prEN ISO 13482

SLOVENSKI STANDARD
01-november-2024
Nadomešča:
SIST EN ISO 13482:2014
Robotika - Varnostne zahteve za storitvene robote (ISO/DIS 13482:2024)
Robotics - Safety requirements for service robots (ISO/DIS 13482:2024)
Robotik - Sicherheitsanforderungen für Serviceroboter (ISO/DIS 13482:2024)
Robotique - Exigences de sécurité pour les robots de service (ISO/DIS 13482:2024)
Ta slovenski standard je istoveten z: prEN ISO 13482
ICS:
25.040.30 Industrijski roboti. Industrial robots.
Manipulatorji Manipulators
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

DRAFT
International
Standard
ISO/DIS 13482
ISO/TC 299
Robotics — Safety requirements for
Secretariat: SIS
service robots
Voting begins on:
Robotique — Exigences de sécurité pour les robots de service
2024-08-27
Voting terminates on:
ICS: 25.040.30
2024-11-19
THIS DOCUMENT IS A DRAFT CIRCULATED
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Reference number
ISO/DIS 13482:2024(en)
DRAFT
ISO/DIS 13482:2024(en)
International
Standard
ISO/DIS 13482
ISO/TC 299
Robotics — Safety requirements for
Secretariat: SIS
service robots
Voting begins on:
Robotique — Exigences de sécurité pour les robots de service
ICS: 25.040.30 Voting terminates on:
THIS DOCUMENT IS A DRAFT CIRCULATED
FOR COMMENTS AND APPROVAL. IT
IS THEREFORE SUBJECT TO CHANGE
AND MAY NOT BE REFERRED TO AS AN
INTERNATIONAL STANDARD UNTIL
PUBLISHED AS SUCH.
This document is circulated as received from the committee secretariat.
IN ADDITION TO THEIR EVALUATION AS
BEING ACCEPTABLE FOR INDUSTRIAL,
© ISO 2024
TECHNOLOGICAL, COMMERCIAL AND
USER PURPOSES, DRAFT INTERNATIONAL
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
STANDARDS MAY ON OCCASION HAVE TO
ISO/CEN PARALLEL PROCESSING
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BE CONSIDERED IN THE LIGHT OF THEIR
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Published in Switzerland Reference number
ISO/DIS 13482:2024(en)
ii
ISO/DIS 13482:2024(en)
Contents Page
Foreword .vii
Introduction .viii
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 3
4 General safety requirements . 9
4.1 General .9
4.2 Hazards due to energy storage and supply .10
4.2.1 Contact with hazardous energy parts .10
4.2.2 Hazards related to battery .11
4.2.3 Uncontrolled release of stored energy. 13
4.2.4 Power failure or shutdown .14
4.3 Robot start-up and restart of regular operation . 15
4.3.1 General . 15
4.3.2 Inherently safe design . 15
4.3.3 Safeguarding and complementary protective measures . 15
4.3.4 Information for use . 15
4.3.5 Verification and validation . 15
4.4 Electrostatic potential . 15
4.4.1 General . 15
4.4.2 Inherently safe design .16
4.4.3 Safeguarding and complementary protective measures .16
4.4.4 Information for use .16
4.4.5 Verification and validation .16
4.5 Hazards due to robot shape .16
4.5.1 General .16
4.5.2 Inherently safe design .16
4.5.3 Safeguarding and complementary protective measures .17
4.5.4 Information for use .17
4.5.5 Verification and validation .17
4.6 Hazards due to power train components .17
4.6.1 General .17
4.6.2 Inherently safe design .17
4.6.3 Safeguarding and complementary protective measures .18
4.6.4 Information for use .18
4.6.5 Verification and validation .18
4.7 Emissions.18
4.7.1 Noise .18
4.7.2 Substances and fluids.19
4.7.3 Extreme temperatures . . 20
4.7.4 Radiation .21
4.8 Electromagnetic interference . 22
4.8.1 General . 22
4.8.2 Inherently safe design . 22
4.8.3 Safeguarding and complementary protective measures . 22
4.8.4 Information for use . 23
4.8.5 Verification and validation . 23
4.9 Stress, posture and usage . 23
4.9.1 General . 23
4.9.2 Physical stress and posture . 23
4.9.3 Mental stress . .24
4.10 Robot motion . 25
4.10.1 General . 25
4.10.2 Mechanical stability . 25

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ISO/DIS 13482:2024(en)
4.10.3 Instability during travel . 26
4.10.4 Instability while carrying loads . 28
4.10.5 Instability in case of collision . 29
4.10.6 Collisions . 30
4.10.7 Physical contact during human-robot interaction .32
4.11 Durability . 33
4.11.1 General . 33
4.11.2 Inherently safe design . 33
4.11.3 Safeguarding and complementary protective measures . 33
4.11.4 Information for use . 33
4.11.5 Verification and validation . 34
4.12 Autonomous decisions and actions . 34
4.12.1 General . 34
4.12.2 Inherently safe design . 34
4.12.3 Safeguarding and complementary protective measures . 34
4.12.4 Information for use . 35
4.12.5 Verification and validation . 35
4.13 Awareness of robots by humans . 35
4.13.1 General . 35
4.13.2 Inherently safe design . 35
4.13.3 Safeguarding and complementary protective measures . 35
4.13.4 Information for use . 36
4.13.5 Verification and validation . 36
4.14 Environmental conditions . . 36
4.14.1 General . 36
4.14.2 Inherently safe design . 36
4.14.3 Safeguarding and complementary protective measures .37
4.14.4 Information for use .37
4.14.5 Verification and validation .37
4.15 Localization and navigation . 38
4.15.1 General . 38
4.15.2 Inherently safe design . 38
4.15.3 Safeguarding and complementary protective measures . 38
4.15.4 Information for use . 38
4.15.5 Verification and validation . 38
5 Wearable robots .39
5.1 General . 39
5.2 Hazards due to loss of power supply or shutdown . 39
5.2.1 General . 39
5.2.2 Inherent safe design . 39
5.3 Robot start-up and restart of regular operation . 40
5.3.1 General . 40
5.3.2 Inherently safe design . 40
5.3.3 Safeguarding and complementary protective measures . 40
5.3.4 Information for use . 40
5.4 Hazards due to physical stress . . 40
5.4.1 General . 40
5.4.2 Inherently safe design . 40
5.4.3 Safeguarding and complementary protective measures . 40
5.4.4 Information for use .41
5.5 Hazardous vibrations .41
5.5.1 General .41
5.5.2 Inherently safe design .41
5.5.3 Safeguarding and complementary protective measures .41
5.5.4 Information for use .42
5.5.5 Verification and validation .42
5.6 Mechanical instability . .42
5.6.1 General .42

