![Annex Q (informative) Relationship of standards related to safeguards
Bibliography: [1] a [48]
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VALERI_EventoRoboticaUNI_UCIMU_SIRI_4luglio2025.pptx
- 1. La norma UNI EN ISO 10218-2:2025 Robotics — Safety requirements — Part 2: Industrial robot applications and robot cells Vanni Valeri membro ISO/TC 299/WG 3 - Industrial safety Ordine dei Periti industriali di Pesaro e Urbino
- 2. Capitoli • Foreword • Introduction • 1 Scope, page 1 • 2 Normative references • 3 Terms, definitions, symbols and abbreviated terms • 4 Risk assessment • 5 Safety requirements and risk reduction measures • 6 Verification and validation • 7 Information for use 2
- 3. Appendici • Annex A (informative) List of significant hazards • Annex B (informative) Illustrations of spaces • Annex C (normative) Safety function performance requirements • Annex D (informative) Required safety function information • Annex E (informative) Example of determination of the PLr or required SIL • Annex F (informative) Comparison of stop functions • Annex G (informative) Graphical symbols • Annex H (informative) Means of verification and validation of the design and protective measures • Annex I (informative) End-effectors • Annex J (informative) Safeguarding manual load and unload stations 3
- 4. Appendici • Annex K (informative) Safeguarding material entry and exit point • Annex L (normative) Speed and separation monitoring (SSM) – separation distance • Annex M (informative) Limits for quasi-static and transient contact • Annex N (informative) Validation of PFL collaborative applications • Annex O (informative) Optional features • Annex P (informative) Implementation of start/restart interlock and reset functions • Annex Q (informative) Relationship of standards related to safeguards • Bibliography Pagine totali documento: 221 4
- 5. Nel dettaglio • Foreword • Introduction • 1 Scope • 2 Normative references • 3 Terms, definitions, symbols and abbreviated terms 5
- 6. 4 Risk assessment • 4.1 General • 4.2 Characteristics of robot applications and robot cells • 4.3 Characteristics of collaborative applications • 4.3.1 General • 4.3.2 Risk assessment for contacts between moving parts of the robot application and operator(s) 6
- 7. 5 Safety requirements and risk reduction measures • 5.1 General • 5.2 Design • 5.2.1 General • 5.2.2 Materials, mechanical strength and mechanical design • 5.2.3 Provisions for lifting or moving • 5.2.4 Hazardous substances • 5.2.5 Stability • 5.2.6 Temperature and fire risks • 5.2.7 Special equipment • 5.2.8 Position holding • 5.2.9 Additional axis (axes) 7
- 8. 5 Safety requirements and risk reduction measures • 5.2 Design (…) • 5.2.10 Power loss or change • 5.2.11 Component malfunction • 5.2.12 Hazardous energy • 5.2.13 Electrical, pneumatic and hydraulic parts • 5.2.14 Tool centre point (TCP) setting • 5.2.15 Payload setting • 5.2.16 Cybersecurity 8
- 9. 5 Safety requirements and risk reduction measures • 5.3 Robot cell integration • 5.3.1 General • 5.3.2 Span-of-control • 5.3.3 Span-of-control of emergency stop function • 5.3.4 Operational modes with multi-robot applications or robot cells • 5.3.5 Local control, remote control and single-point-of-control • 5.3.6 Automatic workpiece feeding 9
- 10. 5 Safety requirements and risk reduction measures • 5.4 Layout • 5.4.1 General • 5.4.2 Use and limits • 5.4.3 Design • 5.4.4 Design for collaborative applications • 5.4.5 Prevention of trapping within the safeguarded space • 5.4.6 Establishing restricted spaces • 5.4.7 Limiting motion 10
- 11. 5 Safety requirements and risk reduction measures • 5.5 Safety functions • 5.5.1 General • 5.5.2 Functional safety standards • 5.5.3 Performance • 5.5.4 Failure or fault detection • 5.5.5 Parameterization of safety functions • 5.5.6 Speed limit(s) monitoring • 5.5.7 Start / restart interlock and reset • 5.5.8 Monitored-standstill • 5.5.9 Communications • 5.5.10 Electromagnetic requirements 11
- 12. 5 Safety requirements and risk reduction measures • 5.6 Stopping • 5.6.1 General • 5.6.2 Emergency stop • 5.6.3 Protective stop • 5.6.4 Normal stop • 5.6.5 Associated equipment stopping 12
- 13. 5 Safety requirements and risk reduction measures • 5.7 Control functions • 5.7.1 General • 5.7.2 Modes • 5.7.3 Protection from unexpected start-up • 5.7.4 Status indication and warning devices • 5.7.5 Single-point-of-control • 5.7.6 Local and remote control • 5.7.7 Enabling devices • 5.7.8 Control stations • 5.7.9 Simultaneous motion 13
