平成15年度 移動ロボットの安全基準策定 に関する調査報告書
Contents
1.2.
3.
4.
5.
6. 3
7. 3 4 2 Siemens 15 6 13 9 30 15 30 Siemens Werner v Siemens Str 48 Amberg Ff Y MEREK Bernhard Wiesgick
8. 2 5 2 5 1
9. 00 5
10. QBUS bd CUS E 2 4 8
11. a b c ID GPS d
12. 0 VELLA AER LL WHEE STOLZOS I E RAMA wai AN S Eg 8 D M EG pu CH v SASHA aI Hf GALEAE A M Ld sas SETA CLON H CH 2 i OEH GOM so suruug d 29 Lod Odd SRD AWA FH GY Dok y EEE lo Cit ey Sh H S IaH By BUE SL 3 8 DM y s SA SE d ALS IOM 0T9OM 92M Odd 4T 7 MAC IE Hd HE TOM Wak ya OMM ACH
13. EYE NON 1 6 3 d H M Fe m ta N b A X N in N 4 FA JH mue qf KARER HH FP J SERI FE RH SUE Fe WR Ja DN He A
14. Us 2 3 2 AGV 1 AGV 200mm 200mm
15. mem CIE Pa Cm T
16. PLC x y HILL i A y E 4 r pa 1 lI T y C WEE LL JM v amp d quU k n Blk W fi An iu z W aN E 4 Se BH rM W HIETIKKO _ S E HE AR H IKEDA MNO grae c LR z 1 i f
17. I oec sS 4 8 eg Or
18. ad RU T1 F2 D
19. 2 5 1 ISO 14121
20. 2 4 1
21. 1 5 1 6 3 E B A BI
22. JIS D 6802 SEMI S17 0701 2 5 1 ISO 12100 1
23. 5 10 Axis limiting devices 360 APV
24. mm Fu or TE mE see ss s m E ee PHSE LANE A DETER ATL EUN SRSA ECHR BPR BOG ERAR DT 7 AIAS UR le e i al que
25. 49 SFE L 3 Oem TO TE OE EMA T 43 1
26. ME
27. g a didis 4 8 LW 5 ON
28. 1 000Lkg 25C Be TT yas
29. L ix ACGV
30. 3 3 assisting operation 3 38 1JBcollaborative workspace 5 9 Assisting robots SH 6 8 Robot system clearance PTO014 APV TCP 250mm s 0 5m APV 3 30mm 0 5m
31. TC TC ISO TC184 IT ISO TC184 8SC2 Industrial Robots 48 SC2 Industrial Environment ISO TC184 SC2
32. 1 2 1 JIS B 9702 9705 9960 JIS B 8433 ANSI RIA R15 06 3
33. fs GB X 3 2 4 2 4 EA 2 4 2 4 1
34. 1 3 LAN PDA Bluetooth
35. 3 4 5 BIA BG 15 10 17 9 30 16 30 wo era Q Karlheinz Meffert Dietmar Reinert Michael Schaefer Ulrich Raschke BIA BG HALTOJ ARO BG BGFA BGAG BIA 226 2000 8 BG 2 3 CE
36. d 7 MBE FERO ERRE CIL AD Ke BORRO T e f J g 20 2 4 2 5 x a Ve XENA mm ERRE aL men RERETAE e amun e By E AGE M ia S A EE EE man kentn RARER TIBOR
37. 86 c d 4 5 a b 4 6 Bea salar JIS B 8433 JIS B 9703 Acie 4 1b 4 2 4 3 e JD g k 4 7 1 A Os a b c d e
38. 1 600 48 10 UDLRB 6S SOR AEM A CFR 18 031024 e HOSPI ORY KBE CORR BO THE KRI TILA DIVT Be SESA PRESAR TEUR X 1
39. ISO10218 part1 ISO10218part2 ISO10218part1 38 3 1 Ia r P z F Design of robots Integration of robot systems Manufacture Integration of safe guarding Installation EL EN Ta is Sia Min ia ia ia Tia Tia Tia Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta a Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta Ta T ar aram ut ar n un un ur um un un ur um ue ur a um m rn un a ar n ue re um um e n un m rm ue rer TT ar T e rum um U T m T m ue T rm e rm un ue ar um ue e rum um e un m e m ue e a um e m un um e m e e rum m e run am ran ur n nun p aar ar an an an am am am n an an am am
40. 16 MARON 1 PPU MARON 1 1 1 LES MARON 1 1 MARON 1 2 II si ON OFF
41. 25
42. 4 1 a 85 b 4 2 4 3 a b c d e f g h 4 4 a b 6 12 DE ET X Y Z a b c X Y om
43. 1 a ZE ARO X B b 2 5 2 44 0 SWARD STU SERRANA wS ARO FEEL RE C si C 5 LICR 2 5 2
44. CM 1 Vol 39 No 1 pp 13 18 2003 Table 1 ApriAlpha AEE 350 x 380 mm 9 5 Kg CCD TFT 2 9 77 1 BE usc EEUU ojales
45. WI VIT FA Wi J 1 2 J ZJE pm 2 P Gu R amp D J AP J 4 E E WU Fath
46. Part1 EN Part2 Hryman Part2 RE 6 ISO10218 Part1 CD Part1 2 COMAU CD CD ee 7 FIAT Mirafiori Plant COMAU
47. 2 4 2 a b c d e 2 5 1 2 3 2
48. 1SO18850 ISO18850 63 17 ITSO13850 ISO18850
49. 2 6 SOV Sl Eu AL EE UE 45 7
50. SC2 3 1 3 1 2 ISO TC184 SC2 3 H 24 25 Mississauga 1 ISO 9409 1 MrMatias Lafvas d CD 5 4 CD N448 DTS 2003 4 14 2 ISO 9409 2 Mr Matias Lafvas 2002 11 1
51. Shea 8hea Part2 Application Integration Part2 ISO EN Part2 ISO Part 3 GM Part2
52. 17 30 Y OE G3 BE 9 Ha Y L w Bx A 4e d ux SR S BETA E e SE HAX EKA E x lt a f ds t ES ere LEO ein ES Be lt a t a Sed a y Xr Lao AA OR CA MARTY LEE AY DI Xe ap OY Exa Bull Exa FH HEERO swa Lye Y MLE OWE KPE HOS OL LIE dg MLE OF rea I e a SEA D fiH LFO N sk nix AE O 2 XE HO Lao oo iy Jv RO SIM SY ae C LES e E Gd OWE aw MEL SEE sy AL 68 T zs CO SE AA E A UY Bl MO id Co E ELAYLA MENE q OAL EO Z A t12 E Me was PEZ uH gs EAMT EA EH BEY OHEA Ge E Gd CO We r dE BT sy s E T zs Co SECTEUR A au Yr amp fe ix GBA CoA iE n gy TESTA Q Q 21 R HG AHH Q Se H OWE OD pls 2 R Bag L 1 GA asc HEY A OD MRES ALAIAK ALCA Ht X E 2 71 bise sy e c WE MR CU Cp AE TR Cc dH Co GH 3368 9f HMEYA LEA dd OMA L NUN AA BETA E El HARE SERE Ax K Exai 4 44 AA BETA HER S la Sn L BYXa 4 E t Sa HAS la 7 ud e ROT L ML DLAI Ae Be BELL AL
53. Aoc Ce ICs O L 78 H 22 ERA APV 64
54. 3 5 JIS B 0134 3 6 1 3 7 amp 5JEB 3 8 39 4
55. a 2 4 1 HAI NI SY AGV Kit 0 J AGV T ACM KIA OB Y p BE A h p b c
56. 98 M E KE J A B FA 1 J J II nm 4 J EN R amp D UE EP EA v REE ea i PH B A do fg ME Ll c A A n Gn vn Bn 1 Ei O pn S om e 1 ME LU t 1 CN a eterna LLLI DL i a 1 2 3 NW rc 3 DU Duc pacc SES Ride 4 9 ESO EE AAA T 4 Di SERE SU ES DSi BE A A 29 SS RC OT TENKI 2g DD Enn 45 3 I SO HMM 47 jd BOTOA OAO E CE 47 E aca as a A eee 49 OO rea sa ass 60 ME Lut E CO LL 76 A ub MEG VAT SE EA ai aa CRUR
57. 1 226 424 8 PNIS AITNE OA Hp fae et i45 ONE HEROES we W v EUER ZR gt p W A JA A AL A QUY RED REDD aw SNC O of o ae a TEE d
58. SIAS2003 3rd International Conference Safety of Industrial Automated Systems 1 2 3 1NRS BIA HSE AT IRSST AT 424 185 7 G 88
59. 2 NY 1 3 3 i
60. Lee 8 1S010218 CEN
61. 2 46 3 I SO ISO 10218 ISO TC184 SC2 ic B UC ISO 1SO TC184 SC2 n1 978 3 1 ISO TC184 SC2 3 1 1 1 SC2 1984 5 22 ISO 10 TR 4 5 WG 6 WG 2000 5 11 12 12 SC 2 WG
62. PTO16 5 8 Synchronised robot control Assisting robot
63. ls e B Gil 7 GIS B 8433 a 3 2 b c d e D 89 8
64. 1SO10218 PLC AS Interface Siemens Oma ES TT ARNO IEA NAS NC TUS TY oS va gt 4 3 P TISO10218 3 2 1 Siemens ft X BB 3 4 3 SIAS2003 15 10 18 J 15H CK
65. 1 2 2 LED
66. O n o iil CCD 25 DC A A A A ses s
67. e 3 Position Enabling Switch Annex 5 5 Robot stopping crcuits Part1 CD CD Part1 5 ISO10218 Part2 15 Part2 2
68. IEC60204 1 ISO13850 5 7 6 Wireless or detachable teach controls Teach controls having no connecting cable 5 7 6 5 7 ICE OE 51 part1 3 7 2004 5 10 5 12 ABB 8 2004 10 25 10 27 ABE QUA 9 2005 3 7 3 9
