SIST EN ISO 10218-2:2011
(Main)Robots and robotic devices - Safety requirements for industrial robots - Part 2: Robot systems and integration (ISO 10218-2:2011)
Robots and robotic devices - Safety requirements for industrial robots - Part 2: Robot systems and integration (ISO 10218-2:2011)
This part of ISO 10218 specifies safety requirements for the integration of industrial robots and industrial robot systems as defined in ISO 10218-1, and industrial robot cell(s). The integration includes the following: a) the design, manufacturing, installation, operation, maintenance and decommissioning of the industrial robot system or cell; b) necessary information for the design, manufacturing, installation, operation, maintenance and decommissioning of the industrial robot system or cell; c) component devices of the industrial robot system or cell. This part of ISO 10218 describes the basic hazards and hazardous situations identified with these systems, and provides requirements to eliminate or adequately reduce the risks associated with these hazards. Although noise has been identified to be a significant hazard with industrial robot systems, it is not considered in this part of ISO 10218. This part of ISO 10218 also specifies requirements for the industrial robot system as part of an integrated manufacturing system. This part of ISO 10218 does not deal specifically with hazards associated with processes (e.g. laser radiation, ejected chips, welding smoke). Other standards can be applicable to these process hazards.
Roboter und Robotikgeräte - Sicherheitsanforderungen - Teil 2: Industrierobotersystem und Integration (ISO 10218-2:2011)
Dieser Teil der ISO 10218 legt Sicherheitsanforderungen für die Integration von Industrierobotern und
Industrierobotersystemen, wie in ISO 10218-1 festgelegt, sowie von Industrieroboterzellen fest. Die
Integration beinhaltet:
a) die Konstruktion, Herstellung, Einbau, Betrieb, Instandhaltung und Außerbetriebnahme des
Industrierobotersystems oder der -zelle;
b) erforderliche Informationen in Bezug auf a) oben;
c) Einzelgeräte des Industrierobotersystems oder -zelle
Er beschreibt die grundlegenden Gefährdungen und Gefährdungssituationen, die bei diesen Systemen
ermittelt wurden und sieht Anforderungen vor, um die mit diesen Gefährdungen verbundenen Risiken zu
beseitigen oder hinreichend zu verringern. Dieser Teil der ISO 10218 legt auch Anforderungen für das
Industrierobotersystem als Teil eines integrierten Fertigungssystems fest. Dieser Teil der ISO 10218 geht
nicht gezielt auf Gefährdungen in Verbindung mit Verfahren ein (z. B. Laserstrahlung, herausgeschleuderte
Späne, Schweißrauch) Für diese verfahrensbezogene Gefährdungen können andere Normen angewendet
werden.
Robots et dispositifs robotiques - Exigences de sécurité pour les robots industriels - Partie 2: Systèmes robots et intégration (ISO 10218-2:2011)
L'ISO 10218-2:2011 spécifie les exigences de sécurité pour l'intégration des robots industriels et des systèmes robots industriels tels que définis dans l'ISO 10218-1, et de la (ou des) cellule(s) robotisées industrielles. L'intégration inclut
la conception, la fabrication, l'installation, le fonctionnement, la maintenance et le démantèlement du système robot industriel ou de la cellule robotisée industrielle,
l'information nécessaire pour la conception, la fabrication, l'installation, le fonctionnement, la maintenance et le démantèlement du système robot industriel ou de la cellule robotisée industrielle, et
les composants du système robot industriel ou de la cellule robotisée industrielle.
L'ISO 10218-2:2011 décrit les phénomènes dangereux de base et les situations dangereuses identifiés avec ces systèmes, et fournit des exigences pour éliminer ou réduire de façon correcte les risques liés à ces phénomènes dangereux. L'ISO 10218-2:2011 spécifie également des exigences pour le système robot industriel en tant qu'élément d'un système de fabrication intégré. L'ISO 10218-2:2011 ne traite pas spécifiquement des phénomènes dangereux liés aux processus (par exemple rayonnement laser, éjection de copeaux, fumée de soudage). D'autres normes peuvent être appliquées pour le traitement de ces phénomènes dangereux.
