prEN ISO 3691-4

SLOVENSKI STANDARD
01-januar-2022
Vozila za talni transport - Varnostne zahteve in preverjanje - 4. del: Vozila brez
voznika in njihovi sistemi (ISO/DIS 3691-4:2021)
Industrial trucks - Safety requirements and verification - Part 4: Driverless industrial
trucks and their systems (ISO/DIS 3691-4:2021)
Flurförderzeuge - Sicherheitstechnische Anforderungen und Verifizierung - Teil 4:
Fahrerlose Flurförderzeuge und ihre Systeme (ISO/DIS 3691-4:2021)
Chariots de manutention - Exigences de sécurité et vérification - Partie 4: Chariots sans
conducteur et leurs systèmes (ISO/DIS 3691-4:2021)
Ta slovenski standard je istoveten z: prEN ISO 3691-4
ICS:
53.060 Industrijski tovornjaki Industrial trucks
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

DRAFT INTERNATIONAL STANDARD
ISO/DIS 3691-4
ISO/TC 110/SC 2 Secretariat: SIS
Voting begins on: Voting terminates on:
2021-11-15 2022-02-07
Industrial trucks — Safety requirements and
verification —
Part 4:
Driverless industrial trucks and their systems
Chariots de manutention — Exigences de sécurité et vérification —
Partie 4: Chariots sans conducteur et leurs systèmes
ICS: 53.060
This document is circulated as received from the committee secretariat.
THIS DOCUMENT IS A DRAFT CIRCULATED
FOR COMMENT AND APPROVAL. IT IS
ISO/CEN PARALLEL PROCESSING
THEREFORE SUBJECT TO CHANGE AND MAY
NOT BE REFERRED TO AS AN INTERNATIONAL
STANDARD UNTIL PUBLISHED AS SUCH.
IN ADDITION TO THEIR EVALUATION AS
BEING ACCEPTABLE FOR INDUSTRIAL,
TECHNOLOGICAL, COMMERCIAL AND
USER PURPOSES, DRAFT INTERNATIONAL
STANDARDS MAY ON OCCASION HAVE TO
BE CONSIDERED IN THE LIGHT OF THEIR
POTENTIAL TO BECOME STANDARDS TO
WHICH REFERENCE MAY BE MADE IN
Reference number
NATIONAL REGULATIONS.
ISO/DIS 3691-4:2021(E)
RECIPIENTS OF THIS DRAFT ARE INVITED
TO SUBMIT, WITH THEIR COMMENTS,
NOTIFICATION OF ANY RELEVANT PATENT
RIGHTS OF WHICH THEY ARE AWARE AND TO
PROVIDE SUPPORTING DOCUMENTATION. © ISO 2021

ISO/DIS 3691-4:2021(E)
© ISO 2021
All rights reserved. Unless otherwise specified, or required in the context of its implementation, 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.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii
ISO/DIS 3691-4:2021(E)
Contents  Page
Foreword .v
Introduction . vi
1  Scope . 1
2  Normative references . 2
3  Terms and definitions . 4
4  Safety requirements and/or protective/risk reduction measures .10
4.1 General . 10
4.1.1 Overall requirements . 10
4.1.2 Normal climatic conditions . 10
4.1.3 Electrical requirements . 11
4.1.4 Stored energy components.12
4.1.5 Edges or angles . 12
4.1.6 Guards .12
4.1.7 Interlocking devices for guards .12
4.1.8 Two hand control devices .12
4.1.9 Transmission parts .12
4.1.10 Electro-sensitive protective equipment .12
4.1.11 Pressure-sensitive protective devices .12
4.1.12 Hydraulic systems .12
4.1.13 Pneumatic systems.13
4.1.14 Avoidance of automatic restart . 13
4.1.15 Foot protection . 13
4.1.16 Transport .13
4.1.17 Seats . . 14
4.1.18 Means of access . 14
4.1.19 High temperatures . 14
4.1.20 Exhaust emissions. 14
4.1.21 Access and emergency exit . 14
4.1.22 Driving position . 14
4.1.23 Electrostatic charges . 15
4.1.24 Falling objects .15
4.1.25 Errors for fitting . 15
4.1.26 Normal stop .15
4.1.27 Operational stop .15
4.2 Braking system . 16
4.3 Speed control . 16
4.3.1 Overspeed detection . 16
4.3.2 Speed and stability . 16
4.4 Automatic battery charging . 16
4.5 Load handling . 16
4.6 Steering . 17
4.7 Stability . 17
4.7.1 General . 17
4.7.2 Tilting platform stability test . 17
4.7.3 Stability requirements for trucks not covered by 4.7.2 . 17
4.8 Protective devices and complementary measures . 18
4.8.1 Emergency stop . 18
4.8.2 Detection of persons in the path . 19
4.9 Modes of operation . 21
4.9.1 General . 21
4.9.2 Automatic mode . 22
4.9.3 Manual mode . 23
4.9.4 Maintenance mode . . . 24
iii
ISO/DIS 3691-4:2021(E)
4.10 Trucks intended to tow trailers . 24
4.11 Safety-related parts of the control system . 24
4.12 Electromagnetic immunity .28
