SIST EN ISO 10218-1:2011
(Main)Robots and robotic devices - Safety requirements for industrial robots - Part 1: Robots (ISO 10218-1:2011)
Robots and robotic devices - Safety requirements for industrial robots - Part 1: Robots (ISO 10218-1:2011)
This part of ISO 10218 specifies requirements and guidelines for the inherent safe design, protective measures and information for use of industrial robots. It describes basic hazards associated with robots and provides requirements to eliminate, or adequately reduce, the risks associated with these hazards. This part of ISO 10218 does not address the robot as a complete machine. Noise emission is generally not considered a significant hazard of the robot alone, and consequently noise is excluded from the scope of this part of ISO 10218. This part of ISO 10218 does not apply to non-industrial robots, although the safety principles established in ISO 10218 can be utilized for these other robots.
Industrieroboter - Sicherheitsanforderungen - Teil 1:Roboter (ISO 10218-1:2011)
Teil 1 dieser Internationalen Norm legt Anforderungen und Anleitungen für die inhärent sichere Konstruktion, für Schutzmaßnahmen und die Benutzerinformation für Industrieroboter nach den Begriffen im Abschnitt 3 fest. Sie beschreibt grundlegende Gefährdungen in Verbindung mit Robotern und legt Anforderungen fest, um die mit diesen Gefährdungen verbundenen Risiken zu beseitigen oder hinreichend zu verringern.
Diese Norm betrachtet den Roboter nicht als vollständige Maschine. Lärmemission wird im Allgemeinen nicht als signifikante Gefährdung, die vom Roboter allein ausgeht, betrachtet; dies wird in Teil 2 für das Robotersystem oder die vollständige Maschine vollständig behandelt.
Diese Norm gilt nicht für Roboter außerhalb des industriellen Bereichs, obwohl die in dieser Internationalen Norm festgelegten Sicherheitsgrundsätze auch auf diese anderen Roboter angewandt werden können. Beispiele für nicht-industrielle Anwendungen von Robotern, die jedoch keinen Anspruch auf Vollständigkeit erheben, sind: Unterwasser-, Militär- und Raumfahrtroboter, fernbediente Manipulatoren, Prothesen und andere Hilfen für Körperbehinderte, Mikroroboter (Reichweite weniger als 1 mm), Chirurgie und Gesund-heitsvorsorge und Dienstleistungs- oder Konsumprodukte.
ANMERKUNG 1 Anforderungen an Robotersysteme, die Integration und den Einbau werden in Teil 2 behandelt.
ANMERKUNG 2 Durch spezielle Anwendungen können zusätzliche Gefährdungen verursacht werden (z. B. Schwei¬ßen, Laserstrahlschneiden, Bearbeitung). Diese Gefährdungen sind bei der Roboterkonstruktion zu beachten.
Robots et dispositifs robotiques - Exigences de sécurité pour les robots industriels - Partie 1: Robots (ISO 10218-1:2011)
L'ISO 10218-1:2011 spécifie les exigences et les recommandations pour la prévention intrinsèque, les mesures de protection et les informations pour l'utilisation des robots industriels. Elle décrit les phénomènes dangereux de base associés aux robots et fournit des exigences pour éliminer ou réduire de manière appropriée les risques associés à ces phénomènes dangereux.
L'ISO 10218-1:2011 ne traite pas le robot comme une machine complète. L'émission sonore n'est généralement pas considérée comme un phénomène dangereux significatif du robot lui-même et par conséquent, le bruit est exclu du domaine d'application de l'ISO 10218-1:2011.
L'ISO 10218-1:2011 ne s'applique pas aux robots non industriels, bien que les principes de sécurité établis dans l'ISO 10218 puissent être utilisés pour ces autres robots.
Roboti in robotske naprave - Varnostne zahteve za industrijske robote - 1. del: Roboti (ISO 10218-1:2011)
Ta del ISO 10218 določa zahteve in smernice za varno zasnovo, zaščitne ukrepe in navodila za uporabo industrijskih robotov. Opisuje osnovne nevarnosti, povezane z roboti, in podaja zahteve za preprečevanje ali ustrezno zmanjševanje tveganj, povezanih s temi nevarnostmi. Ta del ISO 10218 ne obravnava robota kot celotnega stroja. Emisije hrupa v splošnem ne veljajo za pomembno nevarnost samega robota, zato je hrup izključen iz obsega uporabe tega dela ISO 10218. Ta del ISO 10218 ne velja za neindustrijske robote, čeprav se varnostna načela, vzpostavljena v ISO 10218, lahko uporabijo za te druge robote.
