1、BSI Standards PublicationBS EN ISO 10218-1:2011Robots and robotic devices Safety requirements for industrial robotsPart 1: RobotsIncorporating corrigendum April 2014BS EN ISO 10218-1:2011National forewordThis British Standard is the UK implementation of EN ISO 10218-1:2011. It supersedes BS EN ISO 1
2、0218-1:2008, which is withdrawn.The UK participation in its preparation was entrusted by Technical Committee AMT/-, AMT Assembly, to Subcommittee AMT/-/2 Robots and robotic devices.A list of organizations represented on this subcommittee can be obtained on request to its secretary.This publication d
3、oes not purport to include all the necessary provisions of a contract. Users are responsible for its correct application. The British Standards Institution 2014. Published by BSI Standards Limited 2014ISBN 978 0 580 86305 9ICS 13.110; 25.040.30Compliance with a British Standard cannot confer immunit
4、y fromlegal obligations.This British Standard was published under the authority of the Standards Policy and Strategy Committee on 30 September 2011.Amendments/corrigenda issued since publicationDate Text affected30 April 2014 CEN adoption sheet, Foreword, Endorsement and Annex ZA insertedBRITISH STA
5、NDARDEUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN ISO 10218-1 July 2011 ICS 25.040.30 English Version Robots and robotic devices - Safety requirements for industrial robots - Part 1: Robots (ISO 10218-1:2011) Robots et dispositifs robotiques - Exigences de scurit pour les robots industriels
6、- Partie 1: Robots (ISO 10218-1:2011) Industrieroboter - Sicherheitsanforderungen - Teil 1: Roboter (ISO 10218-1:2011) 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
7、 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 ve
8、rsions (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 Austri
9、a, 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. EUROPE
10、AN COMMITTEE FOR STANDARDIZATION COMIT EUROPEN DE NORMALISATION EUROPISCHES KOMITEE FR NORMUNG 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 10218-1:2011: EForeword Th
11、is document (EN ISO 10218-1:2011) 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 sh
12、all 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 do
13、cument 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 supersedes EN ISO 10218-1:2008. This document has been prepared under a mandate given to CEN by the European Commission and the European Free Trad
14、e 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 t
15、o 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, Swed
16、en, Switzerland and the United Kingdom. Endorsement notice The text of ISO 10218-1:2011 has been approved by CEN as a EN ISO 10218-1:2011 without any modification. BS EN ISO 10218-1:2011ISO 10218-1:2011(E) ISO 2011 All rights reserved iiAnnex ZA (informative) Relationship between this European Stand
17、ard 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 one means of conforming to Essential Requirements of the New Approach Directive 2006/42/EC
18、. 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 presumptio
19、n 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 products falling within the scope of this standard. BS EN ISO 10218-1:2011ISO 10218-1:2011(E) ISO 2011 All rights re
20、served iii ISO 2011 All rights reserved ivContents Page Foreword iv Introduction.v 1 Scope1 2 Normative references1 3 Terms and definitions .2 4 Hazard identification and risk assessment.6 5 Design requirements and protective measures .7 5.1 General .7 5.2 General requirements .7 5.3 Actuating contr
21、ols.8 5.4 Safety-related control system performance (hardware/software)8 5.5 Robot stopping functions.9 5.6 Speed control.11 5.7 Operational modes 11 5.8 Pendant controls .13 5.9 Control of simultaneous motion 15 5.10 Collaborative operation requirements 15 5.11 Singularity protection .16 5.12 Axis
22、limiting .16 5.13 Movement without drive power18 5.14 Provisions for lifting18 5.15 Electrical connectors 18 6 Verification and validation of safety requirements and protective measures 19 6.1 General .19 6.2 Verification and validation methods19 6.3 Required verification and validation .19 7 Inform
23、ation for use20 7.1 General .20 7.2 Instruction handbook20 7.3 Marking.21 Annex A (informative) List of significant hazards .23 Annex B (normative) Stopping time and distance metric.28 Annex C (informative) Functional characteristics of three-position enabling device .30 Annex D (informative) Option
24、al features 31 Annex E (informative) Labelling 33 Annex F (normative) Means of verification of the safety requirements and measures.34 Bibliography43 BS EN ISO 10218-1:2011ISO 10218-1:2011(E) v ISO 2011 All rights reservedForeword ISO (the International Organization for Standardization) is a worldwi
25、de 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 tha
26、t 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 a
27、ccordance 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 re
28、quires 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 10218-1 was prepared by Tec
29、hnical Committee ISO/TC 184, Automation systems and integration, Subcommittee SC 2, Robots and robotic devices. This second edition cancels and replaces the first edition (ISO 10218-1:2006), which has been technically revised. It also incorporates Technical Corrigendum ISO 10218-1:2006/Cor.1:2007. I
30、SO 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 BS EN ISO 10218-1:2011ISO 10218-1:2011(E) ISO 2011 All rights reserved Introduction ISO 10218 has been created
