ISO 21919-1:2019

Automation systems and integration — Interfaces for automated machine tending — Part 1: Overview and fundamental principles

ISO 21919 describes interfaces for automated machine tending of at least one computer numerically controlled (CNC) machine by using a machine tending device. These interfaces are the link between automated machine tending devices and machines used for production. The automated machine tending is initiated by either the machine tending system or by the machine. This document gives an overview and defines the fundamental principles on how the interfaces are set up. It defines the necessary vocabulary and sets the syntax for the structure of signals. It distinguishes between the safety interface, the control interface and project specific extensions. This document defines three conformance classes and dedicated conformance options. Classes and options consist of a number of signals to simultaneously: — allow a flexible adaptation of the interface(s) to a project-specific scope of functions; — tie sets of signals tight enough to avoid unnecessary coordination efforts between suppliers of the machine tending devices and machines. ISO 21919 concentrates on the control-related and safety-related connections. It does not describe the mechanical connections, it does not determine the transfer physics, a pin assignment, the hardware of the interfaces or measure of communication, e.g. protocol, and it is not intended to be used for communication to a MES (Manufacturing Execution System). NOTE ISO 21919‑2 deals with the safety interface and control interface, allocating signals to a conformance class and/or conformance option, describing the detailed functions of each signal, describing and displaying the timing interactions between signals in flow charts and showing examples for safety matrices and safety-related functional relationships.

Systèmes d’automatisation et integration — Interfaces pour le chargement automatisé des machines — Partie 1: Aperçu et principes fondamentaux

General Information

• Status: Published
• Publication Date: 07-Nov-2019
• ICS: 25.040.20 - Numerically controlled machines
• Technical Committee: ISO/TC 184/SC 1 - Industrial cyber and physical device control
• Drafting Committee: ISO/TC 184/SC 1/WG 9 - Interfaces between manufacturing systems
• Current Stage: 6060 - International Standard published
• Start Date: 31-Oct-2019
• Due Date: 15-Dec-2019
• Completion Date: 08-Nov-2019

Standards Content (Sample)

INTERNATIONAL ISO
STANDARD 21919-1
First edition
2019-10
Automation systems and
integration — Interfaces for
automated machine tending —
Part 1:
Overview and fundamental principles
Systèmes d’automatisation et integration — Interfaces pour le
chargement automatisé des machines —
Partie 1: Aperçu et principes fondamentaux
Reference number
ISO 21919-1:2019(E)
©
ISO 2019

---------------------- Page: 1 ----------------------
ISO 21919-1:2019(E)

COPYRIGHT PROTECTED DOCUMENT
© ISO 2019
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting
on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address
below or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: [phone]
Fax: [phone]
Email: [e-mail]
Website: www.iso.org
Published in Switzerland
ii © ISO 2019 – All rights reserved

---------------------- Page: 2 ----------------------
ISO 21919-1:2019(E)

Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Description of the interfaces . 4
4.1 General . 4
4.2 Structure, range and standards of the interface . 4
4.2.1 General. 4
4.2.2 Characteristics of the interface . 4
4.2.3 Conformance class . 5
4.2.4 Conformance options . 6
4.2.5 Extension of the interfaces . 7
4.2.6 Description of the signal structure . . 8
4.2.7 Index for parts-related signals .12
4.2.8 Standards for signal exchange .12
5 Documentation .14
Annex A (informative) Illustrative examples .15
Bibliography .18
© ISO 2019 – All rights reserved iii

---------------------- Page: 3 ----------------------
ISO 21919-1:2019(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
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 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).
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 184, Automation systems and integration,
Subcommittee SC 1, Physical device control.
A list of all parts in the ISO 21919 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 © ISO 2019 – All rights reserved

---------------------- Page: 4 ----------------------
ISO 21919-1:2019(E)