General Information
Relations
Standards Content (Sample)
SLOVENSKI STANDARD
SIST EN ISO 10218-1:2011
01-september-2011
1DGRPHãþD
SIST EN ISO 10218-1:2009
Roboti in robotske naprave - Varnostne zahteve za industrijske robote - 1. del:
Roboti (ISO 10218-1:2011)
Robots and robotic devices - Safety requirements for industrial robots - Part 1: Robots
(ISO 10218-1:2011)
Industrieroboter - Sicherheitsanforderungen - Teil 1:Roboter (ISO 10218-1:2011)
Robots et dispositifs robotiques - Exigences de sécurité pour les robots industriels -
Partie 1: Robots (ISO 10218-1:2011)
Ta slovenski standard je istoveten z: EN ISO 10218-1:2011
ICS:
25.040.30 Industrijski roboti. Industrial robots.
Manipulatorji Manipulators
SIST EN ISO 10218-1:2011 en
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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SIST EN ISO 10218-1:2011
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SIST EN ISO 10218-1:2011
EUROPEAN STANDARD
EN ISO 10218-1
NORME EUROPÉENNE
EUROPÄISCHE NORM
July 2011
ICS 25.040.30 Supersedes EN ISO 10218-1:2008
English Version
Robots and robotic devices - Safety requirements for industrial
robots - Part 1: Robots (ISO 10218-1:2011)
Robots et dispositifs robotiques - Exigences de sécurité Industrieroboter - Sicherheitsanforderungen - Teil 1:
pour les robots industriels - Partie 1: Robots (ISO 10218- Roboter (ISO 10218-1:2011)
1:2011)
This European Standard was approved by CEN on 21 April 2011.
CEN members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European
Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references concerning such national
standards may be obtained on application to the CEN-CENELEC Management Centre or to any CEN member.
This European Standard exists in three official versions (English, French, German). A version in any other language made by translation
under the responsibility of a CEN member into its own language and notified to the CEN-CENELEC Management Centre has the same
status as the official versions.
CEN members are the national standards bodies of Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia,
Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland,
Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland and United Kingdom.
EUROPEAN COMMITTEE FOR STANDARDIZATION
COMITÉ EUROPÉEN DE NORMALISATION
EUROPÄISCHES KOMITEE FÜR NORMUNG
Management Centre: Avenue Marnix 17, B-1000 Brussels
© 2011 CEN All rights of exploitation in any form and by any means reserved Ref. No. EN ISO 10218-1:2011: E
worldwide for CEN national Members.
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SIST EN ISO 10218-1:2011
EN ISO 10218-1:2011 (E)
Contents Page
Foreword .3
Annex ZA (informative) Relationship between this European Standard and the Essential
Requirements of EU Directive 2006/42/EC .4
2
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SIST EN ISO 10218-1:2011
EN ISO 10218-1:2011 (E)
Foreword
This document (EN ISO 10218-1:2011) has been prepared by Technical Committee ISO/TC 184 "Automation
systems and integration" in collaboration with Technical Committee CEN/TC 310 “Advanced automation
technologies and their applications” the secretariat of which is held by BSI.
This European Standard shall be given the status of a national standard, either by publication of an identical
text or by endorsement, at the latest by January 2012, and conflicting national standards shall be withdrawn at
the latest by January 2012.
Attention is drawn to the possibility that some of the elements of this document may be the subject of patent
rights. CEN [and/or CENELEC] shall not be held responsible for identifying any or all such patent rights.
This document supersedes EN ISO 10218-1:2008.
This document has been prepared under a mandate given to CEN by the European Commission and the
European Free Trade Association, and supports essential requirements of EU Directive.
For relationship with EU Directive, see informative Annex ZA, which is an integral part of this document.
According to the CEN/CENELEC Internal Regulations, the national standards organizations of the following
countries are bound to implement this European Standard: Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech
Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia,
Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain,
Sweden, Switzerland and the United Kingdom.
Endorsement notice
The text of ISO 10218-1:2011 has been approved by CEN as a EN ISO 10218-1:2011 without any
modification.
3
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SIST EN ISO 10218-1:2011
EN ISO 10218-1:2011 (E)
Annex ZA
(informative)
Relationship between this European Standard and the Essential
Requirements of EU Directive 2006/42/EC
This European Standard has been prepared under a mandate given to CEN by the European Commission
and the European Free Trade Association to provide one means of conforming to Essential Requirements of
the New Approach Directive 2006/42/EC.
Once this standard is cited in the Official Journal of the European Union under that Directive and has been
implemented as a national standard in at least one Member State, compliance with the normative clauses of
this standard confers, within the limits of the scope of this standard, a presumption of conformity with the
relevant Essential Requirements of that Directive and associated EFTA regulations.
WARNING — Other requirements and other EU Directives may be applicable to the products falling
within the scope of this standard.
4
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SIST EN ISO 10218-1:2011
INTERNATIONAL ISO
STANDARD 10218-1
Second edition
2011-07-01
Robots and robotic devices — Safety
requirements for industrial robots —
Part 1:
Robots
Robots et dispositifs robotiques — Exigences de sécurité pour
les robots industriels —
Partie 1: Robots
Reference number
ISO 10218-1:2011(E)
©
ISO 2011
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SIST EN ISO 10218-1:2011
ISO 10218-1:2011(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2011
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 either ISO at the address below or
ISO's member body in the country of the requester.