69. SARA ASE 1 HE SACHS T A TRESS e o MERE I La T a LAIA de AI DWeBREDOIL e mp rmecipmigse POELESER SRL ENTER EHRL IL F edu 2 CRNA TERRE DRE Ou se A IL 3 BERNA TS Hie SSESB5 AICS IG pom TS JI B4V imapas O N FF mm 15 30 50m min 38888 RENE UE E C PEDI SE RN Sd d k ERN NEN sma O Dl FDAS HE BBSRC cac ILICE Ot CHE E F TE da NER AV MSR1 SDE VTA RE UIT ARO AA PARAR ULA O lr A 2 O
70. state of the art 28 IMMIT 1 2 WR ons NS NO 5 4 3 2 5 1 ISO 12100 1
71. n BT AW M J WZ nm 4 SEE G J 4 E We LAK ABBR E B ER JR BER ZJ HO 7 REAR
72. 4 5 MARON 1 MARON 1 1 MARON 1 CMOS 32 W x 32 H x 36 D cm 5 5Kg mu gt sia x X2 X1 x42 x gm 2 X2 CMOS 640X480 x2 X1 X1 2 1 F PC ey ANI EA PUTIN BOSE
73. CD KUKA PT016 Cooperating robots Assisting robot 6 8 Robot system clearance CD 61 4 5 7 4 Pendant emergency stop function 5 10 Axis limiting devices 5 D Cooperating robots 03
74. 4 1 Fryman 2 COMAU ROBOTTCS 3 ISO11161 SHEA TISO10218 CD 4 ISO10218 Partl Part1 CD SC2 ISO TC 184 SC 2 CL Kamien ee CD ISO10218Part1 PTO14 PTO16
75. JST HEELE RE Tg Sree ooo 30mmin ROTER 0 MEE Fig 1 Fig 2 2ton OAS d ON S d E e e 7 Ala g 2 Fi 14 3 AV AWR1 D Z S 1 0m 2 WT hy 7A Wm SHE l s E A Ei L o HE TEPA E Ss ERRE E D S
76. 328 18H 0 5m 50mm 250mm s 0 5m 4 5 7 4 Pendant emergency stop function PT014 ISO 18850 ISO13850
77. 360 FER J 360 specialty application robots that are otherwise limited in their intended motion G e 360 sweep parallel link manipulator etc specialty application robots
78. BIA Ulrich Raschke BG 3 3 4 6 DENSO MANUFAUTURING ATHENS TENNESSEE 16 2 13 9 00 18 30 Shawn Bryant DENSO MANUEAUTURING ATHENS TENNESS
79. 2 JIS B 0134 1998 JIS B 8433 1993 ESSE EET Waves er JIS B 9703 2000 JIS B 9960 1 1999 84 JIS Z 9101 1995 IEC 60204 1 IRC 60947 5 5 1997 JIS 3 JIS B 0134 31 32 33 3 4 JIS B 0134
80. Smart Solutions by NAIS 19 HOSPI 1305mm x fi 600mm x 725mm Seg te ss BEXVBE PHS LAN 2003 20 UNZ ER 1 24V 110AH 10 e G
81. ISO18580 ISO13850 d COMAU KUKA Leibinger Leibinger
82. 29 3 1 2 1 2 3 23 2 3 1
83. GIR x gt XE EUR gt ask s JK RE Dak CY rey xl BERRA L AN pas Dd ARE Z AGE D gt FIESTA Pee ee ae ee if nares a ss BUE EE e AS rr AUN IL EOD 2 4 8 207
84. 1 AUDI Ingolstadt Ingolstadt KUKA Augsburg 1 AUDI A8 A4 1 600 KUKA 850 KUKA VW 3 800 50mm 7 KUKA 20 KUKA KUKA Global Sales Center 9 BAL Hh F 1 p
85. WG P Project Team Sfr ISO 10218 1992 ISO 9409 1 1996 A 2 ISO 10218 2002 1 15 1999 6 ANSI RIA R15 06 ISO 10218 PT Project Team PT 3 ISO 10218 1 2 2 2003 10 5 PT 2 2 2004 1 6 2
86. PLC ORIY 2 3 2 IEC61508 IEC62061 EN954 1 ISO13849 1
87. BEER amp D G 4 E A ZR H AUN TR ER J J KE JIRET FA 7 RRS 2 H yj mLELX 7U 3 Es P 3 Pb J PR ET IY TARA EY ATOR SE UB d TEE CR SHE
88. Part2 TISO TC184 SC2 SO10218 BRA ISO11161 Integration ISO Tntegration Installtion 04 10 180102184 ISO TC184 SC2 5 6 04 2 16 2 18 RIA CD Part1 7 04 5 10 5 12 ABB 69 8 04 10 25 10 27 6 AUDI Ingolstadt Plant KUKA
89. Health and Safety Executive HSE 10 2005 6 20 6 22 DaimlerChrysler 94 83 3 ISO 76 3 4 4 SAFECOM Engineering AG 15 6 11 8 00 16 00 SAFECOM Engineering AG Budhus 12 Grosswangen MEREK Alois Ineichen Carlo Haechler ISO10218 Wireless or detachable teach control
90. Karlheinz Meffert Dietmar Reinert Michael Schaefer Thomas B mer TIPA
91. Evert Helms A
92. NOTE 5 4 4 Software based safety systems IEC61508 SIL Safety Integrity Level 18013849 1 TEC61508 SIL IEC62061 FDIS 5 5 Robot stopping circuit protective stop emergency stop Robot s
93. 37 29 6 8 9 10 1 12 18 142 15 8
94. ISO10218part1 ISO10218part2 NWI New Work Item 2004 1 ISO10218part2 NWI ISO10218part2 NWI TISO 8 8 1
95. Part2 cc aee D 3 Safeguarding of personnel Introduction Part1 68 4 Installation of robots and robot systems Part1 Validation of robots and robot systems installations 5 Safeguarding of personnel Introduction Safeguarding methodology Robot or robot system implementation stages Part1 6 Safeguarding of personnel Implementation Part1 Part2 6 Safeguarding of personnel Implementation Part2 Application and Use of Robots in the Work Place Application
96. 1 lum 6 0km hour 2 AGV 300mm 300mm FOUP 1 Olum EL EX 6 0km hour 3 AGV 300mm 300mm FOUP 1 Olum 6 0km hour ERS SEMI S2 S8 SEMI E33 ANSI RIA R15 06 NFPA79 IEC 60204 1 CE Marking Machinery Directive Low Voltage Directive EMC Directive 4 RGV 300mm 300mm FOUP 1 Olum B ET 9 0km hour AGV 88 6 3 6km hour na Z Y icd 10 1 DM 2 3 m N ss s O
97. 5 8 Synchronised robot control 6 6 Restricted space identification IThe restricted space should be conspicuously identified conspicuously 832 4 4 1 1 3
98. 1 6 16 J 08 30 17 00 ISO10218 6 17 CK 08 30 14 10 ISO10218 14 30 16 00 FIAT Mirafiori Plant 16 20 18 00 ISO10218 6 18 k 08 30 17 00 18010218 2 COMAU Robotics Strada Orbassano 20 22 10092 Beinasco Turin Italy 3 HIM 24 X Jeff Fryman Robotic Industries Associations Michael A Taubitz General Motors Corporation Eugene Schlueter Mitsubishi Motor Mfg Of America Inc Roberta Nelson Shea Honeywell International Inc Gilbert Dominguez ABB Flexible Automation Inc XR Dave Smith Honda Of Canada Mfg Steven Shaw HSE Health and Safety Executive Stefan Sagert VDMA Bernhard Kramer DaimlerChrysler AG Helmut Riss Siemens AG Marcus Frey Durr Systems GmbH Josef Leibinger KUKA Roboter GmbH Richard Schwarz KUKA Roboter GmbH Serafino Grisoni COMAU Robotics Renzo Calcagno COMAU Robotics 60 David Wretling ABB Automation Technology Products Robotics CEN Matthias Umbreit Consultant to CEN for Machinery J HI i on fe BED
99. 1 0m L O MO 1 1 0m 5 4 RIFTAR OR y F XAV A2 Mi 850mm EPRE 160kg o 5 i 1 5 sss po
100. cS 7 2 4 1 0 1u m 80W Ah 80W DM 60A0D DM 60A0D S DM 60A0D PO DM 60A0D S PO J1 J2 J3 200W J4 J5 J6 80W 4 AV POR dos ApriAlpha ORE ApriAlpha Advanced Personal Robotic Interface Type Alpha 2 1
101. 16 2 4 2 6 IS010218 4 2 78
102. PE f MI MNT X 1 1 1 ove CRD 1 MARON 1 A on 11 4 18 8 AR 24 365 Do 24
103. ISO 10218 TSO ALO IES 2 2 1 1ISO JIS
104. 15 AFA 1 5 1 6 3 m CDM U CE 1 2 Cs