Introduction
Automated machine tending refers to the automatic loading or unloading of one or more machines by
using a machine tending device.
NOTE Examples for machines are machine tools, typically computer numerically controlled (CNC), metrology
co-ordinate measuring machines (CMM), 3D structured light scanner (3DSL), and X-ray machines. Examples
for machine tending devices are robots, handling systems, gantries, autonomous intelligent vehicles (AIV), and
automated guided vehicles (AGV).
Automated machine tending is a substantial element in highly productive industrial environments. It
is a complex endeavour. Necessary devices are complex systems in themselves, are often provided by
different suppliers and they encounter each other for the first time at the production site. For a trouble-
free collaboration of all units, a clear definition of the interfaces is indispensable. For manufacturing
systems, such standardized interfaces at an international level have not yet been defined.
The definition of the interfaces is often project-specific from the start or each supplier tries to establish
its in-house standards. These procedures cause great efforts, are prone to failure and take a lot of time
and manpower. As each interface is built individually and testing beforehand is often not possible,
commissioning times exceed the planned ones. Machine builders, system integrators and production
plant operators report these issues being substantial obstacles for such automation projects.
Standardized interfaces lead to lean coordination processes, give higher planning reliability, shorten
times for commissioning and are less error-prone.
On the other hand, automated machine tending systems can be very complex systems and standards
need to be flexible enough to allow an adaption to the requirements of individual projects.
Applications range from simple parts removal to material flow dedicated complex production lines. The
processing technologies of the machines are independent from the interface and a majority of machine
technologies can be integrated with the same standard.
Figure 1 and Figure 2 display the range of complexity of machine tending systems covered by ISO 21919.
Figure 1 shows an example of a simple automated machine tending system, consisting of a machine tool
loaded by a conveyor.
© ISO 2019 – All rights reserved v

---------------------- Page: 5 ----------------------
ISO 21919-1:2019(E)

Figure 1 — Example of a simple automated machine tending system
Figure 2 shows an example of a complex production line with five computer numerically controlled
machine tools tended by a loading gantry.
Figure 2 — Example of a complex production line loaded by a gantry
In general, the interfaces for automated machine tending are composed of mechanical, control-related,
and safety-related connections.
vi © ISO 2019 – All rights reserved

---------------------- Page: 6 ----------------------
INTERNATIONAL STANDARD ISO 21919-1:2019(E)
Automation systems and integration — Interfaces for
automated machine tending —
Part 1:
Overview and fundamental principles
1 Scope
ISO 21919 describes interfaces for automated machine tending of at least one computer numerically
controlled (CNC) machine by using a machine tending device. These interfaces are the link between
automated machine tending devices and machines used for production. The automated machine tending
is initiated by either the machine tending system or by the machine.
This document gives an overview and defines the fundamental principles on how the interfaces are set
up. It defines the necessary vocabulary and sets the syntax for the structure of signals. It distinguishes
between the safety interface, the control interface and project specific extensions.
This document defines three conformance classes and dedicated conformance options. Classes and
options consist of a number of signals to simultaneously:
— allow a flexible adaptation of the interface(s) to a project-specific scope of functions;
— tie sets of signals tight enough to avoid unnecessary coordination efforts between suppliers of the
machine tending devices and machines.
ISO 21919 concentrates on the control-related and safety-related connections. It does not describe the
mechanical connections, it does not determine the transfer physics, a pin assignment, the hardware
of the interfaces or measure of communication, e.g. protocol, and it is not intended to be used for
communication to a MES (Manufacturing Execution System).
NOTE ISO 21919-2 deals with the safety interface and control interface, allocating signals to a conformance
class and/or conformance option, describing the detailed functions of each signal, describing and displaying the
timing interactions between signals in flow charts and showing examples for safety matrices and safety-related
functional relationships.
2 Normative references
There are no normative references in this document.
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at http:// www .electropedia .org/
© ISO 2019 – All rights reserved 1

---------------------- Page: 7 ----------------------
ISO 21919-1:2019(E)

