EN ISO 10218-2-2011 en Robots and robotic devices - Safety requirements for industrial robots - Part 2 Robot systems and integration《机器人和机器人设备 工业机器人的安全要求 机器人系统和集成》.pdf

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1、raising standards worldwideNO COPYING WITHOUT BSI PERMISSION EXCEPT AS PERMITTED BY COPYRIGHT LAWBSI Standards PublicationBS EN ISO 10218-2:2011Robots and robotic devices Safety requirements for industrial robotsPart 2: Robot systems and integration (ISO 10218-2:2011)BS EN ISO 10218-2:2011 BRITISH S

2、TANDARDNational forewordThis British Standard is the UK implementation of EN ISO 10218-2:2011.The UK participation in its preparation was entrusted to T e c h n i c a l C o m m i t t e e A M T / - / 2 , R o b o t s a n d r o b o t i c d e v i c e s .A list of organizations represented on this commit

3、tee can be obtained on request to its secretary.This publication does not purport to include all the necessary provisions of a contract. Users are responsible for its correct application. BSI 2011 ISBN 978 0 580 65928 7 ICS 13.110; 25.040.30 Compliance with a British Standard cannot confer immunity

4、from legal obligations.This British Standard was published under the authority of the Standards Policy and Strategy Committee on 31 July 2011.Amendments issued since publicationDate T e x t a f f e c t e dEUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN ISO 10218-2 July 2011 ICS 25.040.30 Englis

5、h Version Robots and robotic devices - Safety requirements for industrial robots - Part 2: Robot systems and integration (ISO 10218-2:2011) Robots et dispositifs robotiques - Exigences de scurit pour les robots industriels - Partie 2: Systmes robots et intgration (ISO 10218-2:2011) Roboter und Robot

6、ikgerte - Sicherheitsanforderungen - Teil 2: Industrierobotersystem und Integration (ISO 10218-2:2011) 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 Standa

7、rd 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 versions (English,

8、 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 Austria, Belgium, Bulg

9、aria, 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. EUROPEAN COMMITTEE FOR

10、 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 10218-2:2011: EBS EN ISO 10218-2:2011 EN I

11、SO 10218-2:2011 (E) 3 Foreword This document (EN ISO 10218-2:2011) 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

12、by BSI. This European Standard shall 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 tha

13、t some of the elements of this document 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 has been prepared under a mandate given to CEN by the European Commission and the European Free Trade Association

14、, 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 to implement t

15、his 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, Sweden, Switzerla

16、nd and the United Kingdom. Endorsement notice The text of ISO 10218-2:2011 has been approved by CEN as a EN ISO 10218-2:2011 without any modification. BS EN ISO 10218-2:2011EN ISO 10218-2:2011 (E) 4 Annex ZA (informative) Relationship between this European Standard and the Essential Requirements of

17、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 a means of conforming to Essential Requirements of the New Approach Directive 2006/42/EC Machinery safety. Once this standard is

18、 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 presumption of conformity with th

19、e relevant Essential Requirements of that Directive and associated EFTA regulations. WARNING Other requirements and other EU Directives may be applicable to the product(s) falling within the scope of this standard. This page deliberately left blankReference numberISO 10218-2:2011(E)ISO 2011INTERNATI

20、ONAL STANDARD ISO10218-2First edition2011-07-01Robots and robotic devices Safety requirements for industrial robots Part 2: Robot systems and integration Robots et dispositifs robotiques Exigences de scurit pour les robots industriels Partie 2: Systmes robots et intgration ISO 10218-2:2011(E) PDF di

21、sclaimer This PDF file may contain embedded typefaces. In accordance with Adobes licensing policy, this file may be printed or viewed but shall not be edited unless the typefaces which are embedded are licensed to and installed on the computer performing the editing. In downloading this file, partie

22、s accept therein the responsibility of not infringing Adobes licensing policy. The ISO Central Secretariat accepts no liability in this area. Adobe is a trademark of Adobe Systems Incorporated. Details of the software products used to create this PDF file can be found in the General Info relative to

23、 the file; the PDF-creation parameters were optimized for printing. Every care has been taken to ensure that the file is suitable for use by ISO member bodies. In the unlikely event that a problem relating to it is found, please inform the Central Secretariat at the address given below. COPYRIGHT PR

24、OTECTED DOCUMENT ISO 2011 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from either ISO at the address below or ISOs

25、 member body in the country of the requester. ISO copyright office Case postale 56 CH-1211 Geneva 20 Tel. + 41 22 749 01 11 Fax + 41 22 749 09 47 E-mail copyrightiso.org Web www.iso.org Published in Switzerland ii ISO 2011 All rights reservedBS EN ISO 10218-2:2011 ISO 10218-2:2011(E) ISO 2011 All ri

26、ghts reserved iiiContents Page Foreword . iv Introduction. .v 1 Scope. 1 2 Normative references. 1 3 Terms and definitions . .2 4 Hazard identification and risk assessment.4 4.1 General . .4 4.2 Layout design . 5 4.3 Risk assessment . .6 4.4 Hazard identification . .8 4.5 Hazard elimination and risk

