1、BRITISH STANDARD BS EN ISO 9946:1999 Manipulating industrial robots Presentation of characteristics The European Standard ENISO9946:1999 has the status of a British Standard ICS 25.040.30BSEN ISO 9946:1999 This British Standard, having been prepared under the directionof the DISC Board, waspublished
2、 under the authorityof the Standards Committee and comes into effect on 15July1999 BSI 03-2000 ISBN 0 580 32590 3 National foreword This British Standard is the English language version of ENISO9946:1999. Itis identical with ISO9946:1999. It supersedes BS7228-3:1991 which is withdrawn. The UK partic
3、ipation in its preparation was entrusted to Technical Committee AMT/-/1, AMT executive committee, which has the responsibility to: aid enquirers to understand the text; present to the responsible international/European committee any enquiries on the interpretation, or proposals for change, and keep
4、the UK interests informed; monitor related international and European developments and promulgate them in the UK. A list of organizations represented on this committee can be obtained on request to its secretary. Cross-references Attention is drawn to the fact that CEN and CENELEC Standards normally
5、 include an annex which lists normative references to international publications with their corresponding European publications. The British Standards which implement these international or European publications may be found in the BSI Standards Catalogue under the section entitled “International St
6、andards Correspondence Index”, or by using the “Find” facility of the BSI Standards Electronic Catalogue. A British Standard does not purport to include all the necessary provisions of a contract. Users of British Standards are responsible for their correct application. Compliance with a British Sta
7、ndard does not of itself confer immunity from legal obligations. Summary of pages This document comprises a front cover, an inside front cover, pages i and ii, theEN ISO title page, page 2, the ISO title page, pages ii to iv, pages 1 to 12, an inside back cover and a back cover. This standard has be
8、en updated (see copyright date) and may have had amendments incorporated. This will be indicated in the amendment table on the inside front cover. Amendments issued since publication Amd. No. Date CommentsBSEN ISO 9946:1999 BSI 03-2000 i Contents Page National foreword Inside front cover Foreword 2
9、Foreword iii Text of ISO 9946 1ii blankEUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN ISO 9946 April 1999 ICS 25.040.00 Supersedes EN 29946:1992 English version Manipulating industrial robots Presentation of characteristics (ISO 9946:1999) Robots manipulateurs industriels Prsentation des carac
10、tristiques (ISO9946:1999) Industrieroboter Darstellung charakteristischer Eigenschaften (ISO9946:1998) This European Standard was approved by CEN on1March1999. CEN members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European Standard t
11、he 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 Central Secretariat or to any CEN member. This European Standard exists in three official versions (English, French, Germa
12、n). A version in any other language made by translation under the responsibility of a CEN member into its own language and notified to the Central Secretariat has the same status as the official versions. CEN members are the national standards bodies of Austria, Belgium, Czech Republic, Denmark, Fin
13、land, France, Germany, Greece, Iceland, Ireland, Italy, Luxembourg, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland and United Kingdom. CEN European Committee for Standardization Comit Europen de Normalisation Europisches Komitee fr Normung Central Secretariat: rue de Stassart 36, B-1050 B
14、russels 1999 CEN All rights of exploitation in any form and by any means reserved worldwide for CEN national Members. Ref. No. ENISO9946:1999 EEN ISO 9946:1999 BSI 03-2000 2 Foreword The text of the International Standard ISO9946:1999 has been prepared by Technical Committee ISO/TC184 “Industrial au
15、tomation systems and integration” in collaboration with Technical Committee CEN/TC310 “Advanced Manufacturing Technologies”, the secretariat of which is held by BSI. This European Standard supersedes EN29946:1992. This European Standard shall be given the status of a national standard, either by pub
16、lication of an identical text or by endorsement, at the latest by October1999, and conflicting national standards shall be withdrawn at the latest by October1999. According to the CEN/CENELEC Internal Regulations, the national standards organizations of the following countries are bound to implement