- 14. 5 Safety requirements and risk reduction measures • 5.8 Safeguards and their use • 5.8.1 General • 5.8.2 Establishing a safeguarded space • 5.8.3 Perimeter safeguarding • 5.8.4 Overriding of protective devices • 5.8.5 Guards • 5.8.6 Sensitive protective equipment • 5.8.7 Muting • 5.8.8 Overriding of SPE • 5.8.9 Minimum distances • 5.8.10 Safeguarding to protect from unexpected restart 14
- 15. 5 Safety requirements and risk reduction measures • 5.9 End-effectors • 5.9.1 General • 5.9.2 Risk reduction measures • 5.9.3 Shape and surfaces • 5.9.4 Protective devices and/or safety functions • 5.9.5 End-effectors and robot application design • 5.9.6 End-effectors exchange systems 15
- 16. 5 Safety requirements and risk reduction measures • 5.10 Vertical transfer components • 5.10.1 Mechanical design • 5.10.2 Prevention of falling hazards • 5.10.3 Prevention of crushing hazards • 5.10.4 Control of movements • 5.11 Lasers and laser equipment 16
- 17. 5 Safety requirements and risk reduction measures • 5.12 Material handling, manual load/unload stations and material flow • 5.12.1 Material handling • 5.12.2 Manual load/unload stations and other manual stations • 5.12.3 Material • 5.13 Adjacent robot cells 17
- 18. 5 Safety requirements and risk reduction measures • 5.14 Collaborative applications • 5.14.1 General • 5.14.2 Safeguarded spaces • 5.14.3 Transitions • 5.14.4 Hand-guided control (HGC) • 5.14.5 Speed and separation monitoring (SSM) • 5.14.6 Power and force limiting (PFL) 18
- 19. 5 Safety requirements and risk reduction measures • 5.15 Assembly, installation and commissioning. • 5.15.1 Commissioning of robot applications • 5.15.2 Environmental conditions • 5.15.3 Power • 5.15.4 Lighting • 5.15.5 Labelling • 5.16 Maintenance • 5.16.1 General • 5.16.2 Movement without drive power 19
- 20. 6 Verification and validation • 6.1 General • 6.2 Verification and validation methods • 6.3 Verification and validation of guards, protective devices, safety function parameter settings and biomechanical threshold limits • 6.3.1 Guards and protective devices • 6.3.2 Safety function parameter settings • 6.3.3 Biomechanical limits • 6.4 Complementary protective measures 20
- 21. 7 Information for use • 7.1 General • 7.2 Signals and warning devices • 7.3 Marking • 7.4 Signs (pictograms) and written warnings 21
- 22. 7 Information for use • 7.5 Instruction handbook • 7.5.1 General • 7.5.2 Identification • 7.5.3 Intended use • 7.5.4 Transport, handling and lifting • 7.5.5 Installation • 7.5.6 Commissioning and programming • 7.5.7 Abnormal and emergency situations • 7.5.8 Settings and operation • 7.5.9 Maintenance • 7.5.10 Decommissioning • 7.5.11 Remote interventions 22
- 23. 7 Information for use • 7.5 Instruction handbook • 7.5.12 Hazardous energy • 7.5.13 Limiting devices and restricted space • 7.5.14 Movement without drive power • 7.5.15 Control station(s) • 7.5.16 Functional safety • 7.5.17 Operating modes • 7.5.18 Enabling devices • 7.5.19 Vibration • 7.5.20 End-effector(s) • 7.5.21 Manual load/ unload stations • 7.5.22 Collaborative applications • 7.5.23 Cybersecurity 23
- 24. Annex A (informative) List of significant hazards • Table A.1 • Type or group • Example of hazards • Origin • Potential consequences • Table A.2 • Function • Type • Example of hazards associated with the functions of end-effectors • Hazard origin • Potential consequences 24
- 25. Annex B (informative) Illustrations of spaces • Figure B.1 Spaces • Figure B.2 Spaces of a robot (without end-effector and without workpiece) • Figure B.3 Spaces of a robot system plus a workpiece • Figure B.4 Spaces of the moving parts of a robot application • Figure B.5 Spaces of a robot application (includes end-effector and workpiece) with safeguards • Figure B.5 Spaces of a robot application depicting a PFL collaborative application where contact from the robot application to the operator is permitted 25
- 26. Annex C (normative) Safety function performance requirements • C.1 Determining safety function performance level • C.2 Parameters • C.2.1 General • C.2.1.1 Elements of risk • C.2.1.2 Severity of the harm • C.2.1.3 Exposure to hazard • C.2.1.4 Possibility of avoidance (AP) or limiting the harm 26
- 27. Annex D (Informative) Required safety function information • Table D.1 Safety function information example 27
- 28. Annex E (informative) Example of determination of the PLr or required SIL • E.1 General • E.2 Examples • E.2.1 Example 1 – based on ISO 12100:2010 • E.2.2 Example 2 – based on IEC 62061 • E.2.3 Example 3 – based on RIA TR R15.306 28
