EN ISO 9946:1999

SLOVENSKI STANDARD
01-oktober-2003
1DGRPHãþD
SIST EN 29946:1998
Manipulirni industrijski roboti – Predstavitev lastnosti (ISO 9946:1999)
Manipulating industrial robots - Presentation of characteristics (ISO 9946:1999)
Industrieroboter - Darstellung charakteristischer Eigenschaften (ISO 9946:1999)
Robots manipulateurs industriels - Présentation des caractéristiques (ISO 9946:1999)
Ta slovenski standard je istoveten z: EN ISO 9946:1999
ICS:
25.040.30 Industrijski roboti. Industrial robots.
Manipulatorji Manipulators
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

INTERNATIONAL ISO
STANDARD 9946
Second edition
1999-04-01
Manipulating industrial robots —
Presentation of characteristics
Robots manipulateurs industriels — Présentation des caractéristiques
A
Reference number
ISO 9946:1999(E)
ISO 9946:1999(E)
Contents
1 Scope .1
2 Normative references .1
3 Definitions .1
4 Units.1
5 Characteristics.2
5.1 General.2
5.2 Application .2
5.3 Power source .2
5.4 Mechanical structure.2
5.5 Working space .3
5.6 Coordinate system.6
5.7 External dimensions and mass .6
5.8 Base mounting surface .6
5.9 Mechanical interface.6
5.10 Control .6
5.11 Task programming and program loading.7
5.11.1 Examples of programming methods .7
5.11.2 Examples of program loading means.7
5.12 Environment.7
5.13 Load .7
5.14 Velocity .9
5.15 Resolution .9
©  ISO 1999
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced
or utilized in any form or by any means, electronic or mechanical, including photocopying and
microfilm, without permission in writing from the publisher.
International Organization for Standardization
Case postale 56 • CH-1211 Genève 20 • Switzerland
Internet iso@iso.ch
Printed in Switzerland
ii
© ISO
ISO 9946:1999(E)
5.16 Performance criteria. 9
5.17 Safety . 10
Annex A (informative) Recommended format of presentation for robot specifications. 11
Annex B (informative) Description of the symbols of performance criteria — Abstract from ISO 9283. 15
iii
© ISO
ISO 9946:1999(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.
Draft International Standards adopted by the technical committees are circulated to the member bodies for voting.
Publication as an International Standard requires approval by at least 75 % of the member bodies casting a vote.
International Standard ISO 9946 was prepared by Technical Committee ISO/TC 184, lndustrial automation systems
and integration, Subcommittee SC 2, Robots for manufacturing environment.
This second edition cancels and replaces the first edition (ISO 9946:1991) of which it constitutes a technical
revision.
Annexes A and B of this International Standard are for information only.
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© ISO
ISO 9946:1999(E)
Introduction
ISO 9946 is part of a series of International Standards dealing with manipulating industrial robots. Other
International Standards cover such topics as safety, performance criteria and related testing methods, coordinate
systems, terminology, and mechanical interfaces. It is noted that these standards are interrelated and also related to
other International Standards.
The number of manipulating industrial robots used in a manufacturing environment is constantly increasing and this
has underlined the need for a standard format for the specification and presentation of robot characteristics.
The objective of ISO 9946 is to assist users and manufacturers in the understanding and comparison of various
types of robots.
ISO 11593:1996 contains a vocabulary and a format for the presentation of automatic end effector exchange
systems characteristics.
Annex A of this International Standard provides a recommended format for the presentation of robot specification.
Annex B provides a description of the symbols of performance criteria.
NOTE For the purposes of this International Standard, the term "robot" means "manipulating industrial robot".
v
INTERNATIONAL STANDARD  © ISO ISO 9946:1999(E)
Manipulating industrial robots — Presentation of characteristics
1 Scope
This International Standard specifies how characteristics of robots shall be presented by the manufacturer.
2 Normative references
The following standards contain provisions which, through reference in this text, constitute provisions of this
International Standard. At the time of publication, the editions indicated were valid. All standards are subject to
revision, and parties to agreements based on this International Standard are encouraged to investigate the
possibility of applying the most recent editions of the standards indicated below. Members of IEC and ISO maintain
registers of currently valid International Standards.
ISO 8373:1994, Manipulating industrial robots — Vocabulary.
ISO 9283:1998, Manipulating industrial robots — Performance criteria and related test methods.
ISO 9409-1:1996,
Manipulating industrial robots — Mechanical interfaces — Part 1: Plates (form A).
1)
ISO 9787:— , Manipulating industrial robots — Coordinate systems and motion nomenclatures.
ISO 10218:1992, Manipulating industrial robots — Safety.
3 Definitions
For the purposes of this International Standard, the definitions given in ISO 8373 and the following definition apply.
3.1
centre of the working space (C )
w
is the position of the wrist reference point when each active joint in the arm is in the middle position of its moving
range
4 Units
Unless otherwise stated, all dimensions are as follows:
 length in millimetres (mm);
 angle in radians (rad) or degrees (°);
 time in seconds (s);
 mass in kilograms (kg);
 force in newtons (N);
 velocity in metres per second (m/s), radians per second (rad/s) or degrees per second (°/s).