17、 this European Standard: Austria, Belgium, CzechRepublic, Denmark, Finland, France, Germany, Greece, Iceland, Ireland, Italy, Luxembourg, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland and the United Kingdom. Endorsement notice The text of the International Standard ISO9946:1999 was appro
18、ved by CEN as a European Standard without any modification. NOTENormative references to International Standards are listed inAnnex ZA (normative).EN ISO 9946:1999 ii BSI 03-2000 Contents Page Foreword iii Introduction 1 1 Scope 1 2 Normative references 1 3 Definitions 1 4 Units 1 5 Characteristics 1
19、 5.1 General 1 5.2 Application 1 5.3 Power source 4 5.4 Mechanical structure 4 5.5 Working space 4 5.6 Coordinate system 4 5.7 External dimensions and mass 4 5.8 Base mounting surface 4 5.9 Mechanical interface 4 5.10 Control 4 5.11 Task programming and program loading 5 5.11.1 Examples of programmi
20、ng methods 5 5.11.2 Examples of program loading means 5 5.12 Environment 5 5.13 Load 5 5.14 Velocity 5 5.15 Resolution 5 5.16 Performance criteria 7 5.17 Safety 7 Annex A (informative) Recommended format of presentation for robot specifications 8 Annex B (informative) Description of the symbols of p
21、erformance criteria Abstract from ISO9283 12 Annex ZA (normative) Normative references to international publications with their relevant European publications Inside back cover Figure 1 Example of a 5-axis robot working space 2 Figure 2 Example of a 6-axis robot working space 3 Figure 3 Load diagram
22、 6 Figure 4 Thrust and torque values 6EN ISO 9946:1999 BSI 03-2000 iii 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 techn
23、ical 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
24、with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization. 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 least75% of
25、the member bodies casting a vote. International Standard ISO9946 was prepared by Technical Committee ISO/TC184, Industrial automation systems and integration, SubcommitteeSC2, Robots for manufacturing environment. This second edition cancels and replaces the first edition (ISO9946:1991) of which it
26、constitutes a technical revision. Annex A andAnnex B of this International Standard are for information only.iv blankEN ISO 9946:1999 BSI 03-2000 1 Introduction ISO 9946 is part of a series of International Standards dealing with manipulating industrial robots. Other International Standards cover su
27、ch topics as safety, performance criteria and related testing methods, coordinate systems, terminology, and mechanical interfaces. It is noted that these standards are interrelated and also related to other International Standards. The number of manipulating industrial robots used in a manufacturing
28、 environment is constantly increasing and this has underlined the need for a standard format for the specification and presentation of robot characteristics. The objective of ISO9946 is to assist users and manufacturers in the understanding and comparison of various types of robots. ISO 11593:1996 c
29、ontains a vocabulary and a format for the presentation of automatic end effector exchange systems characteristics. Annex A of this International Standard provides a recommended format for the presentation of robot specification. Annex B provides a description of the symbols of performance criteria.
30、NOTEFor the purposes of this International Standard, the term “robot” means “manipulating industrial robot”. 1 Scope This International Standard specifies how characteristics of robots shall be presented by the manufacturer. 2 Normative references The following standards contain provisions which, th
31、rough reference in this text, constitute provisions of this International Standard. At the time of publication, the editions indicated were valid. All standards are subject to revision, and parties to agreements based on this International Standard are encouraged to investigate the possibility of ap
32、plying the most recent editions of the standards indicated below. Members of IEC and ISO maintain registers of currently valid International Standards. ISO 8373:1994, Manipulating industrial robots Vocabulary. ISO 9283:1998, Manipulating industrial robots Performance criteria and related test method
33、s. ISO 9409-1:1996, Manipulating industrial robots Mechanical interfaces Part 1: Plates (form A). ISO 9787:, Manipulating industrial robots Coordinate systems and motion nomenclatures 1) . ISO 10218:1992, Manipulating industrial robots Safety. 3 Definitions For the purposes of this International Sta
34、ndard, the definitions given in ISO8373 and the following definition apply. 3.1 centre of the working space (C w ) is the position of the wrist reference point when each active joint in the arm is in the middle position of its moving range 4 Units Unless otherwise stated, all dimensions are as follo