Roboti in robotske naprave - Varnostne zahteve za industrijske robote - 2. del: Robotski sistem in integracija v proizvodno linijo (ISO 10218-2:2011)
Ta del ISO 10218 določa varnostne zahteve za integracijo industrijskih robotov in industrijskih robotskih sistemov, kot so opredeljeni v ISO 10218-1, ter industrijskih robotskih celic. Integracija vključuje: a) načrtovanje, izdelavo, vgradnjo, obratovanje, vzdrževanje in umik iz obratovanja industrijskega robotskega sistema ali celice; b) potrebne informacije za načrtovanje, izdelavo, vgradnjo, obratovanje, vzdrževanje in umik iz obratovanja industrijskega robotskega sistema ali celice; c) sestavne pripomočke industrijskega robotskega sistema ali celice. Ta del ISO 10218 opisuje osnovne nevarnosti in nevarne situacije, identificirane pri teh sistemih, in podaja zahteve za preprečevanje ali ustrezno zmanjševanje tveganj, povezanih s temi nevarnostmi. Čeprav je hrup identificiran kot pomembna nevarnost pri industrijskih robotskih sistemih, ga ta del ISO 10218 ne obravnava. Ta del ISO 10218 tudi določa zahteve za industrijski robotski sistem, ki je del integriranega proizvodnega sistema. Ta del ISO 10218 ne obravnava posebej nevarnosti, povezanih s procesi (npr. laserskega sevanja, izmetavanja sekancev, dima pri varjenju). Za take procesne nevarnosti se lahko uporabijo drugi standardi.
General Information
Relations
Standards Content (Sample)
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.Roboti in robotske naprave - Varnostne zahteve za industrijske robote - 2. del: Robotski sistem in integracija v proizvodno linijo (ISO 10218-2:2011)Roboter und Robotikgeräte - Sicherheitsanforderungen - Teil 2: Industrierobotersystem und Integration (ISO 10218-2:2011)Robots et dispositifs robotiques - Exigences de sécurité pour les robots industriels - Partie 2: Systèmes robots et intégration (ISO 10218-2:2011)Robots and robotic devices - Safety requirements for industrial robots - Part 2: Robot systems and integration (ISO 10218-2:2011)25.040.30Industrijski roboti. ManipulatorjiIndustrial robots. ManipulatorsICS:Ta slovenski standard je istoveten z:EN ISO 10218-2:2011SIST EN ISO 10218-2:2011en01-september-2011SIST EN ISO 10218-2:2011SLOVENSKI
STANDARD
SIST EN ISO 10218-2:2011
EUROPEAN STANDARD NORME EUROPÉENNE EUROPÄISCHE NORM
EN ISO 10218-2
July 2011 ICS 25.040.30 English Version
Robots and robotic devices - Safety requirements for industrial robots - Part 2: Robot systems and integration (ISO 10218-2:2011)
Robots et dispositifs robotiques - Exigences de sécurité pour les robots industriels - Partie 2: Systèmes robots et intégration (ISO 10218-2:2011)
Roboter und Robotikgeräte - Sicherheitsanforderungen - Teil 2: Industrierobotersystem und Integration (ISO 10218-2:2011) 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.
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Management Centre:
Avenue Marnix 17,
B-1000 Brussels © 2011 CEN All rights of exploitation in any form and by any means reserved worldwide for CEN national Members. Ref. No. EN ISO 10218-2:2011: ESIST EN ISO 10218-2:2011
EN ISO 10218-2:2011 (E) 2 Contents Page Foreword .3Annex ZA (informative)
Relationship between this European Standard and the Essential Requirements of EU Directive 2006/42/EC .4 SIST EN ISO 10218-2:2011
EN ISO 10218-2:2011 (E) 3 Foreword This document (EN ISO 10218-2:2011) 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 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 10218-2:2011 has been approved by CEN as a EN ISO 10218-2:2011 without any modification.
SIST EN ISO 10218-2:2011
EN ISO 10218-2:2011 (E) 4 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 a means of conforming to Essential Requirements of the New Approach Directive 2006/42/EC Machinery safety. 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 product(s) falling within the scope of this standard.
SIST EN ISO 10218-2:2011
Reference numberISO 10218-2:2011(E)© ISO 2011
INTERNATIONAL STANDARD ISO10218-2First edition2011-07-01Robots and robotic devices — Safety requirements for industrial robots — Part 2: Robot systems and integration Robots et dispositifs robotiques — Exigences de sécurité pour les robots industriels — Partie 2: Systèmes robots et intégration
SIST EN ISO 10218-2:2011
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SIST EN ISO 10218-2:2011
ISO 10218-2:2011(E) © ISO 2011 – All rights reserved iii Contents Page Foreword.iv Introduction.v 1 Scope.1 2 Normative references.1 3 Terms and definitions.2 4 Hazard identification and risk assessment.4 4.1 General.4 4.2 Layout design.5 4.3 Risk assessment.6 4.4 Hazard identification.8 4.5 Hazard elimination and risk reduction.9 5 Safety requirements and protective measures.9 5.1 General.9 5.2 Safety-related control system performance (hardware/software).9 5.3 Design and installation.10 5.4 Limiting robot motion.14 5.5 Layout.16 5.6 Robot system operational mode application.17 5.7 Pendants.21 5.8 Maintenance and repair.22 5.9 Integrated manufacturing system (IMS) interface.23 5.10 Safeguarding.24 5.11 Collaborative robot operation.32 5.12 Commissioning of robot systems.35 6 Verification and validation of safety requirements and protective measures.36 6.1 General.36 6.2 Verification and validation methods.37 6.3 Required verification and validation.37 6.4 Verification and validation of protective equipment.37 7 Information for use.38 7.1 General.38 7.2 Instruction handbook.39 7.3 Marking.43 Annex A (informative)
List of significant hazards.44 Annex B (informative)
Relationship of standards related to protective devices.47 Annex C (informative)
Safeguarding material entry and exit points.49 Annex D (informative)
Operation of more than one enabling device.52 Annex E (informative)
Conceptual applications of collaborative robots.53 Annex F (informative)
Process observation.55 Annex G (normative)
Means of verification of the safety requirements and measures.58 Bibliography.71
SIST EN ISO 10218-2:2011
ISO 10218-2:2011(E) iv © ISO 2011 – All rights reserved 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 10218-2 was prepared by Technical Committee ISO/TC 184, Automation systems and integration, Subcommittee SC 2, Robots and robotic devices. 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
SIST EN ISO 10218-2:2011
ISO 10218-2:2011(E) © ISO 2011 – All rights reserved v Introduction This part of ISO 10218 has been created in recognition of the particular hazards that are presented by industrial robot systems when integrated and installed in industrial robot cells and lines. Hazards are frequently unique to a particular robot system. The number and types of hazards 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. For the purpose of understanding requirements in this part of ISO 10218, a word syntax is used to distinguish absolute requirements from recommended practices or suggested actions. The word “shall” is used to identify requirements necessary for compliance with this part of ISO 10218. Such requirements have to be accomplished unless an alternative instruction is provided or a suitable alternative is determined by a risk assessment. The word “should” is used to identify suggestions, recommended actions or possible solutions for requirements, but alternatives are possible and the suggested actions are not absolute. In recognition of the variable nature of hazards with the application of industrial robots, this part of ISO 10218 provides guidance for the assurance of safety in the integration and installation of robots. Since safety in the use of industrial robots is influenced by the design of the particular robot system, a supplementary, though equally important, purpose is to provide guidelines for the design, construction and information for use of robot systems and cells. Requirements for the robot portion of the system can be found in ISO 10218-1. Providing for a safe robot system or cell depends on the cooperation of a variety of “stakeholders” – those entities that share in a responsibility for the ultimate purpose of providing a safe working environment. Stakeholders may be identified as manufacturers, suppliers, integrators and users (the entity responsible for using robots), but all share the common goal of a safe (robot) machine. The requirements in this part of ISO 10218 may be assigned to one of the stakeholders, but overlapping responsibilities can involve multiple stakeholders in the same requirements. While using this part of ISO 10218, the reader is cautioned that all of the requirements identified may apply to them, even if not specifically addressed by “assigned” stakeholder tasks. This part of ISO 10218 is complementary and in addition to ISO 10218-1, which covers the robot only. This part of ISO 10218 adds additional information in line with ISO 12100 and ISO 11161, International Standards for requirements to identify and respond in a type-C standard to unique hazards presented by the integration, installation and requirements for use of industrial robots. New technical requirements include, but are not limited to, instructions for applying the new requirements in ISO 10218-1 for safety-related control system performance, robot stopping function, enabling device, programme verification, cableless pendant criteria, collaborating robot criteria and updated design for safety. This part of ISO 10218 and ISO 10218-1 form part of a series of standards dealing with robots and robotic devices. Other standards cover such topics as integrated robotic systems, 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 also 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. Figure 1 describes the relationship of the scope of machinery standards used in a robot system. The robot alone is covered by ISO 10218-1, the system and cell is covered by this part of ISO 10218. A robot cell may include other machines subject to their own C level standards, and the robot system can be part of an integrated manufacturing system covered by ISO 11161 which in turn can also make reference to other relevant B and C level standards. SIST EN ISO 10218-2:2011
