modules for service robots. This datasheet provides pertinent information for module users.
This, encompasses anyone who integrates the module with other modules and components (as defined in
ISO 22166-1) to develop a service robot or any of its subsystems, like composite modules (as defined in
ISO 22166-1).
It is the task of the module provider to also provide the information described in this document in the form
described herein. And users of such modules, such as robot system integrators, are able to utilize the model
information when designing a service robot and assessing its consistency and suitability. This document
addresses two main user groups: service robot makers, including service robot integrators, and providers
of modules for service robots. Within these user groups, it primarily targets software developers, including
system designers and integrators. For module providers, it further addresses personnel concerned with
technical documentation and technical marketing. In the case of service robot makers and service robot
integrators, it further addresses personnel concerned with safety engineering and personnel concerned
with acquiring modules for use in a robot. Providers of modules for service robots have to provide as
complete and accurate a model as possible for their modules, including information about the module's
runtime requirements, interfaces and information relevant to safety assessments of systems built from
such modules. Robot system integrators have to be able to make design decisions based on the information
provided by the module makers. Third parties can use the information to develop tools to automate or
support aspects of the software system integration process.
The information model of the robot software modules presented in this document is focused on the common
characteristics that all types of software modules have, for example:
a) module ID
b) properties
c) input and output variables
d) status
e) services
f) infrastructure
g) safety and security
h) modelling
i) executable forms
This document focuses on the interfaces, properties, variables, behaviour and status of software modules.
v
International Standard ISO 22166-202:2025(en)
Robotics — Modularity for service robots —
Part 202:
Information model for software modules
1 Scope
This document specifies requirements and recommendations for information models for software modules
used in service robots. This document specifies the information model for software modules related to nine
principles in ISO 22166-1.
It specifies a structured method to define the characteristics of a software module, or a module that has a
software-related interface (modules with software aspects, as defined in ISO 22166-1).
This document is not a safety standard. However, it specifies the information necessary for software
modules, including safety-related information.
This document focuses on interfaces, properties, composition and execution-specific information, which are
related to software modules. The information is utilized in the runtime and design/developing stages. In
particular, the interfaces are classified and described into two types such as variables and methods. The
document can also be applied to the following software lifecycle stages: the design stage, development stage,
operation stage, and maintenance stage.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content constitutes
requirements of this document. For dated references, only the edition cited applies. For undated references,
the latest edition of the referenced document (including any amendments) applies.
ISO 22166-1:2021, Robotics — Modularity for service robots — Part 1: General requirements
ISO 22166-201:2024, Robotics — Modularity for service robots — Part 201: Common information model for modules
IEEE/Open Group 1003.1-2017, IEEE Standard for Information Technology--Portable Operating System
Interface (POSIX(TM)) Base Specifications, Issue 7
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply:
ISO and IEC maintain terminology databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at https:// www .electropedia .org/
3.1
information model
IM
abstraction and representation of the entities in a managed environment, their properties, attributes and
operations, and the way that they relate to each other
[SOURCE: ISO 22166-1:2021, 3.1.11]
...
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