SIST EN ISO 10218-1:2009

SLOVENSKI STANDARD
SIST EN ISO 10218-1:2009
01-april-2009
1DGRPHãþD
SIST EN ISO 10218-1:2006
SIST EN ISO 10218-1:2006/AC:2009
Roboti za industrijska okolja - Varnostne zahteve - 1. del: Robot (ISO 10218-1:2006,
vsebuje Cor 1:2007)
Robots for industrial environments - Safety requirements - Part 1: Robot (ISO 10218-
1:2006, including Cor 1:2007)
Robots pour environnements industriels - Exigences de sécurité - Partie 1: Robot (ISO
10218-1:2006, Cor 1:2007 inclus)
Ta slovenski standard je istoveten z: EN ISO 10218-1:2008
ICS:
25.040.30 Industrijski roboti. Industrial robots.
Manipulatorji Manipulators
SIST EN ISO 10218-1:2009 en
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

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EUROPEAN STANDARD
EN ISO 10218-1
NORME EUROPÉENNE
EUROPÄISCHE NORM
December 2008
ICS 25.040.30 Supersedes EN ISO 10218-1:2006
English Version
Robots for industrial environments - Safety requirements - Part
1: Robot (ISO 10218-1:2006, including Cor 1:2007)
Robots pour environnements industriels - Exigences de
sécurité - Partie 1: Robot (ISO 10218-1:2006, Cor 1:2007
inclus)
This European Standard was approved by CEN on 17 November 2008.
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 lists and bibliographical references concerning such national
standards may be obtained on application to the CEN 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
under the responsibility of a CEN member into its own language and notified to the CEN Management Centre has the same status as the
official versions.
CEN members are the national standards bodies of Austria, Belgium, Bulgaria, 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 STANDARDIZATION
COMITÉ EUROPÉEN DE NORMALISATION
EUROPÄISCHES KOMITEE FÜR NORMUNG
Management Centre: rue de Stassart, 36  B-1050 Brussels
© 2008 CEN All rights of exploitation in any form and by any means reserved Ref. No. EN ISO 10218-1:2008: E
worldwide for CEN national Members.

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EN ISO 10218-1:2008 (E)
Contents Page
Foreword.3
Annex ZA (informative)  Relationship between this European Standard and the Essential
Requirements of EU Directive for Machinery 98/37/EC .4
Annex ZB (informative) Relationship between this European Standard and the Essential
Requirements of EU Directive 2006/42/EC .5

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EN ISO 10218-1:2008 (E)
Foreword
The text of ISO 10218-1:2006, including Cor 1:2007 has been prepared by 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 10218-1:2008 by Technical Committee CEN/TC 310 “Advanced
Manufacturing Technologies” the secretariat of which is held 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 June 2009, and conflicting national standards shall be withdrawn at
the latest by December 2009.
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] shall not be held responsible for identifying any or all such patent rights.
This document supersedes EN ISO 10218-1:2006.
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 EC Directives.
For relationship with EC Directives, see informative Annex ZA and ZB, 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, 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 text of ISO 10218-1:2006, including Cor 1:2007 has been approved by CEN as a EN ISO 10218-1:2008
without any modification.
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EN ISO 10218-1:2008 (E)
Annex ZA
(informative)

Relationship between this European Standard and the Essential
Requirements of EU Directive for Machinery 98/37/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 one means of conforming to Essential Requirements of
the New Approach Directive for Machinery 98/37/EC, amended by Directive 98/79/EC.
Once this standard is cited in the Official Journal of the European Communities 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 the corresponding 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.

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EN ISO 10218-1:2008 (E)
Annex ZB
(informative)

Relationship between this European Standard and the Essential
Requirements of 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 Machinery 2006/42/EC on machinery.
Once this standard is cited in the Official Journal of the European Communities 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 the corresponding Essential Requirements of that Directive, except Essential Requirement 1.7.3, 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.