ISO copyright office
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Tel. + 41 22 749 01 11
Fax + 41 22 749 09 47
E-mail copyright@iso.org
Web www.iso.org
Published in Switzerland
ii © ISO 2011 – All rights reserved
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SIST EN ISO 10218-1:2011
ISO 10218-1:2011(E)
Contents Page
Foreword .iv
Introduction.v
1 Scope.1
2 Normative references.1
3 Terms and definitions .2
4 Hazard identification and risk assessment.6
5 Design requirements and protective measures .7
5.1 General .7
5.2 General requirements .7
5.3 Actuating controls.8
5.4 Safety-related control system performance (hardware/software).8
5.5 Robot stopping functions.9
5.6 Speed control.11
5.7 Operational modes .11
5.8 Pendant controls .13
5.9 Control of simultaneous motion .15
5.10 Collaborative operation requirements .15
5.11 Singularity protection .16
5.12 Axis limiting .16
5.13 Movement without drive power.18
5.14 Provisions for lifting.18
5.15 Electrical connectors .18
6 Verification and validation of safety requirements and protective measures .19
6.1 General .19
6.2 Verification and validation methods.19
6.3 Required verification and validation .19
7 Information for use.20
7.1 General .20
7.2 Instruction handbook.20
7.3 Marking.21
Annex A (informative) List of significant hazards .23
Annex B (normative) Stopping time and distance metric.28
Annex C (informative) Functional characteristics of three-position enabling device .30
Annex D (informative) Optional features .31
Annex E (informative) Labelling .33
Annex F (normative) Means of verification of the safety requirements and measures.34
Bibliography.43
© ISO 2011 – All rights reserved iii
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SIST EN ISO 10218-1:2011
ISO 10218-1:2011(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.
International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2.
The main task of technical committees is to prepare International Standards. 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.
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.
ISO 10218-1 was prepared by Technical Committee ISO/TC 184, Automation systems and integration,
Subcommittee SC 2, Robots and robotic devices.
This second edition cancels and replaces the first edition (ISO 10218-1:2006), which has been technically
revised. It also incorporates Technical Corrigendum ISO 10218-1:2006/Cor.1:2007.
ISO 10218 consists of the following parts, under the general title Robots and robotic devices — Safety
requirements for industrial robots:
⎯ Part 1: Robots
⎯ Part 2: Robot systems and integration
iv © ISO 2011 – All rights reserved
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SIST EN ISO 10218-1:2011
ISO 10218-1:2011(E)
Introduction
ISO 10218 has been created in recognition of the particular hazards that are presented by industrial robots
and industrial robot systems.
This part of ISO 10218 is a type-C standard as outlined in ISO 12100.
When provisions of a type-C standard are different from those which are stated in type-A or type-B standards,
the provisions of the type-C standard take precedence over the provisions of the other standards for machines
that have been designed and built in accordance with the provisions of the type-C standard.
The machinery concerned and the extent to which hazards, hazardous situations and events are covered are
indicated in the Scope of this part of ISO 10218.
Hazards associated with robots are well recognized, but the sources of the hazards are frequently unique to a
particular robot system. The number and type(s) of hazard(s) are directly related to the nature of the
automation process and the complexity of the installation. The risks associated with these hazards vary with
the type of robot used and its purpose, and the way in which it is installed, programmed, operated and
maintained.
NOTE Not all of the hazards identified by ISO 10218 apply to every robot, nor will the level of risk associated with a
given hazardous situation be the same from robot to robot. Consequently, the safety requirements, or the protective
measures, or both, can vary from what is specified in ISO 10218. A risk assessment can be conducted to determine what
the protective measures should be.
In recognition of the variable nature of hazards with different uses of industrial robots, ISO 10218 is divided
into two parts. This part of ISO 10218 provides guidance for the assurance of safety in the design and
construction of the robot. Since safety in the application of industrial robots is influenced by the design and
application of the particular robot system integration, ISO 10218-2 provides guidelines for the safeguarding of
personnel during robot integration, installation, functional testing, programming, operation, maintenance and
repair.
This part of ISO 10218 has been updated based on experience gained in developing the ISO 10218-2
guidance on system and integration requirements, in order to ensure it remains in line with minimum
requirements of a harmonized type-C standard for industrial robots. Revised technical requirements include,
but are not limited to, definition and requirements for singularity, safeguarding of transmission hazards, power
loss requirements, safety-related control circuit performance, addition of a category 2 stopping function, mode
selection, power and force limiting requirements, marking, and updated stopping time and distance metric and
features.
This part of ISO 10218 is not applicable to robots that were manufactured prior to its publication date.
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SIST EN ISO 10218-1:2011
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SIST EN ISO 10218-1:2011
INTERNATIONAL STANDARD ISO 10218-1:2011(E)
Robots and robotic devices — Safety requirements for
industrial robots —
Part 1:
Robots
1 Scope
This part of ISO 10218 specifies requirements and guidelines for the inherent safe design, protective
measures and information for use of industrial robots. It describes basic hazards associated with robots and
provides requirements to eliminate, or adequately reduce, the risks associated with these hazards.
This part of ISO 10218 does not address the robot as a complete machine. Noise emission is generally not
considered a significant hazard of the robot alone, and consequently noise is excluded from the scope of this
part of ISO 10218.
This part of ISO 10218 does not apply to non-industrial robots, although the safety principles established in
ISO 10218 can be utilized for these other robots.
NOTE 1 Examples of non-industrial robot applications include, but are not limited to, undersea, military and space
robots, tele-operated manipulators, prosthetics and other aids for the physically impaired, micro-robots (displacement less
than 1 mm), surgery or healthcare, and service or consumer products.