105. ISO 8 2 1 3 2 2 2 3 2 1 ISO ISO DIS 9409 1 2003 4 14 y Manipulating industrial robots Mechanical interfaces Part 1 Plates ISO TC184 SC2 ISO 9283 1998 2003 6 30 FK N 454 Systematic review of international standard Manipulating industrial robots Performance criteria and related test methods ISO TC184 SC2 ISO CD 10218 2003 10 10 EE EX N 461 Manipulating industrial robots Safety Part 1 Design construction and installation Revision of ISO 10218 1992 ISO TC184 SC2 Vote on draft resolution 258 of 2004 1 6 N 464 ISO TC 184 SC 2 Proposal to cancel work item ISO 10218 2 and Initiate a new work item ISO FDIS 9409 1 2004 1 20 y Manipulating industrial robots Mechanical interfaces Part 2 Plates 57 2 ISO 1 ISO CD 10218 1 Type of comment ge general Clause No Paragraph Subclause Figure No Table Note Annex e g Table 1 brake or device 5 5 The 2nd Robot sentence stopping circuits 5 7 6 Wireless or detachable teach controls 6 12 4 Last Pro
106. 95 9 150 LUC FUIS S 3 2 1 ISO 10218 ISO 10218 AQ 1 4 ISO 10218 1 Type of comment ge general te technical ed editorial Clause No Subclause No Annex Comment justification for change by the MB Paragraph Figure Table Note e g Table Part 1 3 38 rebuilt robots Does the changed software of the model robot include firmware and task programs The definition in the last sentence should be extended to make a difference with remanufacture clear as follows Change ISO18349 to ISO13849 1 5 2 8 Holding brake Is a holding brake the same as a holding device The brake is not included in safely related control systems If it is applicable to Category 2 the normalcy of its mechanism must be confirmed by a position sensor or a coil current monitor 5 5 Robot NOTE 1 te The safety control system stopping performance for emergency stop circuits shall be applicable to not only an emergency stop device but an emergency stop circuit In that case the emergency stop circuit to remove power must have the same safety performance for the protective stop circuit Because the emergency stop device is
107. a V Vs b 80 c d e D 4 4 ANSI RIA R15 02 EN894 4
108. 3 ISO 10218 Mr Jeff Fryman CEN TC310 ISO 10218 2 CD 10218 1 2003 6 2004 1 CD 10218 1 NETAS Oye 4 ISO TC184 SC2 D ISO TC184 SC2 SC2 SC2 SC2 Robots for Industrial Environment ISO 10218 PT Project Team SC2 Robots for Industrial Environment TO184 ee em
109. ISO TC184 TMB 5 TMB SC2 1 6 ORiN ORiN D dE T ae e ISO 9283 X N 454 2003 6 30 8 XED 8C2 SC2 2004 10 28 H 29 180 10218 SC2 25 27 3 2 ISO 10218 3 2 1
110. ieee 2 DER AE 2 3 Feasibility Study on Radio Pendant Device with Enabling Functio
111. OI NL R EHE CR LAU AR lt st ol BGRSR AUL g oND WE WG L M IEO Bo RAI Hd HIER Hak mE YEE SOG tx TOS 7 ESE gt SEE V 1 PET A Pr n r SEE I A EAS PS m HR ny LIV GE 8S TOL o qp STI Oud Of A Hey HE cx E AS OAI 94 MESE y 8TOL OS I S99INOSAY UOUUION FOS Sueur Ioddor9 TN NWN VSN uoqunH YIN ZLOMPOS syru Suruue q 29 OHOd SpOUYJ9TA SOUBULIOFUOD pue uoneqjueuire dui sensuel SSHAAXAH VSN OPO T A IN TIDAMEOS sogu yrrent pegeuruiou aq QJ 9oeT9 UT eora1eg uoreomddy DIN Yo PAV eoruuoe Luew exzreq IT 9DAMGOS puegsiq OLOM VOS SYIOMOWIBL A diLS JO suoneomddy otuo01490 y pue uonveor ddy surays g ued 89L1999 H 10 ANO suryo 3utof ZN T N UIN SOM SIS amp ueunrer VISTA JN 65SA F FOS quou ornu SL pu 9BAAJOS SUEIm 9BJnUBTA uoreulopu USUU9SBUBTA pue ssa001J SULYOBTnUBIA SUBI PUAN LAIN SDAML POS uede epnsjepN Iq POMOS 95 SUOTJIOUUODIOUL pue suonsorunururoo mewD zrewuog IW SOM GOS suonveomdde ee DUPE POORER Po mq VSN TEPLA D IN SONUS amp ueuuer uuguez2eH IN 8OM TOS SUI 9pO A 39npodq SoolAep eorsAud JO uoreuso3ug 10 Sut opo A 8A AUBULTOS SAM IN ZOM POS SSIMG SUTUSYISPUETO IN LOMTOS o1n3oejrqoay pue sut po AT ATCIQVT 318 4 VSN WHEN UA TOM DS VSN uM TN VSN 819504 Lpd N SXJOMOUIEJ T uoredgoju 2 suoneorunuruo AMP COS vS TOL VSN UWS
112. a p c 6 J1 J2 J3 Elfs J4 J5 J6 J1 J2 J4 J5 J6 Pil 6 J1 J2 J J1 J2 J J4 elf 035 Elfs 6 J4 Elis J5 J6 ARKU A 2 Fe J1 J3 JIS B 8433
113. ISO10218part1 NWI 6 MAC LT ISO10218part1 NWI TISO10218part1 3 3 2 TSO10218part1 ISO10218 NWTI 2003 10 ISO10218part1 DIS Draft Internatinal Standard 86 N 463 Result of voting and received comments on ISO CD 10218 1 FO BEAD O AeA Dawa SAU 5 2 8 Holding brake or device ISO13849 1 Holding brake function 2
114. ee I j Bas 2001 P i D us 4 z rd LU i f d i 3 3 1 SIAS2003 3 44 Fraunhofer IPA 15 10 16 9 30 15 30 1949 58 12000 TIPA 5 14 3200 7 80 3
115. m EH ER SE 88 Ei FARE WAAAY amp LERE Ml f EH BUOY amp sk a f AE Xp e IY Cz LES se Z LEN ES Hg ZT SUBS LSE Se gt 8 209p BAS HAYS LR NM PUES Gg ES MO E Y O Mes amp f 2114 BY Egg LO EI IER g CT H ET Z8 Oc A 3 L EY ARROW zs WAY Pe PIE D EI BBR cc DBA GOD MMH 3452 akui Sus Bs Ly BE amp A PD eH BHAT Co H amp S f DAY CIA SAHLE Ca STAR X Mv MAYA 6 ze CO Sha ES XE THER il Y UE Hh se d 2l tal Zee Co Y A U gd se d 2l 4 Sle ES SE Co B YK Dsl oz LYON L 2 p E 262 TA YUE BXA edP GAN Bras f dS GA AY BE TR OY LH CH Y a gt dst ASK eae a BETA Y Lee Ex Afb E Z A kK amp Aw E CV Le H v a4 Hvx4 4 4 Y t E HANS EEA Cet s E Ie E e E trt e ye s TENES NE HRE EAE trt e ye CAI A A Up EES XEBE NON ibn XEBE NON ibn mx L Br POY ein SEE E 1 lt ye TV ine si AER Xi BE Co Me A AMA ss B CO lt A gi se AMERO S Es YS Be ma se AMERO YATE YS Be BYR E ase cua C SEE T cj 5 lt C ye HES PD ER MUSA SZ t fes gi X CO 2 ch AM eet Ed Gi e ER Xia co te c T 21238 Co a ER IE T or cs ses E A Su cose Sy E it MERE Sk SK RN Uf Co 44 Hu sp EOM ka EH c Y AM E qz cox LOAN f 2116 ECO ELA 4S DGS HE V EE EGO StL MG gt KH GO x zou
116. AE sa Jb SR LIKE ABBR HGR 2 7 FA RE 2 n B mr 2 A 7 2
117. APV 60s 8H CERBARO CIR edd oL e L BE CCE KMR E KERO 2 General Motors Mitsubishi Motor Mfg Of America Honda Of Canada Mfg KUKA Leibinger L Leibinger
118. ON ON ON JIS Z 9101 88 6 6 1 a b c 62 TP MEL OR CUR AUS Ia oR CRE Es 63
119. 19994E 7 300 2002 VW ARACEAE UTE 2 NN cB T IRI IAS AA DASQq UI Es 3 ISO11161 _ ISO10218 B TSO10218 ISO11161 TISO11161 1992 ISO10218 Bladwood Shea E SHEA 1
120. EIAT Mirafiori plant COMAU 10 15 65 lt gt 1939 2690 lt gt 1 COMAU ABB LAA AHL TA SS FIAT Punto Panda as 90 120 8 ISO10218Part1 Part2 5 03f5E10H8H
121. I s Jil H ASIN 3 Bi 4l u N Hen BE B zii EET BE ae HE zn Sel En BE 24 2 4 2 E 2 4 2
