oSIST prEN ISO 10218-1:2021
(Main)Robotics - Safety requirements - Part 1: Industrial robots (ISO/DIS 10218-1:2021)
Robotics - Safety requirements - Part 1: Industrial robots (ISO/DIS 10218-1:2021)
Robotik - Sicherheitsanforderungen für Robotersysteme im industriellen Umfeld - Teil 1: Roboter (ISO/DIS 10218-1:2021)
Dieses ISO-Dokument legt Anforderungen für die eigensichere Konstruktion, für Schutzmaßnahmen und Informationen für die Nutzung von Robotern in Industrieumgebungen fest.
Dieses ISO-Dokument betrachtet den Roboter als unvollständige Maschine.
Dieses ISO-Dokument gilt nicht für die folgenden Verwendungen und Produkte:
- Unterwasser;
- Strafverfolgung;
- Militär (Verteidigung);
- Luft- und Raumfahrtroboter, einschließlich Weltraum;
- Medizinroboter;
- Gesundheitspflegeroboter;
- Prothesen und sonstige Hilfsmittel für Körperbehinderte;
- Serviceroboter, deren Dienste von Personen beansprucht werden und daher öffentlich zugänglich sind;
- Konsumprodukte für die Verwendung im Haushalt, da diese öffentlich zugänglich sind;
- Anheben oder Transport von Personen;
- mobile Plattformen;
- Tele-betriebene Manipulatoren.
ANMERKUNG 1 Anforderungen an Robotersysteme, die Integration und Anwendungen werden in ISO 10218-2 behandelt.
ANMERKUNG 2 Durch spezielle Anwendungen können zusätzliche Gefährdungen verursacht werden (z. B. Schweißen, Laserstrahlschneiden, spanabhebende Bearbeitung). Diese systembezogenen Gefährdungen sind bei der Konstruktion von Robotersystemen und Roboteranwendungen zu beachten. Siehe ISO 10218-2.
Dieses Dokument behandelt alle signifikanten Gefährdungen, Gefährdungssituationen oder Gefährdungsereignisse, wenn sie bestimmungsgemäß und unter bestimmten Bedingungen von durch den Hersteller vernünftigerweise vorhersehbaren Fehlanwendungen verwendet werden.
Dieses Dokument behandelt nicht Gefährdungen in Zusammenhang mit:
- schweren Bedingungen (z. B. extreme Klimabedingungen, Anwendungen bei sehr niedrigen Temperaturen, starke Magnetfelder) außerhalb der Herstellerangaben;
- Untertagenutzung;
- spezifischen Hygieneanforderungen;
- der Verwendung in nuklearen Umgebungen;
- der Verwendung in möglicherweise explosiven Umgebungen;
- der Verwendung in Umgebungen mit ionisierender und nichtionisierender Strahlungsbelastung;
- gefährlicher ionisierender und nichtionisierender Strahlung;
- der Handhabung von Lasten, deren Eigenschaften zu gefährlichen Situationen führen kann (z. B. geschmolzene Metalle, Säuren/Basen, strahlende Materialien);
- Umgang, Beförderung oder Transport von Personen;
- der Öffentlichkeit oder wenn nicht berufstätigen Erwachsene Zugang haben, d. h. Serviceroboter, Konsumgüter.
Lärmemission wird im Allgemeinen nicht als signifikante Gefährdung, die vom Roboter allein ausgeht, betrachtet; daher ist Lärm aus dem Anwendungsbereich dieses Dokuments ausgeschlossen.
Dies gilt nicht für Roboter, die vor dessen Veröffentlichung hergestellt wurden.