3.1
part
physical entity with its digital description [data (3.19)] that is transported into and out of the machine
(3.4) by the machine tending system (3.3)
EXAMPLE Workpieces, sets of workpieces on workpiece carriers, tools, sets of tools in tool carriers.
3.2
functional unit
device or system which transports, receives or renders parts (3.1)
EXAMPLE Machines (3.4) and automated machine tending (3.5) systems.
3.3
machine tending system
functional unit (3.2) transporting parts (3.1) without changing their physical properties
EXAMPLE Robots, conveyors, gantries, bar feed systems, handling systems.
Note 1 to entry: See Figure A.1.
3.4
machine
functional unit (3.2) changing the physical properties of parts (3.1)
EXAMPLE Machine tools, measuring machines, washing machines and assembly systems.
Note 1 to entry: See Figure A.1.
3.5
automated machine tending
process of transporting parts (3.1) into or out of a machine (3.4) by a machine tending system (3.3)
Note 1 to entry: See Figure A.1.
3.6
interface
shared boundary between two functional units (3.2), defined by various characteristics pertaining to the
functions, physical interconnections, signal (3.7) exchanges, and other characteristics, as appropriate
[SOURCE: ISO/IEC 2382:2015, 2121308, modified — Notes to entry have been removed.]
3.7
signal
information transferred between functional units (3.2) via the interface (3.6)
3.8
interference area
shared work area between functional units (3.2)
Note 1 to entry: See Figure A.2.
3.9
interference area preposition
interference area (3.8) without the area of the transfer station (device)
Note 1 to entry: See Figure A.2.
2 © ISO 2019 – All rights reserved

---------------------- Page: 8 ----------------------
ISO 21919-1:2019(E)

3.10
coherent transfer
transfer of parts (3.1) where one functional unit (3.2) keeps the part form-locked until the other
functional unit has it securely clamped
Note 1 to entry: A distinction between coherent and non-coherent transfer can be made for loading and unloading
operations.
EXAMPLE When a robot loads a part to a machine tool and keeps its grippers closed until the machine tool
has clamped the part. After the machine tool has clamped the part, the robot opens its grippers.
3.11
function mode
status of a functional unit (3.2) indicating if signals (3.7) are valid/executed
3.12
conformance class
predefined subset of signals (3.7) selected to achieve a specified set of functions, for which conformance
can be claimed
Note 1 to entry: Predefined sets of functions are conformance class 1 "Minimum set of signals", conformance
class 2 "Extended scope" and conformance class 3 "Extended scope with process optimization".
3.13
conformance option
predefined subset of signals (3.7) that can be selected to add a set of functions to a conformance class
(3.12), for which conformance can be claimed
3.14
loading access
interlocking guard which separates the machine (3.4) from the machine tending system (3.3) for
exchanging parts (3.1)
EXAMPLE Loading hatches and loading doors.
Note 1 to entry: See Figures A.3 and A.4.
3.15
PFHD value
probability of a dangerours failure per hour
3.16
pulse 1 Hz
signal (3.7) of the format boolean alternating in an interval of 0,5s
3.17
handshake
interaction between functional units (3.2) with a request as trigger and an acknowledge or state (3.18)
signal (3.7) as answer
3.18
state
signal (3.7) describing a condition
3.19
data
signal (3.7) containing information relevant to a part (3.1)
© ISO 2019 – All rights reserved 3

---------------------- Page: 9 ----------------------
ISO 21919-1:2019(E)

3.20
interlinked operation
intdOp
function mode (3.11) indicating that a functional unit (3.2) participates in the automated machine
tending (3.5)
3.21
single operation
SOp
function mode (3.11) indicating that a functional unit (3.2) is processing/handling a part (3.1) but is not
in interlinked operation (3.20)
3.22
single step
SSp
function mode (3.11) indicating that a functional unit (3.2) is traversed in sequential movements where
each movement is initiated by an operator
3.23
setup operation
SetOp
function mode (3.11) indicating that an operator can manually execute any movement of a functional
unit (3.2)
4 Description of the interfaces
4.1 General
For an extensive description of the interfaces for automated machine tending, the following interfaces
shall be defined:
— safety interface;
— control interface.
4.2 Structure, range and standards of the interface
4.2.1 General
To transfer the signals, either a hardware interface (parallel wiring) or transmission via a bus system
is available.
The function equipotential bonding between the automated machine tending system and the machine
shall be implemented. In principle, this is not used as a protective conductor.
For any specific project, it shall be decided whether the power supply (e.g. 0 V and 24 V potential) of the
automated machine tending system and/or the machine shall be made available.
NOTE If the power supply is provided by both functional units, safety-relevant devices are supplied even if
one functional unit is shut down.
The pin assignment and connector format shall be agreed upon according to the project for the design
of the hardware technology as parallel wiring for one or both interfaces.
4.2.2 Characteristics of the interface
The signals are grouped in conformance classes and conformance options for a flexible ada
...