122. NUN EE HAY EFREN PIAN y Ek ERO Z TI AE CL Tk k ft SOA TALA TUAE Co ch CY FANH ev x MZ der a Q s Sl ic 4e e lt d A ly LOLAAH IK ag ay EX 4 Madre H Wel OES A ESY BAYS PA 1 PIM 9 LY cox e uy mm WG SESE EAN HC SY 9 te A ERASE n GkBE ASH LUTERO RUE EY UL Be Mg Ea HY LORA RELY LOTS f db Ay 1 Me AY BOC OL di ROLE BRE ELIT d 3E Hxa Ed coco Y Suit u VRE MES KAY fe BY A Mar ues CBOE BEE 4 RR Ca myo BRE RET mk O Hi MMA CSL ges EM S Yi Le EE dE KY A MORA BSE w RADO BA Me ELA Hak cog co2 MER H cri C 2 380 SABIE CI BOK dd AS ile TL TS Xy CERE eRe uud amo Z a DOR ADR Wapo uum 624 Ust Co WEE Co ft 22200 SAHA x a C xy E o AA A ze BY df o6 434 dco 4h dH AL Ce s dv de abuse MM ACL J lt CMOS x cou E rH 3445 Hf ug AS G4 Wes S AYO AeA MM Exa ile T lt mags e Els 000452003303 GA We tee dH Z Ay kK uix Gk E GJ OHIMUAG 4 A Qul dw sat YOY OB HAY TIRO MBA T YY 8 Mak x lt EA CE YE Co EE VY MEE EA x eRe oY Cin AAA CORE Z 2 Guo MNS UY HRS YO gro Bxa d4 dhH xou Ml GAY Ea AALS ADE 4 608 BHM CA ENS EX Gua E J E 4 Z E 4 4A Me T2 ABE Ske Be Sf HW OLS k IU ROBE 4 E Ade e g Xp x SY LR ae C BEY WAAAY c LEEN ZO HR HC SY 38 YU HE HRUBA K BXA
123. 1 te technical ed editorial Comment justification for change by 2 MB Member body Proposed change by the MB Part 2 If Part 2 is requirements exclusively for users almost all clause 6 and part of clause 7 should be moved to M 3x enabling device Installation of robots and robot systems paragraph 2 and 3 paragraph 5 3 Robot or robot system implemen tation Require ments of safety control system perfor mance 6 2 Limiting robot motion 6 2 1 6 2 3 Pendants 6 3 1 6 3 2 Safeguard ing device selection Safeguard ing device safety distance Bypassing safeguard Part 1 since they are described for manufactures and integrators Part 1 can be referred from Part 2 when requirements related to users ex validation need information about installed application Because installation requirements belong to Part 1 user s responsibility is limited to following issues Validation of application Safeguarding measures at rebuilding Safeguarding measures at re deployment The operating stage required for users should be described Safety control system performance is described in 5 4 in Part 1 This is the requirement for integrators The requirements in 6 2 1 to 6 2 3 are described in 6 5 of Part 1 It is described in 7 5 of Part 1 These requirements should be moved to Part 1 since they are important requirements for integrators These requirements
124. 4e du Y IE ZE TRHA IZA Y ECHxa4 dd Y I HWE AEH Kk BEx2I 4 cg ix Se HEA Y ux HWE VUE 4 gt EcCHxa4 amp deg YU E ae HEA BLA MARS LES MEN hoy dE EMAL 4 US aqe C lt n TEN CUA BE CORNER BW C E HL UA ERA E nix 43 El SL aa e persa sat EA Mma cd X ug COSE a Q T 2125 ud PASE EL SO YT LIBER C SR He Co wa u ER S 21 oat Co BARC s AS Co S C E KEPPRA HE S Bai BY SY EY CO EZ NIE H HI Bo shih LV CO SAS TE TE Um SENATE Ol Bp see MVE TOA 3 EDO GE A HH TALA HEN CY Ge ey Y CARE BE D E ORs OGRE OT lt lt Ie JAXL EFOR ERELL AI FIEL OL TEN lt see n iil wel amp LEE Xp ple E ROMO CY u Sus TED e Q AW AXE A sZ tE ay EY DN SB CO dl zi cT AMET COSME iux AA a OY ae RES HE CO HRY RAGE RO MNR 6 amp 3 Co EY PDS NSE pe St FALE Cu 3f RS anes ARGH ee Bk gt AHA Bh ME CET SL SE EL t HC SY LY cox e uy 39 Y tt YE E x a d T scd BETA ANA TTY lt s n iil Y IE ZE sea MEA GAS EcCHxa4 amp dg Y I ZE TRHA GAS K Ey aA 4 ded Y HE AREE LA N LIE Z 4 gt HE LI EN vec Se AV EEA rH ET Vik ME Z A e iy ERA IZAN HEL c ae Z LEN ES K x lt a t de og Ix MARS LRR TEN lt se n iil GAEE REST Ty ME E ET Sap s BE CXEBE ey El Aza E Sede yee eal ee cz
125. BE Hi U FE S emm AE E 5 NS CVS 3 8 8 6 ISO 10218 1 2 16 H 09 00 17 00 ISO10218 2H 17H CK 08 30 17 00 ISO10218 2 18 K 08 30 15 00 ISO10218 2 Holiday Inn Orlando in The Walt Disney World Resort 1805 Hotel Plaza Bvd Lake Buena Vista FL 32830 U S A 3 334 Mr Jeff Fryman Robotic Industries Associations 0 TEE pa AGM SF CEN Ms Roberta Nelson Shea Machine Safety and Standards Dr Nicholas G Dagalakis NIST National Institute of Standards and Technology Dr William Drotning Sandia National Laboratories Mr Michael A Taubitz General Motors Corporation Mr Wieland Link SMBG Suddeutsche Metall Berufsgenossens
126. HH HB ST lt 3 50 SI SERRA TR lt le aye a O BS EL MEO lt CA lal Y Yt x Sex BOY Wy D Y Yt C T 2 zx Bi d 2 a 247 CL VR Ey BOT lt Hg El T E UE Ef UA TR YE lt Su 5 GUY Z Eada D BE HO SA ANA d E CO Axe META 3835 EY co D Xi kt tB SOY xk n x we amp LES Xp e IY Cz LES WAAAY amp LEEN SZ hd o AY HC SY Y Lit ux Ex a f Ax BETA 4 A gt LK BxA 4 Ts BA 4 gt KK x lt a f cg trt pe Bieb CO Sa y Ii Wi Co J a ni BERI HREM u ST L t fe SARE M 1 4 Xr Eft Liu co sk nex Xr Eft Lk CO sik nex Xp e IY Cz LES EDI IR Bg Aa E COSAS E EAEE gt d SERE O TL Fe CO O Xu LPO a iy ey CO DM Bl LPO AO iy 34 Z LEEN AER CO HAY EM CO H f SZ 6 BS OD Nl yep Ei Cae lt en H Se MY OY Sz ES CUE Y Ts re CO HB rE 3 at uM SM HONANS GSA FFT O0 da Lys ug Y CHOSES Se 5 BC AT lt HOn WAAAY amp LERE S A O MAY E C CE Yt x G gt tz CO SER lk UE Vt gt s amp s 3 2 Rs HOZ v Ad Wiki EG Ye Yt gt Ses HO My C nk cu TEE Co Br ae A CD sE n i e QO rH Lar GS UG 1 a cox YA lt k rt Q rH LL Y MAY 4 AACE EYRE Lo Yide WE E x a d YOR 7 E Bxd 4 du ERE BETA Yide WZ E x a d Yl ESE BE 9 Ha t Bl Shee v5 EE Co SE
127. am am n an an an am am am n an an an am am am r an an am am am am n an an an am am E m n an an am am an n an an an am am aman an an E am aman nan an an am aman r r an anam annm E E r r r EEE r r r E EE r r T rx Training 3 3 1 I1S0 73 3 3 1 ISO10218 NWI Safeguarding Installation Robots sozia 1 isoez181 1 MET 1 Robot systems ISO10218 1 ISO10218 1 ISO10218 1 Including synchronized robots NWI Multiple robots system N A ISO11161 N A 15011161 3 3 2 ISO10218 NWI m Do Safeguarding Installation Rotts ISO10218 ISO10218 sonne Robot systems ISO10218 NWI NWI Including synchronized robots TSO10218part1 NWI part1 6 Installation of robots and robot systems 7 Design and safeguarding of the robot system 6 6 1