Robotique - Exigences de sécurité - Partie 1: Robots industriels (ISO/DIS 10218-1:2021)
Robotika - Varnostne zahteve - 1. del: Industrijski roboti (ISO/DIS 10218-1:2021)
General Information
Relations
Standards Content (Sample)
SLOVENSKI STANDARD
oSIST prEN ISO 10218-1:2021
01-julij-2021
Robotika - Varnostne zahteve - 1. del: Industrijski roboti (ISO/DIS 10218-1:2021)
Robotics - Safety requirements - Part 1: Industrial robots (ISO/DIS 10218-1:2021)
Robotik - Sicherheitsanforderungen für Robotersysteme im industriellen Umfeld - Teil 1:
Roboter (ISO/DIS 10218-1:2021)
Robotique - Exigences de sécurité - Partie 1: Robots industriels (ISO/DIS 10218-1:2021)
Ta slovenski standard je istoveten z: prEN ISO 10218-1
ICS:
25.040.30 Industrijski roboti. Industrial robots.
Manipulatorji Manipulators
oSIST prEN ISO 10218-1:2021 en,fr,de
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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oSIST prEN ISO 10218-1:2021
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oSIST prEN ISO 10218-1:2021
DRAFT INTERNATIONAL STANDARD
ISO/DIS 10218-1.2
ISO/TC 299 Secretariat: SIS
Voting begins on: Voting terminates on:
2021-06-16 2021-08-11
Robotics — Safety requirements —
Part 1:
Industrial 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
ISO/CEN PARALLEL PROCESSING
BEING ACCEPTABLE FOR INDUSTRIAL,
TECHNOLOGICAL, COMMERCIAL AND
USER PURPOSES, DRAFT INTERNATIONAL
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 10218-1.2:2021(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 2021
---------------------- Page: 3 ----------------------
oSIST prEN ISO 10218-1:2021
ISO/DIS 10218-1.2:2021(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2021
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: +41 22 749 01 11
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2021 – All rights reserved
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oSIST prEN ISO 10218-1:2021
ISO/DIS 10218-1.2:2021(E)
© ISO 2020
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: +41 22 749 01 11
Fax: +41 22 749 09 47
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
© ISO 2021 – All rights reserved 3
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oSIST prEN ISO 10218-1:2021
ISO/DIS 10218-1.2:2021(E)
Contents
Foreword . 7
Introduction . 9
1 Scope . 11
2 Normative references . 12
3 Terms, definitions and abbreviations . 13
3.1 Terms and definitions . 13
3.1.1 Robot, robot system, robot application, application . 13
3.1.2 Sub-assemblies and components of robots, robot systems and robot
applications . 15
3.1.3 Controls-related . 16
3.1.4 Program-related . 18
3.1.5 Power-related . 18
3.1.6 Hazard-related . 19
3.1.7 Roles . 19
3.1.8 Functional safety-related. 20
3.1.9 Spaces, zones and distances . 21
3.1.10 Risk reduction measures . 23
3.1.11 Verification and validation. 24
3.2 Abbreviated terms . 24
4 Risk Assessment . 25
5 Design and protective measures . 26
5.1 Robot design . 26
5.1.1 General . 26
5.1.2 Materials, mechanical strength and mechanical design . 26
5.1.3 Handling, lifting and transportation . 27
5.1.4 Packaging . 27
5.1.5 Stability . 27
5.1.6 Temperature and fire risks . 27
5.1.7 Special equipment . 27
5.1.8 Position holding. 28
5.1.9 Auxiliary axis (axes) . 28
5.1.10 Power loss or change . 28
5.1.11 Component malfunction . 28
5.1.12 Hazardous energy . 28
5.1.13 Electrical, pneumatic and hydraulic parts . 29
5.1.14 Tool centre point (TCP) setting . 30
5.1.15 Payload setting . 30
5.1.16 Cybersecurity . 30
5.1.17 Robot class . 31
5.2 Robot controls . 32
5.2.1 General . 32
5.2.2 Protection from unexpected start- up . 32
5.2.3 Singularity . 32
5.2.4 Interlocking functions . 32
5.2.5 Status indication and warning devices . 32
5.2.6 Labelling . 33
5.2.7 Single point of control . 33
4 © ISO 2021 – All rights reserved
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oSIST prEN ISO 10218-1:2021
ISO/DIS 10218-1.2:2021(E)
5.2.8 Modes . 33
5.2.9 Means of controlling the robot . 35
5.2.10 Means of initiating automatic operation . 37
5.3 Safety functions . 37
5.3.1 General . 37