4.13 Conveyors fitted to a truck . 29
4.13.1 Trucks fitted with conveyors .29
4.13.2 Conveyors . 29
4.14 Warning systems .30
5  V erification of the safety requirements and/or protective/risk reduction measures .30
5.1 General .30
5.2 Tests for detection of persons . 30
5.3 Stability tests . 32
5.3.1 General . 32
5.3.2 Stability tests for truck not covered by 4.7.2 . 32
5.4 Fitness for purpose . 32
5.4.1 General . 32
5.4.2 Structural tests . 32
5.4.3 Dynamic tests . 33
6  Information for use .33
6.1 General . 33
6.2 Warning systems . 33
6.3 Instruction handbook.34
6.3.1 General .34
6.3.2 Concerning the trucks and system .34
6.3.3 Operation of the trucks and system .34
6.3.4 Routine service and maintenance of the trucks and system . 35
6.3.5 Operating information . 36
6.3.6 Information for the application . 36
6.3.7 Details for floor/ground conditions .36
6.3.8 Details for power sources . 36
6.3.9 Truck modification . 37
6.4 Minimum marking . . 37
6.4.1 Marking . . . 37
6.4.2 Warning signs . 37
6.4.3 Information plates .38
6.5 Putting into service (commissioning) . 39
Annex A (normative) Requirements for preparation of the operating zones .40
Annex B (informative) List of significant hazards .49
Annex C (normative) Determination of rated capacity .55
Annex D (informative) Load transfer operations .57
Annex E (normative) Verification of the safety requirements and/or protective/risk
reduction measures .59
Annex ZA (informative) Relationship between this European Standard and the essential
requirements of Directive 2006/42/EC aimed to be covered .70
Bibliography .73
iv
ISO/DIS 3691-4:2021(E)
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out
through ISO technical committees. Each member body interested in a subject for which a technical
committee has been established has the right to be represented on that committee. International
organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.
ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the
different types of ISO documents should be noted. This document was drafted in accordance with the
editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/directives).
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of
any patent rights identified during the development of the document will be in the Introduction and/or
on the ISO list of patent declarations received (see www.iso.org/patents).
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and
expressions related to conformity assessment, as well as information about ISO's adherence to
the World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT) see
www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 110, Industrial trucks, Subcommittee
SC 2, Safety of powered industrial trucks.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www.iso.org/members.html.
A list of all parts in the ISO 3691 series can be found on the ISO website.
v
ISO/DIS 3691-4:2021(E)
Introduction
General
This document is a type-C standard as stated in ISO 12100:2010.
This document is of relevance, in particular, for the following stakeholder groups representing the
market players with regard to machinery safety:
— machine manufacturers (small, medium and large enterprises);
— health and safety bodies (regulators, accident prevention organizations, market surveillance etc.)
Others can be affected by the level of machinery safety achieved with the means of the document by the
above-mentioned stakeholder groups:
— machine users/employers (small, medium and large enterprises);
— machine users/employees (e.g. trade unions, organizations for people with special needs);
— service providers, e.g. for maintenance (small, medium and large enterprises);
— consumers (in case of machinery intended for use by consumers).
The above-mentioned stakeholder groups have been given the possibility to participate at the drafting
process of this document.
The machinery concerned and the extent to which hazards, hazardous situations or hazardous events
are covered are indicated in the Scope of this document.
