This part of GB 11291 specifies requirements and guidelines for the inherent safe design, protective measures and information for use of industrial robots, as defined in Clause 3. It describes basic hazards associated with robots and provides requirements to eliminate, or adequately reduce the risks associated with these hazards. Noise as a potential hazard is not dealt with in this part, but will be fully covered in Part 2 of GB 11291.
This part of GB 11291 does not apply to non-industrial robots although the safety principles established in "Robots for Industrial Environment-Safety Requirements" may be utilized for these other robots. Examples of non-industrial robot applications include, but are not limited to: undersea, military and space robots, tele-operated manipulators, prosthetics and other aids for the physically impaired, micro-robots (displacement<1mm), surgery or healthcare, and service or consumer products.
Notes: 1 Requirements for robot systems, integration, and installation are covered in Part 2.
2 Additional hazards may be created by specific applications (e.g. welding, laser cutting, machining). These hazards may need to be considered during robot design.
2 Normative References
The following referenced documents are indispensable for the application of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies.
GB 5226.1-2008 Safety of Machinery - Electrical Equipment of Machines - Part 1: General Requirements (IEC 60204-1: 2005, IDT)
GB/T 1 5706.1-2007 Safety of Machinery - Basic Concepts General Principles for Design - Part 1: Basic Terminology Methodology (ISO 12100-1: 2003, IDT)
GB/T 15706.2-2007 Safety of Machinery - Basic Concepts, General Principles for Design - Part 2: Technical Principles (ISO 12100-2: 2003, IDT)
GB/T 16855.1-2008 Safety of Machinery - Safety-related Parts of Control Systems - Part 1: General Principles for Design (ISO 13849-1: 2006, IDT)
GB/T 17799.2-2003 Electromagnetic Compatibility - Generic Standards - Immunity for Industrial Environments (IEC 61000-6-2: 1999, IDT)
GB 17799.4-2001 Electromagnetic Compatibility - Generic Standards - Emission Standard for Industrial Environments (IEC 61000-6-4: 1997, IDT)
ISO 9283: 1998 Manipulating Industrial Robots - Performance Criteria and Related Test Methods
ISO 14121: 1999 Safety of Machinery - Principles of Risk Assessment
ISO 13850 Safety of Machinery - Emergency Stop C Principles for Design
ISO 13855 Safety of Machinery - Positioning of Protective Equipment with Respect to the Approach Speeds of Parts of the Human Body
3 Terms and Definitions
For the purposes of this document, the following terms and definitions apply.
3.1 Actuating control
a) Mechanical mechanism within a control device.
Example: a rod which opens contacts.
b) Device which initiates a (un)locking sequence.
Example: specialized key.
3.2 Automatic mode
Operating mode in which the robot control system operates in accordance with the task programme.
[GB/T 12643-1997, definition 6.3.8.1]
3.3 Automatic operation
State in which the robot is executing its programmed task as intended.
[GB/T 12643-1997, definition 6.5]
3.4 Collaborative operation
State in which purposely designed robots work in direct cooperation with a human within a defined workspace.
3.5 Collaborative workspace
Workspace within the safeguarded space of the robot work cell, where the robot and a human can perform tasks simultaneously during production operation.
3.6 Coordinated motion
Control wherein the axes of the robot arrive at their respective end points simultaneously, giving a smooth appearance to the motion and control wherein the motions of the axes are such that the tool centre point (TCP) moves along a prescribed path (line, circle, or other).
3.7 Cycle
Single execution of a task programme
[GB/T 12643-1997, definition7.22]
3.8 Drive power
Energy source or sources for the robot actuators.
3.9 End effector
Device specifically designed for attachment to the mechanical interface to enable the robot to perform its task.
Example: gripper, nut runner, welding gun, spray gun.
[GB/T 12643-1997, definition 4.11]
3.10 Energy source
Any electrical, mechanical, hydraulic, pneumatic, chemical, thermal, potential, kinetic, or other sources of power.
3.11 Hazardous motion
Any motion that is likely to cause personal physical injury or damage to health.
3.12 Limiting device
Device that restricts the maximum space by stopping or causing to stop all robot motion and is independent of the control programme and the task programmes.
3.13 Local control
State of the system or portions of the system in which the system is operated from the control panel or pendant of the individual machines only.
3.14 Manual mode
Control state that allows the generation, storage, and playback of positional data points.
[GB/T 12643-1997, definition 6.3.8.2]
3.15 Pendant, teach pendant
Hand-held unit linked to the control system with which a robot can be programmed or moved.
[GB/T 12643-1997, definition 6.8]
3.16 Programme
3.16.1 Control programme
Inherent set of instructions which defines the capabilities, actions, and responses of a robot system.
Note: this programme is fixed and usually not modified by the user.
[GB/T 12643-1997, definition 6.1.2]
3.16.2 Task programme
Set of instructions for motion and auxiliary functions that define the specific intended task of the robot system.
Notes: 1 This type of programme is normally generated by the user.
2 An application is a general area of work, a task is specific within the application.
[GB/T 12643-1997, definition 6.1.1]
3.16.3 Task programming
Act of providing the task programme.
[GB/T 12643-1997, definition 6.2.1]
3.16.4 Programmer
Person designated to prepare the task programme.
[GB/T 12643-1997, definition 3.17]
3.16.5 Programme path
Path traced by the TCP during the execution of a task programme.
3.16.6 Programme verification
Execution of a task programme for the purpose of confirming the robot path and process performance.
Note: verification may include the total programme path or a segment of the path. The instructions may be executed in a single instruction or continuous instruction sequence. Verification is used in new applications and in fine tuning/editing of existing ones.
3.17 Protective stop
Type of interruption of operation that allows an orderly cessation of motion for safeguarding purposes and which retains the programme logic to facilitate a restart.
3.18 Robot, industrial robot
Automatically controlled, reprogrammable multipurpose manipulator, programmable in three or more axes, which may be either fixed in place or mobile for use in industrial automation applications.
Notes: 1 The robot includes:
