DIN EN ISO 10218-2-2012 Robots and robotic devices - Safety requirements for industrial robots - Part 2 Robot systems and integration (ISO 10218-2 2011) German version EN ISO 10218.pdf

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2、ration, 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

3、 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 ma

4、nufacturing 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 f

5、or 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

6、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 industria

7、l 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 6DIN EN ISO 10218-2:2012-06 EN ISO 10218-2:2011 (E) ISO 13849-1:2006, Safety of machin

8、ery 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

9、 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 unex

10、pected 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 m

11、eans 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 Par

12、t 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 definit

13、ions 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, palletizin

14、g. 3.2 collaborative robot robot designed for direct interaction with a human within a defined collaborative workspace (3.3) 7DIN EN ISO 10218-2:2012-06 EN ISO 10218-2:2011 (E) 3.3 collaborative workspace workspace within the safeguarded space where the robot and a human can perform tasks simultaneo

15、usly 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 pend

16、ant). 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 mach

17、ine (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 sy

18、stems 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 syst

19、em 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 ro

20、bot 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

21、 3.11 safe state condition of a machine or piece of equipment where it does not present an impending hazard 8DIN EN ISO 10218-2:2012-06 EN ISO 10218-2:2011 (E) 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 coordi

22、nated 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, defin

23、ition 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 ex

24、amination 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

25、 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 predi

26、ct 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 whil

27、e power to the machine actuators is available. 9DIN EN ISO 10218-2:2012-06 EN ISO 10218-2:2011 (E) 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

28、 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 befo

29、re 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

30、 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

31、 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

32、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 origin for modelling t

33、he layout in design drawings; 2) location and dimensions of the components within available facilities (scale). b) Workspaces, access and clearance: 1) identifying the maximum space of the robot system, establishing restricted and operating spaces, and identifying the need for clearances around obst

34、acles such as building supports; 2) traffic routes (pedestrian aisles, visitor routes, material movement outside the perimeter safeguarding of the cell or line); 3) access and safe pathway to support services (electricity, gas, water, vacuum, hydraulic, ventilation) and control systems; 4) access an

35、d safe pathway for service, cleaning, troubleshooting and maintenance purposes; 5) cables/other hazards for slips, trips and falls; 6) cable trays. c) Manual intervention the layout should be designed to allow tasks requiring manual intervention to be performed from outside the safeguarded space. Wh

36、ere this is not practicable and when the intervention requires powered movements of the machine(s), appropriate enabling devices shall be provided. The enabling devices may be designed to control: 1) the whole robot cell; 10DIN EN ISO 10218-2:2012-06 EN ISO 10218-2:2011 (E) 2) a zone in the robot ce

37、ll; 3) a selected machine or equipment within the cell. NOTE See ISO 12100 for more information. d) Ergonomics and human interface with equipment: 1) visibility of operations; 2) clarity of controls; 3) clear association of controls with robot; 4) regional control design traditions; 5) position of w

38、orkpiece relative to the operator; 6) foreseeable misuse; 7) collaborative operation. e) Environmental conditions: 1) ventilation; 2) weld spark. f) Loading and unloading the workpieces/tool change. g) Consideration of perimeter safeguarding. h) Requirements for and location of emergency stop device

39、s and possible zoning of the cell (e.g. local stops or full cell stop). i) Requirements for and location of enabling devices. j) Attention to the intended use of all components. The risk assessment shall determine the additional space required beyond the restricted space to define the safeguarded sp

40、ace. 4.3 Risk assessment 4.3.1 General Because a robot system is always integrated into a particular application, the integrator shall perform a risk assessment to determine the risk reduction measures required to adequately reduce the risks presented by the integrated application. Particular attent

41、ion should be paid to instances where safeguards are removed from individual machines in order to achieve the integrated application. Risk assessment enables the systematic analysis and evaluation of the risks associated with the robot system over its whole lifecycle (i.e. commissioning, set-up, pro

42、duction, maintenance, repair, decommissioning). Risk assessment is followed, whenever necessary, by risk reduction. When this process is repeated, it gives the iterative process for eliminating hazards as far as practicable and for reducing risks by implementing protective measures. 11DIN EN ISO 102

43、18-2:2012-06 EN ISO 10218-2:2011 (E) Risk assessment includes: determination of the limits of the robot system (see 4.3.2); hazard identification (see 4.4); risk estimation; risk evaluation. 4.3.2 Limits of the robot system The integration of a robot system begins with the specification of its inten

44、ded use and limits described in ISO 12100, ISO 11161 and other applicable C level standards. This specification should include, for example: a) use limits: 1) description of functions, intended use and reasonably foreseeable misuse; 2) description of the different user modes; 3) analysis of process

45、sequences including manual intervention; 4) description of interfaces, tooling and equipment; NOTE 1 It is advisable that the relevant C level standards for these devices be taken into account. 5) utility connections; 6) information supplied by the manufacturer, which is derived from the use of ISO

46、10218-1, including applied measures for risk reduction; 7) required power supply and their appliances; 8) required or anticipated user skills (competency); b) space limits (see 5.5 describing layout): 1) required machine movement range; 2) required space for installation and maintenance; 3) required

47、 space for operator tasks and other human intervention; 4) reconfiguration capabilities (ISO 11161); 5) required access (see 5.5.2); 6) foundations; 7) required space for supply and disposal devices or equipment; c) time limits: 1) intended life limit of the machinery and its components (wear parts,

48、 tools, etc.); 2) process flow charts and timings; 3) recommended service intervals; 12DIN EN ISO 10218-2:2012-06 EN ISO 10218-2:2011 (E) d) other limits: 1) environmental (temperature, use indoors or outdoors, tolerance to dust and moisture, etc.); 2) required cleanliness level for the intended use and environment; 3) properties of processed materials; 4) hazardous environments; 5) lessons learned, i.e. study and comparison, including available