When requirements of this type-C standard are different from those which are stated in type-A or B
standards, the requirements of this type-C standard take precedence over the requirements of the
other standards for machines that have been designed and built according to the requirements of this
type-C standard.
Structure
An important step forward in the work on the ISO 3691 series of standards was the agreement to issue
a new structure of International Standards for industrial trucks having on one side basic standards
for all types of trucks and on the other side independent standards to cover the respective specific
functions of industrial trucks, e.g. visibility, noise, electrical requirements, etc.
Global relevance
From the very beginning, the task was to revise ISO 3691:1980 to establish international basic
standards to align with the major legislative regulations in, for example, the EU, Japan, Australia and
North America.
Every effort was made to develop a globally relevant International Standard. That goal was achieved for
most of the issues addressed. For several potential problem areas, compromises were needed and will
still be needed in the future. Where divergent regional requirements outside Europe remain, these are
addressed by ISO/TS 3691-8:2019.
This document has been prepared under a mandate given to CEN by the European Commission and the
European Free Trade Association, and supports essential requirements of Directive 2006/42/EC. For
relationship with Directive 2006/42/EC, see informative Annex ZA, which is an integral part of this
document.
This standard takes into consideration:
— the current state of the art and especially;
vi
ISO/DIS 3691-4:2021(E)
— virtual bumper technology;
— hybrid (e.g. manual and automatic) mode truck;
— performance level versus category;
— further define clearances;
— guarding for specific zones.
This revision supersedes ISO 3691-4:2020.
This revision includes the significant technical changes with respect to the superseded document:
a) update of the scope by adding “not cover significant hazards”
b) update of the list of normative references with the more recent version of each of them
c) update of Clause 3 by adding the definitions of “active detection field” and “operational stop”
d) update of Clause 4 (with new requirements 4.1.16 to 4.1.27), Clause 5, Clause 6, Annex A, Annex B
and Annex C
e) reword of verification of the safety requirements lists in Annex E
vii
DRAFT INTERNATIONAL STANDARD ISO/DIS 3691-4:2021(E)
Industrial trucks — Safety requirements and
verification —
Part 4:
Driverless industrial trucks and their systems
1  Scope
This document specifies safety requirements and the means for their verification for driverless
industrial trucks (hereafter referred to as trucks) and their systems.
Examples of driverless industrial trucks (trucks of ISO 5053-1:2020) can also be known as: “automated
guided vehicle”, “autonomous mobile robot”, “bots”, “automated guided cart”, “tunnel tugger”, “under
cart”, etc.
This document also contains requirements for driverless industrial trucks which are provided with:
— automatic modes which either require operators’ action(s) to initiate or enable such automatic
operations;
— the capability to transport one or more riders (which are neither considered as drivers nor as
operators);
— additional manual modes which allow operators to operate the truck manually; or
— a maintenance mode which allows manual operation of truck functions for maintenance reasons.
It is not applicable to trucks solely guided by mechanical means (rails, guides, etc.) or to remotely
controlled trucks, which are not considered to be driverless trucks.
For the purposes of this document, a driverless industrial truck is a powered truck, which is designed
to operate automatically. A driverless truck system comprises the control system, which can be part of
the truck and/or separate from it, guidance means and power system. Requirements for power sources
are not covered in this document.
The condition of the operating zone has a significant effect on the safe operation of the driverless
industrial truck. The preparations of the operating zone to eliminate the associated hazards are
specified in Annex A.
This document deals with all significant hazards, hazardous situations or hazardous events during all
phases of the life of the truck (ISO 12100:2010, 5.4), as listed in Annex B, relevant to the applicable
machines when it is used as intended and under conditions of misuse which are reasonably foreseeable
by the manufacturer.
In particular, this document does not cover significant hazards related to:
— noise;
— vibrations;
— ionising and non-ionising radiation;
— laser radiation;
— sales literature;
ISO/DIS 3691-4:2021(E)
— declaration of vibrations transmitted by mobile machinery.
