ISO/TS TECHNICAL SPECIFICATION 15066 First edition 2016-02-15 Robots and robotic devices - Collaborative robots Robots et dispositifs robotiques - Robots coopératifs Reference number IS0/TS 15066:2016(E) ISO International Organization for Standardization ISee=ZHEJIANG INST OF STANDARDIZATION C1 5956617 @IS02016 vided by IHS under I No reproduction or networking permitted without license from IHS IS0/TS 15066:2016(E) COPYRIGHTPROTECTEDDOCUMENT IS0 2016, Published in Switzerland All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below or ISO's member body in the country of the requester. ISOcopyrightoffice Ch. de Blandonnet 8 · CP 401 CH-1214 Vernier, Geneva, Switzerland Tel. +41 22 749 01 11 Fax +41 22 749 09 47 [email protected] www.iso.org Internatinai br DrganizationforStandardization Licensee-ZHEJIANG INST OF STANDARDIzoISQ 6 - All rights reserved Not for Resale, 2016/4/26 02:18:07 networking permited withoutlicense from IHS IS0/TS 15066:2016(E) Contents Page Foreword ..iv Introduction. ..V 1 Scope. ..1 2 Normative references 3 Terms and definitions ..1 4 Collaborative industrial robot system design .2 4.1 General .2 4.2 Collaborative application design .3 4.3 Hazard identification and risk assessment .4 4.3.1 General ..4 4.3.2 Hazard identification 4 4.3.3 Task identification 4.3.4 Hazard elimination and risk reduction ..5 5 Requirements for collaborative robot system applications .6 5.1 General .6 5.2 Safety-related control system performance .6 5.3 Design of the collaborative workspace .6 5.4 Design of the collaborative robot operation. .6 5.4.1 General .6 5.4.2 Protective measures. ..6 5.4.3 Stopping functions 6 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 7 5.5.2 Safety-rated monitored stop ..8 5.5.3 Hand guiding. .9 5.5.4 Speed and separation monitoring .10 5.5.5 Power and force limiting. .15 6 Verification and validation ..19 7 Information for use ..19 7.1 General .19 7.2 Information specific to collaborative robot operations ..19 7.3 Description of the collaborative robot system .19 7.4 Description of the workplace application. 19 7.5 Description of the work task.. .20 7.6 Information specific to power and force limiting applications .20 Annex A (informative) Limits for quasi-static and transient contact. ..21 Bibliography ..33 ii censee=ZHEJIANG INST OF STANDARDIZATION C1 5956617 vided by IHS under lic d without license from IHS