ISO/DIS 11593

Robots for industrial environments -- Automatic end effector exchange systems -- Vocabulary and presentation of characteristics

Robots manipulateurs industriels -- Systèmes de changement automatique de terminal -- Vocabulaire et présentation des caractéristiques

Standards Content (sample)

DRAFT INTERNATIONAL STANDARD
ISO/DIS 11593
ISO/TC 299 Secretariat: SIS
Voting begins on: Voting terminates on:
2019-12-17 2020-03-10
Robots for industrial environments — Automatic end
effector exchange systems — Vocabulary and presentation
of characteristics
ICS: 25.040.30; 01.040.25
THIS DOCUMENT IS A DRAFT CIRCULATED
FOR COMMENT AND APPROVAL. IT IS
THEREFORE SUBJECT TO CHANGE AND MAY
NOT BE REFERRED TO AS AN INTERNATIONAL
STANDARD UNTIL PUBLISHED AS SUCH.
IN ADDITION TO THEIR EVALUATION AS
BEING ACCEPTABLE FOR INDUSTRIAL,
This document is circulated as received from the committee secretariat.
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Reference number
NATIONAL REGULATIONS.
ISO/DIS 11593:2019(E)
RECIPIENTS OF THIS DRAFT ARE INVITED
TO SUBMIT, WITH THEIR COMMENTS,
NOTIFICATION OF ANY RELEVANT PATENT
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PROVIDE SUPPORTING DOCUMENTATION. ISO 2019
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ISO/DIS 11593:2019(E)
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© ISO 2019

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ISO/DIS 11593:2019 (E)
Contents

Foreword ......................................................................................................................................................................... iv

Introduction..................................................................................................................................................................... v

1 Scope .......................................................................................................................................................................... 1

2 Normative references .......................................................................................................................................... 2

3 Terms and definitions .......................................................................................................................................... 3

3.1.1 General Terms and Definnitions ................................................................................................................ 3

3.1.2 Detailed Terms and Definitions ................................................................................................................ 3

Annex A (informative) Examples of useful technical data of automatic end effector

exchange systems characteristics .......................................................................................................... 17

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ISO/DIS 11593:2019 (E)
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

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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 documents 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).

Attention is drawn to the possibility that some of the elements of this document may be the subject of

patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of any

patent rights identified during the development of the document will be in the Introduction and/or on

the ISO list of patent declarations received (see www.iso.org/patents).

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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 WG 3, Robotics – Industrial Safety.

This second edition cancels and replaces the first edition (ISO 11593:1996), which has been technically

revised.
The main changes compared to the previous edition are as follows:
• Normative References
• Introduction and Scope
• Terms & Definitions
• Added Safety Aspects in Annex A

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.
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ISO/DIS 11593:2019 (E)
Introduction

ISO 11593 is one of a series of standards dealing with the requirements of robots for industrial

environments.

Automatic exchange systems for end effectors increase in importance for handling devices.

This International Standard contains the vocabulary and presentation of characteristics, e.g. forces,

moments (torques), and exchange times, for end effector exchange systems. This International Standard

does not contain any details for the development and design of these systems.
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DRAFT INTERNATIONAL STANDARD ISO/DIS 11593:2019(E)
Robots for industrial environments — Automatic end
effector exchange systems — Vocabulary and presentation
of characteristics
1 Scope

This standard defines terms relevant to automatic end effector exchange systems used in combination

with industrial robots as defined in 10218-1:2006 and as parts of robot systems as defined in 10218-

2:2006.

The terms are presented by their symbol, unit, definition and description. The definition includes

applicable references to existing standards.

Annex A provides Examples of useful technical data of automatic end effector exchange systems.

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ISO/DIS 11593:2019 (E)
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 10218-1:2011, Robots for industrial environments — Safety requirements
IS0 8373:2012, Manipulating industrial robots — Vocabulary

IS0 9409-1:2004, Manipulating industrial robots — Mechanical interfaces — Part 1: PlatesIS0 9409-

2:2004, Manipulating industrial robots — Mechanical interfaces — Part 2: Shafts
IS0 9787:2013, Manipulating industrial robots — Coordinate systems and motions
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ISO/DIS 11593:2019 (E)
3 Terms and definitions
For the purposes of this document, the definitions given in ISO 8373:2012 apply.
3.1 General Terms and Definitions
3.1.1
Automatic end effector exchange system

coupling device between the mechanical interface and the end effector enabling automatic exchange of

end effectors, made up of a robot-mounted part and one or more tool-mounted parts.

