1、9946:1999 Manipulating industrial I robots - Presentation of characteristics The European Standard EN BO 99461999 has the status of a British Standard ICs 26.040.30 NO COPYING WITHOUT BSI PERMISSION EXCEPT AS PERMITTED BY COPYRIGHT LAW STD-BSI BS EN IS0 99qb-ENGL Amd. No. Date BS EN IS0 9946:1999 Co
2、mments 1999 ILI Lb24669 07983LL 5T This British Standard, having been prepaied under the direction of the DISC Board, was published under the authority of the Standards Committee and comes into effect on 15 July 1999 National foreword This British Standard is the English language version of EN IS0 9
3、946 1999. It is identical with IS0 99461999. It supersedes BS 72283:1991 which is withdram. The UK participation in its preparation was entrusted to Technical Committee AMT/-/l, AMT executive committee, which has the responsibility to: - aid enquires to understand the text; - present to the responsi
4、ble internatiodlEuropm committee any enquiries on the interpretation, or proposals for change, and keep 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
5、to ils secretary. Cross-references Attention is drawn to the fact that CEN and CENELEC Standard3 normally include an annex which lists nonnative references to intemational publications with their corresponding European publications. The British Standards which implement these international or Europe
6、an publications may be found in the 231 Standards Catalogue under the section entitled “International Standards 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 conimct.
7、Users of British Standards are responsible for their correct application. Compliance with a British Standard does not of itself confer immunity from legal obligations. Summary of pages The document comprises a front cover, an inside front cover, the EN IS0 title page, the EN foreword page, the IS0 t
8、itle page, pages ii to v, a blank page, pages 1 to 15, the annex 7A page, an inside back cover and a back cover. The BSI copyright notice displayed throughout this document indicates when the document was ast issued O BSI 07-1999 ISBN O 680 32690 3 EUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM E
9、N IS0 9946 April 1999 ICs 25.040.00 Supersedes EN 299463992 English version Manipulating industrial robots - Presentation of characteristics (IS0 9946: 1 999) Robots manipulateurs industriels - Pr6sentation des caractnstques (IS0 99463999) Industrieroboter - Darstellung charakteristischer Eigenschaf
10、ten (IS0 9946:1998) This European Standard was approved by CEN on 1 March 1999. CEN members are bound to comply with the CEWCENELEC Intemal Regulations which stipulate the conditions for giving this European Standard the status o( a national standard without any alteration. Up-to-date lists arid blb
11、liographical references concerning such national standards may be obtained on application to the Central Secretarial or to any CEN member. This European Siandard exists in three official versions (English, Frendi, German). A version in any other language made by translation under the responsibility
12、of a CEN member into its own language and notified to the Centrai Secretariat has the same status as the officiai versions. CEN members are the national standards bodies of Austria, Belgium, Czech Republic, Denmark, Finland, France, Germany, Greece, Iceland, Ireland, Italy, Luxembourg, Netherlands,
13、Norway, Portugal, Spain, Sweden, Switzerland and United Kingdom. EUROPEAN COMMlTEE FOR STANDARDIZATION COMITE EUROPEEN DE NORMALISATION EUROPAISCHES KOMITEE FUR NORMUNG Central Secretariat: rue de Stassart, 36 81050 Brussels O 1999 CEN All rights of exploitation in any form and by any means resewed
14、worldwide for CEN national Members. Ref. No. EN IS0 9946A999 E STD-BSI BS EN IS0 974b-ENGL 1999 I lb2LiLb 07983b3 722 = EN IS0 9946:1999 Foreword The text of the International Standard IS0 9946:1999 has been prepared by Technical Committee ISORC 184 “Industrial automation systems and integration“ in
15、 collaboration with Technical committee CENRC 31 O Advanced Manufacturing Technologies“, the secretariat of which is held by BSI. This European Standard supersedes EN 29946:1992. This European Standard shall be given the status of a national standard, either by publication of an identical text or by