1)  This International Standard is subject to revision and the year of publication will be inserted at a later stage.
© ISO
ISO 9946:1999(E)
5 Characteristics
5.1 General
The manufacturer shall provide information related to the various characteristics and requirements as described in
this clause as part of the robot documentation.
5.2 Application
The manufacturer shall specify the main type(s) of application(s) for which the robot is intended.
Examples of typical applications are
 handling;
 assembly;
 spot welding;
 arc welding;
 machining;
 spray painting;
 adhesive/sealing;
 inspection.
5.3 Power source
The manufacturer shall specify all external power sources, including type (e.g. electrical, hydraulic, pneumatic or
combination) required for proper operation of the robot (e.g. mechanical structure motion actuators, control,
auxiliary equipment [e.g. gripper]), together with the maximum power consumption required from each. These
specifications shall also include permissible ranges and fluctuations.
The manufacturer shall also specify the type of power utilized to control axis and auxiliary motion (e.g. electric,
hydraulic, pneumatic). Where more than one type of power is utilized, the manufacturer shall include a breakdown
by individual motion.
5.4 Mechanical structure
The manufacturer shall specify the type of the mechanical structure and the number of mechanical axes. An outline
drawing of the structure shall be provided detailing the axis motions. This drawing may be part of the drawing
required for describing the working space (see 5.5).
Examples of mechanical structures:
 rectangular robot;
 cylindrical robot;
 polar robot;
 articulated robot.
If the robot is mobile, the way in which it is guided shall be indicated.
© ISO
ISO 9946:1999(E)
5.5 Working space
The boundaries of the working space of the wrist reference point including the alignment pose and centre of the
working space (C ) shall be illustrated in a drawing with at least two views (one the projection of the locus of the
w
maximum reach of the robot arm in the base coordinate X - Y plane (see ISO 9787) and the other the projection of
1 1
the locus of the maximum reach of the arm on the base coordinate X - Z plane). The drawing shall also provide
1 1
information on any limitation of secondary axis motion at any point(s) in the working space of the wrist reference
point (see figure 1 for an example of a 5-axis robot and figure 2 for an example of a 6-axis robot).
In the drawings, it is recommended that the details of the working space and range of movement of secondary axes
are given in tabular form as shown in the examples of figures 1 and 2.
© ISO
ISO 9946:1999(E)
Dimensions in millimetres
Key
1  Wrist reference point
2  Alignment pose
th
3  4 axis
th
4  5 axis
Point in space Working space Range of movement of secondary axes
of the wrist reference point
th th
X (mm) Z (mm) 4 5
1 1
1 925 1 635 + 75° + 170°
- 90° - 150°
2 1 610 1 550 + 75° ± 180°
- 90°
3 1 750 1 140 + 75° ± 180°
- 105°
4 1 310 345 + 45° ± 180°
- 120°
5 870 600 + 45° + 150°
- 120° - 170°
6 840 1 000 + 75° + 140°
- 120° - 150°
7 1 350 750 – –
Figure 1 — Example of a 5-axis robot working space
© ISO
ISO 9946:1999(E)
Dimensions in millimetres
Key
1  Wrist reference point
2  Alignment pose
th
3  4 axis
th
4  5 axis
th
5  6 axis
Point in space Working space Range of movement of secondary axes
of the wrist reference point
th th th
X (mm) Z (mm) 4 5 6
1 1
1 925 1 635 ± 210° + 75° + 170°
- 90° - 150°
2 1 610 1 550 ± 210° + 75° ± 180°
- 90°
3 1 750 1 140 ± 210° + 75° ± 180°
- 105°
4 1 310 345 ± 210° + 45° ± 180°
- 120°
5 870 600 ± 210° + 45° + 150°
- 120° - 170°
6 840 1 000 ± 210° + 75° + 140°
- 120° - 150°
7 1 350 750 – – –
Figu
...