128. articled same as 5 5 of Comply with 6 12 1 of Part 1 Replace a safety stop with a protective stop Comply with 6 12 4 of Part 1 Replace a safety stop with a protective stop Where the minimum clearance of Add NOTE 0 5 m is not provided additional The additional safeguarding safeguarding devices are prepared devices under the reduced speed and exemplified in NOTE control shall be provided which In the teach mode the reduced include but are not limited to speed control and three position a additional limiting devices enabling device can secure mechanical or non mechanical regardless of presence of b PSSD clearance then minimum additional c three position enabling devices safeguarding devices for reduced These devices shall be used with speed APV may be same as the enough attention to the total stop teach mode performance of the robot The risk reduction measures against the trapping or pinch hazard are not only to stop robot motion but intrinsic means e g complete fixed guards which prohibit any human body penetration installed in small size robots and low power actuation of Em 6 8 Safe guarding personnel during program verification 6 8 5 Verification from outside the safeguard ed space Annex UB B 2 2 b xx the robot Are these measures included additional safeguarding devices or not applicable to this article Programme verification shall be performed outside the safe
129. d Sa Sieh E A HIREM u n L CANA CA MARS E HUBS Axe EV LE Seal MELA GO si 2 CO ILO 2 tr YA u n ey ts ty cS EA aE Be LOK gx mie 34 4 0 8 Yk EE Bit UV c FL CO ch d Bd Aw lt ix C LoS Z a SUE SV SL v BUS ay amp GaN Ju Sy ASK BEE CO SY Ay Hyp ay Bah Bet VEO GO LS gr RIYA C lt Hk BE EY co SU S GA EE KOHEN xa BZ MELO EA 1 rH dg EI EUER sar HALEY XE gt AS th Co Bd i Zx AY Z LEE BO sc ERES FRY SY OBS KOGA 1 ul EARRAS u sk le AH O 33 E ORR Ek OQ AO 2L O FH SEE D Y EY co ERA EY IGS EE O FEA MEA SHE Y 68 T Co SU E 68 Z WAAAY amp LERE CAD ES Sr Du ws BE GN Be Macha a PL BAENA Gen Cc BOE i e tae 4 4 C Ux cB NHF se d OY C ZIIMOMEsE se DITA cS s ac lib CO q VEDA fb sZ SY Q Q 21 X 9 HG agg CI SGB C 3 wea S SURE LY owl uy Je GU RE HI zt co Y E DE PIBEOLM 2 MAY rH VEL CO SY SAE TS Hk MIT VI Q 3 4 UL NN 2 71 BE x O i Be MADE NY 35 zt Bel VA HERRE Lye p IES Y Ux HE Hg amp Aw E Y Lt CC SA de DS ST AMES S S KEAL se HE E 7 MHARA WELAD HH E C0 4e LA 2 3 E l Y HOY MHS Ta it A OES BOO MH X 3 07 Hoey Lae HO z a ual Xe ds ful ska Y RON Ga Y fi Co SER E CA HAE Exa E HMO AL E G lt lt OU
130. no 36 co 39 EO Z 2 Hs 5 3 E YZ CO q ST LO rH SE By 3 E A de A AE EH 3 CO El FR I 24 ZO EKA tl 70 Sz BA Co Ell ey wet E Pe lg H ITLY OBIE Ve YO id d dut A E J 38 Lf X MELO QUE A Bef AS A xs A ZEA E E EE EGO Bae EL d 2 OHAR ARNO Y CCS dix 380 REAL dl zJ EO CO MARA SZ hd Co X T HC SY 42 Ey CO MARA 2 IE AHOGAR Dla Hae LZOR z gt lt f l X O d AA EELO RA a2clg 4 HO Zz spec iem Z lA ig wH s n x fum cia ER ERY SEO GA Sh BG GN ee SEMUNATMANO GO LL uero PDI a DIDO LvO DCM SEEMS OTE MA wmm xx CX OMS Z lt vz X Z lt ALT HIELM WE t a Go tB Cox lt n 14 Y CO 22 0 SY gt 3 q Z 12 n CHOW SI XAY E HUBS ae C BEY WAA LEEN MOM NY OF FEFE VEY 9 1 oe ieee 2 5 2 2 5 1 5
131. operated so that a person is exposed to a hazard the emergency stop circuit shall comply with requirements of Category 3 in principle The definition of the protective stop circuit is vague when an external protective device and emergency stop device are connected in series and functioned as emergency stop Special consideration in that case should be noted 2 MB Member body Proposed change by the MB This includes overhaul and repair reconditioning refurbishment or restoration of existing robots to their original capabilities and level of performance without revising specification and performance functions Delete then design function and construction of the holding brakes shall at a minimum comply with requirements of ISO 18349 Category 2 and add the holding brakes shall be designed and constructed using basic safety principles and well tried components Change Safety system performance in the table of NOTE 1 with Safety circuit performance Delete the first sentence of of NOTE 1 The safety performance of emergency stop must be described same as protective stop Otherwise change the latter sentence of of NOTE 1 to If this circuit is used by safeguards and functions as the protective stop circuit it shall comply with the safety performance of protective stop and not reset automatically 5 7 4 Third te When disconnecting the pendant Add t
132. requirements for integrators Minimum object sensitivity of 30 mm described in c 5 should be described in Part 1 as requirements for safeguarding device These requirements should be duplicated in Part 1 since they are important requirements for integrators These requirements should be moved to Part 1 since they are important requirements for integrators 56 replaced by Part 1 clause 5 6 3 2b q should be added High speed APV shall be performed without handling part work pieces as much as possible Protection against release of part work pieces shall be taken into account The 2 sentence Where this minimum shall be provided should be deleted Sub clause c should be moved to clause 7 8 X of Part 1 Sub clause b should be duplicated in 7 5 d of Part 1 Move the whole paragraph to Part 1 as 7 10 The following sentence should be added instead If the user needs to perform safeguarding verification it shall be performed in accordance with 7 10 of Part 1 Add When unintentional unlocking of the lock type safety switch on the guard fence due to power interruption may lead to a hazard the lock type safety switch shall not be unlocked when power supply is interrupted and The lock type door interlocking device shall have sufficient retaining strength 3 2 2 1 ISO
133. should be moved to Part 1 since they are important requirements for 54 Move to clause 3 of Part 1 The first sentence in the first paragraph The robots or supplier should be deleted The next sentence The work space controls should be moved to at the end of 5 2 The 2 and 3 paragraph should be moved to 5 1 Delete the first sentence and add Safeguarding by the user shall be required at the operational stage of robots and robots systems a b c and g should be deleted Delete this clause The following sentence should be added at the end of the paragraph The limiting devices including mechanical non mechanical and dynamic limiting devices shall be compliant with 6 5 of Part 1 6 2 1 to 6 2 3 should be deleted Delete this clause and add Retrofit of an enabling device shall be done by integrators Users should validate this retrofit result All sentences except for the first sentence should be deleted The whole paragraph including NOTE should be moved to an additional 7 X of Part 1 The whole paragraph including NOTE should be moved to an additional 7 X of Part 1 6 4 5 Muting 6 4 7 Start and Restart 6 5 Awareness means 6 5 1 6 5 2 6 7 5 Selecting teach 6 7 7 Clearance 6 8 Safeguard ing personnel during program verification 6 8 2 Slow speed attended program verification 6 8 4 Require ments for high speed APV N