ISO 10218-2:2011(E) vi © ISO 2011 – All rights reserved
Figure 1 — Graphical view of relationships between standards relating to robot system/cell
SIST EN ISO 10218-2:2011
INTERNATIONAL STANDARD ISO 10218-2:2011(E) © ISO 2011 – All rights reserved 1 Robots and robotic devices — Safety requirements for industrial robots — Part 2: Robot systems and integration 1 Scope This part of ISO 10218 specifies safety requirements for the integration of industrial robots and industrial robot systems as defined in ISO 10218-1, and industrial robot cell(s). The integration includes the following: a) the design, manufacturing, installation, operation, maintenance and decommissioning of the industrial robot system or cell; b) necessary information for the design, manufacturing, installation, operation, maintenance and decommissioning of the industrial robot system or cell; c) component devices of the industrial robot system or cell. This part of ISO 10218 describes the basic hazards and hazardous situations identified with these systems, and provides requirements to eliminate or adequately reduce the risks associated with these hazards. Although noise has been identified to be a significant hazard with industrial robot systems, it is not considered in this part of ISO 10218. This part of ISO 10218 also specifies requirements for the industrial robot system as part of an integrated manufacturing system. This part of ISO 10218 does not deal specifically with hazards associated with processes (e.g. laser radiation, ejected chips, welding smoke). Other standards can be applicable to these process hazards. 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 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 8995-1, Lighting of work places — Part 1: Indoor ISO 9946, Manipulating industrial robots — Presentation of characteristics ISO 10218-1, Robots and robotic devices — Safety requirements for industrial robots — Part 1: Industrial robots ISO 11161, Safety of machinery — Integrated manufacturing systems — Basic requirements ISO 12100, Safety of machinery — General principles for design — Risk assessment and risk reduction SIST EN ISO 10218-2:2011
ISO 10218-2:2011(E) 2 © ISO 2011 – All rights reserved 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 13854, Safety of machinery — Minimum gaps to avoid crushing of parts of the human body ISO 13855, Safety of machinery — Positioning of safeguards with respect to the approach speeds of parts of the human body ISO 13856 (all parts), Safety of machinery — Pressure-sensitive protective devices ISO 13857, Safety of machinery — Safety distances to prevent hazard zones being reached by upper and lower limbs ISO 14118, Safety of machinery — Prevention of unexpected start-up ISO 14119, Safety of machinery — Interlocking devices associated with guards — Principles for design and selection ISO 14120, Safety of machinery — Guards — General requirements for the design and construction of fixed and movable guards ISO 14122 (all parts), Safety of machinery — Permanent means of access to machinery IEC 60204-1, Safety of machinery — Electrical equipment of machines — Part 1: General requirements IEC 61496-1, Safety of machinery — Electro-sensitive protective equipment — Part 1: General requirements and tests IEC 61800-5-2, Adjustable speed electrical power drive systems — Part 5-2: Safety requirements — Functional IEC/TS 62046, Safety of machinery — Application of protective equipment to detect the presence of persons IEC 62061:2005, Safety of machinery — Functional safety of safety-related electrical, electronic and programmable electronic control systems 3 Terms and definitions For the purposes of this document, the terms and definitions given in ISO 10218-1 and ISO 12100 and the following apply. 3.1 application intended use of the robot system, i.e. the process, the task and the intended purpose of the robot system EXAMPLE Spot welding, painting, assembly, palletizing. 3.2 collaborative robot robot designed for direct interaction with a human within a defined collaborative workspace (3.3) SIST EN ISO 10218-2:2011
ISO 10218-2:2011(E) © ISO 2011 – All rights reserved 3 3.3 collaborative workspace workspace within the safeguarded space where the robot and a human can perform tasks simultaneously during production operation 3.4 control station part of the robot system which contains one or more control devices intended to activate or deactivate functions of the system or parts of the system NOTE The control station can be fixed in place (e.g. control panel) or movable (e.g. control pendant). 3.5 distance guard guard that does not completely enclose a danger zone, but which prevents or reduces access by virtue of its dimensions and its distance from the danger zone EXAMPLE Perimeter fence or tunnel guard. 3.6 integration act of combining a robot with other equipment or another machine (including additional robots) to form a machine system capable of performing useful work such as production of parts NOTE This act of machine building can include the requirements for the installation of the system. 3.7 integrator entity that designs, provides, manufactures or assembles robot systems or integrated manufacturing systems and is in charge of the safety strategy, including the protective measures, control interfaces and interconnections of the control system NOTE The integrator can be a manufacturer, assembler, engineering company or the user. 3.8 integrated manufacturing system IMS group of machines working together in a coordinated manner, linked by a material-handling system, interconnected by controls (i.e. IMS controls), for the purpose of manufacturing, treatment, movement or packaging of discrete parts or assemblies [ISO 11161:2007, definition 3.1] 3.9 industrial robot cell one or more robot systems including associated machinery and equipment and the associated safeguarded space and protective measures 3.10 industrial robot line more than one robot cell performing the same or different functions and associated equipment in single or coupled safeguarded spaces 3.11 safe state condition of a machine or piece of equipment where it does not present an impending hazard SIST EN ISO 10218-2:2011