NOTE 2 Requirements for robot systems, integration, and installation are covered in ISO 10218-2.
NOTE 3 Additional hazards can be created by specific applications (e.g. welding, laser cutting, machining). These
system-related hazards need to be considered during robot design.
2 Normative references
The following referenced documents are indispensable for the application 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 9283:1998, Manipulating industrial robots — Performance criteria and related test methods
ISO 10218-2, Robots and robotic devices — Safety requirements for industrial robots — Part 2: Robot
systems and integration
ISO 12100, Safety of machinery — General principles for design — Risk assessment and risk reduction
ISO 13849-1:2006, Safety of machinery — Safety-related parts of control systems — Part 1: General
principles for design
ISO 13850, Safety of machinery — Emergency stop — Principles for design
IEC 60204-1, Safety of machinery — Electrical equipment of machines — Part 1: General requirements
IEC 62061:2005, Safety of machinery — Functional safety of safety-related electrical, electronic and
programmable electronic control systems
© ISO 2011 – All rights reserved 1
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SIST EN ISO 10218-1:2011
ISO 10218-1:2011(E)
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 12100 and the following apply.
3.1
actuating control
mechanical mechanism within a control device
EXAMPLE A rod which opens contacts.
3.2
automatic mode
operating mode in which the robot control system operates in accordance with the task programme
[ISO 8373:1994, definition 5.3.8.1]
3.3
automatic operation
state in which the robot is executing its programmed task as intended
NOTE Adapted from ISO 8373:1994, definition 5.5.
3.4
collaborative operation
state in which purposely designed robots work in direct cooperation with a human within a defined workspace
3.5
collaborative workspace
workspace within the safeguarded space where the robot and a human can perform tasks simultaneously
during production operation
3.6
drive power
energy source or sources for the robot actuators
3.7
end-effector
device specifically designed for attachment to the mechanical interface to enable the robot to perform its task
EXAMPLE Gripper, nutrunner, welding gun, spray gun.
[ISO 8373:1994, definition 3.11]
3.8
energy source
electrical, mechanical, hydraulic, pneumatic, chemical, thermal, potential, kinetic or other source of power
3.9
hazardous motion
motion that is likely to cause personal physical injury or damage to health
3.10
industrial robot
automatically controlled, reprogrammable multipurpose manipulator, programmable in three or more axes,
which can be either fixed in place or mobile for use in industrial automation applications
NOTE 1 The industrial robot includes:
⎯ the manipulator, including actuators;
⎯ the controller, including teach pendant and any communication interface (hardware and software).
2 © ISO 2011 – All rights reserved
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SIST EN ISO 10218-1:2011
ISO 10218-1:2011(E)
NOTE 2 This includes any integrated additional axes.
NOTE 3 The following devices are considered industrial robots for the purpose of this part of ISO 10218:
⎯ hand-guided robots;
⎯ the manipulating portions of mobile robots;
⎯ collaborating robots.
NOTE 4 Adapted from ISO 8373:1994, definition 2.6.
3.11
industrial robot system
system comprising:
⎯ industrial robot;
⎯ end-effector(s);
⎯ any machinery, equipment, devices, external auxiliary axes or sensors supporting the robot performing its
task
NOTE 1 The robot system requirements, including those for controlling hazards, are contained in ISO 10218-2.
NOTE 2 Adapted from ISO 8373:1994, definition 2.14.
3.12
limiting device
means that restricts the maximum space by stopping or causing to stop all robot motion
3.13
local control
state of the system or portions of the system in which the system is operated from the control panel or
pendant of the individual machines only
3.14
manual mode
control state that allows for the direct control by an operator
NOTE 1 Sometimes referred to as teach mode where programme points are set.
NOTE 2 Adapted from ISO 8373:1994, definition 5.3.8.2.
3.15
pendant
teach pendant
hand-held unit linked to the control system with which a robot can be programmed or moved
[ISO 8373:1994, definition 5.8]
3.16 Programme
3.16.1
control programme
inherent set of instructions which defines the capabilities, actions, and responses of a robot
NOTE This type of programme is fixed and usually not modified by the user.
[ISO 8373:1994, definition 5.1.2]
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SIST EN ISO 10218-1:2011
ISO 10218-1:2011(E)
3.16.2
task programme
set of instructions for motion and auxiliary functions that define the specific intended task of the robot system
NOTE 1 This type of programme is normally generated by the user.
NOTE 2 An application is a general area of work; a task is specific within the application.
[ISO 8373:1994, definition 5.1.1]
3.16.3
programme verification
execution of a task programme for the purpose of confirming the robot path and process performance
NOTE Verification can include the total path traced by the tool centre point during the execution of a task programme
or a segment of the path. The instructions can be executed in a single instruction or continuous instruction sequence.
Verification is used in new applications and in fine tuning/editing of existing ones.
