oSIST prEN ISO 10218-1:2020

Robots and robotic devices - Safety requirements for industrial robots - Part 1: Robots (ISO/DIS 10218-1:2020)

Robotik - Sicherheitsanforderungen für Industrieroboter - Teil 1: Roboter (ISO/DIS 10218-1:2020)

Robots et dispositifs robotiques - Exigences de sécurité pour les robots industriels - Partie 1 : Robots (ISO/DIS 10218-1:2020)

Roboti in robotske naprave - Varnostne zahteve za industrijske robote - 1. del: Roboti (ISO/DIS 10218-1:2020)

Standards Content (sample)

SLOVENSKI STANDARD
oSIST prEN ISO 10218-1:2020
01-april-2020
Roboti in robotske naprave - Varnostne zahteve za industrijske robote - 1. del:
Roboti (ISO/DIS 10218-1:2020)

Robots and robotic devices - Safety requirements for industrial robots - Part 1: Robots

(ISO/DIS 10218-1:2020)

Robotik - Sicherheitsanforderungen für Industrieroboter - Teil 1: Roboter (ISO/DIS 10218

-1:2020)

Robots et dispositifs robotiques - Exigences de sécurité pour les robots industriels -

Partie 1 : Robots (ISO/DIS 10218-1:2020)
Ta slovenski standard je istoveten z: prEN ISO 10218-1
ICS:
25.040.30 Industrijski roboti. Industrial robots.
Manipulatorji Manipulators
oSIST prEN ISO 10218-1:2020 en,fr,de

2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

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oSIST prEN ISO 10218-1:2020
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oSIST prEN ISO 10218-1:2020
DRAFT INTERNATIONAL STANDARD
ISO/DIS 10218-1
ISO/TC 299 Secretariat: SIS
Voting begins on: Voting terminates on:
2020-02-03 2020-04-27
Robotics — Safety requirements for robot systems in an
industrial environment —
Part 1:
Robots
ICS: 25.040.30
THIS DOCUMENT IS A DRAFT CIRCULATED
This document is circulated as received from the committee secretariat.
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
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BEING ACCEPTABLE FOR INDUSTRIAL,
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STANDARDS MAY ON OCCASION HAVE TO
BE CONSIDERED IN THE LIGHT OF THEIR
POTENTIAL TO BECOME STANDARDS TO
WHICH REFERENCE MAY BE MADE IN
Reference number
NATIONAL REGULATIONS.
ISO/DIS 10218-1:2020(E)
RECIPIENTS OF THIS DRAFT ARE INVITED
TO SUBMIT, WITH THEIR COMMENTS,
NOTIFICATION OF ANY RELEVANT PATENT
RIGHTS OF WHICH THEY ARE AWARE AND TO
PROVIDE SUPPORTING DOCUMENTATION. ISO 2020
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oSIST prEN ISO 10218-1:2020
ISO/DIS 10218-1:2020(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2020

All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may

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ii © ISO 2020 – All rights reserved
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oSIST prEN ISO 10218-1:2020
ISO/DIS 10218-1:2020(E)
Contents Page

Foreword ..........................................................................................................................................................................................................................................v

Introduction ................................................................................................................................................................................................................................vi

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

2 Normative references ...................................................................................................................................................................................... 1

3 Terms and definitions used in ISO 10218 .................................................................................................................................. 2

4 Risk Assessment.................................................................................................................................................................................................12

4.1 General ........................................................................................................................................................................................................12

4.2 Hazard elimination or risk reduction ...............................................................................................................................13

5 Design requirements and protective measures ................................................................................................................13

5.1 Robot design ..........................................................................................................................................................................................13

5.1.1 Mechanical strength and stability ..................................................................................................................13

5.1.2 Position holding .............................................................................................................................................................14

5.1.3 Auxiliary axis (axes) ...................................................................................................................................................14

5.1.4 Power loss or change ................................................................................................................................................14

5.1.5 Component malfunction .........................................................................................................................................14

5.1.6 Hazardous energy ........................................................................................................................................................14

5.1.7 Electromagnetic compatibility (EMC) ........................................................................................................15

5.1.8 Electrical, pneumatic and hydraulic parts of the robot ...............................................................15

5.1.9 Tool Centre Point (TCP) setting .......................................................................................................................16

5.1.10 Payload setting ...............................................................................................................................................................16

5.1.11 Cybersecurity ...................................................................................................................................................................16

5.1.12 Communications ...........................................................................................................................................................16

5.2 Controls ......................................................................................................................................................................................................17

5.2.1 General...................................................................................................................................................................................17

5.2.2 Protection from unexpected start-up .........................................................................................................17

5.2.3 Status indication ...........................................................................................................................................................17

5.2.4 Labelling ...............................................................................................................................................................................17

5.2.5 Single Point of Control .............................................................................................................................................17

5.3 Safety function requirements ..................................................................................................................................................17

5.3.1 General...................................................................................................................................................................................17

5.3.2 Functional safety standards ................................................................................................................................17

5.3.3 Performance requirements ..................................................................................................................................18

5.3.4 Failure or fault detection .......................................................................................................................................18

5.3.5 Parametrization of safety functions .............................................................................................................19

5.4 Robot stopping functions ............................................................................................................................................................19

5.4.1 General...................................................................................................................................................................................19

5.4.2 Emergency stop function .......................................................................................................................................19

5.4.3 Protective stop ................................................................................................................................................................20

5.5 Speed limit(s) monitoring ..........................................................................................................................................................21

5.5.1 Reduced-speed ...............................................................................................................................................................21

5.5.2 Monitored speed ...........................................................................................................................................................22

5.6 Modes ...........................................................................................................................................................................................................22

5.6.1 Selection ...............................................................................................................................................................................22

5.6.2 Automatic ............................................................................................................................................................................22

5.6.3 Manual ...................................................................................................................................................................................22

5.7 Controlling the robot ......................................................................................................................................................................24

5.7.1 General...................................................................................................................................................................................24

5.7.2 Cableless or detachable teach pendant .....................................................................................................24

5.7.3 Enabling device ..............................................................................................................................................................24

5.7.4 Emergency stop function .......................................................................................................................................24

5.7.5 Initiating automatic operation ..........................................................................................................................24

5.8 Control of simultaneous motion ...........................................................................................................................................25

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oSIST prEN ISO 10218-1:2020
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5.9 Axis limiting / limiting robot motion ...............................................................................................................................25

5.9.1 General...................................................................................................................................................................................25

5.9.2 Mechanical axis limiting devices .....................................................................................................................26

5.9.3 Electro-mechanical axis limiting devices .................. ...............................................................................26

5.9.4 Soft axis and space limiting safety function(s) ...................................................................................26

5.9.5 Dynamic limiting ...........................................................................................................................................................26

5.10 Movement without drive power ...........................................................................................................................................27

5.11 Provisions for lifting ........................................................................................................................................................................27

5.12 Electrical connectors ......................................................................................................................................................................27

5.13 Enabling device ......... ...........................................................................................................................................................................27

5.13.1 General...................................................................................................................................................................................27

5.13.2 Functionality ....................................................................................................................................................................27

5.13.3 Enabling device requirements for Class 1 robots .............................................................................28

5.14 Requirements for robots having safety functions to enable collaborative applications ......28

5.14.1 General...................................................................................................................................................................................28

5.14.2 Safety performance ........................................................................................................................................... ..........28

5.14.3 Hand-guided control (HGC) intended for collaborative tasks ...............................................28

5.14.4 Speed and separation monitoring (SSM) .................................................................................................29

5.14.5 Power and force limiting (PFL) by inherent design or safety function(s) ..................29

6 Verification and validation of safety requirements and protective measures ..................................30

6.1 General ........................................................................................................................................................................................................30

6.2 Verification and validation methods .................................................................................................................................30

6.3 Required verification and validation ................................................................................................................................30

7 Information for use .........................................................................................................................................................................................30

7.1 General ........................................................................................................................................................................................................30

7.1.1 Mechanical strength and stability ..................................................................................................................31

7.1.2 Hazardous energy ........................................................................................................................................................31

7.1.3 Functional safety ...........................................................................................................................................................32

7.1.4 Stops ........................................................................................................................................................................................32

7.1.5 Operating modes ...........................................................................................................................................................32

7.1.6 Movement without drive power ......................................................................................................................32

7.1.7 Enabling device(s) .......................................................................................................................................................33

7.1.8 Axis limiting ......................................................................................................................................................................33

7.1.9 Position holding device(s) ....................................................................................................................................34

7.2 Instruction handbook ....................................................................................................................................................................34

7.3 Marking ......................................................................................................................................................................................................36

Annex A (informative) List of significant hazards................................................................................................................................37

Annex B (informative) Illustrations of robot and robot system spaces ........................................................................40

Annex C (normative) Safety Functions ............................................................................................................................................................45

Annex D (normative) Presentation of the required safety function information ..............................................48

Annex E (normative) Test methodology – maximum force per manipulator..........................................................49

Annex F (normative) Table comparing emergency and protective stop functions ...........................................50

Annex G (informative) Symbols for modes and speeds ..................................................................................................................51

Annex H (normative) Means of verification and validation of the safety requirements and

measures ....................................................................................................................................................................................................................52

Annex I (normative) Stopping time and distance measurement .........................................................................................61

Annex J (informative) Optional features........................................................................................................................................................63

Annex ZA (informative) Relationship between this European Standard and the essential

requirements of Directive2006/42/EC aimed to be covered ..............................................................................65

Bibliography .............................................................................................................................................................................................................................67

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oSIST prEN ISO 10218-1:2020
ISO/DIS 10218-1:2020(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 299, Robotics.

