SIST EN 29946:1998

2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.Manipulating industrial robots - Presentation of characteristics (ISO 9946:1991)Industrieroboter - Darstellung charakteristischer Eigenschaften (ISO 9946:1991)Robots manipulateurs industriels - Présentation des caractéristiques (ISO 9946:1991)Manipulating industrial robots - Presentation of characteristics (ISO 9946:1991)25.040.30Industrijski roboti. ManipulatorjiIndustrial robots. ManipulatorsICS:Ta slovenski standard je istoveten z:EN 29946:1992SIST EN 29946:1998en01-junij-1998SIST EN 29946:1998SLOVENSKI
STANDARD



SIST EN 29946:1998



SIST EN 29946:1998



SIST EN 29946:1998



INTER NATIONAL STANDARD IS0 First edition 1991 -02-1 5 Manipulating industrial robots - Presentation of characteristics Robots manipulateurs industriels - Présentation des caractéristiques Reference number IS0 9946 : 1991 (E) SIST EN 29946:1998



IS0 9946 : 1991 (E) Conter 1 Scope. ts . 2 Normative references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 General . . . . . . . . . . . . , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2 Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3 5.4 5.5 5.6 Coordinate systems. . . . . 5.7 External dimensions and mass . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.8 Base mounting surface . . . . . . . . , . , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.9 Mechanical interface , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.10 Control . . 5.11 5.12 Environment. . . . . . . . . . . . . . . . . . . 5.13 Load . . 5.14 Velocity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.15 Resolution. . . . . . . . . . . . . . . . . . . . . . . . 5.16 Performance criteria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.17 Safety. . , . . , . . . . . . . . . . . . . , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Annexes A B Power source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Mechanical structure. . . . . . . . . . . . . . . . . . . . . . . . . . . Working space . . . . . . . . . . . . . . . . . . . . . . . Programming methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Recommended format of presentation for robot specifications . . . Description of the symbols of performance criteria - Abstract from IS0 9283 Page 1 1 2 2 5 5 5 5 5 5 5 5 7 7 7 7 8 12 O IS0 1991 All rights reserved. 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 I writing from the publisher. International Organization for Standardization Case postale 56 O CH-127 1 Genève 20 O Switzerland I Printed in Switzerland I ii SIST EN 29946:1998



IS0 9946 : 1991 (E) Foreword IS0 (the International Organization for Standardization) is a worldwide federation of national standards bodies (IS0 member bodies). The work of preparing International Standards is normally carried out through IS0 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, govern- mental and non-governmental, in liaison with ISO, also take part in the work. IS0 collaborates closely with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization. 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 bodies casting a vote. International Standard IS0 9946 was prepared by Technical Committee ISO/TC 184, Industrial automation systems and integration, Sub-committee SC 2, Robots for manufacturing environment. Annexes A and B of this International Standard are for information only. iii SIST EN 29946:1998



IS0 9946 : 1991 (E) Introduction IS0 9946 is one of a series of International Standards dealing with manipulating indus- trial robots. Other documents cover such topics as safety, performance criteria and related testing methods, coordinate systems, terminology, and mechanical interface. It is noted that these standards are interrelated and also related to other International Standards. The number of manipulating industrial robots used in a manufacturing environment is constantly increasing and this has underlined the need for a standard format for the specification and presentation of robot characteristics. The objective of IS0 9946 is to assist users and manufacturers in the understanding and comparison of various types of robots. Annex A of this International Standard provides a recommended format for the presen- tation of robot specification. Annex B provides a description of the symbols of performance criteria. NOTE - For the purposes of this International Standard, the term "robot" means "manipulating industrial robot". IS0 9946 : 1991 (E) I Introduction IS0 9946 is one of a series of International Standards dealing with manipulating indus- trial robots. Other documents cover such topics as safety, performance criteria and related testing methods, coordinate systems, terminology, and mechanical interface. It is noted that these standards are interrelated and also related to other International Standards. The number of manipulating industrial robots used in a manufacturing environment is constantly increasing and this has underlined the need for a standard format for the specification and presentation of robot characteristics. The objective of IS0 9946 is to assist users and manufacturers in the understanding and comparison of various types of robots. Annex A of this International Standard provides a recommended format for the presen- tation of robot specification. Annex B provides a description of the symbols of performance criteria. NOTE - For the purposes of this International Standard, the term "robot" means "manipulating industrial robot". e iv O SIST EN 29946:1998