35、ws: length in millimetres (mm); angle in indians (rad) or degrees ( ); time in seconds (s); mass in kilograms (kg); force in newtons (N); velocity in metres per second (m/s), radians per second (rad/s) or degrees per second ( /s). 5 Characteristics 5.1 General The manufacturer shall provide informat
36、ion related to the various characteristics and requirements as described in this clause as part of the robot documentation. 5.2 Application The manufacturer shall specify the main type(s) of application(s) for which the robot is intended. Examples of typical applications are handling; assembly; spot
37、 welding; arc welding; machining; spray painting; adhesive/sealing; inspection. 1) This International Standard is subject to revision and the year of publication will be inserted at a later stage.EN ISO 9946:1999 2 BSI 03-2000 Point in space Working space of the wrist reference point Range of moveme
38、nt of secondary axes X 1(mm) Z 1(mm) 4 th 5 th 1 925 1 635 + 75 90 + 170 150 2 1 610 1 550 + 75 90 180 3 1 750 1 140 +75 105 180 4 1 310 345 +45 120 180 5 870 600 +45 120 + 150 170 6 840 1 000 +75 120 + 140 150 7 1 350 750 Figure 1 Example of a 5-axis robot working spaceEN ISO 9946:1999 BSI 03-2000
39、3 Point in space Working space of the wrist reference point Range of movement of secondary axes X 1(mm) Z 1(mm) 4 th 5 th 6 th 1 925 1 635 210 + 75 90 + 170 150 2 1 610 1 550 210 + 75 90 180 3 1 750 1 140 210 +75 105 180 4 1 310 345 210 +45 120 180 5 870 600 210 +45 120 + 150 170 6 840 1 000 210 +75
40、 120 + 140 150 7 1 350 750 Figure 2 Example of a 6-axis robot working spaceEN ISO 9946:1999 4 BSI 03-2000 5.3 Power source The manufacturer shall specify all external power sources, including type (e.g.electrical, hydraulic, pneumatic or combination) required for proper operation of the robot (e.g.m
41、echanical structure motion actuators, control, auxiliary equipment e.g.gripper), together with the maximum power consumption required from each. These specifications shall also include permissible ranges and fluctuations. The manufacturer shall also specify the type of power utilized to control axis
42、 and auxiliary motion (e.g.electric, hydraulic, pneumatic). Where more than one type of power is utilized, the manufacturer shall include a breakdown by individual motion. 5.4 Mechanical structure The manufacturer shall specify the type of the mechanical structure and the number of mechanical axes.
43、An outline drawing of the structure shall be provided detailing the axis motions. This drawing may be part of the drawing required for describing the working space (see5.5). Examples of mechanical structures: rectangular robot; cylindrical robot; polar robot; articulated robot. If the robot is mobil
44、e, the way in which it is guided shall be indicated. 5.5 Working space The boundaries of the working space of the wrist reference point including the alignment pose and centre of the working space (C w ) shall be illustrated in a drawing with at least two views (one the projection of the locus of th
45、e maximum reach of the robot arm in the base coordinateX 1 Y 1plane (seeISO9787) and the other the projection of the locus of the maximum reach of the arm on the base coordinateX 1 Z 1plane). The drawing shall also provide information on any limitation of secondary axis motion at any point(s) in the
46、 working space of the wrist reference point (seeFigure 1 for an example of a 5-axis robot andFigure 2 for an example of a 6-axis robot). In the drawings, it is recommended that the details of the working space and range of movement of secondary axes are given in tabular form as shown in the examples
47、 ofFigure 1 andFigure 2. 5.6 Coordinate system The manufacturer shall specify base and mechanical interface coordinate systems in accordance withISO9787. Any deviations to ISO9787 shall be stated by the manufacturer. 5.7 External dimensions and mass The manufacturer shall specify external dimensions
48、 in millimetres(mm), and mass in kilograms(kg) of the mechanical structure and control unit. 5.8 Base mounting surface The manufacturer shall provide the base mounting surface description (for example in a drawing) and recommendations on the mounting of the robot base necessary to ensure that safe o
49、peration and rated performances are obtained. The permissible mounting positions and orientations of the robot should be specified together with any limitations in safety or performance relative to each position and orientation. 5.9 Mechanical interface The manufacturer shall provide the mechanical interface description including any drawings, specifications and reco