It does not give requirements for additional hazards that can occur:
— during operation in severe conditions (e.g. extreme climates, freezer applications, strong magnetic
fields);
— during operation in nuclear environments;
— from trucks intended to operate in public zones (in particular ISO 13482:2014);
— during operation on a public road;
— during operation in potentially explosive environments;
— during operation in military applications;
— during operation with specific hygienic requirements;
— during operation in ionizing radiation environments;
— during the transportation of (a) person(s) other than (the) intended rider(s);
— when handling loads the nature of which can lead to dangerous situations (e.g. molten metals, acids/
bases, radiating materials);
— for rider positions with elevation function higher than 1 200 mm from the floor/ground to the
platform floor.
This document does not contain safety requirements for trailer(s) being towed behind a truck.
This document does not contain safety requirements for elevated operator trucks.
This document is not applicable to trucks manufactured before the date of its publication.
2  Normative references
The following documents are referred to in the text in such a way that some or all of their content
constitutes requirements 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.
ISO 2867:2011, Earth-moving machinery — Access systems
I S O 3691-1:2011+A 1: 2020, Industrial trucks — Safety requirements and verification — Part 1: Self-
propelled industrial trucks, other than driverless trucks, variable-reach trucks and burden-carrier trucks
ISO 3691-2:2016, Industrial trucks — Safety requirements and verification — Part 2: Self-propelled
variable-reach trucks
ISO 3691-6:2021, Industrial trucks — Safety requirements and verification — Part 6: Burden and personnel
carriers
ISO/TS 3691-8:2019, Industrial trucks — Safety requirements and verification — Part 8: Regional
requirements for countries outside the European Community
ISO 4413:2010, Hydraulic fluid power — General rules and safety requirements for systems and their
components
ISO 4414:2010, Pneumatic fluid power — General rules and safety requirements for systems and their
components
ISO 5053-1:2020, Industrial trucks — Vocabulary — Part 1: Types of industrial trucks
ISO/DIS 3691-4:2021(E)
ISO 12100:2010, Safety of machinery — General principles for design — Risk assessment and risk reduction
ISO 13849-1:2015, Safety of machinery — Safety-related parts of control systems — Part 1: General
principles for design
ISO 13849-2:2012, Safety of machinery — Safety-related parts of control systems — Part 2: Validation
ISO 13850:2015, Safety of machinery — Emergency stop function — Principles for design
ISO 13851:2019, Safety of machinery — Two-hand control devices — Principles for design and selection
ISO 13856-2:2013, Safety of machinery — Pressure-sensitive protective devices — Part 2: General
principles for design and testing of pressure-sensitive edges and pressure-sensitive bars
ISO 13856-3:2013, Safety of machinery — Pressure-sensitive protective devices — Part 3: General
principles for design and testing of pressure-sensitive bumpers, plates, wires and similar devices
ISO 13857:2019, Safety of machinery — Safety distances to prevent hazard zones being reached by upper
and lower limbs
ISO 14119:2013, Safety of machinery — Interlocking devices associated with guards — Principles for
design and selection
ISO 14120:2015, Safety of machinery — Guards — General requirements for the design and construction of
fixed and movable guards
ISO 15870:2000, Powered industrial trucks — Safety signs and hazard pictorials — General principles
ISO 22915-2:2018, Industrial trucks — Verification of stability — Part 2: Counterbalanced trucks with
mast
ISO 22915-3:2021, Industrial trucks — Verification of stability — Part 3: Reach and straddle trucks
ISO 22915-4:2018, Industrial trucks — Verification of stability — Part 4: Pallet stackers, double stackers
and order-picking trucks with operator position elevating up to and including 1 200 mm lift height
ISO 22915-5:2014, Industrial trucks — Verification of stability — Part 5: Single-side-loading trucks
ISO 22915-7:2016, Industrial trucks — Verification of stability — Part 7: Bidirectional and multidirectional
trucks
ISO 22915-8:2018, Industrial trucks — Verification of stability — Part 8: Additional stability test for trucks
operating in the special condition of stacking with mast tilted forward and load elevated
ISO 22915-9:2014, Industrial trucks — Verification of stability — Part 9: Counterbalanced trucks with