3.17
protective stop
type of interruption of operation that allows a cessation of motion for safeguarding purposes and which retains
the programme logic to facilitate a restart
3.18
robot actuator
powered mechanism that converts electrical, hydraulic, or pneumatic energy to effect motion
3.19
safety-rated
characterized by having a prescribed safety function with a specified safety-related performance
3.19.1
safety-rated monitored speed
safety-rated function that causes a protective stop when either the Cartesian speed of a point relative to the
robot flange (e.g. the TCP), or the speed of one or more axes exceeds a specified limit value
3.19.2
safety-rated reduced speed
safety-rated monitored speed function that limits the robot speed to 250 mm/s or less
NOTE 1 The safety-rated reduced speed limit value is not necessarily the value set in the reduced speed control
function.
NOTE 2 The difference between safety-rated monitored speed and safety-rated reduced speed is that safety-rated
monitored speed limit can be set to speeds greater than 250 mm/s.
3.19.3
safety-rated soft axis and space limiting
safety-rated soft limit
limit placed on the range of motion of the robot by a software- or firmware-based system having a specified
sufficient safety-related performance
NOTE The safety-rated soft limit might be the point where a stop is initiated, or it might ensure that the robot does not
move beyond the limit.
3.19.4
safety-rated output
output signal having a specified sufficient safety-related performance
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SIST EN ISO 10218-1:2011
ISO 10218-1:2011(E)
3.19.5
safety-rated zone output
safety-rated output indicating the state of the robot position relative to a safety-rated soft limit
NOTE For example, the robot position can be inside the zone or outside the zone.
3.19.6
safety-rated monitored stop
condition where the robot is stopped with drive power active, while a monitoring system with a specified
sufficient safety performance ensures that the robot does not move
3.20
simultaneous motion
motion of two or more robots at the same time under the control of a single control station, and which may be
coordinated or may be synchronous using common mathematical correlation
NOTE 1 A teach pendant is an example of a single control station.
NOTE 2 Coordination can be done as master/slave.
3.21
single point of control
ability to operate the robot such that initiation of robot motion is only possible from one source of control and
cannot be overridden from another initiation source
3.22
singularity
occurrence whenever the rank of the Jacobian matrix becomes less than full rank
NOTE Mathematically, in a singular configuration, the joint velocity in joint space can become infinite to maintain
Cartesian velocity. In actual operation, motions defined in Cartesian space that pass near singularities can produce high
axis speeds. These high speeds can be unexpected to an operator.
3.23
reduced speed control
slow speed control
mode of robot motion control where the speed is limited to 250 mm/s or less
NOTE Reduced speed is intended to allow persons sufficient time to either withdraw from the hazardous motion or
stop the robot.
3.24
space
three-dimensional volume
3.24.1
maximum space
space which can be swept by the moving parts of the robot as defined by the manufacturer plus the space
which can be swept by the end-effector and the workpiece
[ISO 8373:1994, definition 4.8.1]
3.24.2
restricted space
portion of the maximum space restricted by limiting devices that establish limits which will not be exceeded
NOTE Adapted from ISO 8373:1994, definition 4.8.2.
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SIST EN ISO 10218-1:2011
ISO 10218-1:2011(E)
3.24.3
safeguarded space
space defined by the perimeter safeguarding
3.25
teach
teach programming
task programming
programming of the task performed by
a) manually leading the robot end-effector; or
b) manually leading a mechanical simulating device; or
c) using a teach pendant to step the robot through the desired positions
NOTE Adapted from ISO 8373:1994, definition 5.2.3.
3.26
tool centre point
TCP
point defined for a given application with regard to the mechanical interface coordinate system
[ISO 8373:1994, definition 4.9]
3.27
user
entity that uses robots and is responsible for the personnel associated with the robot operation
4 Hazard identification and risk assessment
Annex A contains a list of hazards that can be present with robots. A hazard analysis shall be carried out to
identify any further hazards that may be present.
A risk assessment shall be carried out on those hazards identified in the hazard identification. This risk
assessment shall give parti
...
SLOVENSKI STANDARD
oSIST ISO/DIS 10218-1:2009
01-december-2009
Roboti in robotske naprave - Varnostne zahteve - 1. del: Industrijski roboti
(ISO/DIS 10218-1:2009)
Robots and robotic devices - Safety requirements - Part 1: Industrial robots (ISO/DIS
10218-1:2009)
Robots pour environnements industriels - Exigences de sécurité - Partie 1: Robots
industriels (ISO/DIS 10218-1:2009)
Ta slovenski standard je istoveten z: prEN ISO 10218-1
ICS:
25.040.30 Industrijski roboti. Industrial robots.
Manipulatorji Manipulators
oSIST ISO/DIS 10218-1:2009 en
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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oSIST ISO/DIS 10218-1:2009
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oSIST ISO/DIS 10218-1:2009
DRAFT INTERNATIONAL STANDARD ISO/DIS 10218-1
ISO/TC 184/SC 2 Secretariat: SIS
Voting begins on: Voting terminates on:
2009-08-27 2010-01-27
INTERNATIONAL ORGANIZATION FOR STANDARDIZATION • МЕЖДУНАРОДНАЯ ОРГАНИЗАЦИЯ ПО СТАНДАРТИЗАЦИИ • ORGANISATION INTERNATIONALE DE NORMALISATION
Robots and robotic devices — Safety requirements —
Part 1:
Industrial robots
Robots pour environnements industriels — Exigences de sécurité —
Partie 1: Robot industriel
(Revision of first edition of ISO 10218-1:2006 and of ISO 10218-1:2006/Cor.1:2006)
ICS 25.040.30
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©
International Organization for Standardization, 2009
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oSIST ISO/DIS 10218-1:2009
ISO/DIS 10218-1
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Contents Page
Foreword .iv
Introduction.v
1 Scope.1
2 Normative references.1
3 Terms and definitions .2
4 Hazard identification and risk assessment.7
5 Design requirements and protective measures .8
5.1 General .8
5.2 General requirements .8
5.3 Actuating controls.9
5.4 Safety-related control system performance (hardware/software).10
5.5 Robot stopping functions.11
5.6 Reduced speed control.12
5.7 Operational modes.13
5.8 Pendant controls .14
5.9 Control of simultaneous motion .15
5.10 Collaborative operation requirements .16
5.11 Singularity protection .17
5.12 Axis limiting .17
5.13 Movement without drive power.19
5.14 Provisions for lifting.19
5.15 Electrical connectors .19
6 Information for Use .19
6.1 General .19
6.2 Instruction handbook.19
6.3 Marking.21
Annex A (normative) List of significant hazards .22
Annex B (normative) Stopping time and distance metric.24
Annex C (informative) Functional characteristics of 3-position enabling device .26
Annex D (informative) Optional features .27
Annex E (informative) Methods for labelling.29
Bibliography.30
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ISO/DIS 10218-1
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.
International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2.
The main task of technical committees is to prepare International Standards. 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.
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.
ISO 10218-1 was prepared by Technical Committee ISO/TC 184, Automation systems and integration,
Subcommittee SC 2, Robots and robotic devices.
This second edition cancels and replaces the first edition (ISO 10218-1:2006), which has been technically
revised.
This revised International Standard updates the document based on experience gained in developing the
Part 2 guidance on system and integration requirements and to ensure it remains in line with minimum
requirements of a harmonized type C standard for industrial robots. Revised technical requirements include,
but are not limited to, definition and requirements for singularity, safeguarding of transmission hazards, power
loss requirements, safety control circuit performance, addition of a category 2 stopping function, mode
selection, power and force limiting requirements, marking, and updated stopping time and distance metric and
features.
ISO 10218 consists of the following parts, under the general title Robots and robotic devices — Safety
requirements:
⎯ Part 1: Industrial robot
⎯ Part2: Industrial robot system and integration:
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ISO/DIS 10218-1
Introduction
ISO 10218 has been created in recognition of the particular hazards that are presented by industrial robots
and industrial robot systems.
This document is a type C standard as stated in ISO 12100-1.
The machinery concerned and the extent to which hazards, hazardous situations and events are covered are
indicated in the scope of this document.
When provisions of this type C standard are different from those which are stated in type A or B standards, the
provisions of this type C standard take precedence over the provisions of the other standards for machines
that have been designed and built according to the provisions of this type C standard.
Hazards associated with robots are well recognized, but the sources of the hazards are frequently unique to a
particular robot system. The number and type(s) of hazard(s) are directly related to the nature of the
automation process and the complexity of the installation. The risks associated with these hazards vary with
the type of robot used and its purpose and the way in which it is installed, programmed, operated and
maintained.
NOTE 1 Not all of the hazards identified by ISO 10218 apply to every robot and nor will the level of risk associated with
a given hazardous situation be the same from robot to robot. Consequently the safety requirements and/or protective
measures may vary from what is specified in ISO 10218. A risk assessment may be conducted to determine what the
protective measures should be.
In recognition of the variable nature of hazards with different uses of industrial robots, ISO 10218 is divided
into two parts; Part 1 provides guidance for the assurance of safety in design and construction of the robot.
Since safety in the application of industrial robots is influenced by the design and application of the particular
robot system integration, Part 2 will provide guidelines for the safeguarding of personnel during robot
integration, installation, functional testing, programming, operation, maintenance and repair.
NOTE 2 While audible noise is generally considered a hazard associated with the industrial environment, the robot as
defined in 3.18 cannot be considered the final machine, rather the robot system as defined in 3.20 is the machine for noise
consideration. Therefore the hazard due to noise will be dealt with in ISO 10218-2.
ISO 10218 is not applicable to robots which were manufactured prior to its publication date.
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DRAFT INTERNATIONAL STANDARD ISO/DIS 10218-1
Robots and robotic devices — Safety requirements —
Part 1:
Industrial robots
1 Scope
This part of ISO 10218 specifies requirements and guidelines for the inherent safe design, protective
measures and Information for Use of industrial robots, as defined in Clause 3. It describes basic hazards
associated with robots and provides requirements to eliminate, or adequately reduce, the risks associated with
these hazards.
This part of ISO 10218 does not address the robot as a complete machine. Noise emission is generally not
considered a significant hazard of the robot alone, but will be fully covered in Part 2 for the robot system or the
complete machine.
This part of ISO 10218 does not apply to non-industrial robots although the safety principles established in
ISO 10218 may be utilized for these other robots. Examples of non-industrial robot applications include, but
are not limited to: undersea, military and space robots, tele-operated manipulators, prosthetics and other aids
for the physically impaired, micro-robots (displacement less than 1 mm), surgery or healthcare, and service or
consumer products.
NOTE 1 Requirements for robot systems, integration, and installation are covered in Part 2.
NOTE 2 Additional hazards may be created by specific applications (e.g. welding, laser cutting, machining). These
hazards may need to be considered during robot design.
2 Normative references
The following referenced documents are indispensable for the application 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 9283:1998, Manipulating industrial robots — Performance criteria and related test methods
ISO 12100-1, Safety of machinery — Basic concepts, general principles for design — Part 1: Basic
terminology, methodology
ISO 12100-2, Safety of machinery — Basic concepts, general principles for design — Part 2: Technical
principles
ISO 13849-1:2006, Safety of machinery — Safety-related parts of control systems — Part 1: General
principles for design
ISO 13850, Safety of machinery — Emergency stop — Principles for design
ISO 13855, Safety of machinery — Positioning of protective equipment with respect to the approach speeds of
parts of the human body
ISO 14121, Safety of machinery — Principles for risk assessment
IEC 60204-1, Safety of machinery — Electrical equipment of machines — Part 1: General requirements
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IEC 62061:2005, Safety of machinery — Functional safety of safety-related electrical, electronic and
programmable control systems
IEC 61000-6-2, Electromagnetic compatibility (EMC) — Part 6-2: Generic standards — Immunity for industrial
environments
IEC 61000-6-4, Electromagnetic compatibility (EMC) — Part 6: Generic standards — Section 4: Emission
standard for industrial environments
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 12100-1 and the following apply.
3.1
actuating control
a) mechanical mechanism within a control device
EXAMPLE A rod which opens contacts.
b) device which initiates a (un)locking sequence
EXAMPLE Specialized key.
3.2
automatic mode
operating mode in which the robot control system operates in accordance with the task programme
[ISO 8373:1994, definition 5.3.8.1]
3.3
automatic operation
state in which the robot is executing its programmed task as intended
[ISO 8373:1994, definition 5.5]
3.4
collaborative operation
state in which purposely designed robots work in direct cooperation with a human within a defined workspace
3.5
collaborative workspace
workspace within the safeguarded space where the robot and a human can perform tasks simultaneously
during production operation
3.6
cycle
single execution of a task programme
[ISO 8373:1994, definition 6.22]
3.7
drive power
energy source or sources for the robot actuators
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3.8
end-effector
device specifically designed for attachment to the mechanical interface to enable the robot to perform its task
EXAMPLES Gripper, nutrunner, welding gun, spray gun.
[ISO 8373:1994, definition 3.11]
3.9
energy source
any electrical, mechanical, hydraulic, pneumatic, chemical, thermal, potential, kinetic, or other sources of
power
3.10
hazardous motion
any motion that is likely to cause personal physical injury or damage to health
3.11
limiting device
device that restricts the maximum space by stopping or causing to stop all robot motion and is independent of
the control programme and the task programmes
3.12
local control
state of the system or portions of the system in which the system is operated from the control panel or
pendant of the individual machines only
3.13
manual mode
control state that allows the generation, storage, and playback of positional data points
[ISO 8373:1994, definition 5.3.8.2 modified]
3.14
pendant
teach pendant
hand-held unit linked to the control system with which a robot can be programmed or moved
[ISO 8373:1994, definition 5.8]
3.15 Programme
3.15.1
control programme
inherent set of instructions which defines the capabilities, actions, and responses of a robot system
NOTE This programme is fixed and usually not modified by the user.
[ISO 8373:1994, definition 5.1.2]
3.15.2
task programme
set of instructions for motion and auxiliary functions that define the specific intended task of the robot system
NOTE 1 This type of programme is normally generated by the user.
NOTE 2 An application is a general area of work, a task is specific within the application.
[ISO 8373:1994, definition 5.1.1]
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3.15.3
task programming
act of providing the task programme (3.16.2)
[ISO 8373:1994, definition 5.2.1]
3.15.4
programmer
person designated to prepare the task programme
[ISO 8373:1994, definition 2.17]
3.15.5
programme path
path traced by the TCP during the execution of a task programme
3.15.6
programme verification
execution of a task programme for the purpose of confirming the robot path and process performance
NOTE Verification may include the total programme path or a segment of the path. The instructions may be executed
in a single instruction or continuous instruction sequence. Verification is used in new applications and in fine tuning/editing
of existing ones.
3.16
protective stop
type of interruption of operation that allows an orderly cessation of motion for safeguarding purposes and
which retains the programme logic to facilitate a restart
3.17
robot
industrial robot
automatically controlled, reprogrammable multipurpose manipulator, programmable in three or more axes,
which may be either fixed in place or mobile for use in industrial automation applications
NOTE 1 The robot includes:
⎯ the manipulator (including actuators);
⎯ the controller including teach pendant, and any communication interface (hardware and software).
NOTE 2 This includes any additional axes which are controlled by the robot controller.
NOTE 3 The following devices are considered industrial robots for the purpose of this part of ISO 10218:
— hand-guided robots;
— the manipulating portions of mobile robots;
— collaborating robots.
[ISO 8373:1994, definition 2.6 modified]
3.18
robot actuator
powered mechanism that converts electrical, hydraulic, or pneumatic energy to effect motion
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3.19
robot system
industrial robot system
system comprising:
⎯ robot;
⎯ end-effector(s);
⎯ any machinery, equipment, devices, or sensors supporting the robot performing its task
NOTE The robot system requirements, including those for controlling hazards, are contained in ISO 10218-2.
[ISO 8373:1994, definition 2.14 modified]
3.20
Safety-rated
having a prescribed safety function suitable for its intended use
3.20.1
Safety-rated monitored speed
a limit placed either on the Cartesian speed of a point relative to the robot flange (e.g. the TCP) or on the
speed of one or more axes having a specified sufficient safety performance
3.20.2
Safety-rated reduced speed
a safety-rated monitored speed where the speed limit is set to the value specified for reduced speed
(250mm/s or less)
NOTE 1 The safety-rated reduced speed value is not necessarily the value set in the reduced speed control function.
NOTE 2 The difference between safety-rated monitored speed and safety-rated reduced speed is that safety-rated
monitored speed can result in speeds greater than 250mm/s. This could be used for example to ensure that stopping
distances are minimized.
3.20.3
Safety-rated soft axis and space limiting
Safety-rated soft limit
a limit placed on the range of motion of the robot by a software or firmware based system having a specified
sufficient safety performance. The safety-rated soft limit might be the point where a stop is initiated, or it might
ensure that the robot does not move beyond the limit
3.20.4
Safety-rated output
an output signal having a specified sufficient safety performance
3.20.5
Safety-rated zone output
a safety-rated output indicating the state of the robot position relative to a safety-rated soft limit (e.g. inside the
zone or outside the zone)
3.21
simultaneous motion
motion of two or more robots at the same time under the control of a single control station and which may be
coordinated or may be synchronous using common mathematical correlation
EXAMPLE 1 Example of a single control station may be a teach pendant.
EXAMPLE 2 Coordination can be done as master/slave.
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3.22
single point of control
ability to operate the robot such that initiation of robot motion is only possible from one source of control and
cannot be overridden from another initiation source
3.23
singularity
condition where a set of robot axis velocities produces zero Cartesian velocity (translational or rotational) of
either the robot flange or the tool center point. Motions defined in Cartesian space that pass near singularities
can produce high axis speeds. These high speeds can be unexpected to an operator
3.24
reduced speed control
slow speed control
mode of robot motion control where the speed is limited to 250 mm/s or less to allow persons sufficient time to
either withdraw from the hazardous motion or stop the robot
3.25
space
three dimensional volume encompassing the movements of all robot parts through their axes
3.25.1
maximum space
space which can be swept by the moving parts of the robot as defined by the manufacturer, plus the space
which can be swept by the end-effector and the workpiece
[ISO 8373:1994, definition 4.8.1]
3.25.2
restricted space
portion of the maximum space restricted by limiting devices that establish limits which will not be exceeded
[ISO 8373:1994, definition 4.8.2 modified]
3.25.3
operating space
operational space
portion of the restricted space that is actually used while performing all motions commanded by the task
programme
[ISO 8373:1994, definition 4.8.3]
3.25.4
safeguarded space
space defined by the perimeter safeguarding devices
3.26
teach
teach programming
programming performed by
a) manually leading the robot end-effector; or
b) manually leading a mechanical simulating device; or
c) using a teach pendant to move the robot through the desired actions
[ISO 8373:1994, definition 5.2.3]
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3.27
teacher
person who provides the robot with a specific set of instructions to perform a task
NOTE See programmer (3.16.4).
3.28
tool centre point
TCP
point defined for a given application with regard to the mechanical interface coordinate system
[ISO 8373:1994, definition 4.9]
3.29
user
entity that uses robots and is responsible for the personnel associated with the robot operation
4 Hazard identification and risk assessment
Annex A contains a list of hazards that can be present with robots. A hazard analysis shall be carried out to
identify any further hazards that may be present.
A risk assessment shall be carried out on those hazards identified in the hazard identification. This risk
assessment shall give particular consideration to:
a) the intended operations at the robot, including teaching, maintenance, setting, and cleaning;
b) unexpected start-up;
c) access by personnel from all directions;
d) reasonably foreseeable misuse of the robot;
e) the effect of failure in the control system; and
f) where necessary, the hazards associated with the specific robot application.
Risks shall be eliminated or reduced first by design or by substitution, then by safeguarding and other
complementary measures. Any residual risks shall then be reduced by other measures (e.g. warnings, signs,
training).
The requirements contained in Clause 5 have been derived from the iterative process of applying
safeguarding measures, in accordance with Figures 1 and 2 of ISO 12100-1 and ISO 12100-2, to the hazards
identified in Annex A.
NOTE 1 ISO 12100 and ISO 14121 provide requirements and guidance in performing hazard identification and risk
reduction.
NOTE 2 Hazard identification and risk assessment requirements for robot systems, integration, and installation are
covered in Part 2.
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5 Design requirements and protective measures
5.1 General
The robot shall be designed according to the principles of ISO 12100-1 for relevant hazards. Significant
hazards, such as sharp edges, are not dealt with by this document.
Robots shall be designed and constructed to comply with the following requirements.
NOTE 1 The requirements for this clause can be satisfied by methods of verification including but not limited to:
⎯ A: visual inspection;
⎯
...
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