5.3.2 Functional safety standards . 37
5.3.3 Performance . 38
5.3.4 Failure or fault detection . 38
5.3.5 Parametrization of safety functions . 38
5.3.6 Communications . 39
5.3.7 Electromagnetic compatibility (EMC) . 40
5.4 Robot stopping functions . 40
5.4.1 General . 40
5.4.2 Emergency stop . 41
5.4.3 Protective stop . 42
5.4.4 Other stop . 42
5.5 Other safety functions . 43
5.5.1 Start and restart interlocking . 43
5.5.2 Speed limit(s) monitoring. 43
5.5.3 Enabling function . 44
5.6 Simultaneous motion . 45
5.7 Limiting robot motion . 46
5.7.1 General . 46
5.7.2 Mechanical axis limiting devices . 46
5.7.3 Electro-mechanical axis limiting devices . 47
5.7.4 Soft axis and space limiting . 47
5.7.5 Dynamic limiting . 47
5.8 Movement without drive power . 47
5.9 Lasers and laser equipment . 48
5.10 Capabilities for collaborative applications . 48
5.10.1 General . 48
5.10.2 Hand-guided controls (HGC) . 48
5.10.3 Speed and separation monitoring (SSM) . 49
5.10.4 Power and force limiting (PFL) by inherent design or safety function(s) . 49
6 Verification and validation of safety requirements and protective
measures . 50
6.1 General . 50
6.2 Verification and validation . 50
7 Information for use . 50
7.1 General . 50
7.2 Signals and warning devices . 50
7.3 Marking. 50
7.4 Signs (pictograms) and written warnings . 51
7.5 Instruction handbook . 51
7.5.1 General . 51
7.5.2 Identification . 52
7.5.3 Intended use . 52
7.5.4 Installation . 52
7.5.5 Stopping . 53
7.5.6 Commissioning and programming . 53
7.5.7 Operation and setting . 53
7.5.8 Singularity . 53
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oSIST prEN ISO 10218-1:2021
ISO/DIS 10218-1.2:2021(E)
7.5.9 Hazardous energy . 53
7.5.10 Movement without drive power . 54
7.5.11 Cybersecurity . 54
7.5.12 Functional safety . 54
7.5.13 Teach pendants . 57
7.5.14 Integration into a robot system . 57
7.5.15 Maintenance . 57
7.5.16 Protection against electrical shock . 58
7.5.17 Abnormal and emergency situations . 58
7.5.18 Handling, lifting and transportation . 58
Annex A (informative) List of significant hazards . 59
Annex B (informative) Illustrations spaces . 63
Annex C (normative) Safety functions . 67
Annex D (normative) Required safety function information . 71
Annex E (normative) Test methodology for Class I robots
– maximum force per manipulator (F ) . 73
MPM
E.1 General . 73
E.2 Test methodology for Class I robots . 73
Annex F (informative) Symbols . 81
Annex G (normative) Means of verification and validation of the design and
protective measures . 83
Annex H (normative) Stopping time and distance measurement . 97
Annex I (informative) Optional features. 99
I.1 General . 99
I.2 Emergency stop safety function outputs . 99
I.3 Enabling device functionality . 99
I.4 Mode selection output . 99
I.5 Anti-collision sensing . 99
I.6 Maintaining path accuracy across all speeds . 100
I.7 Optional capabilities . 100
I.7.1 Configurable position for as a monitored position safety function . 100
I.7.2 Stopping performance safety function(s) or non-safety measurement . 100
I.7.3 Real-time interfaces safety function . 100
Annex ZA (informative) Relationship between this European Standard
and the essential requirements of Directive 2006/42/EC aimed to be
covered . 101
Bibliography . 103
6 © ISO 2021 – All rights reserved
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oSIST prEN ISO 10218-1:2021
ISO/DIS 10218-1.2:2021(E)
Foreword
1 ISO (the International Organization for Standardization) is a worldwide federation of
2 national standards bodies (ISO member bodies). The work of preparing International
3 Standards is normally carried out through ISO technical committees. Each member body
4 interested in a subject for which a technical committee has been established has the right
5 to be represented on that committee. International organizations, governmental and non-
6 governmental, in liaison with ISO, also take part in the work. ISO collaborates closely with
7 the International Electrotechnical Commission (IEC) on all matters of electrotechnical
8 standardization.