mast handling freight containers of 6 m (20 ft) length and longer
ISO 22915-10:2008, Industrial trucks — Verification of stability — Part 10: Additional stability test for
trucks operating in the special condition of stacking with load laterally displaced by powered devices
ISO 22915-11:2011, Industrial trucks — Verification of stability — Part 11: Industrial variable-reach trucks
ISO 22915-12:2015, Industrial trucks — Verification of stability — Part 12: Industrial variable-reach
trucks handling freight containers of 6 m (20 ft) length and longer
ISO 22915-13:2012, Industrial trucks — Verification of stability — Part 13: Rough-terrain trucks with mast
ISO 22915-14:2010, Industrial trucks — Verification of stability — Part 14: Rough-terrain variable-reach
trucks
ISO 22915-15:2020, Industrial trucks — Verification of stability — Part 15: Counterbalanced trucks with
articulated steering
ISO/DIS 3691-4:2021(E)
ISO 22915-17:2020, Industrial trucks — Verification of stability — Part 17: Towing tractors, burden and
personnel carriers
ISO 22915-20:2008, Industrial trucks — Verification of stability — Part 20: Additional stability test for
trucks operating in the special condition of offset load, offset by utilization
ISO 22915-22:2014, Industrial trucks — Verification of stability — Part 22: Lateral- and front-stacking
trucks with and without elevating operator position
IEC 61496-2:2020, Safety of Machinery — Electro-sensitive protective equipment — Part 2: Particular
requirements for equipment using active opto-electronic protective devices (AOPDs)
IEC 61496-3:2018, Safety of machinery —Electro-sensitive protective equipment — Part 3: Particular
requirements for Active Opto-electronic Protective Devices responsive to Diffuse Reflection (AOPDDR)
IEC 60204-1:2016, Safety of machinery — Electrical equipment of machines — Part 1: General requirements
IEC 61558-1:2017, Safety of power transformers, power supply units, reactors and similar — Part 1: General
requirements and tests
IEC 62046:2018, Safety of machinery - Application of protective equipment to detect the presence of persons
E N 1175 -1:19 98 +A 1: 2010, Safety of industrial trucks — Electrical requirements — Part 1: General
requirements for battery powered trucks
E N 1175 -2:19 98 +A 1: 2010, Safety of industrial trucks — Electrical requirements — Part 2: General
requirements for internal combustion engine powered trucks
E N 1175 -3:19 98 +A 1: 2010, Safety of industrial trucks — Electrical requirements — Part 3: Specific
requirements for the electric power transmission systems of internal combustion engine powered trucks
E N 128 95:2015+A 1: 2019, Industrial trucks — Electromagnetic compatibility
3  Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 5053-1:2020 and
ISO 12100:2010 and the following apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at https:// www .electropedia .org/
3.1
actuating force
force applied on the bumper that initiates a stop signal
3.2
authorized person
authorized personnel
authorized individual
person designated by the user, trained on specific hazards and if required, trained to operate or
maintain the truck or system
3.3
automatic mode
operating mode where no operator intervention is required for the operation
ISO/DIS 3691-4:2021(E)
3.4
bumper
pressure-sensitive protective equipment (PSPE) fitted to the truck that generates a signal to stop the
truck on physical contact
3.5
virtual bumper
electro sensitive (non-contact) protective equipment (ESPE) fitted to the truck, having one or more
detection zones that generates a signal for the truck to take further actions when actuated
Note 1 to entry: Further action can include stopping the truck or changing its path or speed.
EXAMPLE Active opto-electronic protective devices responsive to diffuse reflection (AOPDDRs).
3.6
driverless truck system
combination of one (or more) driverless truck(s) and ancillary components to control and manage the
automatic operation of the truck(s)
Note 1 to entry: Ancillary components can be integrated or external (e.g. guidance, traffic control, power system,
communication system, guarding, signs, warnings, floor marking).
3.7
driverless industrial truck
powered truck, designed to operate automatically to transport loads
3.8
escape route
space provided for a person to exit away from the hazard(s)
3.9
path
area swept by the truck with its load including trailer(s)
3.10
load
item intended to be handled by the truck
3.11
load handling
load lifting, lowering, conveying and manipulating
EXAMPLE Rotation, reach, tilting, clamping and towing.
