ISO/TS 15066:2016
Robots and robotic devices — Collaborative robots
ISO/TS 15066:2016 specifies safety requirements for collaborative industrial robot systems and the work environment, and supplements the requirements and guidance on collaborative industrial robot operation given in ISO 10218‑1 and ISO 10218‑2.
ISO/TS 15066:2016 applies to industrial robot systems as described in ISO 10218‑1 and ISO 10218‑2. It does not apply to non-industrial robots, although the safety principles presented can be useful to other areas of robotics.
NOTE This Technical Specification does not apply to collaborative applications designed prior to its publication.
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Foreword
Introduction
1 Scope
2 Normative references
3 Terms and definitions
4 Collaborative industrial robot system design
4.1 General
4.2 Collaborative application design
4.3 Hazard identification and risk assessment
4.3.1 General
4.3.2 Hazard identification
4.3.3 Task identification
4.3.4 Hazard elimination and risk reduction
5 Requirements for collaborative robot system applications
5.1 General
5.2 Safety-related control system performance
5.3 Design of the collaborative workspace
5.4 Design of the collaborative robot operation
5.4.1 General
5.4.2 Protective measures
5.4.3 Stopping functions
5.4.4 Transitions between non-collaborative operation and collaborative operation
5.4.5 Enabling device requirements
5.5 Collaborative operations
5.5.1 General
5.5.2 Safety-rated monitored stop
5.5.3 Hand guiding
5.5.4 Speed and separation monitoring
5.5.5 Power and force limiting
6 Verification and validation
7 Information for use
7.1 General
7.2 Information specific to collaborative robot operations
7.3 Description of the collaborative robot system
7.4 Description of the workplace application
7.5 Description of the work task
7.6 Information specific to power and force limiting applications
Annex A (informative) Limits for quasi-static and transient contact
Bibliography
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Foreword
Introduction
1 Scope
2 Normative references
3 Terms and definitions
4 Collaborative industrial robot system design
4.1 General
4.2 Collaborative application design
4.3 Hazard identification and risk assessment
4.3.1 General
4.3.2 Hazard identification
4.3.3 Task identification
4.3.4 Hazard elimination and risk reduction
5 Requirements for collaborative robot system applications
5.1 General
5.2 Safety-related control system performance
5.3 Design of the collaborative workspace
5.4 Design of the collaborative robot operation
5.4.1 General
5.4.2 Protective measures
5.4.3 Stopping functions
5.4.4 Transitions between non-collaborative operation and collaborative operation
5.4.5 Enabling device requirements
5.5 Collaborative operations
5.5.1 General
5.5.2 Safety-rated monitored stop
5.5.3 Hand guiding
5.5.4 Speed and separation monitoring
5.5.5 Power and force limiting
6 Verification and validation
7 Information for use
7.1 General
7.2 Information specific to collaborative robot operations
7.3 Description of the collaborative robot system
7.4 Description of the workplace application
7.5 Description of the work task
7.6 Information specific to power and force limiting applications
Annex A (informative) Limits for quasi-static and transient contact
Bibliography