16、 endorsement, at the latest by October 1999, and conflicting national standards shall be withdrawn at the latest by October 1999. According to the CENKENELEC Internal Regulations, the national standards organizations of the following countries are bound to implement this European Standard: Austria,
17、Belgium, Czech Republic, 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 IS0 9946:1999 was approved by GEN as a European Standar
18、d without any modification. NOTE: Normative references to International Standards are listed in annex ZA (normative). STD-BSI 9s EN IS0 Yt(b-ENGL 1771 E LbZqbhY 07783b4 bb EN IS0 9946:1999 INTERNATIONAL STANDARD IS0 9946 Second edition 1999-04-01 Manipulating industrial robots - Presentation of char
19、acteristics Robots manipulateurs industriels - Prsentation des caractristiques Reference number IS0 9946.1999() STD.BSI BS EN IS0 71Lib-ENGL 1777 W 1b24bb7 07783b5 5T5 W EN IS0 9946:1999 Contents 1 scope 1 2 Normative references 1 3 Definitions 1 4 Units 1 5 Characteristics . 2 5.1 General . 2 5.2 A
20、pplication 2 5.3 Power swrw 2 5.4 Mechanical structure 2 5.5 Working space 3 5.6 Coordinate system 6 5.7 External dimensions and mass . 6 5.8 Base mounting surface 6 5.9 Mechanical intefaw . 6 5.1 O Control . 6 5.11 Task programming and program loading . 7 5.1 1.1 Examples of programming methods . 7
21、 5.11.2 Examples of program loading means 7 5.12 Environment 7 5.13 Load . 7 5.14 Velocity 9 5.15 Resolution . 9 STD-BSI BS EN IS0 99Llb-ENGL 1779 LbZLibbS 07783bb Li31 D EN IS0 9946:1999 5.1 6 Performance critwia . 9 5.17 %fay . 10 Annex A (informative) Recommended format of presentation for robot
22、specifications 11 Annex B (informative) thscription of the symbols of performance criteria - Abstract from IS0 9283 15 iii SIP-BSI BS EN IS0 77lb-ENGL 1777 6 IbSLibbS 07703b7 378 6 EN IS0 9946:1999 Foreword IS0 (the International Organization for Standardization) is a worldwide federation of nationa
23、l standards bodies (IS0 member bedies). The work of preparing International Standards is normally carried out through IS0 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. Internation
24、al organizations, governmental and non-governmental, in liaison with ISO, also take part in the work. IS0 collaborates closely with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization. Draft International Standards adopted by the technical committee
25、s 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. International Standard IS0 9946 was prepared by Technical Committee IS/TC 184, Industriel automation systems and integration, Subcommitte
26、e SC 2, Robots for manufactwing environment. This second edition cancels and replaces the first edition (IS0 9946:1991) of which it constitutes a technical revision. Annexes A and B of this International Standard are for information only. iv Introduction IS0 9946 is part of a series of International
27、 Standards dealing with manipulating industrial robots. Other International Standards cover such 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
28、 International Standards. The number of manipulating industrial robots used in a manufacturing 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 IS0 9946 is to assist users and
29、 manufacturers in the understanding and comparison of various types of robots. IS0 11593:1996 contains 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
30、of robot specification. Annex B provides a description of the symbols of performance criteria. NOTE For the purposes of this International Standard, the term “robot“ means “manipulating industrial robot. V STD.BS1 BS EN IS0 Yqb-ENGL L977 Lb24bbY D7783b LYO EN IS0 9946:1999 Manipulating industrial ro
31、bots - Presentation of characteristics 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, through reference in this text, constitute provisions of this Intemation
32、al 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 applying the most recent editions of the standards indicated below. Membe
33、rs of IEC and IS0 maintain registers of currently valid International Standards. IS0 8373: 1 994, Manipulating industrial robots - Vocabulary. IS0 9283:1998, Manipulating industrial robots - Performance criteria and related test methods. IS0 9409-1:1996, Manipulating industrial robots - Mechanical i