ISO 10218-2:2011(E) 4 © ISO 2011 – All rights reserved 3.12 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 synchronous using a common mathematical correlation 3.13 space three dimensional volume 3.13.1 operating space operational space portion of the restricted space (3.13.2) that is actually used while performing all motions commanded by the task programme NOTE Adapted from ISO 8373:1994, definition 4.8.3. 3.13.2 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. 3.13.3 safeguarded space space defined by the perimeter safeguarding 3.14 validation confirmation by examination and provision of objective evidence that the particular requirements for a specific intended use are fulfilled 3.15 verification confirmation by examination and provision of objective evidence that the requirements have been fulfilled 4 Hazard identification and risk assessment 4.1 General 4.1.1 The operational characteristics of robots can be significantly different from those of other machines and equipment, as follows: a) robots are capable of high energy movements through a large operational space; b) the initiation of movement and the path of the robot arm are difficult to predict and can vary, for example due to changing operational requirements; c) the operating space of the robot can overlap a portion of other robots' operating space or the work zones of other machines and related equipment; d) operators can be required to work in close proximity to the robot system while power to the machine actuators is available. SIST EN ISO 10218-2:2011
ISO 10218-2:2011(E) © ISO 2011 – All rights reserved 5 4.1.2 It is necessary to identify the hazards and to assess the risks associated with the robot and its application before selecting and designing appropriate safeguarding measures to adequately reduce the risks. Technical measures for the reduction of risk are based upon the following fundamental principles: a) the elimination of hazards by design or their reduction by substitution; b) preventing operators coming into contact with hazards or controlling the hazards by achieving a safe state before the operator can come into contact with it; c) the reduction of risk during interventions (e.g. teaching). 4.1.3 The realization of these principles can involve: a) designing the robot system to allow tasks to be performed from outside the safeguarded space; b) the creation of a safeguarded space and a restricted space; c) provision of other safeguards when interventions have to occur within the safeguarded space. 4.1.4 The type of robot, its application and its relationship to other machines and related equipment will influence the design and the selection of the protective measures. These shall be suitable for the work being done and permit, where necessary, teaching, setting, maintenance, programme verification and troubleshooting operations to be carried out safely. 4.2 Layout design The design of the robot system and cell layout is a key process in the elimination of hazards and reduction of risks. The following factors shall be taken into account during the layout design process. a) Establishing the physical limits (three dimensional) of the cell or line, including other parts of
...
SLOVENSKI STANDARD
oSIST prEN ISO 10218-2:2008
01-september-2008
Roboti za industrijska okolja - Varnostne zahteve - 2. del: Robotski sistem in
integracija
Robots for industrial environments - Safety requirements -- Part 2: Robot cell and line
Industrieroboter - Sicherheitsanforderungen - Teil 2 - Robotersystem und Integration
Robots pour environnements industriels - Exigences de sécurité - Partie 2: Système
robot et intégration
Ta slovenski standard je istoveten z: prEN ISO 10218-2
ICS:
25.040.30 Industrijski roboti. Industrial robots.
Manipulatorji Manipulators
oSIST prEN ISO 10218-2:2008 en
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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oSIST prEN ISO 10218-2:2008
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oSIST prEN ISO 10218-2:2008
EUROPEAN STANDARD
DRAFT
prEN ISO 10218-2
NORME EUROPÉENNE
EUROPÄISCHE NORM
July 2008
ICS 25.040.30 Will supersede EN 775:1992
English Version
Robots for industrial environments - Safety requirements - Part
2: Robot system and integration (ISO/DIS 10218-2:2008)
Robots pour environnements industriels - Exigences de Industrieroboter - Sicherheitsanforderungen - Teil 2:
sécurité - Partie 2: Système robot et intégration (ISO/DIS Robotersystem und Integration (ISO/DIS 10218-2:2008)
10218-2:2008)
This draft European Standard is submitted to CEN members for parallel enquiry. It has been drawn up by the Technical Committee
CEN/TC 310.
If this draft becomes a European Standard, 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.
This draft European Standard was established by CEN 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 Management Centre has the
same status as the official versions.