31、in recognition of the particular hazards that are presented by industrial robots and industrial robot systems. This part of ISO 10218 is a type-C standard as outlined in ISO 12100. When provisions of a type-C standard are different from those which are stated in type-A or type-B standards, the provi
32、sions of the type-C standard take precedence over the provisions of the other standards for machines that have been designed and built in accordance with the provisions of the type-C standard. The machinery concerned and the extent to which hazards, hazardous situations and events are covered are in
33、dicated in the Scope of this part of ISO 10218. Hazards associated with robots are well recognized, but the sources of the hazards are frequently unique to a particular robot system. The number and type(s) of hazard(s) are directly related to the nature of the automation process and the complexity o
34、f 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. NOTE Not all of the hazards identified by ISO 10218 apply to every robot, nor will the level of risk associated wit
35、h a given hazardous situation be the same from robot to robot. Consequently, the safety requirements, or the protective measures, or both, can vary from what is specified in ISO 10218. A risk assessment can be conducted to determine what the protective measures should be. In recognition of the varia
36、ble nature of hazards with different uses of industrial robots, ISO 10218 is divided into two parts. This part of ISO 10218 provides guidance for the assurance of safety in the design and construction of the robot. Since safety in the application of industrial robots is influenced by the design and
37、application of the particular robot system integration, ISO 10218-2 provides guidelines for the safeguarding of personnel during robot integration, installation, functional testing, programming, operation, maintenance and repair. This part of ISO 10218 has been updated based on experience gained in
38、developing the ISO 10218-2 guidance on system and integration requirements, in order to ensure it remains in line with minimum requirements of a harmonized type-C standard for industrial robots. Revised technical requirements include, but are not limited to, definition and requirements for singulari
39、ty, safeguarding of transmission hazards, power loss requirements, safety-related control circuit performance, addition of a category 2 stopping function, mode selection, power and force limiting requirements, marking, and updated stopping time and distance metric and features. This part of ISO 1021
40、8 is not applicable to robots that were manufactured prior to its publication date. BS EN ISO 10218-1:2011ISO 10218-1:2011(E) iv BS EN ISO 10218-1:2011INTERNATIONAL STANDARD ISO 10218-1:2011(E) ISO 2011 All rights reserved 1Robots and robotic devices Safety requirements for industrial robots Part 1:
41、 Robots 1 Scope This part of ISO 10218 specifies requirements and guidelines for the inherent safe design, protective measures and information for use of industrial robots. It describes basic hazards associated with robots and provides requirements to eliminate, or adequately reduce, the risks assoc
42、iated with these hazards. This part of ISO 10218 does not address the robot as a complete machine. Noise emission is generally not considered a significant hazard of the robot alone, and consequently noise is excluded from the scope of this part of ISO 10218. This part of ISO 10218 does not apply to
43、 non-industrial robots, although the safety principles established in ISO 10218 can be utilized for these other robots. NOTE 1 Examples of non-industrial robot applications include, but are not limited to, undersea, military and space robots, tele-operated manipulators, prosthetics and other aids fo
44、r the physically impaired, micro-robots (displacement less than 1 mm), surgery or healthcare, and service or consumer products. NOTE 2 Requirements for robot systems, integration, and installation are covered in ISO 10218-2. NOTE 3 Additional hazards can be created by specific applications (e.g. wel
45、ding, laser cutting, machining). These system-related hazards need to be considered during robot design. 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
46、 latest edition of the referenced document (including any amendments) applies. ISO 9283:1998, Manipulating industrial robots Performance criteria and related test methods ISO 10218-2, Robots and robotic devices Safety requirements for industrial robots Part 2: Robot systems and integration ISO 12100
47、, Safety of machinery General principles for design Risk assessment and risk reduction 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 IEC 60204-1, Safety of machin
48、ery Electrical equipment of machines Part 1: General requirements IEC 62061:2005, Safety of machinery Functional safety of safety-related electrical, electronic and programmable electronic control systems BS EN ISO 10218-1:2011ISO 10218-1:2011(E) 2 ISO 2011 All rights reserved3 Terms and definitions
49、 For the purposes of this document, the terms and definitions given in ISO 12100 and the following apply. 3.1 actuating control mechanical mechanism within a control device EXAMPLE A rod which opens contacts. 3.2 automatic mode operating mode in which the robot control system operates in accordance with the task programme ISO 8373:1994, definition 5.3.8.1 3.3 automatic operation state in which the robot is executing its programmed task as intended NOTE Adapted from ISO 8373:1994, definition 5.5. 3.4 collaborative ope