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INTERNATIONAL ISO
STANDARD 10218-1
First edition
2006-06-01

Robots for industrial environments —
Safety requirements —
Part 1:
Robot
Robots pour environnements industriels — Exigences de sécurité —
Partie 1: Robot




Reference number
ISO 10218-1:2006(E)
©
ISO 2006

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ISO 10218-1:2006(E)
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ii © ISO 2006 – All rights reserved

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ISO 10218-1:2006(E)
Contents Page
Foreword. iv
Introduction . v
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 requirements. 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. 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
Annex 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

© ISO 2006 – All rights reserved iii

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ISO 10218-1:2006(E)
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 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 matters of electrotechnical standardization.
International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, 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 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 10218-1 was prepared by Technical Committee ISO/TC 184, Industrial automation systems and
integration, Subcommittee SC 2, Robots for industrial environments.
This first edition cancels and replaces ISO 10218:1992, which has been technically revised.
This wholly revised International Standard updates the document to bring it better in line with ISO 12100 and
the requirements to identify and respond in a type C standard to unique hazards, in this standard for industrial
robots. New technical requirements include, but are not limited to, safety-related control system performance,
robot stopping function, enabling device, programme verification, wireless pendant criteria, control of
simultaneous motion, collaborating robot criteria, and updated design for safety requirements.
ISO 10218 consists of the following parts, under the general title Robots for industrial environments — Safety
requirements:
⎯ Part 1: Robot
The following parts are under preparation:
⎯ Part 2: Robot system and integration
iv © ISO 2006 – All rights reserved

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ISO 10218-1:2006(E)
Introduction
ISO 10218 has been created in recognition of the particular 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 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 associated 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 hazards 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 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, ISO 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 guidelines 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 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.

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INTERNATIONAL STANDARD ISO 10218-1:2006(E)