CEN members are the national standards bodies of Austria, Belgium, Bulgaria, 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.
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.
Warning : This document is not a European Standard. It is distributed for review and comments. It is subject to change without notice and
shall not be referred to as a European Standard.
EUROPEAN COMMITTEE FOR STANDARDIZATION
COMITÉ EUROPÉEN DE NORMALISATION
EUROPÄISCHES KOMITEE FÜR NORMUNG
Management Centre: rue de Stassart, 36 B-1050 Brussels
© 2008 CEN All rights of exploitation in any form and by any means reserved Ref. No. prEN ISO 10218-2:2008: E
worldwide for CEN national Members.
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oSIST prEN ISO 10218-2:2008
prEN ISO 10218-2:2008 (E)
Contents Page
Foreword.3
2
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oSIST prEN ISO 10218-2:2008
prEN ISO 10218-2:2008 (E)
Foreword
This document (prEN ISO 10218-2:2008) has been prepared by Technical Committee ISO/TC 184 "Industrial
automation systems and integration" in collaboration with Technical Committee CEN/TC 310 “Advanced
Manufacturing Technologies” the secretariat of which is held by BSI.
This document is currently submitted to the parallel Enquiry.
This document will supersede EN 775:1992.
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 EC Directive(s).
Endorsement notice
The text of ISO/DIS 10218-2:2008 has been approved by CEN as a prEN ISO 10218-2:2008 without any
modification.
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oSIST prEN ISO 10218-2:2008
DRAFT INTERNATIONAL STANDARD ISO/DIS 10218-2
ISO/TC 184/SC 2 Secretariat: SIS
Voting begins on: Voting terminates on:
2008-07-17 2008-12-17
INTERNATIONAL ORGANIZATION FOR STANDARDIZATION • МЕЖДУНАРОДНАЯ ОРГАНИЗАЦИЯ ПО СТАНДАРТИЗАЦИИ • ORGANISATION INTERNATIONALE DE NORMALISATION
Robots for industrial environments — Safety requirements —
Part 2:
Robot system and integration
Robots pour environnements industriels — Exigences de sécurité —
Partie 2: Système robot et intégration
ICS 25.040.30
ISO/CEN PARALLEL ENQUIRY
The CEN Secretary-General has advised the ISO Secretary-General that this ISO/DIS covers a subject
of interest to European standardization. In accordance with the ISO-lead mode of collaboration as
defined in the Vienna Agreement, consultation on this ISO/DIS has the same effect for CEN
members as would a CEN enquiry on a draft European Standard. Should this draft be accepted, a
final draft, established on the basis of comments received, will be submitted to a parallel two-month FDIS
vote in ISO and formal vote in CEN.
To expedite distribution, this document is circulated as received from the committee secretariat.
ISO Central Secretariat work of editing and text composition will be undertaken at publication
stage.
Pour accélérer la distribution, le présent document est distribué tel qu'il est parvenu du
secrétariat du comité. Le travail de rédaction et de composition de texte sera effectué au
Secrétariat central de l'ISO au stade de publication.
THIS DOCUMENT IS A DRAFT CIRCULATED 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 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 NATIONAL REGULATIONS.
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.
©
International Organization for Standardization, 2008
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©
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Contents Page
Foreword .v
Introduction.vii
1 Scope.1
2 Normative references.1
3 Terms and definitions .2
4 Hazard identification and risk assessment.3
4.1 General .3
4.2 Layout design .4
4.3 Risk assessment .5
4.4 Hazard identification .7
4.5 Hazard elimination and risk reduction .7
5 Safety requirements and protective measures .8
5.1 General .8
5.2 Safety-related control system performance (hardware/software).8
5.3 Design and installation .9
5.4 Limiting robot motion .13
5.5 Layout.14
5.6 Robot system operational mode application .16
5.7 Pendants .19
5.8 Maintenance and repair .20
5.9 Integrated manufacturing system (IMS) interface.21
5.10 Safeguarding.22
5.11 Collaborative robots.31
5.12 Commissioning of robots and robot systems.33
6 Verification and validation of safety requirements and or protective measures .35
6.1 General .35
6.2 Required validation .35
6.3 Verification of safeguarding devices.52
6.4 Commissioning test .56
7 Information for use.57
7.1 General .57
7.2 Instruction handbook.58
7.3 Marking.61
Annex A (normative) List of significant hazards .62
Annex B (normative) Noise emission evaluation .69
Annex C (informative) Guidelines for the selection of protective devices according to standards .70
Annex D (informative) Dimensions of gaps to prevent entry .71
Annex E (informative) Dynamic restricted space .74
Annex F (informative) Mode selection .76
Annex G (informative) Operation of enabling devices .77
Annex H (informative) Characteristics of collaborative robots.78
Annex I (informative) Presence sensing devices – Additional information.79
Annex J (informative) Process observation .81
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Bibliography. 85
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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 10218-2 was prepared by Technical Committee ISO/TC 184, Industrial automation systems and
integration, Subcommittee SC 2, Robots and robotic devices.