3.12
manual mode
operating condition where all operations are under the control of an operator
3.13
static force
force applied by the bumper when an automatic stop is completed
3.14
rider
intended rider
person on the truck in an automatic mode with a rider who can enable or disable the truck
3.15
stopping device
control device that when actuated, generates a signal to stop all movements of the truck
ISO/DIS 3691-4:2021(E)
3.16
emergency stop device
manually actuated control device used to initiate an emergency stop function
[SOURCE: ISO 13850:2015, 3.3]
3.17
direction of travel
one or more directions of travel based upon the operating conditions of the truck as defined by the
manufacturer
3.18
enabling device
additional manually operated device used in conjunction with a start control and which, when
continuously actuated, allows a machine to function
[SOURCE: ISO 12100:2010, 3.28.2]
3.19
personnel detection means
system to detect persons in the path of a truck
3.20
rated speed
travel speed of the truck as defined by the manufacturer
3.21
automatic restart
resumption of the truck operation without outside input
Note 1 to entry: The truck starts only after the conditions which have stopped the truck have been cleared.
3.22
automatic mode with a rider
operating condition where (a) rider(s) is (are) present on the truck during automatic movement
3.23
confined zone
enclosed truck operating space that prevents access of persons
3.24
operating hazard zone
area of the operating zone in which a person can be exposed to a hazard
Note 1 to entry: This can be found in load transfer areas or low clearances.
Note 2 to entry: The operating hazard zone is considered a hazard zone according to ISO 12100:2010, 3.11.
3.25
operating zone
defined area in which a truck operates
Note 1 to entry: Examples of defined areas: by navigation systems, signs, floor markings, fencings, guarding.
3.26
public zone
space opened to all persons without specific training, instruction or awareness
3.27
restricted zone
enclosed truck operating space that prevents access of unauthorized persons
ISO/DIS 3691-4:2021(E)
3.28
method statement
safe system of work
document that details the way a work task or process is to be completed and outlines the hazards
involved
Note 1 to entry: This can include a step by step guide on how to do the job safely and detail which control
measures have been introduced to ensure the safety of anyone who is affected by the task or process.
3.29
load transfer area
location where a load can be picked up or deposited by the truck
Note 1 to entry: The location can be on the floor/ground (e.g. rack, machines and conveyors).
3.30
operator
designated person, appropriately trained and authorized, to operate the truck
[SOURCE: ISO 3691-1:2011+A1: 2020, 3.7, modified — In the definition, “who is responsible for the
movement and load handling of an industrial truck” has been replaced with ” to operate the truck”.
Notes 1 and 2 have been removed.]
3.31
rider designated position
position that is defined by the manufacturer for (a) person(s) to safely ride on the truck
3.32
belt conveyor
conveyor with an endless belt acting as a carrying and traction element
Note 1 to entry: The belt is supported by rollers or slides on a surface.
[SOURCE: EN 619:2002+A1 2010, 3.6, modified — The reference to the Figure has been removed and the
second sentence has been moved to Note 1 to entry.]
3.33
roller conveyor
conveyor in which some or all of the rollers are driven or can rotate freely
[SOURCE: EN 619:2002+A1: 2010, 3.11, modified — The references to figures, wheels and wheel
conveyors, and, balls and ball transfer tables have been removed.]
3.34
drag chain conveyor
conveyor with chains as traction or carrying elements, possibly with pushers attached to the chains
[SOURCE: EN 619:2002+A1: 2010, 3.7.1, modified — The reference to the figure has been removed.]
3.35
coordinate system of the truck
coordinate system (O - X - Y – Z ) referenced to one of the components which enables the locomotion
p p p p
of the truck
Note 1 to entry: ISO 9787:2013, 5.5, specifies a mobile platform coordinate system, (O - X - Y – Z ). The origin
p p p p
of the mobile platform coordinate system, O , is the mobile platform origin. The +X axis is normally taken in the
p p
forward direction of the mobile platform. The +Z axis is normally taken in the upward direction of the mobile
p
platform.
Note 2 to entry: See Figure 1.
ISO/DIS 3691-4:2021(E)
Key
O origin of the referential
p
Note 1 to entry This figure is adapted from ISO 9787:2013, Figure 6.
Figure 1 — Coordinate system of the truck
3.36
forward direction
movement of the truck following +X axis
p
Note 1 to entry: See coordinate system of the truck in 3.35.
Note 2 to entry: See Figure 1.
3.37
backward direction
movement of the tr
...