INTERNATIONAL STANDARD IS0 9946 : 1991 (E) 2 Normative references Manipulating industrial robots - The following standards contain provisions which, through reference in this text, constitute provisions of this International Standard. At the time of publication, the editions indicated were valid. All standards are subject to revision, and parties to agreements based on this International Standard are encouraged to investigate the possibility of applying the most recent editions of the standards indicated below. Members of IEC and IS0 maintain registers of currently valid International Standards. ISO/TR 8373 : 1988, Manipulating industrial robots - Vocabulary. IS0 9283 : - l), Manipulating industrial robots - Performance criteria and related test methods. ~ characteristics 1 Scope This International Standard specifies requirements for how characteristics of robots shall be presented by the manufac- turer. IS0 9409-1 : 1988, Manipulating industrial robots - Mechan- ical interfaces - Part I: Circular (form Al. IS0 9787 : - '1, Manipulating industrial robots - Coordinate systems and motions. 3 Definitions For the purposes of this International Standard, the definitions given in ISO/TR 8373 apply. 4 Units Unless otherwise stated, all dimensions are as follows: - length in millimetres (mm); - - time in seconds (SI; - mass in kilograms (kg); angle in radians (rad) or degrees ('1; Presentation of - force in newtons (NI; - irad/s) or degrees per second ("/SI. velocity in metres per second (m/s), radians per second 5 Characteristics 5.1 General The manufacturer shall provide information related to the various characteristics and requirements as described in this clause as part of the robot documentation. 5.2 Application The manufacturer shall specify the main type(s) of application(s) for which the robot is intended. Examples of typical applications are - material handling; - assembly; - spot welding; - arc welding; - machining; - spray painting/coating; - adhesive/sealant application; - work inspection/verification. 5.3 Power source The manufacturer shall specify all external power sources, in- cluding type (e.g. electrical, hydraulic, pneumatic or combina- tion) required for proper operation of the robot (mechanical structure motion actuators, control, auxiliary equipment, etc.), together with the maximum power consumption required from each. These specifications shall also include permissible ranges and fluctuations. The manufacturer shall also specify the type of power utilized to control axis and auxiliary motion (e.g. electric, hydraulic, 1) To be published. 1 SIST EN 29946:1998



IS0 9946 : 1991 (E) pneumatic). Where more than one type of power is utilized, the manufacturer shall include a breakdown by individual motion. 5.4 Mechanical structure The manufacturer shall specify the type of the mechanical structure and the number of mechanical axes. An outline draw- ing of the structure shall be provided detailing the axis motions. This drawing may be part of the diagram required for working space (see 5.5). Examples of mechanical structures: - rectangular or Cartesian robot; - cylindrical robot; - polar robot; - revolute robot; - gantry robot; - pendular robot; - spine robot; - scara robot. 2 If the robot is mobile, the way which it is guided shall be indi- cated. 5.5 Working space The boundaries of the working space including the alignment pose and centre of the working space (C,) shall be illustrated in a diagram with at least two views (one the projection of the locus of the maximum reach of the robot arm on the XI Y, plane - see IS0 9787 - and the other the projection of the locus of the maximum reach of the arm on the X, 2, plane). The diagram shall also provide information on any limitation of secondary axis motion at any point(s) in the working space (see figure 1 for an example of a 5-axis robot and figure 2 for an example of a 6-axis robot). In the diagrams, it is recommended that the details of the work- ing space and range of movement of secondary axes are given in tabular form as shown in the examples of figures 1 and 2. SIST EN
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