ISO Activity Update. International Organization for Standardization

Transcription

1 ISO Activity Update Jeff Fryman Convenor ISO TC184/SC2 WG 3 October 14 th 16 th, 2013 ~ Indianapolis, Indiana USA International Organization for Standardization ISO TC 184 Automation Systems and Integration SC 2 Robots and Robotic Devices WG1 Vocabulary ISO 8373 (Revised Standard) WG3 Industrial Safety ISO (Revised Standard) ISO/TS (New Technical Specification) WG7 Robots in Personal Care ISO (New Standard) WG8 Mobile service robots (New advisory group) JWG9 Medical Robot Study Group (Invasive, joint with IEC) 1

2 International Standardization USA actively adopting ISO standards Hierarchy of standards structure Type A Broad general guidelines ANSI/ISO Safety of Machinery Basic concepts, general principles for design and risk assessment Type B Generic safety standards Common safety issues Applicable to multiple types of machines Type C Machine specific safety standard ISO /2 ANSI/RIA R15.06 Industrial Robots and Robot Systems Safety Requirements ISO Deliverable Documents International Standard (IS) Technical Specification (TS) Technical Report (TR) 2

3 ISO & 2 of 2011 Part 1 Industrial Robot Stakeholder Robot Manufacturer Harmonized standard in Europe meets requirements of the European Machinery Directive all 28 countries of EU must adopt 2006 edition adopted in USA Part 2 Industrial robot system and integration Stakeholders Integrator, Installer Newly published July 2011 Safety rated soft axis and space limiting Safety rated controller added as integral part of the robot control system Positive control of robot arm motion Replaces hard stop requirements Better control of Restricted Space Option on new robots only 3

4 Safety rated soft axis and space limiting Software defined limits to robot motion Space limiting used to define any geometric shape Inclusionary or exclusionary zones Limiting robot motion within a defined space or preventing robot from entering a defined space Safety rated soft axis and space limiting Control programs that monitor and perform soft axis and space limiting functions shall comply with 5.4 and be changeable only by authorized personnel Protective stop initiated if soft limit violated Set as a stationary zone which cannot be changed without re initiation of the safety related sub system Not reconfigured during automatic execution of task program Authorization to change shall be secure Once set, safety rated soft limits shall always become active on power up Information for use shall include Stopping time at maximum speed including monitoring time and distance traveled to a full stop Hardware configuration for use in dynamic restricted space applications 4

5 Speed controls Reduced speed control operation The speed of the TCP shall not exceed 250 mm/s It should be possible to select speeds lower than 250 mm/s as the assigned limit Safety rated reduced speed control (optional) Meets requirement of Performance Level = d, structure category 3 Speed of the TCP does not exceed the limit set for reduced speed Protective stop issued when fault occurs Safety rated monitored speed (optional) Provides monitoring meeting PL=d category 3 Speed of TCP or of an axis shall be monitored Protective stop issued if the selected speed is exceeded ISO/TS 15066: Collaborative Operation Concepts Hand guiding V=f(overtravel, risk) Speed and position monitoring s s min V const Safety rated monitored stop V=0 s s min Power and force limiting F F max p p max Bild: BGHM/UMB 5

6 Collaborative robot applications Robot system exhibits certain controlled performance Safety rated monitored stop Robot shall stop when a human enters / is in the collaborative workspace Operator may interact with robot Autonomous operation may resume when the human leaves the workspace Hand guided Operator controls shall meet stated requirements Speed and separation monitoring Risk assessment determines appropriate parameters Power and force limiting by design or control Design or controls prevent any harm to operators Collaborative robot operations The integrator shall include in the information for use the safeguards and mode selection required for collaborative operation Protective measures shall be provided to ensure the operator s safety at all times Seven specific requirements must be fulfilled 6

7 Collaborative workspace requirements The collaborative workspace shall be clearly defined Where the operator can interact directly with the robot Safeguarded by combination of protective devices and compliance with robot performance features Each person (in case of multiple operators) shall be protected with controls Design of workspace shall be such that the operator can easily perform all tasks Minimum clearance of 500 mm from any trapping or pinch point Change point between autonomous and collaborative operation shall be designed so as not to endanger personnel Operation in the collaborative workspace One or more of the safety features shall be appropriately selected to ensure a safe work environment for all personnel exposed to potential hazards Any detected failure of the selected safety features shall result in a protective stop Autonomous operation requires a deliberate restart outside the collaborative workspace 7

8 Operation in the collaborative workspace Safety rated monitored stop Robot operates autonomously when no one in collaborative workspace Robot stops motion if a person enters the collaborative workspace Robot maintains a safety rated monitored stop in order to allow direct interaction of an operator and the robot Operation in the collaborative workspace Hand guiding A safety rated monitored stop is issued when the robot reaches the hand over position The operator shall have a guiding device to move the robot to the intended position The operator shall have clear visibility of the entire collaborative workspace When the operator releases the guiding device, a safety rated monitored stop is issued 8

9 Operation in the collaborative workspace Speed and separation monitoring Robot system designed to maintain a safe separation between the operator and the robot in a dynamic manner Robot speed, minimum separation distance and other parameters shall be determined by risk assessment 9

10 Operation in the collaborative workspace Power and force limiting by design or control Robot system designed to control hazards by power or force limiting Parameters of power, force, and ergonomics shall be determined by risk assessment ISO/TS to contain additional information and guidance on collaborative robot operation 10

11 Power and force limiting Risk assessment Among others: Intended Use and foreseeable misuse Consider always robot system consisting of robot and environment, e.g. tools, fixtures, jigs Required space Qualification, physiological and mental suitability of personnel Ergonomic aspects, e.g. posture Access of third persons Frequency and severity of potential contact (Force and/or pressure) Research project: Algometer Bild: BGHM Bild: IFA Algometer developed at IFA (Institute for Occupational Safety and Health) Specifically designed probe according to feedback from robot user Algometer stops when pressure feeling changes to pain The investigations are below AIS 1 and S1.(no bloody wounds or fracture) 11

12 Summary Report in Newspaper: Meeting of ISO TC 184 SC 2 Industrial Robots at University of Mainz in June 2012 Contact Information Jeff Fryman Principal Consultant JDF Consulting Enterprises, Ltd. 525 E. Michigan Ave., Suite 151 Saline, MI Telephone: (734) jeff@fryman.net 12