SIST EN ISO 3991:2026

Agricultural machinery - Robotic feed systems - Safety (ISO 3991:2025)

This document specifies the safety requirements and their verification for the design and construction of robotic feed systems (RFS) (see Annex A), which distribute feed and perform at least one of the following functions without the need of human interaction:
—     storing of feed;
—     loading of mobile feed unit (MFU);
—     mixing;
—     travelling;
—     cleaning (residual feed);
—     pushing feed.
Additionally, it provides the type of information, to be provided by the manufacturer, on safe working practices (including information about residual risks).
This document is for feeding livestock (e.g. cows, sheep, pigs).
This document does not apply to:
—     systems designed to be used at a fixed location and that discharge feed at a remote location (e.g. chain conveyor feed systems, belt conveyor feed systems or liquid feed systems);
—     tractors;
—     systems designed for field application.
This document deals with all the significant hazards, hazardous situations and events relevant to RFS, see Annex B, when they are used as intended and under the conditions of misuse, which are reasonably foreseeable, by the manufacturer as listed in Clause 4, except for the hazards arising from:
—     internal combustion engines of RFS;
—     requirements for the connections to the main electric power supply;
—     RFS with interchangeable equipment;
—     emission of airborne noise.
NOTE 1        Hazards related to internal combustion engines of robotic feed systems (e.g. exhaust emissions in buildings) will be considered in separate standards
NOTE 2        The main electric power supply is subject to national regulations or codes
NOTE 3        Sudden loud noises may cause farm animals to become startled. It is advised to consider this with the design of the RFS.
Environmental aspects (except noise) have not been considered in this document.
This document is not applicable to feed systems manufactured before the date of its publication.

Landmaschinen - Roboter-Fütterungssysteme - Sicherheit (ISO 3991:2025)

Dieses Dokument legt die Sicherheitsanforderungen und ihre Verifizierung für die Gestaltung und Konstruktion von Roboter-Tierfuttersystemen (RFS) (siehe Anhang A), die Tierfutter verteilen und mindesten eine der folgenden Funktionen ausführen, ohne dass eine menschliche Interaktion erforderlich ist, fest:
   Lagerung von Tierfutter;
   Beladen der mobilen Tierfuttereinheit (MFU, en: mobile feed unit);
   Mischen;
   Verfahren;
   Reinigen (Tierfutterrückstände);
   Tierfutter-Vorschub.
Zudem liefert es die Art von Informationen, die der Hersteller zu sicheren Arbeitspraktiken (einschließlich Informationen zu Restrisiken) angeben muss.
Dieses Dokument gilt für das Füttern von Vieh (z. B, Kühe, Schafe, Schweine).
Dieses Dokument gilt nicht für:
   Systeme, die für den Einsatz an einem festen Standort vorgesehen sind und Tierfutter an einem entfernten Standort ausgeben (z. B. Kettenförderer-Tierfuttersysteme, Bandförderer-Tierfuttersysteme oder Flüssigkeits-Tierfuttersysteme);
   Traktoren;
   Systeme, die für die Feldanwendung vorgesehen sind.
Dieses Dokument behandelt alle signifikanten Gefährdungen, Gefährdungssituationen und Gefährdungsereignisse, die auf RFS, siehe Anhang B, zutreffen, wenn sie bestimmungsgemäß und unter den durch den Hersteller vernünftigerweise vorhersehbaren Bedingungen von Fehlanwendungen verwendet werden, wie in Abschnitt 4 beschrieben, mit Ausnahme von Gefährdungen durch:
   Interne Verbrennungsmotoren von RFS;
   Anforderungen an die Anschlüsse an die Netzstromversorgung;
   RFS mit austauschbarer Ausrüstung;
   Luftschallemission.
ANMERKUNG 1   Gefährdungen in Verbindung mit internen Verbrennungsmotoren von Roboter-Tierfuttersystemen (z. B. Abgasemissionen in Gebäuden) werden in separaten Normen behandelt.
ANMERKUNG 2   Die Netzstromversorgung unterliegt nationalen Vorschriften oder Codes.
ANMERKUNG 3   Plötzliche laute Geräusche können dazu führen, dass Nutztiere aufschrecken. Es wird geraten, dies bei der Konstruktion des RFS zu berücksichtigen. Umweltaspekte (außer Lärm) sind in diesem Dokument nicht in Betracht gezogen.
Dieses Dokument gilt nicht für Tierfuttersysteme, die vor dem Datum der Veröffentlichung dieser Norm hergestellt wurden.