This International Standard is complimentary and in addition to ISO 10218-1:2006 which covers the robot only.
This wholly revised International Standard adds additional information in line with ISO 12100 and ISO 11161
standards for requirements to identify and respond in a type C standard to unique hazards presented by the
integration, installation and requirements for use of industrial robots. New technical requirements include but
are not limited to instructions for applying the new requirements in ISO 10218 1:2006 for safety-related control
system performance, robot stopping function, enabling device, programme verification, wireless pendant
criteria, collaborating robot criteria, and updated design for safety.
This International Standard is part of a series of standards dealing with robots and robotic devices. Other
standards cover such topics as integrated robotic systems, 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 also related to other International Standards. Generally other
technical solutions are possible, that ensure the same level of safety.
This International Standard includes ten annexes; Annexes A and B which are normative, and Annexes C
through J which are informative.
ISO 10218 – 1
Robot
Robot system
Other machine “C”
ISO 10218 - 2
ISO 10218-2
level standard
Integrated Manufacturing System (IMS)
ISO 11161
Figure 1 — Graphical view of standards relationships
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ISO/DIS 10218-2
ISO 10218 consists of the following parts, under the general title Robots for industrial environments — Safety
requirements:
⎯ Part 1: Robot
⎯ Part 2: Robot systems and integration
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Introduction
This International Standard has been created in recognition of the particular hazards that are presented by
industrial robot systems when integrated and installed in work cells and lines.
Hazards are well recognized but the sources of the hazards are frequently unique to a particular robot system.
The number and types of hazards 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.
For the purpose of understanding requirements in this International Standard, a word syntax is used to denote
absolute requirements from recommended practices or suggested actions. The word “shall” is used to identify
requirements necessary for compliance with the standard. Such requirements must be accomplished unless
an alternative instruction is provided or a suitable alternative is determined by a risk assessment. The word
“should” is used to identify suggestions, recommended actions, or possible solutions for requirements, but
alternatives are possible and the suggestion actions are not absolute.
In recognition of the variable nature of hazards with the application of industrial robots, this International
Standard provides guidance for the assurance of safety in the integration and installation of robots. Since
safety in the use of industrial robots is influenced by the design of the particular robot system, a
supplementary, though equally important, purpose is to provide guidelines for the design, construction and
information for use of robot systems. Guidelines for the robot portion of the system can be found in ISO
10218-1; Robots for industrial environments – Safety requirements – Part 1: Robot.
Providing for a safe robot system requires the cooperation of a variety of “stakeholders” – those corporate
entities that share in a responsibility for the ultimate purpose of providing a safe working environment.
Stakeholders may be identified as manufacturers, suppliers, integrators, and users (the entity responsible for
employing robots); but all share the common goal of a safe (robot) machine. The requirements may be
assigned to one of the stakeholders, but overlapping responsibilities can involve multiple stakeholders in the
same requirements. While using this International Standard, the reader is cautioned that all of the
requirements identified may apply to them, even if not specifically addressed by “assigned” stakeholder tasks.
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oSIST prEN ISO 10218-2:2008
DRAFT INTERNATIONAL STANDARD ISO/DIS 10218-2
Robots for industrial environments — Safety requirements —
Part 2:
Robot system and integration
1 Scope
This International Standard specifies safety requirements for both the integration of industrial robots and robot
systems as defined in ISO 10218-1:2006. It describes the basic hazards and hazardous situations identified
with these systems and provides requirements to eliminate or adequately reduce the risks associated with
these hazards. This International Standard shall be used for the robot or robot system as part of an integrated
manufacturing system.