134. 10H 10H RAR KUKA Part2 6 04 1 2 RIA CD Part1 7 04 5 RAWAL ABB 8 04 10 25 10 27 3 82 5 ISO 10218 1 10 8 K 08 30 17 00 TSO10218 10 9 Ck 08 00 11 00 ISO10218 11 00 16 30 _ AUDI h Ingolstadt 16 30 18 00 ISO10218 10 10 4 08 00 15 00 ISO10218 66 2 KUKA Roboter GmbH Global Sales Center Hery Park 3000 D 86368 Gersthofen Augsburg Germany 3 24 Jeff Fryman Robotic Industries Associations Michael A Taubitz General Motors Corporation Roberta Nelson Shea Honeywell International Inc Khalid Mirza KUKA Development Laboratries ITA Dave Smith Honda Of Canada Mfg Joseph Jean Paques IRSST Christopher Gow CAG Indutrial Automat
135. 7 7 6 8 6 9 of Part 2 are also important in the installation these contents should Part 1 definitions 3 42 2 ge Figures illustrating each area allow Attach figures as Annex 51 be explained in adequate articles of 3 1 to 3 47 ii Comply with term definitions of Part 1 the pendant may be used to inform the available condition only when this stop function is active And the emergency stop function shall be started promptly when the pendant is disconnected during the action of the emergency stop device Add the following sentence Excluded from the requirement of axis limiting are specialty application robots that are otherwise limited in their intended motion i e 360 sweep parallel link manipulator small size robots with no space in safeguarded space for teaching APV etc See the attached sheet of Annex B Restricted space 3 42 3 Operating space 3 42 4 Safeguard ed space Safety related software and firmware based controllers 4 12 Robot system stopping circuits Robot system emergency 4 5 Limiting Comply with 6 5 of Part 1 devices 6 7 7 te Clearance visual understanding Barrier Guard Restricted Space Operating Space Comply with 5 4 4 of Part 1 Comply with 6 12 of Part 1 Replace a safety stop with a protective stop When the E stop circuit also functions as the protective stop circuit an explanatory note should be in this
136. A e 84 Ed o p nnn 84 HE Sp 5 AE SS M 84 43 eH 84 Hie 703 22 D E 90 A EE 91 E E E E A E E E 99 1 1 1 1ISO JIS
137. EE INC 2003 gI 100 9 3 822 02 DENSO MANUEAUTURING ATHENS TENNESSEE INC Shawn Bryant 18010218 ANSI RIA R15 06 1999 Shawn Bryant ANSI RIA R15 06 1999 ISO10218
138. EM HT MLE CO BE ee at HETTY MLE C SUR TA Xr Ef a4 O O Xu LPO CHOBE POY ik n BERE xa dy 84 x E ss META HARE la C O H IBOR X YOR Exa du i Ak VU TEA lt a Sh LS Keo AX Xp e IY Cz LES we amp LEE HEHHE ST lt lS z ua i xay 53x ALEM es x Bay O REE z E 83 O SH aH ES EAS TH S sk z E 83 O SH aH xXx AE SEEDS A 8 T zJ co SUC 8 2 zt Hg HT lt Q E O KO H 9s c TDS H CO Ey amp d REEL xs WAAAY 6 eat ER HAUEI Z BEZ SES HH H 7 lt VHOELCE 7 4 ALCA HME CO 2 24 d ve q So 7 i E Q O r que IE E al SO HEY O Q Bi als lt gt A de Bi VSO 7 BE DI HERODES IFC HUER Z ELE SEE HH H 7 lt ALUMNA amp hd Co E HAYA EXC LG HC SY 2 024 EAM HE AL oe a BETA 4 gt k x a t eb HREM ua lt Ut B SEE AS 18 30 21 SERA MIG JE C MAY at 8B UB Yt gt 161 EE ORGA LTA EOR s cL OME RAE EVER LG S E SAL AT EEY VLE ORFE Gd ED e AN aT SME DT Lr si JJ Co 2 ip t HEDY amp nmm HIREM u n L t ES SSH le EY Ea Ly BEBE CO SERA Zk rh T X HHF cin u 0g BL FAO NA ea ges ABN FT zJ ETEA LC at aB Iz 248r WOJ Awla K HAL TL AO HE Mal qe Sy Tah 388 ST se 8 WEE CO Shee
139. Ea Hy 2 A34 6 Bt A q z q 1 HEN HEXU 2 A WAAAY amp bee B MARS MN wS TAL TARO BROS 3 E ZA A THOS WY CP G Pre AD Uk I Z TE eg LL E A Q ORE E HG PALA 35 FA GAS ADA A HAXp2 uaoao w VK GS Y BT SI A tf CO rH EA Z A FCO FLL Co XI SE Mc f DER 7 a Y EN Co Sy gs HEH d ie EA Pl JU Sia gar BEE AG tls Se lt T iP PEC 0i Ey CO EI X Co 34 3527 Haft LL A ONY IE EXE Ug SZ hd o AY HICSS SY zo a A aC BETA Y Ur HE VYLE ix Se HEA Y ux ME YLE 4 gt EcCHxa 4 amp deg ix Se HEA Y ux HWE YLE EcCHxa amp dg n KYA Y ux E E x a d i sd BETA Y ux ZE E x a d ix ses NEUE Y ux ME Y Lg ECHxa4 d MEN n dx wE Ag ETT ERE 1 amp nx THN sten iil A sten i HREM u ST L Utb 4 lt sc n d Xr ELA oe a ag MARS LRR E CENE r l Z sek A 6 Co 38 Ma 8 x Cz Y gt Se fe E CINE Hog VE zo Cinese EI OH de A EAEE Oa aes EX E AHR eral EI ae C BEE i he Co Wai e 58 GY FE Co SER RS tl X8 Co BAS f6 E VO amp SET s E wy aaa Xu co 2 Bu Y cosg sid t MY C a Co ESL ER lk EREO MEME A c s zs zat OT SEGA EY BI xi CO Mere Li FE OO EA sed c ap 15524 HE OO BE fu 7 X 2 Xp ER Ts HK Hu A HO HO AL WAAAY amp LEEN OLF Brox y CHEO Fl OEE F HAH lt s
140. F RHEE LT ss gan NR mt xs a te E ab GAN 4 IIS E iem 3 U AIS OR eRe Word Im s MAX t to i m 150W WE amas 4 A Bu GS E T E i rS 2 4 2 yb OA JE E 3 P IHIH fai
141. OTE integrators Therefore 6 4 4 except for c 2 should be moved to clause 7 X in Part 1 These requirements should be moved to Part 1 since they are important requirements for integrators These requirements should be moved to Part 1 since they are important requirements for integrators These requirements should be moved to Part 1 since they are important requirements for integrators Some part of this clause should be moved to Part 1 since they are important requirements for manufacturers The requirements for clearance are described in 6 8 of Part 1 It should be referred from 6 7 7 Programme verification shall be performed outside the safeguarded space fundamentally Such comment shall be emphasized Some part of this clause should be moved to Part 1 since they are important requirements for manufacturers 55 Add When the bypassing safeguarding devices is required for maintenance or teach personnel for maintenance or teachers shall be fully trained about the bypass The whole paragraph should be moved to 7 X of Part 1 and the following sentence should be added instead Muting shall be permitted only when the requirements in clause 7 X in Part 1 are satisfied The whole paragraph should be moved to 7 X of Part 1 The whole paragraph should be moved to 7 X of Part 1 Sub clauses c and f should be moved to 5 6 2 of Part 1 The whole paragraph should be deleted The following sentence
