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1、BRITISH STANDARD BS EN ISO 15187:2002 Manipulating industrial robots Graphical user interfaces for programming and operation of robots (GUI-R) The European Standard EN ISO 15187:2002 has the status of a British Standard ICS 25.040.30 ? Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:29
2、GMT+00:00 2006, Uncontrolled Copy, (c) BSI BS EN ISO 15187:2002 This British Standard was published under the authority of the Standards Policy and Strategy Committee on 25 November 2004 BSI 25 November 2004 ISBN 0 580 44848 7 National foreword This British Standard is the official English language
3、version of EN ISO 15187:2002. It is identical with ISO 15187:2000. The UK participation in its preparation was entrusted to Technical Committee AMT/4, Product data exchange, which has the responsibility to: A list of organizations represented on this committee can be obtained on request to its secre
4、tary. Cross-references The British Standards which implement international or European publications referred to in this document may be found in the BSI Catalogue under the section entitled “International Standards Correspondence Index”, or by using the “Search” facility of the BSI Electronic Catalo
5、gue or of British Standards Online. This publication does not purport to include all the necessary provisions of a contract. Users are responsible for its correct application. Compliance with a British Standard does not of itself confer immunity from legal obligations. aid enquirers to understand th
6、e text; present to the responsible international/European 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. Summary of pages This document comprises a fron
7、t cover, an inside front cover, the EN ISO title page, the EN ISO foreword page, the ISO title page, pages ii to vii, a blank page, pages 1 to 22, an inside back cover and a back cover. The BSI copyright notice displayed in this document indicates when the document was last issued. Amendments issued
8、 since publication Amd. No. DateComments Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:29 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN ISO 15187 September 2002 ICS 25.040.30 English version Manipulating industrial robots - Graphical u
9、ser interfaces for programming and operation of robots (GUI-R) (ISO 15187:2000) Robots manipulateurs industriels - Interfaces graphiques utilisateur pour la programmation et lutilisation de robots (GUI-R) (ISO 15187:2000) Industrieroboter fr die Handhabung - Grafische Anwenderschnittstelle fr die Pr
10、ogrammierung und den Betrieb von Robotern (GUI-R) (ISO 15187:2000) This European Standard was approved by CEN on 30 August 2002. 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 standar
11、d without any alteration. Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the Management Centre or to any CEN member. This European Standard exists in three official versions (English, French, German). A version in any other langua
12、ge made by translation under the responsibility of a CEN member into its own language and notified to the Management Centre has the same status as the official versions. CEN members are the national standards bodies of Austria, Belgium, Czech Republic, Denmark, Finland, France, Germany, Greece, Icel
13、and, Ireland, Italy, Luxembourg, Malta, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland and United Kingdom. EUROPEAN COMMITTEE FOR STANDARDIZATION COMIT EUROPEN DE NORMALISATION EUROPISCHES KOMITEE FR NORMUNG Management Centre: rue de Stassart, 36 B-1050 Brussels 2002 CENAll rights of expl
14、oitation in any form and by any means reserved worldwide for CEN national Members. Ref. No. EN ISO 15187:2002 E Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:29 GMT+00:00 2006, Uncontrolled Copy, (c) BSI I NESO 51:7812002 (E) 2 Foreword The text of ISO 15187:2000 has been prepared by
15、Technical Committee ISO/TC 184 “Industrial automation systems and integration“ of the International Organization for Standardization (ISO) and has been taken over as EN ISO 15187:2002 by Technical Committee CEN/TC 310 “Advanced Manufacturing Technologies“, the secretariat of which is held by BSI. Th
16、is 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 March 2003, and conflicting national standards shall be withdrawn at the latest by March 2003. According to the CEN/CENELEC Internal Regulations, the
17、national standards organizations of the following countries are bound to implement this European Standard: Austria, Belgium, Czech Republic, Denmark, Finland, France, Germany, Greece, Iceland, Ireland, Italy, Luxembourg, Malta, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland and the United