9 The procedures used to develop this document and those intended for its further
10 maintenance are described in the ISO/IEC Directives, Part 1. In particular, the different
11 approval criteria needed for the different types of ISO documents should be noted. This
12 document was drafted in accordance with the editorial rules of the ISO/IEC Directives,
13 Part 2 (see www.iso.org/directives).
14 Attention is drawn to the possibility that some of the elements of this document may be the
15 subject of patent rights. ISO shall not be held responsible for identifying any or all such
16 patent rights. Details of any patent rights identified during the development of the
17 document will be in the Introduction and/or on the ISO list of patent declarations received
18 (see www.iso.org/patents).
19 Any trade name used in this document is information given for the convenience of users
20 and does not constitute an endorsement.
21 For an explanation of the voluntary nature of standards, the meaning of ISO specific terms
22 and expressions related to conformity assessment, as well as information about ISO's
23 adherence to the World Trade Organization (WTO) principles in the Technical Barriers to
24 Trade (TBT), see www.iso.org/iso/foreword.html.
25 This document was prepared by Technical Committee ISO/TC 299, Robotics, in
26 collaboration with the European Committee for Standardization (CEN) Technical
27 Committee CEN/TC 310, Advanced automation technologies and their applications, in
28 accordance with the Agreement on technical cooperation between ISO and CEN (Vienna
29 Agreement).
30 This third edition cancels and replaces the second edition (ISO 10218-1:2011), which has
31 been technically revised.
32 The main changes compared to the previous edition are as follows:
33 — incorporating safety requirements for industrial robots intended for use in
34 collaborative applications (formerly, the content of ISO/TS 15066);
35 — clarifying requirements for functional safety;
36 — adding requirements for cybersecurity to the extent that it applies to industrial robot
37 safety.
38 A list of all parts in the ISO 10218 series can be found on the ISO website.
© ISO 2021 – All rights reserved 7
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oSIST prEN ISO 10218-1:2021
ISO/DIS 10218-1.2:2021(E)
39 Any feedback or questions on this document should be directed to the user’s national
40 standards body. A complete listing of these bodies can be found at
41 www.iso.org/members.html.
8 © ISO 2021 – All rights reserved
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oSIST prEN ISO 10218-1:2021
ISO/DIS 10218-1.2:2021(E)
42 Introduction
43 The ISO 10218 series has been created in recognition of the particular hazards that are
44 presented by robotics in an industrial environment. ISO This document addresses robots
45 as incomplete machines, while ISO 10218-2 addresses robots integrated into complete
46 machines (systems, applications, cells).
47 This ISO document is a type-C standard according to ISO 12100.
48 This document is of relevance, in particular, for the following stakeholder groups
49 representing the market players with regard to robot safety:
50 — robot manufacturers (small, medium and large enterprises);
51 — robot system/ application integrators (small, medium and large enterprises);
52 — health and safety bodies (regulators, accident prevention organisations, market
53 surveillance etc).