142. SO10218 1 TSO11161 3 4 very very active i5 1 77 1XISO10218U T PRAG OO EE ER 20021 1SO11161 ISO10218 4 ISO10218 Part2 Part2 Part2 Part2 EN O Part2 6 7 Part1 GM KUKA
143. chaft Mr Ian Brough Sick Inc Mr Dominguez Rimrock Automation Inc Mr Curt Weispfenning Genesis Systems Group Mr Khalid Mirza KUKA Development Laboratries Mr Mike Calardo ABB Inc Mr Ram Sharma Fanuc Robotics America Inc Mr Erik Carrier Kawasaki Robotics Inc Mr Dave Smith Honda Of Canada Mfg Mr Jim Van Kessel JVK Industrial Automation Inc Mr Christopher Gow CAG Indutrial Automation Mr Steven Shaw HSE Health and Safety Executive Mr Benjamin Frugier UNM Mr Stefan Sagert VDMA Mr Bernhard Kramer DaimlerChrysler AG Mr Marcus Frey Durr Systems GmbH Mr Josef Leibinger KUKA Roboter GmbH Mr Richard Schwarz KUKA Roboter GmbH Mr Guenter Englert Motomon Robotec GmbH Mr Renzo Calcagno COMAU Robotics Mr Mats Linger JOKAB SAFTY AB Mr David Wretling ABB Automation Technology Products Robotics Dr Matthias Umbreit Consultant to CEN for Machinery DENSO MANUFACTURING TENNESSEE INC UREA zd 4 1 Hryman 2 TSO10218part1 ISO10218part2 NWT
144. e strongly disagree to the proposal to initiate a new work item The necessary contents of Part 2 must be incorporated in Part 1 In that way the revision of ISO 10218C 1 can be completed more quickly 3 ISO FDIS 9409 1 1 Type of comment ge general te technical ed editorial 2 MB Member body Clause No Paragraph Comment justification for change by Proposed change by the MB Subclause Figure the MB No Table Note Annex e g Table 1 e g 8 1 Figure 2 They are similar and should be In the present FDIS Figure 1 has a and Figure unified common side view for two types of 3 interfaces with four bolt holes and with six bolt holes If we go according to this fashion we should have only one figure containing a common side view and three front views of interfaces i e with four bolt holes six holes and eleven holes If we do not go in this fashion we should have three separate figures each with a side view and a 250 2 EEE holes or eleven holes Table 1 The number of holes N for Pos 12 should be 11 eleven the same as that for Pos 10 This is clear from the Figure 3 for posotion 12 Table 1 The depth of the thread holes t4 is numerically defined only for Pos 12 do not see any inconvenience if it is defined similar to others namely See note 1 3 8 ISO 3 8 1 4 ISO 10218
145. f 2 BY E rH 348 CREA E dw Aa C lt X CHYXE SERRE Clu SEU e Er EI lt tay a f gt JUGE EYE TCG ER O Wick di Mt C REH REO 3 f 2l mg Co x a 24 Bg SD T ex 4 IB u 2 H SECOS 3e AC x Co 22464 ch SEU til zem EGER 71 HUT X O 2 Mase k C at Et Be fify Q KH EA BE co ge PROTA L CO c Fie Q 3 Co A Q XR se up CO S8 pe 180 f sexu Co Dh QR ag u Y TT sp XA ci uS REAPARECE L Jj Ea et P 21 Bp gt dd 4 ART K lt 347 B 4 c FUHH ZEB 3 A2 HLI BA A LSB 3 pues 22 LI AQUEL fO LE AL EE E KA eR NIE E WAAAY c bee B Z A Oo MAY ELTOLT vis AIM E E 40 A AU MUELA YU HE VUE K x lt a t d YU Ae AAW HEA KE lt a f uu ESE HEPA Y uy X EL Y UR k CHxA 4 dd SEA HEPA UY uy X EL Y UR k CHx A4 d A A BETA Y Ur HE YEE A AU BETA Y Ur HE Y LB ER M M M Xt L oro fay TA lt se rus MEN hoy te Ee d d EY hoy At LE A orn fay Xt L eiae MARS LES 658 E REL A E EAE E ARIE E ag ung lt n EEN ESE RE E EI ESE Aza ESE Ea E EI wel Z E CER ARS LIN LA HORE CO HAEA HEY E A4L y LEORA 8 u t HN apa OSEA URE EL y Cid apnd SE xiu p c 6 pon ai gr
146. f TN U9poAMS SBAFe T IN sueur Ioddory TIN ALO UOSEIA H JN uopeAg xreurqueaeq IN Sugu IMN IA eye euasnpug Ju uuruodrAu eLrjsnput 107 SIOQOH Iomuoo eot e q e9tsAuq VOS vVS TOL GUS V8 LOL LOS Y8 TOL Souexi ZOP J P PUH SIN PEPE Weep TTA DOUBLY ZOTA J9JQULSH STA p1epo3eu MIBTA UBO f AN SSIMG eyreq TA VSN eng Iq dno A1o0StApV ES LO L OSIT uonedseju pue surejsAg uoreuioqny eugsnpu P9TOL OSI Sur9JSAG uorneuiojny eusnpu eq OTI KEIFIN Oo JE 1 5 T 1 6 3 T105 0011 5 8 03 3434 5384 T105 0011 5 8 03 3434 2919
147. guarded space fundamentally Such comment shall be emphasized The minimum clearance shall be provided for high speed APV but it is not enough to install only additional safeguarding devices same as low speed APV when the minimum clearance is not provided Because it is difficult to suddenly stop a robot in high speed by less than 0 5 m in reality the minimum clearance needs reconsideration There is the fear that a work piece flies and hits on human body in high speed APV Therefore after reduced speed APV the later high speed APV shall be executed outside the safeguarded space irrespective of clearance Need Additional technical requirements Delete the first sentence of NOTE land add Verification shall be performed outside the safeguarded space fundamentally If not possible APV can apply according to requirements of 6 8 2 and after in the article Add When unintentional unlocking of the lock type safety switch on the guard fence due to power interruption may lead to a hazard the lock type safety switch shall not be unlocked when power supply is interrupted and The lock type door interlocking device shall have sufficient retaining strength 2 5 ISO 10218 1 Type of comment ge general Clause No Subclause No Annex e g 3 1 Paragraph Figure Table Note e g Table
148. he following sentences Pendant paragraph the E stop device may change its An additional visible indication on 50 emergency stop function colour prescribed in ISO13850 or may let operators recognize whether it is effective or not to prevent operational confusion In addition add other attention matters 5 7 6 Wireless or detachable teach pendant The definition of the detachable pendant or teaching control device is necessary because it is possible to separate even the pendant connecting permanently from the controller Why was the exclusion of this requirement removed 5 10 Axis limiting devices The adjustable axis limiting device cannot be forced to use on all robots in case that it is impossible to implement or unnecessary for users and installers Such an example a small robot application is explained As the clearance requirements are also important in the installation the contents of 6 7 7 6 8 5 of Part 2 shall be described in this article In that case there is our suggestion about clearance requirements especially additional safeguarding devices Replace safety stops with protective stops 6 8 Robot system clearance 6 12 4 Protective stops Additional information on the enabling devices has been appended as Annex B Safety requirements ergonomic and operational characteristics are explained Are these contents moved to 5 7 3 As the requirements described in 6 4 6 5 6
