DIN EN ISO 10218-1-2012 Robots and robotic devices - Safety requirements for industrial robots - Part 1 Robots (ISO 10218-1 2011) German version EN ISO 10218-1 2011《机器人和机器人设备 工业机器人.pdf

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1、January 2012 Translation by DIN-Sprachendienst.English price group 20No part of this translation may be reproduced without prior permission ofDIN Deutsches Institut fr Normung e. V., Berlin. Beuth Verlag GmbH, 10772 Berlin, Germany,has the exclusive right of sale for German Standards (DIN-Normen).IC

2、S 25.040.30!$y,p“1860977www.din.deDDIN EN ISO 10218-1Robots and robotic devices Safety requirements for industrial robots Part 1: Robots (ISO 10218-1:2011)English translation of DIN EN ISO 10218-1:2012-01Industrieroboter Sicherheitanforderungen Teil 1: Roboter (ISO 10218-1:2011)Englische bersetzung

3、von DIN EN ISO 10218-1:2012-01Robots et dispositifs robotiques Exigences de scurit pour les robots industriels Partie 1: Robots (ISO 10218-1:2011)Traduction anglaise de DIN EN ISO 10218-1:2012-01SupersedesDIN EN ISO 10218-1:2009-07www.beuth.deDocument comprises pagesIn case of doubt, the German-lang

4、uage original shall be considered authoritative.5001.12 DIN EN ISO 10218-1:2012-01 2 A comma is used as the decimal marker. National foreword This standard includes safety requirements. This standard has been prepared by Technical Committee ISO/TC 184 “Automation systems and integration” in collabor

5、ation with Technical Committee CEN/TC 310 “Advanced automation technologies and their applications” (Secretariat: BSI, United Kingdom). The responsible German body involved in its preparation was the Normenausschuss Maschinenbau (Mechanical Engineering Standards Committee), Working Committee NA 060-

6、30-02 AA Roboter und Robotik-gerte of Section Automation und Integration. Representatives of manufacturers and users of robots and This standard contains specifications meeting the essential requirements set out in Annex I of the “Machinery Directive”, Directive 2006/42/EC, and which apply to machin

7、es that are either first placed on the market or commissioned within the EEA. This standard serves to facilitate proof of compliance with the essential requirements of the directive. Once this standard is cited in the Official Journal of the European Union, it is deemed a “harmonized” standard and t

8、hus, a manufacturer applying this standard may assume compliance with the requirements of the Machinery Directive (“presumption of conformity”). The International Standards referred to in this document and taken over as European Standards have been published as the corresponding DIN EN ISO Standards

9、 with the same number. For the International Standards and documents referred to in this standard there are no national standards available unless they have been published as DIN ISO standards with the same number. Amendments This standard differs from DIN EN ISO 10218-1:2009-07 as follows: a) the t

10、echnical substance of the standard has been revised to be in line with the safety requirements of the new Machinery Directive 2006/42/EC; b) a number of editorial corrections have been made taking into account Part 2 of ISO 10218 which has meanwhile been published. Previous editions DIN EN 775: 1993

11、-08 DIN EN ISO 10218-1: 2007-02, 2009-07 DIN EN ISO 10218-1: Berichtigung 1:2007-08 robotic devices, and of the employers liability insurance associations contributed to this standard. EUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN ISO 10218-1 July 2011 ICS 25.040.30 Supersedes EN ISO 10218-1:

12、2008English 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 - Partie 1: Robots (ISO 10218-1:2011) Industrieroboter - Sicherheitsanforderungen - Teil 1

13、: 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 European Standard the status of a national standard without any alteration. Up-to-date li

14、sts 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 unde

15、r 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,

16、Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland and United Kingdom. EUROPEAN COMMITTEE FOR STANDARDIZATION COMIT EUROPEN DE NORMALISATION EUROPISCHES KOMITEE FR NOR

17、MUNG 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: EContents Page Foreword 3 Introduction .4 1 Scope 5 2 Normative references 5 3 Terms and definitions .