NOTE Also referred to as a tool changer, quick-change device, automatic tool changer, robotic tool

changer, or robot coupler.
3.1.2
Robot Mounted Part

part of a automatic end effector exchange system that is attached to the mechanical interface of a

manipulator.
NOTE Also referred to as master or robot side.
3.1.3
Tool Mounted Part

part of a automatic end effector exchange system that is attached to the end effector.

NOTE Also referred to as slave or tool side.
3.1.7
Couple
the joining of the robot-mounted part to the tool-mounted part.
3.1.8
Uncouple
the releasing of the tool-mounted part from the robot-mounted part.
3.1.9
Lock

the actuation of the locking elements to connect the robot-mounted part to the tool-mounted part.

3.1.10
Unlock

the actuation of the locking elements to disconnect the tool mounted part from the robot mounted part.

3.1.5
Dock

the process of coupling and locking the robot mounted part to the tool mounted part when the tool-

mounted part is held in the magazine.
3.1.6
Undock

the process of unlocking and uncoupling the tool-mounted part from the robot-mounted part where the

tool-mounted part is held in the magazine.
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ISO/DIS 11593:2019 (E)
3.1.4
Magazine

tool storage device to repeatably dock and undock for temporary storage an end effector and associated

tool side.
NOTE Also referred to as tool stand or tool storage rack, or nest.
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ISO/DIS 11593:2019 (E)
3.1.1 Detailed Terms and Definitions
No. Term Symbol Unit Definitions and description
3.1 External shape and main dimensions of the exchange system
Overall dimensions of device:
3.1.1 structural shape D mm
external diameter (for circular shape)
A mm
width 3.1 (for other)
B mm
depth
L mm
length of the individual robot-mounted part
L mm
length of the individual tool-mounted part
3.1.2 face-to-face Distance measured from the robot interface to the
dimension tool interface:
L ± Δ mm length of the coupled systems;
total
L ± Δ mm coupling length of the robot part;
L ± Δ mm coupling length of the tool part.
The tolerance of the length L and L has a
cr ct
significant effect on the pose accuracy of the
complete system when using different tools.
3.1.3 centre of gravity L mm Distance of the centre of gravity in the coupled
in the coupled system from the reference plane of the mechanical
system interface of the robot.
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ISO/DIS 11593:2019 (E)
No. Term Symbol Unit Definitions and description
3.1.4 moment of I kg·m Moment of inertia of the coupled system about the
inertia of the Z axis.
coupled system
3.1.5 mass m kg Mass of the robot part.
m kg Mass of the tool part.
3.1.6 interface for Description and marking for robot part and tool
robot side and part according to ISO 9409-1 chapter 6 and ISO
tool side 9409-2 chapter 8.
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 The coupling direction is the direction in which the
direction 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
interface.
On lateral coupling direction the motion of
coupling runs parallel to the level of separation of
the interface.
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ISO/DIS 11593:2019 (E)
No. Term Symbol Unit Definitions and description
3.2.2 length of the L mm The length of the approach distance shows the
approach total distance of operation of the robot-mounted
distance (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:
L mm
distance of operation for precentring;
L mm
distance of operation for centring;
L mm
distance of operation thereafter until the complete
coupling
L = L + L + L .
a a1 a2 a3
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:
3.2.3 start position X mm The start position represents the position of the
Y mm robot-mounted part of the exchange device in
Z mm relation to the tool-mounted part shortly before
the coupling process begins. If the start position is
related to a typical kind of arrangement, the start
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ISO/DIS 11593:2019 (E)
No. Term Symbol Unit Definitions and description
position can be defined in the cartesian coordinate
system (according to ISO 9787 chapter 5) as X , Ys,
Z .
Example for axial coupling direction:
3.2.4 position s mm To permit the assembly of both parts of the
tolerance in the f mm exchange system, the start position must be fixed
start position 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:
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ISO/DIS 11593:2019 (E)
No. Term Symbol Unit Definitions and description
3.2.5 orientation The orientation tolerance just be fixed with a
tolerance in the precise accuracy. All values concerning the
start position orientation tolerance are related to the mechanical
interface coordinate system X , Y , Z .
m m m
The c
...