27、 reduction 9 5 Safety requirements and protective measures 9 5.1 General . .9 5.2 Safety-related control system performance (hardware/software)9 5.3 Design and installation . .10 5.4 Limiting robot motion . .14 5.5 Layout. .16 5.6 Robot system operational mode application17 5.7 Pendants. .21 5.8 Mai

28、ntenance and repair . 22 5.9 Integrated manufacturing system (IMS) interface23 5.10 Safeguarding. 24 5.11 Collaborative robot operation 32 5.12 Commissioning of robot systems .35 6 Verification and validation of safety requirements and protective measures 36 6.1 General . .36 6.2 Verification and va

29、lidation methods37 6.3 Required verification and validation .37 6.4 Verification and validation of protective equipment37 7 Information for use. 38 7.1 General . .38 7.2 Instruction handbook. 39 7.3 Marking. .43 Annex A (informative) List of significant hazards .44 Annex B (informative) Relationship

30、 of standards related to protective devices47 Annex C (informative) Safeguarding material entry and exit points49 Annex D (informative) Operation of more than one enabling device 52 Annex E (informative) Conceptual applications of collaborative robots 53 Annex F (informative) Process observation.55

31、Annex G (normative) Means of verification of the safety requirements and measures58 Bibliography. 71 BS EN ISO 10218-2:2011 ISO 10218-2:2011(E) iv ISO 2011 All rights reservedForeword ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO

32、 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 that committee. International organizations, gover

33、nmental 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 accordance with the rules given in the ISO/IEC D

34、irectives, 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 requires approval by at least 75 % of the member

35、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 10218-2 was prepared by Technical Committee ISO/TC 184, Automation systems

36、 and integration, Subcommittee SC 2, Robots and robotic devices. ISO 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 10218-2:2011 ISO 10218-2:2011(E) IS

37、O 2011 All rights reserved vIntroduction This part of ISO 10218 has been created in recognition of the particular hazards that are presented by industrial robot systems when integrated and installed in industrial robot cells and lines. Hazards are frequently unique to a particular robot system. The

38、number and types of hazards 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 purpose and the way in which it is installed, programmed, operated, and maintained. For th

39、e purpose of understanding requirements in this part of ISO 10218, a word syntax is used to distinguish absolute requirements from recommended practices or suggested actions. The word “shall” is used to identify requirements necessary for compliance with this part of ISO 10218. Such requirements hav

40、e to be accomplished unless an alternative instruction is provided or a suitable alternative is determined by a risk assessment. The word “should” is used to identify suggestions, recommended actions or possible solutions for requirements, but alternatives are possible and the suggested actions are

41、not absolute. In recognition of the variable nature of hazards with the application of industrial robots, this part of ISO 10218 provides guidance for the assurance of safety in the integration and installation of robots. Since safety in the use of industrial robots is influenced by the design of th

42、e particular robot system, a supplementary, though equally important, purpose is to provide guidelines for the design, construction and information for use of robot systems and cells. Requirements for the robot portion of the system can be found in ISO 10218-1. Providing for a safe robot system or c

43、ell depends on the cooperation of a variety of “stakeholders” those entities that share in a responsibility for the ultimate purpose of providing a safe working environment. Stakeholders may be identified as manufacturers, suppliers, integrators and users (the entity responsible for using robots), b

44、ut all share the common goal of a safe (robot) machine. The requirements in this part of ISO 10218 may be assigned to one of the stakeholders, but overlapping responsibilities can involve multiple stakeholders in the same requirements. While using this part of ISO 10218, the reader is cautioned that

45、 all of the requirements identified may apply to them, even if not specifically addressed by “assigned” stakeholder tasks. This part of ISO 10218 is complementary and in addition to ISO 10218-1, which covers the robot only. This part of ISO 10218 adds additional information in line with ISO 12100 an

46、d ISO 11161, International Standards for requirements to identify and respond in a type-C standard to unique hazards presented by the integration, installation and requirements for use of industrial robots. New technical requirements include, but are not limited to, instructions for applying the new

47、 requirements in ISO 10218-1 for safety-related control system performance, robot stopping function, enabling device, programme verification, cableless pendant criteria, collaborating robot criteria and updated design for safety. This part of ISO 10218 and ISO 10218-1 form part of a series of standa

48、rds dealing with robots and robotic devices. Other standards cover such topics as integrated robotic systems, coordinate systems and axis motions, general characteristics, performance criteria and related testing methods, terminology, and mechanical interfaces. It is noted that these standards are i

49、nterrelated and also related to other International Standards. For ease of reading this part of ISO 10218, the words “robot” and “robot system” refer to “industrial robot” and “industrial robot system” as defined in ISO 10218-1. Figure 1 describes the relationship of the scope of machinery standards used in a robot system. The robot alone is covered by ISO 10218-1, the system and cell is covered by this part of ISO 10218. A robot cell may include other machines subject to their own C level standards, and the robot system can be