BSR/RIA R15.06-201x Sep 2012 Presents: Draft Standard R15.06-201x Industrial Robots and Robot Systems– Safety Requirements This release of the Pre-publication draft for the projected 2012 edition of ANSI/RIA R15.06 was presented at the 2012 National Robot Safety Conference for the purpose of informing industry of the progress of the national adoption of the International Standard ISO 10218 which is complete and presented in its entirety herein. The document is currently in the process of being approved as an American National Standard. Until approved by ANSI, some wording, but not the technical requirements, in this document may change. © RIA, All rights reserved i Sep 2012 BSR/RIA R15.06-201x Approval of an American National Standard requires verification by ANSI American that the requirements for due process, consensus, and other criteria for National approval have been met by the standards developer. Consensus is established when, in the judgment of the ANSI Board of Standard Standards Review, substantial agreement has been reached by directly and materially affected interests. Substantial agreement means much (Draft) more than a simple majority, but not necessarily unanimity. Consensus requires that all views and objections be considered, and that a concerted effort be made toward their resolution. The use of American National Standards is completely voluntary; their existence does not in any respect preclude anyone, whether he has approved the standards or not, from manufacturing, marketing, purchasing, or using products, processes, or procedures not conforming to the standards. The American National Standards Institute does not develop standards and will in no circumstances give an interpretation of any American National Standard. 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Published by Robotic Industries Association 900 Victors Way, Suite 140, Ann Arbor, MI 48108 © 2012 Robotic Industries Association All rights reserved No part of this publication may be reproduced in any form, in an electronic retrieval system or otherwise, without prior written permission of the publisher. Printed in the United States of America ADV PP 09/12 ii © 2012 RIA, All rights reserved BSR/RIA R15.06-201x Sep 2012 Contents Foreword to R15.06 (not part of draft standard) .............................. v Introduction to R15.06-2012 ........................................................... vii Foreword [ISO 10218 Part 1] .......................................................... 3 Introduction [Part 1] ......................................................................... 4 1 Scope ....................................................................................... 5 2 Normative references ............................................................... 5 3 Terms and definitions ............................................................... 6 4 Hazard identification and risk assessment ............................. 10 5 Design requirements and protective measures ...................... 11 5.1 General ............................................................................... 11 5.2 General requirements ......................................................... 11 5.3 Actuating controls ............................................................... 12 5.4 Safety–related control system performance (hardware/software) ............................................................ 12 5.5 Robot stopping functions .................................................... 14 5.6 Speed control ..................................................................... 15 5.7 Operational modes ............................................................. 15 5.8 Pendant controls ................................................................. 17 5.9 Control of simultaneous motion .......................................... 19 5.10 Collaborative operation requirements ................................. 19 5.11 Singularity protection .......................................................... 20 5.12 Axis limiting ......................................................................... 21 5.13 Movement without drive power ........................................... 22 5.14 Provisions for lifting ............................................................ 23 5.15 Electrical connectors .......................................................... 23 6 Verification and validation of safety requirements and protective measures ............................................................... 23 6.1 General ............................................................................... 23 6.2 Verification and validation methods .................................... 23 6.3 Required verification and validation .................................... 23 7 Information for use ................................................................. 24 7.1 General ............................................................................... 24 Annex A ......................................................................................... 27 Annex B ......................................................................................... 33 Annex C ........................................................................................ 35 Annex D ........................................................................................ 36 Annex E ......................................................................................... 38 Annex F ......................................................................................... 39 Bibliography .................................................................................. 51 Foreword [ISO 10218 Part 2] ........................................................ 54 Introduction [Part 2] ....................................................................... 55 1 Scope ..................................................................................... 58 2 Normative references ............................................................. 58 3 Terms and definitions ............................................................. 59 4 Hazard identification and risk assessment ............................. 61 © RIA, All rights reserved iii Sep 2012 BSR/RIA R15.06-201x 4.1 General ............................................................................... 61 4.2 Layout design ..................................................................... 62 4.3 Risk assessment ................................................................ 63 4.4 Hazard identification ........................................................... 64 4.5 Hazard elimination and risk reduction ................................. 65 5 Safety requirements and protective measures ....................... 66 5.1 General ............................................................................... 66 5.2 Safety-related control system performance (hardware/software) ............................................................ 66 5.3 Design and installation ....................................................... 67 5.4 Limiting robot motion .......................................................... 71 5.5 Layout ................................................................................. 73 5.6 Robot system operational mode application ....................... 74 5.7 Pendants ............................................................................ 78 5.8 Maintenance and repair ...................................................... 79 5.9 Integrated manufacturing system (IMS) interface ............... 80 5.10 Safeguarding ...................................................................... 81 5.11 Collaborative robot operation.............................................. 89 5.12 Commissioning of robot systems ........................................ 92 6 Verification and validation of safety requirements and protective measures ............................................................... 93 6.1 General ............................................................................... 93 6.2 Verification and validation methods .................................... 94 6.3 Required verification and validation .................................... 94 6.4 Verification and validation of protective equipment ............. 94 7 Information for use ................................................................. 95 7.1 General ............................................................................... 95 7.2 Instruction handbook .......................................................... 95 7.3 Marking ............................................................................. 100 Annex A ....................................................................................... 101 Annex B ....................................................................................... 106 Annex C 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