This third edition cancels and replaces the second edition (ISO 10218-1:2011), which has been

technically revised.
The main changes compared to the previous edition are as follows:

— Incorporating safety requirements for industrial robots intended for use in collaborative applications

into the standard (formerly, the content of ISO/TS 15066:2016);
— Clarifying requirements for functional safety;

— Adding requirements for cybersecurity to the extent that it applies to industrial robot safet.

A list of all parts in the ISO 10218 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.
© ISO 2020 – All rights reserved v
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oSIST prEN ISO 10218-1:2020
ISO/DIS 10218-1:2020(E)
Introduction

ISO 10218 has been created in recognition of the particular hazards that are presented by robotics in

an industrial environment. Part 1 of ISO 10218 addresses robots as incomplete machines, while Part 2

addresses robots integrated into complete machines (systems) for specific applications.

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 and indicated in the Scope of this part of ISO 10218.

NOTE Not all of the hazards identified by ISO 10218-1 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 10218-1. A robot manufacturer’s 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 requirements 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 robot system, ISO 10218-2 provides guidelines for the safeguarding

of operators during integration, installation, functional testing, programming, operation, maintenance

and repair.

Both parts of ISO 10218 deal with robotics in an industrial environment. Other standards cover such

topics as coordinate systems and axis motions, general characteristics, performance criteria and

related testing methods, terminology, and mechanical interfaces. It is noted that these standards are

interrelated and related to other International Standards.

For ease of reading this part of ISO 10218, the words “robot” and “robot system” refer to “industrial

robot” and “industrial robot system” as defined in ISO 10218-1 and ISO 10218-2.

This part of ISO 10218 has been updated based on experience gained since the release of ISO 10218-1

and ISO 10218-2 in 2011. This standard remains aligned with minimum requirements of a harmonized

type-C standard for robots in an industrial environment.

Where appropriate, the guidance contained in ISO/TS 15066:2016 on the safety of collaborative robot

systems was added to ISO 10218. Most of ISO/TS 15066 was incorporated into ISO 10218-2, since

human-robot collaborative applies to the application and not the robot alone. Safety functions that

enable a collaborative task could be embedded in the robot or could be provided by a protective device,

or a combination of the robot and a protective device.

It is important to note that the term “collaborative robot” is not used in ISO 10218-1 as only the

application can be developed, verified and validated as a collaborative application. In addition, the term

“collaborative operation” is not used in this edition.
Revisions include, but are not limited to,
• category 2 stopping functions,
• definitions,
• functional safety requirements,
• marking,
• mode selection,
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oSIST prEN ISO 10218-1:2020
ISO/DIS 10218-1:2020(E)
• power and force limiting requirements,
• power loss requirements.

This part of ISO 10218 is not applicable to robots that were manufactured prior to its publication date.

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oSIST prEN ISO 10218-1:2020
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oSIST prEN ISO 10218-1:2020
DRAFT INTERNATIONAL STANDARD ISO/DIS 10218-1:2020(E)
Robotics — Safety requirements for robot systems in an
industrial environment —
Part 1:
Robots
1 Scope

This part of ISO 10218 specifies requirements and guidelines for the inherently safe design, protective

measures and information for use of robots for an industrial environment. 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 undersea, defence, law enforcement, military and space robots,

medical and healthcare, prosthetics and other aids for the physically impaired, service or consumer

products, tele operated manipulators, and micro robots (displacement less than 1 mm).

NOTE 1 Requirements for robot systems, integration, and applications are covered in ISO 10218-2.

NOTE 2 Additional hazards can be created by specific applications (e.g. welding, laser cutting, machining).

These system-related hazards need to be considered during robot system design. See ISO 10218-2.

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 4413, Hydraulic fluid power — General rules and safety requirements for systems and their components

ISO 4414, Pneumatic fluid power — General rules and safety requirements for systems and their components

ISO 9283, Manipulating industrial robots — Performance cri
...