Matériel agricole - Systèmes d'alimentation robotisés - Sécurité (ISO 3991:2025)

Le présent document spécifie les exigences de sécurité et leur vérification pour la conception et la construction de systèmes d'alimentation robotisés (RFS) (voir l'Annexe A) qui distribuent l'alimentation et effectuent au moins une des fonctions suivantes sans nécessiter d'interaction humaine:
—     stockage de l'alimentation;
—     chargement de l'unité d'alimentation mobile (MFU);
—     mélange;
—     déplacement;
—     nettoyage (alimentation résiduelle);
—     poussée de l'alimentation.
De plus, elle spécifie le type d'informations que le fabricant est tenu de fournir au sujet des pratiques d'utilisation sûres (y compris les informations relatives aux risques résiduels).
Le présent document est destiné à l'alimentation du bétail (par exemple, vaches, moutons, cochons).
Le présent document ne s'applique pas aux:
—     systèmes conçus pour être utilisés à un emplacement fixe et qui éjectent l'alimentation à un emplacement distant (par exemple, systèmes d'alimentation par convoyeur à chaîne, systèmes d'alimentation par convoyeur à courroie ou systèmes d'alimentation liquide);
—     tracteurs;
—     systèmes conçus pour une application au champ.
Le présent document traite de tous les phénomènes dangereux, situations dangereuses et événements dangereux significatifs concernant les RFS, voir l'Annexe B, lorsque ceux-ci sont utilisés tel que prévu et dans les conditions de mauvais usage raisonnablement prévisibles par le fabricant, tel qu'indiqué dans l'Article 4, à l'exception des phénomènes dangereux découlant:
—     des moteurs à combustion interne des RFS;
—     des exigences relatives aux raccordements au réseau d'alimentation électrique;
—     des RFS à équipement interchangeable;
—     de l'émission de bruit aérien.
NOTE 1        Les phénomènes dangereux liés aux moteurs à combustion interne des systèmes d'alimentation robotisés (par exemple, les émissions de gaz d'échappement dans les bâtiments) seront traités dans des normes distinctes.
NOTE 2        La source d'alimentation électrique principale est soumise à des réglementations ou codes nationaux.
NOTE 3        Des bruits forts et soudains peuvent faire sursauter les animaux d'élevage. Il est recommandé de tenir compte de ce point lors de la conception du RFS.
Les aspects liés à l'environnement (à l'exception du bruit) n'ont pas été pris en compte dans le présent document.
Le présent document n'est pas applicable aux systèmes d'alimentation fabriqués avant la date de sa publication.

Kmetijski stroji - Robotski sistemi za krmljenje - Varnost (ISO 3991:2025)

General Information

• Status: Published
• Public Enquiry End Date: 27-Mar-2023
• Publication Date: 03-Dec-2025
• ICS: 65.060.99 - Other agricultural machines and equipment
• Technical Committee: IMKG - Machinery for agriculture and forestry
• Current Stage: 6060 - National Implementation/Publication (Adopted Project)
• Start Date: 03-Dec-2025
• Due Date: 07-Feb-2026
• Completion Date: 04-Dec-2025
• Directive: 2006/42/EC - Directive 2006/42/EC of the European Parliament and of the Council of 17 May 2006 on machinery, and amending Directive 95/16/EC (recast)
• Mandate: M/396 - Mandate to CEN and Cenelec for standardisation in the field of machinery
• Ref Project: EN ISO 3991:2025 - Agricultural machinery - Robotic feed systems - Safety (ISO 3991:2025)

Standards Content (Sample)

SLOVENSKI STANDARD
01-januar-2026
Kmetijski stroji - Robotski sistemi za krmljenje - Varnost (ISO 3991:2025)
Agricultural machinery - Robotic feed systems - Safety (ISO 3991:2025)
Landmaschinen - Roboter-Fütterungssysteme - Sicherheit (ISO 3991:2025)
Matériel agricole - Systèmes d'alimentation robotisés - Sécurité (ISO 3991:2025)
Ta slovenski standard je istoveten z: EN ISO 3991:2025
ICS:
65.060.99 Drugi kmetijski stroji in Other agricultural machines
oprema and equipment
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

EN ISO 3991
EUROPEAN STANDARD
NORME EUROPÉENNE
November 2025
EUROPÄISCHE NORM
ICS 65.060.99
English Version
Agricultural machinery - Robotic feed systems - Safety
(ISO 3991:2025)
Matériel agricole - Systèmes d'alimentation robotisés - Landmaschinen - Roboter-Fütterungssysteme -
Sécurité (ISO 3991:2025) Sicherheit (ISO 3991:2025)
This European Standard was approved by CEN on 14 March 2025.

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, Republic of North Macedonia, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland, Türkiye and
United Kingdom.
EUROPEAN COMMITTEE FOR STANDARDIZATION
COMITÉ EUROPÉEN DE NORMALISATION

EUROPÄISCHES KOMITEE FÜR NORMUNG

CEN-CENELEC Management Centre: Rue de la Science 23, B-1040 Brussels
© 2025 CEN All rights of exploitation in any form and by any means reserved Ref. No. EN ISO 3991:2025 E
worldwide for CEN national Members.