18、 Kingdom. Endorsement notice The text of the International Standard ISO 15187:2000 has been approved by CEN as a European Standard without any modifications. EN ISO 15187:2002 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:29 GMT+00:00 2006, Uncontrolled Copy, (c) BSI Reference number
19、ISO 15187:2000(E) OSI 0002 INTERNATIONAL STANDARD ISO 15187 First edition 2000-11-01 Manipulating industrial robots Graphical user interfaces for programming and operation of robots (GUI-R) Robots manipulateurs industriels Interfaces graphiques utilisateur pour la programmation et lutilisation de ro
20、bots (GUI-R) EN ISO 15187:2002 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:29 GMT+00:00 2006, Uncontrolled Copy, (c) BSI ISO 81517:(0002)E DPF dcsilremia ihTs PDF file may ctnoain emeddebd tyfepaces. In accnadroce with Aebods licensing lopicy, this file may be pirnted or ivewed ubt
21、slahl ton be ideted lnuess the tyfepaces which are emeddebd rae licensed to nad intslaled on the computer freporming the ideting. In odwlnidaong this feli, trapies accept tierehn the sersnoptilibiy of ont infrnignig Aebods licsnenig lopicy. hTe ISO tneCarl Secterairat accepts no llibaiity in this .a
22、era Abode is a tdaremark of Abode Stsyems Inctaropro.de teDails of the sfotwrae pudorcts used to crtaee tihs PDF file can be fnuod in the Garenel Info lerative to the file; the P-FDceration rapamteers were tpoimized for pirtning. Evrey crae ahs eebn taken to ensrue that the file is suitlbae for use
23、by ISO member idobse. In the lnuikley etnev taht a plborem lerating to it is fdnuo, lpaese ifnorm the tneCarl Secterairat at the serddas given lebow. ii EN ISO 15187:2002 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:29 GMT+00:00 2006, Uncontrolled Copy, (c) BSI ISO 78151:(0002)E ISO
24、0002 All rights rsedevreiii ContentsPage Foreword.iv Introduction.v 1Scope 1 2Normative reference2 3Terms and definitions .2 4Design considerations 4 5GUI-R elements5 5.1Programming concept and general GUI-R elements .5 5.2General graphical elements6 5.3Dialogue boxes for robots9 5.4Screen layout .1
25、1 6Functionality and icons.11 6.1Functionality concept11 6.2Icons13 Annex A (informative) Platforms of GUI-R20 Bibliography22 EN ISO 15187:2002 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:29 GMT+00:00 2006, Uncontrolled Copy, (c) BSI ISO 78151:(0002)E iv ISO 0002 All rights rsedevre
26、 Foreword ISO (the International Organization for Standardization) is a worldwide 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
27、technical committee has been established has the right to be represented on that 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 matter
28、s of electrotechnical standardization. International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 3. Draft International Standards adopted by the technical committees are circulated to the member bodies for voting. Publication as an International Standard
29、requires 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 International Standard may be the subject of patent rights. ISO shall not be held responsible for identifying any or all such patent rights. International S
30、tandard ISO 15187 was prepared by Technical Committee ISO/TC 184, Industrial automation systems and integration, Subcommittee SC 2, Robots for manufacturing environment. Annex A of this International Standard is for information only. EN ISO 15187:2002 Licensed Copy: sheffieldun sheffieldun, na, Sun
31、Nov 19 08:50:29 GMT+00:00 2006, Uncontrolled Copy, (c) BSI ISO 78151:(0002)E ISO 0002 All rights rsedevrev Introduction ISO 15187 is part of a series of International Standards dealing with manipulating industrial robots. Other International Standards cover such topics as safety, general characteris
32、tics, co-ordinate systems, performance criteria and related test methods, terminology, and mechanical interfaces. It is noted that these standards are interrelated and are also related to other International Standards. Annex A provides examples of possible platform with GUI for open architecture. Th
33、e purpose of this International Standard is to standardize the use of graphical user interfaces for robot programming and operation (called GUI-R). Important customer requirements for programming and operation of robots are ?simplification and ?standardized robot operation. Programming and operation
34、 of industrial robots require a set of tools, e.g. editor, compiler, debugger, which help the user to specify a number of more or less complex functions to be performed by the robot control. There are many different functions for the robot control units in use world wide, and the GUI-R standard shou