18、6 4 Hazard identification and risk assessment 10 5 Design requirements and protective measures 11 5.1 General . 11 5.2 General requirements . 11 5.3 Actuating controls 12 5.4 Safety-related control system performance (hardware/software) . 12 5.5 Robot stopping functions 13 5.6 5.7 Operational modes

19、. 15 5.8 Pendant controls. 17 5.9 Control of simultaneous motion . 19 5.10 Collaborative operation requirements 19 5.11 Singularity protection . 20 5.12 Axis limiting . 20 5.13 Movement without drive power . 22 5.14 Provisions for lifting . 22 5.15 Electrical connectors . 22 6 Verification and valid

20、ation of safety requirements and protective measures . 23 6.1 General . 23 6.2 Verification and validation methods . 23 6.3 Required verification and validation . 23 7 Information for use . 7.1 General . 24 7.2 Instruction handbook . 24 7.3 Marking 25 Annex A (informative) List of significant hazard

21、s . Annex B (normative) Stopping time and distance metric Annex C (informative) Functional characteristics of three-position enabling device . 4 Annex D (informative) Optional features Annex E (informative) Labelling Annex ZA (informative) Relationship between this European Standard and the Essentia

22、l Requirements of EU Directive 2006/42/EC . 48 EN ISO 10218-1:2011 (E) DIN EN ISO 10218-1:2012-01 2 Speed control.15Annex F (normative) Means of verification of the safety requirements and measures.3 Bibliography4 7837353322724Foreword This document (EN ISO 10218-1:2011) has been prepared by Technic

23、al 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 publ

24、ication 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

25、 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 Trade Association, and supports essential requirements of EU Direc

26、tive. 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

27、, 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

28、 text of ISO 10218-1:2011 has been approved by CEN as a EN ISO 10218-1:2011 without any modification. EN ISO 10218-1:2011 (E) DIN EN ISO 10218-1:2012-01 3 Introduction ISO 10218 has been created in recognition of the particular hazards that are presented by industrial robots and industrial robot sys

29、tems. 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 provisions of the type-C standard take precedence over the provisions of the other standards for machines that

30、 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 indicated in the Scope of this part of ISO 10218. Hazards associated with robots are well recognized, but t

31、he 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 of the installation. The risks associated with these hazards vary with the type of robot used and its purp

32、ose, 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 with a given hazardous situation be the same from robot to robot. Consequently, the safety requirements, or

33、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 variable nature of hazards with different uses of industrial robots, ISO 10218 is divided into two parts. This

34、 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 application of the particular robot system integration, ISO 10218-2 provides guidelines for the safeguard

35、ing 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 developing the ISO 10218-2 guidance on system and integration requirements, in order to ensure it remains

36、 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 singularity, safeguarding of transmission hazards, power loss requirements, safety-related control circuit perform

37、ance, 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 10218 is not applicable to robots that were manufactured prior to its publication date. EN ISO 10218-1:2011 (

38、E) DIN EN ISO 10218-1:2012-01 4 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

39、 reduce, the risks associated 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

40、 10218 does not apply to 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, prost

41、hetics and other aids for 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 specifi

42、c applications (e.g. welding, 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

43、 undated references, the 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 a

44、nd integration ISO 12100, 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 6

45、0204-1, 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 electronic control systems EN ISO 10218-1:2011 (E) DIN EN ISO 10218-1:2012-01 5 3 Terms and defini

46、tions 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 accord

47、ance 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 operation state in which purposely designed robots work in direct cooperatio

48、n with a human within a defined workspace 3.5 collaborative workspace workspace within the safeguarded space where the robot and a human can perform tasks simultaneously during production operation 3.6 drive power energy source or sources for the robot actuators 3.7 end-effector device specifically designed for attachment to the mechanical interface to enable the robot to perform its task EXAMPLE Gripper, nutrunner, welding gun, spray gun. ISO 8373:1994, definition 3.11 3.8 energy source electrical, mechanical, hydrauli