54 Others can be affected by the level of safety achieved with the means of the document by
55 the above-mentioned stakeholder groups:
56 — robot system users/employers (small, medium and large enterprises);
57 — robot system users/employees (e.g. trade unions);
58 — service providers, e. g. for maintenance (small, medium and large enterprises);
59 The above-mentioned stakeholder groups have been given the possibility to participate at
60 the drafting process of this document.
61 Robots and the extent to which hazards, hazardous situations or hazardous events are
62 covered is indicated in the Scope of this ISO document.
63 When provisions of a type-C standard are different from those which are stated in type-A
64 or type-B standards, the provisions of the type-C standard take precedence over the
65 provisions of the other standards for machines that have been designed and built in
66 accordance with the provisions of the type-C standard.
67 In recognition of the variable nature of hazards with different uses of industrial robots, the
68 ISO 10218 series is divided into two parts. This document ISO provides requirements for
69 safety in the design and construction of the robot. Since safety in the application of
70 industrial robots is influenced by the design and application of the robot application,
71 ISO 10218-2 provides requirements for the safeguarding of operators during integration,
72 commissioning, functional testing, programming, operation and maintenance.
73 The ISO 10218 series deals with robotics in an industrial environment, which is comprised
74 of workplaces where the public is excluded and the people (operators) are working adults.
75 Other standards cover such topics as coordinate systems and axis motions, general
76 characteristics, performance criteria and related testing methods, terminology, and
77 mechanical interfaces.
78 For ease of reading this ISO document, the words “robot” and “robot system” refer to
79 “industrial robot” and “industrial robot system” as defined in this document.
80 This ISO document has been updated based on experience gained since the release of the
81 ISO 10218 series in 2011. This document remains aligned with the minimum requirements
82 of a harmonized type-C standard for robots in an industrial environment.
© ISO 2021 – All rights reserved 9
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oSIST prEN ISO 10218-1:2021
ISO/DIS 10218-1.2:2021(E)
83 Where appropriate, ISO/TS 15066:2016 on the safety of collaborative robot systems, was
84 added to the ISO 10218 series. Most of ISO/TS 15066 has been incorporated into
85 ISO ISO/DIS 10218-2:2020), since human-robot collaboration relates to the application
86 and not the robot alone. Safety functions that enable a collaborative task can be embedded
87 in the robot or can be provided by a protective device, or a combination of the robot and a
88 protective device.
89 It is important to emphasize that the term “collaborative robot” is not used in ISO this
90 document as only the application can be developed, verified and validated as a collaborative
91 application. In addition, the term “collaborative operation” is not used in this document.
92 Revisions include the following:
93 — category 2 stopping functions;
94 — cybersecurity;
95 — definitions and abbreviations;
96 — details within the information for use clause;
97 — functional safety requirements;
98 — hand-guided control (HGC) requirements;
99 — markings;
100 — mechanical strength and stability requirements;
101 — mode selection;
102 — power and force limiting (PFL) requirements to enable collaborative applications;
103 — power loss requirements;
104 — hand-guided controls (HGC) requirements;
105 — robot classification (Class I and Class II) for functional safety requirements;
106 — spaces (maximum, restricted) figures shown in Annex
...
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.
---------------------- Page: 1 ----------------------
oSIST prEN ISO 10218-1:2020
---------------------- Page: 2 ----------------------
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
ISO/CEN PARALLEL PROCESSING
BEING ACCEPTABLE FOR INDUSTRIAL,
TECHNOLOGICAL, COMMERCIAL AND
USER PURPOSES, DRAFT INTERNATIONAL
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
---------------------- Page: 3 ----------------------
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
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: +41 22 749 01 11
Fax: +41 22 749 09 47
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2020 – All rights reserved
---------------------- Page: 4 ----------------------
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
© ISO 2020 – All rights reserved iii
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oSIST prEN ISO 10218-1:2020
ISO/DIS 10218-1:2020(E)
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.
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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
...
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