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1、BRITISH STANDARD BS EN ISO 10218-1:2006 Robots for industrial environments Safety requirements Part 1: Robot ICS 25.040.30 ? Licensed Copy: London South Bank University, South Bank University, 16/11/2008 11:24, Uncontrolled Copy, (c) BSI BS EN ISO 10218-1:2006 This British Standard was published und
2、er the authority of the Standards Policy and Strategy Committee on 31 October 2008 BSI 2008 ISBN 978 0 580 62107 9 National foreword This British Standard is the UK implementation of EN ISO 10218-1:2006. It supersedes BS 7228-6:1992 which is withdrawn. The UK participation in its preparation was ent
3、rusted to Technical Committee AMT/-/2, Robots for manufacturing environment. A list of organizations represented on this committee 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 corre
4、ct application. Compliance with a British Standard cannot confer immunity from legal obligations. Amendments/corrigenda issued since publication DateComments Licensed Copy: London South Bank University, South Bank University, 16/11/2008 11:24, Uncontrolled Copy, (c) BSI EUROPEAN STANDARD NORME EUROP
5、ENNE EUROPISCHE NORM EN ISO 10218-1 June 2006 ICS 25.040.30Supersedes EN 775:1992 English Version Robots for industrial environments - Safety requirements - Part 1: Robot (ISO 10218-1:2006) Robots pour environnements industriels - Exigences de scurit - Partie 1: Robot (ISO 10218-1:2006) Roboter fr I
6、ndustrieumgebung - Sicherheit - Teil 1: Roboter (ISO 10218-1:2006) This European Standard was approved by CEN on 19 May 2006. 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 w
7、ithout 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, German). A version in any other languag
8、e 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, Cyprus, Czech Republic, Denmark, Estonia, Finland, France, Ger
9、many, 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 NORMUN
10、G Management Centre: rue de Stassart, 36 B-1050 Brussels 2006 CENAll rights of exploitation in any form and by any means reserved worldwide for CEN national Members. Ref. No. EN ISO 10218-1:2006: E Licensed Copy: London South Bank University, South Bank University, 16/11/2008 11:24, Uncontrolled Cop
11、y, (c) BSI Foreword This document (EN ISO 10218-1:2006) has been prepared by Technical Committee ISO/TC 184 “Industrial automation systems and integration“ in collaboration with Technical Committee CEN/TC 310 “Advanced Manufacturing Technologies“, the secretariat of which is held by BSI. This Europe
12、an Standard shall be given the status of a national standard, either by publication of an identical text or by endorsement, at the latest by December 2006, and conflicting national standards shall be withdrawn at the latest by December 2006. This document supersedes EN 775:1992. This document has be
13、en prepared under a mandate given to CEN by the European Commission and the European Free Trade Association, and supports essential requirements of EU Directive(s). For relationship with EU Directive(s), see informative Annex ZA, which is an integral part of this document. According to the CEN/CENEL
14、EC Internal Regulations, the national standards organizations of the following countries are bound to implement this European Standard: Austria, Belgium, Cyprus, Czech Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta
15、, Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland and United Kingdom. Endorsement notice The text of ISO 10218-1:2006 has been approved by CEN as EN ISO 10218-1:2006 without any modifications. BS EN ISO 10218-1:2006 Licensed Copy: London South Bank Univ
16、ersity, South Bank University, 16/11/2008 11:24, Uncontrolled Copy, (c) BSI iii Contents Page Introduction iv 1 Scope . 1 2 Normative references. 1 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 requ
17、irements. 7 5.3 Actuating controls 8 5.4 Safety-related control system performance (hardware/software). 9 5.5 Robot stopping functions 10 5.6 Reduced speed control 11 5.7 Operational modes . 11 5.8 Pendant controls. 12 5.9 Control of simultaneous motion . 14 5.10 Collaborative operation requirements
18、 14 5.11 Singularity protection. 15 5.12 Axis limiting. 15 5.13 Movement without drive power. 17 5.14 Provisions for lifting. 17 5.15 Electrical connectors 17 6 Information for use. 17 6.1 General. 17 6.2 Instruction handbook. 18 6.3 Marking 19 Annex A (normative) List of significant hazards 20 Anne