149. ion Steven Shaw HSE Health and Safety Executive Stefan Sagert VDMA Bernhard Kramer DaimlerChrysler AG Hartmut Choquet Adam Opel AG Helmut Riss Siemens AG Marcus Frey Durr Systems GmbH Josef Leibinger KUKA Roboter GmbH Richard Schwarz KUKA Roboter GmbH Serafino Grisoni COMAU Robotics Renzo Calcagno COMAU Robotics David Wretling ABB Automation Technology Products Robotics Mats Linger JOKAB SAFTY AB CEN Matthias Umbreit Consultant to CEN for Machinery 4 1 Eryman 2 KUKA Roboter GmbH Exective Vice President Mr Stefan Mueller KUKA No 1 No 2 No 1 ABB No 3 PC 67 2 80 19994F 3 25148 FL 20024 5 600
150. n for Industrial Robots 1 VBPD VBPD 79 IRSST Eo 3 6
151. should be added instead When personnel must enter the safe guarded space to teach in the reduced speed in robot cells clearance shall be comply with 6 8 of Part 1 Delete the first sentence of NOTE 1 and add Verification shall be performed outside the safeguarded space fundamentally If not possible APV can apply according to requirements of 6 8 2 and after in the article Slow speed should be replaced by reduced speed Part 1 clause 5 7 should be replaced by Part 1 clause 5 6 2 1 Sub clause a should be moved to clause 5 6 3 2 of Part 1 b Part 1 clause 5 8 should be replaced by Part 1 clause 5 6 3 2 e 4 12 4c should be replaced by Part 1 clause 6 12 3c k NOTE Slow speed should be replaced by reduced speed Part 1 clause 5 8b should be 6 8 5 Clearance for high speed APV 6 9 2 Presence sensing device initiation PSDI 6 10 5 Additional safeguard ing methods 6 11 Safeguard ing verification Annex UB B 2 2 b xx Additional article Because it is difficult to suddenly stop a robot in high speed by less than 0 5 m in reality the minimum clearance needs reconsideration There is the fear that a work piece flies and hits on human body in high speed APV Therefore after reduced speed APV the later high speed APV shall be executed outside the safeguarded space irrespective of clearance These requirements should be moved to Part 1 since they are important
152. tective paragraph stops Part2 te technical ed editorial Comment justification for change by the MB Holding brake and Holding device are composed with the mechanical system and the control system Therefore safety performance of them is not only provided for the category of the control system It is important that the robot has the protective stop function and the emergency stop function However it is not important that both functions are independent and may be combined into the common circuit Cause 5 7 6 overlaps with clause 5 7 4 Replace safety stops with protective stops It is necessary to incorporate some contents of the Part2 that relates to the design construction and installation of industrial robots and robot system into Part1 58 2 MB Member body Proposed change by the MB Delete then design function and construction of the holding brakes shall at a minimum comply with requirements of ISO 18349 Category 2 and add the holding brakes shall be designed and constructed using basic safety principles and well tried components The second sentence is revised to It is necessary to include the circuit that achieves the protective stop function and the emergency stop function Pendants used in programming mode shall have an emergency stop function to stop all hazardous motion Replace safety stops with protective stops The following Part2 articles sho
153. topping functions emergency stop output signal 5 6 2 1 Reduced speed control TCP Tool Center Point 250mm s TCP TCP 250mm s 2 250mm s the speed of the mounting flange and of the tool centre point TCP NW1I 5 7 4 Pendant emergency stop function 5 7 6 Wireless or detachable teach controls 5 7 6 1 Safety requirements
154. uld be moved to Part1 after these contents are examined 6 1 Requirements of safety control system performance 6 2 Limiting robot motion 6 2 1 Mechanical limiting devices 6 2 2 Non mechanical limiting devices 6 2 3 Dynamic limiting devices 6 3 2 Existing installations 6 4 4 Bypassing safeguarding devices 6 4 5 Muting 6 4 7 Start and Restart 6 5 Awareness means 6 5 1 Awareness barrier 6 5 2 Awareness signal 6 7 5 Selecting teach c amp f 6 7 7 Clearance 6 8 Safeguarding personnel during program verification 6 8 2 Slow speed attended program verification 6 8 3 High speed attended program verification 6 8 4 Requirements for high speed APV 6 8 5 Clearance for high speed APV 6 9 2 Presence sensing device initiation PSDI 6 10 1 Access to safeguarded space with no drive power available 6 10 2 Access to safeguarded space with drive power available 6 10 3 Entry procedures 6 10 4 Control of robot and robot system 6 10 5 Additional safeguarding methods 6 10 6 Alternate safeguards 6 11 Safeguarding verification 7 1 Interim safeguarding 7 1 1 Selection of interim safeguards 7 1 Interim safeguarding 7 1 1 Selection of interim safeguards 7 4 Personnel protection 2 Vote on draft resolution 258 of ISO TC 184 SC 2 Proposal to cancel work item ISO 10218 2 and initiate a new work item We agree to the proposal to cancel the work item ISO 10218 2 However w
155. voe ae ee EL AAE IS bil zv S um Hi TH e E ay WA maen dia E ap DERI sas I 5 ARON T 7 0 4m s 2W os uk Bus y OO smk 3150N HOSPI 1m s MAX 200W n 10m min MAX PERAE Tee a BA lone AME JE 75W 4 E pg 1 ES ALSOK 0 5m s a i AV S1 0 83m s eaS 400 ud awe al cci iE az ss x amsa 30m min MAX mii TE cs LINE Pen 2 peser
Download Pdf Manuals
Related Search