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 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 covered 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-operated manipulators, prosthetics and other aids
for the physically impaired, micro-robots (displacement < 1 mm), surgery or healthcare, and service or
consumer products.
NOTE 1 Requirements for robot systems, integration, and installation are covered in Part 2.
NOTE 2 Additional hazards may be created by specific applications (e.g. welding, laser cutting, machining). These
hazards may 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 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 12100-1:2003, Safety of machinery — Basic concepts, general principles for design — Part 1: Basic
terminology, methodology
ISO 12100-2:2003, Safety of machinery — Basic concepts, general principles for design — Part 2: Technical
principles
ISO 13849-1:1999, 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
ISO 13855, Safety of machinery — Positioning of protective equipment with respect to the approach speeds of
parts of the human body
ISO 14121:1999, Safety of machinery — Principles for risk assessment
IEC 60204-1:2005, Safety of machinery — Electrical equipment of machines — Part 1: General requirements
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ISO 10218-1:2006(E)
IEC 61000-6-2, Electromagnetic compatibility (EMC) — Part 6-2: Generic standards — Immunity for industrial
environments
IEC 61000-6-4, Electromagnetic compatibility (EMC) — Part 6: Generic standards — Section 4: Emission
standard for industrial environments
3 Terms and definitions
For the purposes of this document, the definitions given in ISO 12100-1 and the following terms and
definitions apply.
3.1
actuating control
a) mechanical mechanism within a control device
EXAMPLE A rod which opens contacts.
b) device which initiates a (un)locking sequence
EXAMPLE Specialized key.
3.2
automatic mode
operating mode in which the robot control system operates in accordance 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
[ISO 8373:1994, definition 5.5]
3.4
collaborative operation
state in which purposely designed robots work in direct cooperation with a human within a defined workspace
3.5
collaborative workspace
workspace within the safeguarded space of the robot work cell, where the robot and a human can perform
tasks simultaneously during production operation
3.6
coordinated motion
control wherein the axes of the robot arrive at their respective end points simultaneously, giving a smooth
appearance to the motion and control wherein the motions of the axes are such that the tool centre point
(TCP) moves along a prescribed path (line, circle, or other)
3.7
cycle
single execution of a task programme
[ISO 8373:1994, definition 6.22]
3.8
drive power
energy source or sources for the robot actuators
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ISO 10218-1:2006(E)
3.9
end-effector
device specifically designed for attachment to the mechanical interface to enable the robot to perform its task
EXAMPLES Gripper, nutrunner, welding gun, spray gun.
[ISO 8373:1994, definition 3.11]
3.10
energy source
any electrical, mechanical, hydraulic, pneumatic, chemical, thermal, potential, kinetic, or other sources of
power
3.11
hazardous motion
any motion that is likely to cause personal physical injury or damage to health
3.12
limiting device
device that restricts the maximum space by stopping or causing to stop all robot motion and is independent of
the control programme and the task programmes
3.13
local control
state of the system or portions of the system in which the system is operated from the control panel or
pendant of the individual machines only
[ISO 8373:1994, definition 5.3.8.2 modified]
3.14
manual mode
control state that allows the generation, storage, and playback of positional data points
3.15
pendant
teach pendant
hand-held unit linked to the control system with which a robot can be programmed or moved
[ISO 8373:1994, definition 5.8]
3.16 Programme
3.16.1
control programme
inherent set of instructions which defines the capabilities, actions, and responses of a robot system
NOTE This programme is fixed and usually not modified by the user.
[ISO 8373:1994, definition 5.1.2]
3.16.2
task programme
set of instructions for motion and auxiliary functions that define the specific intended task of the robot system
NOTE 1 This type of programme is normally generated by the user.
NOTE 2 An application is a general area of work, a task is specific within the application.
[ISO 8373:1994, definition 5.1.1]
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ISO 10218-1:2006(E)
3.16.3
task programming
act of providing the task programme (3.16.2)
[ISO 8373:1994, definition 5.2.1]
3.16.4
programmer
person designated to prepare the task programme
[ISO 8373:1994, definition 2.17]
3.16.5
programme path
path traced by the TCP during the execution of a task programme
3.16.6
programme verification
execution of a task programme for the purpose of confirming the robot path and process performance
NOTE Verification may include the total programme path or a segment of the path. The instructions may be executed
in a single instruction or continuous instruction sequence. Verification is used in new applications and in fine tuning/editing
of existing ones.
3.17
protective stop
type of interruption of operation that allows an orderly cessation of motion for safeguarding purposes and
which retains the programme logic to facilitate a restart
3.18
robot
industrial robot
automatically controlled, reprogrammable multipurpose manipulator, programmable in three or more axes,
which may be either fixed in place or mobile for use in industrial automation applications
NOTE 1 The robot includes:
⎯ the manipulator (including actuators);
⎯ the controller including teach pendant, and any communication interface (hardware and software).
NOTE 2 This includes any additional axes which are controlled by the robot controller.
NOTE 3 The following devices are considered industrial robots for the purpose of this part of ISO 10218:
a) hand-guided robots;
b) the manipulating portions of mobile robots;
c) collaborating robots.
[ISO 8373:1994, definition 2.6 modified]
3.19
robot actuator
powered mechanism that converts electrical, hydraulic, or pneumatic energy to effect motion
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ISO 10218-1:2006(E)
3.20
robot system
industrial robot system
system comprising:
⎯ robot;
⎯ end-effector(s);
⎯ any equipment, devices, or sensors required for the robot to perform its task
NOTE The robot system requirements are contained in ISO 10218-2.
[ISO 8373:1994, definition 2.14 modified]
3.21
simultaneous motion
motion of two or more robots at the same time under the control of a single control station and which may be
coordinated or may be synchronous with common mathematical correlation
EXAMPLE 1 Example of a single control station may be a teach pendant.
EXAMPLE 2 Coordination can be done as master/slave.
3.22
single point of control
ability to operate the robot such that initiation of robot motion is only possible from one source of control and
cannot be overridden from another initiation source
3.23
singularity
condition caused by the collinear alignment of two or more robot axes resulting in unpredictable robot motion
and velocities
3.24
reduced speed control
slow speed control
mode of robot motion control where the speed is limited to u 250 mm/s to allow persons sufficient time to
either withdraw from the hazardous motion or stop the robot
3.25
space
three dimensional volume encompassing the movements of all robot parts through their axes
3.25.1
maximum space
space which can be swept by the moving parts of the robot as defined by the manufacturer, plus the space
which can be swept by the end-effector and the workpiece
[ISO 8373:1994, definition 4.8.1]
3.25.2
restricted space
portion of the maximum space restricted by limiting devices that establish limits which will not be exceeded
[ISO 8373:1994, definition 4.8.2 modified]
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ISO 10218-1:2006(E)
3.25.3
operating space
operational space
portion of the restricted space that is actually used while performing all motions commanded by the task
programme
[ISO 8373:1994, definition 4.8.3]
3.25.4
safeguarded space
space defined by the perimeter safeguarding devices
3.26
teach (programming)
programming performed by
a) manually leading the robot end-effector; or
b) manually leading a mechanical simulating device; or
c) using a teach pendant to move the robot through the desired actions
[ISO 8373:1994, definition 5.2.3]
3.27
teacher
person who provides the robot with a specific set of instructions to perform a task
NOTE See programmer (3.16.4).
3.28
tool centre point
TCP
point defined for a given application with regard to the mechanical interface coordinate system
[ISO 8373:1994, definition 4.9]
3.29
user
entity that uses robots and is responsible for the personnel associated with the robot operation
4 Hazard identification and risk assessment
Annex A contains a list of hazards that can be present with robots. A hazard analys
...