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 4413, Hydraulic fluid power — General rules relating to systems
ISO 4414, Pneumatic fluid power — General rules relating to systems
ISO 10218-1:2006, Robots for industrial environments — Safety requirements — Part 1: Robot
ISO 11161, Safety of machinery — Industrial automation systems — Safety of integrated manufacturing
systems — Basic requirements
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 13851, Safety of machinery — Two-hand control devices — Functional aspects and design principles
ISO 13854, Safety of machinery — Minimum gaps to avoid crushing of parts of the human body
ISO 13855, Safety of machinery — Position of protective equipment with respect to the approach speeds of
parts of the human body
ISO 13856-1, Safety of machinery — Pressure-sensing protective devices — Part 1: General principles for
design and testing of pressure-sensitive mats and pressure-sensitive floors
ISO 13857, Safety of machinery — Safety distances to prevent danger zones being reached by the upper
limbs and lower limbs
ISO 14118, Safety of machinery — Prevention of unexpected start-up
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ISO 14119, Safety of machinery — Interlocking devices associated with guards — Principles for design and
selection
ISO 14120, Safety of machinery — Guards — General requirements for the design and construction of fixed
and movable guards
ISO 14121:1999, Safety of machinery — Principles of risk assessment
ISO/TR 11688-1:1995 Acoustics – Recommended practice for the design of low-noise machinery and
equipment – Part 1: Planning
IEC 60204-1:2005, 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 control systems
IEC 61496-1, Safety of machinery — Electro-sensitive protective equipment
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 12100-1 and in ISO 10218-1 and
the following apply.
3. 1
application
intended use of the robot system (e.g. spot welding, painting, assembly, palletizing). It is the process, the task,
the intended purpose of the robot system.
3.2
collaborative robot
robot designed for direct interaction with a human within a defined shared workspace
3.3
collaborative workspace
workspace within the safeguarded space of the robot work cell, where the robot and a human can perform
tasks simultaneously during production operation
3.4
integration
act of combining a robot with other equipment or another machine (including additional robots) to form a
machine system capable of performing useful work (i.e. production of parts). This act of machine building can
include the requirements for the installation of the system
3.5
integrated manufacturing system (IMS)
group of machines working together in a coordinated manner, linked by a material-handling system,
interconnected by controls (i.e. IMS controls), for the purpose of manufacturing, treatment, movement or
packaging of discrete parts or assemblies
[ISO 11161:2007, definition 3.1]
3.6
protective stop
type of interruption of operation that allows an orderly cessation of motion for safeguarding purposes and
which retains the program logic to facilitate a restart
[ISO 10218 1:2006, definition 3.17]
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3.7
robot cell
one or more robot systems including associated machinery and equipment and the associated safeguarded
space
3.8
robot line
one or more robot cells performing the same or different functions and associated equipment in single or
coupled safeguarded spaces
3.9
safeguarded space
space defined by the perimeter safeguarding devices
3.10
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 with common mathematical correlation
3.11
validation
confirmation by examination and provision of objective evidence that the particular requirements for a specific
intended use are fulfilled
3.12
verification
confirmation by examination and provision of objective evidence that the requirements have been fulfilled
4 Hazard identification and risk assessment
4.1 General
The operational characteristics of robots can be significantly different from those of other machines and
equipment:
a) robots are capable of high energy movements through a large operational volume;
b) the initiation of movement and the path of the robot arm are difficult to predict and can vary, for example
due to changing operational requirements;
c) the operating volume of the robot can overlap a portion of that of other robots or the work zones of other
machines and related equipment; and
d) operators can be required to work in close proximity to the robot system while power is available to the
machine actuators.
It is necessary to identify the hazards and to assess the risks associated with the robot and its application
before selecting and designing appropriate safeguarding measures to adequately reduce the risks. Technical
measures for the reduction of risk are based upon these fundamental principles:
e) the elimination of hazards by design or their reduction by substitution;
f) preventing operators coming into contact with hazards or ensuring the hazard is brought to a safe state
before the operator can come into contact with it;
g) the reduction of risk during interventions (e.g. teaching).
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The realisation of these principles can involve:
h) the creation of a safeguarded space and a restricted space;
i) designing the robot system to allow tasks to be performed from outside the safeguarded space;
j) provision of other safeguards when interventions have to occur within the safeguarded space.
The type of robot, its application and its relationship to other machines and related equipment will influence
the design and the selection of the safeguarding measures. These need to be suitable for the work being done
and permit, where necessary, teaching, setting, maintenance, program verification and trouble shooting
operations to be carried out safely.
4.2 Layout design
The design of the robot system layout is a key process in the elimination of hazards and reduction of risks.
The following factors shall be taken into account during the layout design process:
a) Establishing the physical limits (three dimensional) of the cell or line including other parts of a larger cell
or system (integrated manufacturing system):
1) scale and zero point fixing for modelling the layout in design drawings,
2) placing and dimensions of the components within available facilities (scale);
b) Workspaces, access and clearance:
1) identifying the maximum space of th
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