- 29. Annex F (informative) Comparison of stop functions • Table F.1 Comparison of the stop functions 29
- 30. Annex G (informative) Graphical symbols • Emergency stop • Automatic • Manual • Remote control ON Activate • Remote control OFF Deactivate (Local control ON) • Power ON • Power OFF 30
- 31. Annex H (informative) Means of verification and validation of the design and protective measures • Table H.1 Means of verification and validation of the design and protective measures (34 pagine) 31
- 32. Annex I (informative) End-effectors • I.1 Gripper end-effectors • I.1.1 General • I.1.2 Grasp-type grippers • I.1.3 Vacuum grippers • I.1.4 Magnet grippers • I.2 Application specific end-effectors • I.1.1 General • I.1.2 Application examples • I.1.3 Weld applications 32
- 33. Annex I (informative) End-effectors • I.3 Examples for collaborative applications • I.3.1 HGC integrated into the end-effector • I.3.2 Power and force limited (PFL) end-effector • I.4 Gripper designs and their safety performance 33
- 34. Annex J (informative) Safeguarding manual load and unload stations • J.1 Risk assessment • J.2 Design • J.2.1 General • J.2.2 Example safeguarding of a manual load/unload station with an adjacent interlocked guard • J.2.3 Example safeguarding separation distances of manual load/unload station • J.2.4 Impeding devices of height greater than or equal to 1400 mm • J.2.5 Impeding devices of height from 1000 mm to 1400 mm • J.2.6 Impeding devices of height less than 1000 mm • J.2.7 Mechanical deterrent in fixture and manual load/unload station design • J.2.8 Detection of intrusion in hazard zones • J.2.9 Presence sensing • J.2.10 Example of dimensions of openings for whole body and toehold of footstep access 34
- 35. Annex K (informative) Safeguarding material entry and exit point • K.1 General considerations to prevent access at conveyors • K.2 Examples • K.2.1 Small openings • K.2.2 Tunnels • K.2.3 Safeguarding with ESPE 35
- 36. Annex L (normative) Speed and separation monitoring (SSM) – separation distance • L.1 General • L.2 Determining the separation distance • L.3 Example of speed and separation monitoring (SSM) using detection zones 36
- 37. Annex M (informative) Limits for quasi-static and transient contact • M.1 General • M.2 Body model • M.3 Biomechanical limits • M.3.1 General • M.3.2 Pressure and force values • M.3.3 Relationship between pressure and force • M.3.4 Relationship between biomechanical limits and transfer energy during transient contact • M.3.5 Limits to body model • M.3.6 Validation 37
- 38. Annex N (informative) Validation of PFL collaborative applications • N.1 Measurement devices for pressure and/or force • N.1.1 General • N.1.2 Pressure/force resolution and range • N.1.3 Spatial resolution of pressure sensing • N.1.4 Frequency response • N.1.5 Specification of damping material (hardness) and effective spring constant (K stiffness) properties per body region • N.1.6 Test operator requirements 38
- 39. Annex N (informative) Validation of PFL collaborative applications • N.2 Measurement of pressure and force • N.2.1 General • N.2.2 Determining the number of tests to perform • N.2.3 Performing measurements • N.2.4 Contact event measurements • N.3 Documenting test results • N.4 Determining when to test PFL collaborative applications • N.4.1 General • N.4.2 New PFL collaborative applications • N.4.3 Repeat installations • N.4.4 Verified and validated PFL collaborative application 39
- 40. Annex N (informative) Validation of PFL collaborative applications • N.4 Determining when to test PFL collaborative applications • N.4.5 Periodic testing General • N.4.6 Modification • N.4.7 Repair • N.5 PFMD calibration • N.5.1 General • N.5.2 Calibration by the PFMD manufacturer • N.5.3 Calibration report • N.5.4 Calibration frequency 40
- 41. Annex O (informative) Optional features • O.1 General • O.2 Emergency stop safety function outputs • O.3 Enabling device functionality • O.4 Mode selection output • O.5 Collision sensing • O.6 Maintaining path accuracy across all speeds • O.7 Optional capabilities.5 PFMD calibration 41
- 42. Annex P (informative) Implementation of start/restart interlock and reset functions • P.1 General • P.2 Start/restart interlock • P.3 Resetting a start/restart interlock • P.4 Reset 42
- 43. Annex Q (informative) Relationship of standards related to safeguards Bibliography: [1] a [48] 43