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ISO/DIS 13482:2024(en)
5.6.2 Inherently safe design .42
5.6.3 Safeguarding and complementary protective measures .42
5.6.4 Information for use .42
5.7 Instability in case of collision or intended contact .43
5.7.1 General .43
5.7.2 Inherently safe design .43
5.7.3 Safeguarding and complementary protective measures .43
5.7.4 Information for use .43
5.8 Hazards during donning or doffing .43
5.8.1 General .43
5.8.2 Inherently safe design .43
5.8.3 Safeguarding and complementary protective measures .43
5.8.4 Information for use . 44
5.9 Hazards due to insufficient durability caused by cleaning and disinfection . 44
5.9.1 General . 44
5.9.2 Inherently safe design . 44
5.9.3 Information for use . 44
5.10 Hazards caused by assistive forces . 44
5.10.1 General . 44
5.10.2 Inherently safe design .45
5.10.3 Safeguarding and complementary protective measures .45
5.10.4 Information for use . 46
5.10.5 Verification and validation . 46
5.11 Joint injuries due to assistance that exceeds the range of motion .47
5.11.1 General .47
5.11.2 Inherently safe design .47
5.11.3 Safeguarding and complementary protective measures .47
5.11.4 Information for use . 48
5.11.5 Verification and validation . 48
5.12 Hazards due to unharmonized and uncoordinated motion . 49
5.12.1 General . 49
5.12.2 Inherently safe design . 49
5.12.3 Safeguarding and complementary protective measures . 49
5.12.4 Information for use . 49
5.12.5 Verification and validation . 49
6 Safety-related control system requirements .49
6.1 Required control system performance . 49
6.1.1 General . 49
6.1.2 Required control system performance . 49
6.1.3 Determining severity . 50
6.1.4 Determining probability of occurrence . 50
6.1.5 Determining possiblity of avoidance . 50
6.2 Robot stopping . 50
6.2.1 General . 50
6.2.2 Robot stopping functions.51
6.2.3 Braking .52
6.3 Start and restart interlocking . 53
6.3.1 Start interlock . 53
6.3.2 Restart interlock . 53
6.4 Limits to operational spaces . 53
6.5 Speed control . 54
6.6 Environmental sensing . 55
6.6.1 General . 55
6.6.2 Object sensing . 55
6.6.3 Travel surface sensing . 56
6.7 Stability control .57
6.8 Force control.57
6.9 Singularity protection .57

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ISO/DIS 13482:2024(en)
6.10 Moving robot in emergency situations .57
6.11 Interworking with a lift (an elevator) . 58
6.12 Design of user interface . 58
6.12.1 General . 58
6.12.2 Status indication .59
6.12.3 Connection and disconnection . 60
6.12.4 Single command device for multiple robots . 60
6.12.5 Multiple command devices . 60
6.12.6 Cableless or detachable command device .61
6.12.7 Protection against unauthorized use .61
6.13 Manual control devices .61
6.13.1 General .61
6.13.2 Labelling .61
6.13.3 Protection from unintended operation .61
6.14 Operational modes .62
6.14.1 General .62
6.14.2 Autonomous mode . 63
6.14.3 Manual mode . . 63
6.14.4 Semi-autonomous mode. 63
6.14.5 Maintenance mode . . . 64
6.15 Cyber security and data privacy . 64
6.15.1 General . 64
6.15.2 Measures for data privacy and data security . 65
6.15.3 Measures for cyber security managing access privilege and stability of operation . 65
7 Verification and Validation .65
8 Information for use .66
8.1 General . 66
8.2 Markings or indications.67
8.3 User manual . 69
8.4 Service manual .70
Annex A (informative) List of significant hazards for service robots .71
Annex B (informative) Examples of operational spaces for service robots.78
Annex C (normative) Safety function performance requirements .81
Annex D (informative) Example of determination of the PLr or required SIL from risk
estimation parameters of Annex C, C.2 .98
Annex E (informative) Example of the implementation of a safeguarded space .101
Annex F (informative) Examples of service robots .104
Annex G (informative) Information for lifting load .112
Annex H (informative) Example of safety evaluation methods for lift boarding robots .114
Annex I (informative) Example of safety evaluation method for braking distance.116
Annex ZA (informative) Relationship between this European Standard and the essential
requirements of Directive 2006/42/EC aimed to be covered .117
Annex ZB (informative) Relationship between this European Standard and the essential
requirements of Regulation (EU) 2023/1230 aimed to be covered .119
Bibliography .122

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ISO/DIS 13482:2024(en)
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 Internat
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