19、x B (normative) Stopping time and distance metric 22 Annex C (informative) Functional characteristics of 3-position enabling device 24 Annex D (informative) Optional features 25 Annex E (informative) Methods for mode labelling 26 Bibliography. 27 BS EN ISO 10218-1:2006 Annex ZA (informative) Relatio
20、nship between this European Standard and the Essential Requirements of EU Directive for Machinery 98/37/EC .28 Licensed Copy: London South Bank University, South Bank University, 16/11/2008 11:24, Uncontrolled Copy, (c) BSI iv Introduction ISO 10218 has been created in recognition of the particular
21、hazards that are presented by industrial robots and industrial robot systems. This document is a type C standard as stated in ISO 12100-1. The machinery concerned and the extent to which hazards, hazardous situations and events are covered are indicated in the scope of this document. When provisions
22、 of this type C standard are different from those which are stated in type A or B standards, the provisions of this type C standard take precedence over the provisions of the other standards for machines that have been designed and built according to the provisions of this type C standard. Hazards a
23、ssociated 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 of the installation. The risks associated with these hazar
24、ds vary with the type of robot used and its purpose and the way in which it is installed, programmed, operated and maintained. NOTE 1 Not all of the hazards identified by ISO 10218 apply to every robot and nor will the level of risk associated with a given hazardous situation be the same from robot
25、to robot. Consequently the safety requirements and/or protective measures may vary from what is specified in ISO 10218. A risk assessment may be conducted to determine what the protective measures should be. In recognition of the variable nature of hazards with different uses of industrial robots, I
26、SO 10218 is divided into two parts; Part 1 provides guidance for the assurance of safety in 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, Part 2 will provide guideline
27、s for the safeguarding of personnel during robot integration, installation, functional testing, programming, operation, maintenance and repair. NOTE 2 While noise is generally considered a hazard associated with the industrial environment, the robot as defined in 3.18 cannot be considered the final
28、machine, rather the robot system as defined in 3.20 is the machine for noise consideration. Therefore the hazard due to noise will be dealt with in ISO 10218-2. ISO 10218 is not applicable to robots which were manufactured prior to its publication date. BS EN ISO 10218-1:2006 Licensed Copy: London S
29、outh Bank University, South Bank University, 16/11/2008 11:24, Uncontrolled Copy, (c) BSI 1 Robots for industrial environments Safety requirements Part 1: Robot 1 Scope This part of ISO 10218 specifies requirements and guidelines for the inherent safe design, protective measures and information for
30、use of industrial robots, as defined in Clause 3. It describes basic hazards associated with robots and provides requirements to eliminate, or adequately reduce, the risks associated with these hazards. Noise as a potential hazard is not dealt with in this part of ISO 10218, but will be fully covere
31、d in Part 2. This part of ISO 10218 does not apply to non-industrial robots although the safety principles established in ISO 10218 may be utilized for these other robots. Examples of non-industrial robot applications include, but are not limited to: undersea, military and space robots, tele-operate
32、d manipulators, prosthetics and other aids for the physically impaired, micro-robots (displacement 250 mm/sec can be achieved. In this case, the robot shall: a) have a means to select manual high speed mode which requires a deliberate action (e.g. a key switch on the robot control panel) and an addi
33、tional confirming action; b) default to a speed u 250 mm/sec upon selection of manual high speed mode; c) provide a pendant conforming to 5.8 with an additional hold to run device, exclusive to this mode, that permits robot motion to continue; d) provide on the pendant a means to adjust the speed fr
34、om the default value to the full programmed value; and e) provide on the pendant an indication of the adjusted speed (e.g. by a highlight on the pendant display). NOTE 1 This optional manual mode has previously been known as T2, or high-speed programme verification. NOTE 2 B, C, D, E. 5.8 Pendant co
35、ntrols 5.8.1 General Where a pendant control or other control device has the capability to control the robot from within the safeguarded space, the requirements in 5.8.2 to 5.8.7 shall apply. NOTE This applies to any device used to control a robot from within the safeguarded space while drive power