Contents Page
European foreword . 3
Annex ZA (informative) Relationship between this European Standard and the Essential
Requirements of EU Directive 2006/42/EC amended by Directive 2009/127/EC
aimed to be covered . 4
European foreword
This document (EN ISO 3991:2025) has been prepared by Technical Committee ISO/TC 23 "Tractors
and machinery for agriculture and forestry" in collaboration with Technical Committee CEN/TC 144
“Tractors and machinery for agriculture and forestry” the secretariat of which is held by AFNOR.
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 May 2026, and conflicting national standards shall be
withdrawn at the latest by May 2026.
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. CEN shall not be held responsible for identifying any or all such patent rights.
This document has been prepared under a standardization request addressed to CEN by the European
Commission. The Standing Committee of the EFTA States subsequently approves these requests for its
Member States.
For the relationship with EU Legislation, see informative Annex ZA, which is an integral part of this
document.
Any feedback and questions on this document should be directed to the users’ national standards
body/national committee. A complete listing of these bodies can be found on the CEN website.
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, Republic of
North Macedonia, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland, Türkiye and the
United Kingdom.
Endorsement notice
The text of ISO 3991:2025 has been approved by CEN as EN ISO 3991:2025 without any modification.

Annex ZA
(informative)
Relationship between this European Standard and the Essential
Requirements of EU Directive 2006/42/EC amended by Directive
2009/127/EC aimed to be covered
This European Standard has been prepared under a Commission’s standardization request “M/396
Mandate to CEN and CENELEC for Standardisation in the field of machinery" to provide one voluntary
means of conforming to essential requirements of Directive 2006/42/EC of the European Parliament
and of the Council of 17 May 2006 on machinery and amending Directive 95/16/EC (recast).
Once this standard is cited in the Official Journal of the European Union under that Directive,
compliance with the normative clauses of this standard given in Table ZA.1 confers, within the limits of
the scope of this standard, a presumption of conformity with the corresponding essential requirements
of that Directive, and associated EFTA regulations.
Table ZA.1 — Correspondence between this European Standard and EU Directive 200 6/42/EC
amended by Directive 2009/127/EC
The relevant Essential Requirements of Clause(s)/subclause(s) of Remarks/Notes
Directive 2006/42/EC this EN
To cover all the relevant safety requirements for
the products(s) in its scope, this standard
(providing global requirements and references to
regional requirements for a machine) has to be
applied together with one of those standards as
specified in the scope (providing European
regional requirements for a machine).
1.1.2. Principles of safety integration ---
1.1.2(a) 4, 5, 6
1.1.2(c) 4, 5, 6
1.1.2(d) 4, 5, 6
1.1.2(e) 4, 5, 6
1.1.4. Lighting 4.5.2, 7.1
1.1.5. Design of machinery to facilitate its handling 4.1, 4.6.1
1.1.6. Ergonomics 4.1, 4.4, 4.10.1, 4.10.2.3
1.1.7. Operating positions 4.2.1, 4.4, 4.10.2.3
1.1.8. Seating 4.10.2.3
1.2.1. Safety and reliability of control systems 4.1, 4.6.2.1, Annex C
1.2.2. Control devices 4.10, 7.1
1.2.3. Starting 4.6.1, 4.6.2.2.1, 4.6.2.3.1,
The relevant Essential Requirements of Clause(s)/subclause(s) of Remarks/Notes
Directive 2006/42/EC this EN
4.12, 5.3.3
1.2.4.1. Normal stop 4.6.3, 4.10, 4.11.1, 4.11.3,
4.11.4
1.2.4.2. Operational stop 4.6.2.2.5, 4.6.2.3.5, 4.6.3, 4.7,
4.11.1, 4.11.2
1.2.4.3. Emergency stop 4.13
1.2.4.4. Assembly of machinery  Not covered
1.2.5. Selection of control or operating modes 4.10.2.1, 4.11, 7.1
1.2.6. Failure of the power supply 4.6.3, 4.11.1, 4.13