35、ld simplify the programming with the help of graphics. In a first step GUI-R will give a style guide for the definition and use of graphical elements for the programming procedure of robots. Therefore the GUI-R standard is nothing but the interface for the user to pick up elements for programming an
36、d operation by an easy manner. The function represented by these elements is defined in general, e.g. as a straight line robot move. The explicit, complete and detailed syntax and semantic meaning is not the purpose of GUI-R, e.g. all move parameters, the exact meaning of “straight line“ by the line
37、ar interpolation including the behaviour of smoothing, and others. This is defined by the underlying robot system control and programming features: GUI-R is not a robot language expressed by graphical elements and icons. The user is obliged to read the robot system manuals and to learn about the spe
38、cial robot programming and control functions. GUI-R is a help to find the programming elements and to work with a graphic layout in the same manner for different robot systems. The program structure might be displayed on the screen by a program flow chart. This International Standard only specifies
39、the detailed specifications of GUI-R level and the concept of hierarchization, see Figure 1. The contents of the low-level hierarchy will not be specified intentionally, and consideration will be taken so that implementation will be easier. Of course, a standard should be complete and precisely defi
40、ned to cover the subject to be standardized. But there is a variety of robot programming languages and controls with different concepts, functions, syntax, and semantics. Because it is not possible to include all (partly contradictory) concepts and functions of existing (and future) robot languages
41、for a representation by graphical elements, GUI-R covers only the main elements and functions for programming and operation. It doesnt specify all elements of one function level, e.g. icons for all possible statements of a robot language, and it doesnt specify all parameters or elements of a functio
42、n or statement, e.g. the parameters of a move statement. This means GUI-R is concentrated on the main functions (defined horizontally) and on the main syntactical elements or parameters (defined vertically), see Figure 2. EN ISO 15187:2002 Licensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50
43、:29 GMT+00:00 2006, Uncontrolled Copy, (c) BSI ISO 78151:(0002)E vi ISO 0002 All rights rsedevre Key 1High 2Abstract Level 3Low 4GUI Level 5Function Level 6Language Level (Implementation) 7C 8Visual Language 9Flow Chart 10Others (Interpreter, etc.) Figure 1 Image of hierarchies EN ISO 15187:2002 Lic
44、ensed Copy: sheffieldun sheffieldun, na, Sun Nov 19 08:50:29 GMT+00:00 2006, Uncontrolled Copy, (c) BSI ISO 78151:(0002)E ISO 0002 All rights rsedevrevii Figure 2 Horizontal and vertical extensions The GUI-R standard cannot cover all elements of a specific robot programming language, and it should b
45、e possible to use GUI-R also in the future for new functions. Therefore the definition of GUI-R allows the addition of new elements and rules as well as user or robot system vendor specific elements. The user or vendor can specify new elements on high functional level (horizontal extension), like fo
46、r new statements or new functions, or new parameters can be added (vertical extension), e.g. for move control. Especially, it is not intended that GUI-R represents a complete functional or language definition. Whenever it is possible, GUI-R contains reference (and perhaps a short explanation in addi
47、tion, it depends on the background) to a standard or de-facto standard used for its definition base. The objective of the development of GUI-R is the use on robotic applications and not for general use in other fields like graphics. A decision was made to develop rules which are realistic and can fi
48、nd practical applications in industrial production. This resulted in sometimes developing vigorous GUI-R standard specifications and in other occasions provide references to other standards. The first case was used only if it was strongly needed. GUI-R specifies how to position icons, how to structu
49、re the different areas on the screen for user programming and operation input and gives rules for the design of icons. But this could not be a “precise“ definition: For example, it is not specified that the area for language statement icons is from screen co-ordinates (22,34) to (345,57) or that only blue is used for icon background. However, the scope of this International Standard has been defined in a pragmatic manner, e.g. the rules for a movement icon. There is a recomme