34、nterfaces - Part 7: Plates (fom A). IS0 9787:J ), Manipulating industriel robots - coordinate systems and motion nomenclatures IS0 1021 8:1992, Manipulating industrial robots - Safey. 3 Definitions For the purposes of this Intemational Standard, the definitions given in IS0 8373 and the following de
35、finition apply. 3.1 centre of the working space ( - angle in radians (rad) or degrees y); - time in seconds (s); - mass in kilograms (kg); - force in newtons (N); - velocity in metres per second (ds), radians per second (rad/s) or degrees per second (oh). i) This International Standard is subjec to
36、revision and the year of publication will be inserted at a later stage. 1 STD-BSI BS EN IS0 77Lib-ENGL 1999 m Lb2LibbS 0718370 Yb2 EN IS0 9946:1999 5 Characteristics 5.1 General The manufacturer shall provide information related to the various characteristics and requirements as described in this cl
37、ause as part of the robot documentation. 5.2 Application The manufacturer shall specify the main type) of application(s) for which the robot is intended. Examples of typical applications are - handling; - assembly; - spot welding; - arc welding; - machining; - spray painting; - adhesive/sealing; - i
38、nspection. 5.3 Power source The manufacturer shall specify all extemal power sources, including type (e.g. electrical, hydraulic, pneumatic or combination) required for proper operation of the robot (e.g. mechanical structure motion actuators, control, auxiliary equipment e.g. gripper), together wit
39、h 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 and auxiliary motion (e.9. electric, hydraulic, pneumatic). Where more than one type of powe
40、r 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. An outline drawing of the structure shall be provided detailing the axis motions. This drawi
41、ng may be part of the drawing required for describing the working space (see 5.5). Examples of mechanical structures: - rectangular robot; - cylindrical robot; - polar robot; - articulated robot. If the robot is mobile, the way in which it is guided shall be indicated. 2 - STD.BSI BS EN IS0 97llb-EN
42、GL 1999 W LbZLibbS 0796373 8T7 EN IS0 9946:1999 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.,) shall be illustrated in a drawing with at least two views (one the projection of the locus of the maxi
43、mum reach of the robot arm in the base coordinate XI - Y1 plane (see IS0 9787) and the other the projection of the locus of the maximum reach of the an on the base coordinate XI - Z, plane). The drawing shall also provide information on any limitation of secondary axis motion at any point(s) in the
44、working space of the wrist reference point (see figure 1 for an example of a 5-axis robot and figure 2 for an example of a bais 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
45、of figures 1 and 2. 3 STD=BSI BS EN IS0 99Vb-ENGL 1995 Lb24bb9 0798372 735 = EN IS0 9946:1999 1 2 3 4 5 6 7 Dimensions in millimetres 925 1635 + 75“ + 170“ 1610 1550 + 75“ f 180“ 1 750 1140 + 75“ f 180“ 1310 345 + 45“ f 180“ 870 600 + 45“ + 150“ 840 lo00 + 75“ + 140“ 1350 750 - - - 90“ - 150“ - 90“
46、- 105“ - 120“ - 120“ - 170“ - 120“ - 150“ 1 Wrist reference point 2 Alignment pose 3 4fiaxis 4 5aaXis 4 STD-BSI BS EN IS0 779b-ENGL L777 Lb29bbS 0778373 b7L W Point In space EN IS0 9946:1999 Working space of the wrist reference point Range of movement of secondary axes Dimensions in millimetres XI (
47、mm) Zl (mm) 925 1635 1 4th 5th 61h f 210“ + 75“ + 170 Key 1 Wrist reference point 2 Alignment pose 3 4aaxis 4 5aaxis 5 6aaxis 1610 - 90“ - 150“ 1 550 i 210“ + 75“ i 180“ 7 1 750 1310 870 840 - 90“ - 105“ - 120“ - 120“ - 170“ 1140 f 210“ + 75“ i 180“ 345 f 210“ + 45“ i 180“ 600 t 210“ + 45“ + 150“ 1
48、O00 i 210“ + 75“ + 140“ I I I -120“ - 150“ Figure 2 - Example of a 6-axis robot working space 5 STD-BSI BS EN IS0 774b-ENGL 1999 H LbS4bbS 077837q 508 EN IS0 9946:1999 5.6 Coordinate system The manufacturer shall specify base and mechanical interface coordinate systems in accordance with IS0 9787. A
49、ny deviations to IS0 9787 shall be stated by the manufacturer. 5.7 External dimensions and mass I The manufacturer shall specify external dimensions in millimetres (mm), and mass in kilograms (kg) of the mechanical structure and control unit. 5.8 Base mounting surface 1 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 operation and rated performances are obtained. The permissible mounting posi