1.3.1. Risk of loss of stability 4.6.1
1.3.2. Risk of break-up during operation 4.1, 4.6.1, 4.6.3 ,4.12, 7.1
1.3.3. Risks due to falling or ejected objects 4.3, 4.6.6.1, 4.6.6.4
1.3.4. Risks due to surfaces, edges or angles 4.1, 4.6.1
1.3.6. Risks related to variations in operating Not covered
conditions
1.3.7. Risks related to moving parts 4.1, 4.2, 4.4, 4.7, 4.10.1, 4.12,
5.3.3
1.3.8. Choice of protection against risks arising from 4.1, 4.2, 4.2.1, 4.2.2, 4.3, 4.4,
moving parts 4.6.6, 4.12, 5.2, 5.3.3
1.3.9. Risks of uncontrolled movements 4.2.1, 4.4, 4.5.1, 4.6.1, 4.6.3,
4.6.6.1, 4.7, 4.11.1, 4.11.2,
4.11.4, 4.11.5, 4.13, 5.2, 5.3.3
1.4.1. General requirements 4.1, 4.6.2.1
1.4.2.1. Fixed guards 4.1, 5.3.3
1.4.2.2. Interlocking movable guards 4.4, 5.3.3
1.4.3. Special requirements for protective devices 4.6.2.1, 4.6.2.2, 4.6.2.3,
4.10.2.3, 4.12, 5.3.3
1.5.1. Electricity supply 4.9
1.5.6. Fire 4.9, 4.15
1.5.7. Explosion 4.9.2, 4.15
1.5.8. Noise Not covered
1.5.9. Vibrations 4.6.1
1.5.10. Radiation 4.1, 4.16, 7.1
1.5.11. External radiation 4.1
1.5.12. Laser radiation 4.1, 7.1
1.5.13. Emissions of hazardous materials and 4.9.1, 7.1
The relevant Essential Requirements of Clause(s)/subclause(s) of Remarks/Notes
Directive 2006/42/EC this EN
substances
1.5.14. Risk of being trapped in a machine 4.2.1
1.5.15. Risk of slipping, tripping or falling 4.4, 5.2
1.6.1. Machinery maintenance 4.6.6.1, 4.12, 5.2
1.6.2. Access to operating positions and servicing 4.10.2.3, 4.12, 5.2
points
1.6.3. Isolation of energy sources 4.12, 7.1
1.6.4. Operator intervention 4.2.1, 4.10.2.3, 4.11.2, 4.11.5,
4.12, 5.3.3
1.6.5. Cleaning of internal parts 4.12
1.7.1. Information and warnings on the machinery 7.1, 7.3
1.7.2. Warning of residual risks 7.1, 7.2, 7.3
1.7.3. Marking of machinery 7.3
1.7.4. Instructions 7.1
1.7.4.1. General principles for the drafting of 7.1
instructions
1.7.4.2. Contents of the instructions 7.1
1.7.4.2 t) spare parts  not covered
1.7.4.3. Sales literature  not covered
3.2. WORK POSITIONS 4.1, 4.10.2.3
3.2.1. Driving positions 4.1, 4.10.2.3
3.2.2. Seating 4.10.2.3
3.3.1. Control devices 4.10, 4.11, 7.1
3.3.2. Starting/moving 4.10.2.3, 4.11
3.3.3. Travelling function 4.5, 4.6.3, 4.6.6, 4.7, 4.10.2.2,
4.10.2.3, 4.11
3.3.5. Control circuit failure Not covered
3.4.1. Uncontrolled movements 4.1, 4.6.1, 4.6.6.1, 5.2
3.4.3. Roll-over and tip-over Not covered
3.4.4. Falling objects 4.3
3.4.5. Means of access 4.4
3.5.1. Batteries Not covered
3.5.2. Fire 4.9, 4.15
3.6.1. Signs, signals and warnings 4.6.4, 4.6.5, 7.3.2
The relevant Essential Requirements of Clause(s)/subclause(s) of Remarks/Notes
Directive 2006/42/EC this EN
3.6.2. Marking 5.3, 7.2, 7.3
3.6.3. Instructions 7.1
4.1.2.2. Machinery running on guide rails and rail 4.6.6.1, 4.6.6.4
tracks
4.1.2.7. Movements of loads during handling 4.5, 4.6.2
4.1.3. Fitness for purpose  Not covered
WARNING 1 Presumption of conformity stays valid only as long as a reference to this European
Standard is maintained in the list published in the Official Journal of the European Union. Users of this
standard should consult frequently the latest list published in the Official Journal of the European
Union.
WARNING 2 Other Union legislation can be applicable to the product(s) falling within the scope of
this standard.
International
Standard
ISO 3991
First edition
Agricultural machinery — Robotic
2025-03
feed systems — Safety
Matériel agricole — Systèmes d'alimentation robotisés —
Sécurité
Reference number
ISO 3991:2025(en) © ISO 2025
ISO 3991:2025(en)
© ISO 2025
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
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Published in Switzerland
ii
ISO 3991:2025(en)
Contents Page
Foreword .v
Introduction .vi
1 Scope . 1
2 Normative references . 2
3 Terms and definitions . 3
4 Safety requirements and/or protective measures . 5
4.1 General .5
4.2 Storage of feed . .6
4.2.1 General .6
4.2.2 Feed storage devices .
...