36、is applied to any of the robot axes. This includes robots with powered lead-through teach, whether using robot-mounted manual controls or main/secondary teaching controls. 5.8.2 Motion control Motion of the robot initiated from the pendant or teaching control device shall be under reduced speed cont
37、rol as described in 5.6. When the pendant contains provisions for selecting higher speeds, the robot system shall meet the requirements in 5.7.4. All buttons and other devices on the pendant that cause robot motion shall stop motion when the button or device is released. NOTE B, D, E. BS EN ISO 1021
38、8-1:2006 Licensed Copy: London South Bank University, South Bank University, 16/11/2008 11:24, Uncontrolled Copy, (c) BSI 13 5.8.3 Enabling device The pendant or teaching control device shall have a three position enabling device in accordance with IEC 60204-1:2005, 10.9 that, when continuously held
39、 in a centre-enabled position, permits robot motion and any other hazards controlled by the robot. The enabling device shall demonstrate the following performance characteristics: a) the enabling device may be integral with, or physically separate from (e.g. a grip-type enabling device), the pendant
40、 control and shall operate independently from any other motion control function or device; b) release of or compression past the centre-enabled position of the device shall stop hazards (e.g. robot motion) in accordance with 5.4; c) when more than one enabling switch is used on a single enabling dev
41、ice (i.e. allowing alternating left and/or right hand operation), fully depressing any switch shall override the control of the other switches and cause a protective stop; d) when more than one enabling device is in operation (i.e. more than one person are in the safeguarded space with an enabling d
42、evice), motion shall only be possible when each device is held in the centre (enabled) position at the same time; e) dropping the enabling device shall not result in a failure that would allow motion to be enabled; and f) if an enabling output signal is provided, then the output shall signal stop co
43、ndition when the safety system supply is off and shall comply with the requirements of 5.4. NOTE 1 Design and installation of the enabling device should consider the ergonomic issues of sustained activation. NOTE 2 Additional information on enabling may be found in Annex C. NOTE 3 B, D, E. 5.8.4 Pen
44、dant emergency stop function The pendant or teaching control device shall have a stop function in accordance with 5.5.2. The presentation of the device shall be an emergency stop device as described in ISO 13850. NOTE A, E. 5.8.5 Initiating automatic operation It shall not be possible to activate ro
45、bot automatic operation using the pendant or teaching control device exclusively. A separate confirmation outside the safeguarded space shall be necessary prior to activating the automatic mode. NOTE B, D, E. 5.8.6 Cableless teach controls Where pendant or other teaching controls have no cables conn
46、ecting to the robot control, the following shall apply: a) a visual indication shall be provided that the pendant is active, e.g. at the teach pendant display; b) loss of communication shall result in a protective stop for all robots when in manual reduced speed or manual high speed modes. Restorati
47、on of communication shall not restart robot motion without a separate deliberate action; BS EN ISO 10218-1:2006 Licensed Copy: London South Bank University, South Bank University, 16/11/2008 11:24, Uncontrolled Copy, (c) BSI 14 c) the maximum response times for data communication (including error co
48、rrection) and for loss of communication shall be stated in the information for use; and d) care shall be taken to avoid confusion between active and inactive emergency stop devices by providing for appropriate storage or design, and information for use. NOTE A, C, D, E. 5.8.7 Control of multiple rob
49、ots Where a pendant control has the capability to control multiple robots, the requirements in 5.9 shall apply. NOTE A, B, E. 5.9 Control of simultaneous motion 5.9.1 Single pendant control One or more robot controls can be linked to a single teach pendant. When so configured, the teach pendant shall have the capability to move one or more of the robots independently or in simultaneous motion. When in the manual operational mode, all functions of the robot system shall be under the con