SIST EN ISO 15187:2003

SLOVENSKI STANDARD
SIST EN ISO 15187:2003
01-oktober-2003
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Manipulating industrial robots - Graphical user interfaces for programming and operation
of robots (GUI-R) (ISO 15187:2000)
Industrieroboter für die Handhabung - Grafische Anwenderschnittstelle für die
Programmierung und den Betrieb von Robotern (GUI-R) (ISO 15187:2000)
Robots manipulateurs industriels - Interfaces graphiques utilisateur pour la
programmation et l'utilisation de robots (GUI-R) (ISO 15187:2000)
Ta slovenski standard je istoveten z: EN ISO 15187:2002
ICS:
25.040.30 Industrijski roboti. Industrial robots.
Manipulatorji Manipulators
SIST EN ISO 15187:2003 en
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

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SIST EN ISO 15187:2003

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SIST EN ISO 15187:2003
EUROPEAN STANDARD
EN ISO 15187
NORME EUROPÉENNE
EUROPÄISCHE NORM
September 2002
ICS 25.040.30
English version
Manipulating industrial robots - Graphical user interfaces for
programming and operation of robots (GUI-R) (ISO 15187:2000)
Robots manipulateurs industriels - Interfaces graphiques Industrieroboter für die Handhabung - Grafische
utilisateur pour la programmation et l'utilisation de robots Anwenderschnittstelle für die Programmierung und den
(GUI-R) (ISO 15187:2000) Betrieb von Robotern (GUI-R) (ISO 15187:2000)
This European Standard was approved by CEN on 30 August 2002.
CEN members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European
Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references concerning such national
standards may be obtained on application to the Management Centre or to any CEN member.
This European Standard exists in three official versions (English, French, German). A version in any other language made by translation
under the responsibility of a CEN member into its own language and notified to the Management Centre has the same status as the official
versions.
CEN members are the national standards bodies of Austria, Belgium, Czech Republic, Denmark, Finland, France, Germany, Greece,
Iceland, Ireland, Italy, Luxembourg, Malta, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland and United Kingdom.
EUROPEAN COMMITTEE FOR STANDARDIZATION
COMITÉ EUROPÉEN DE NORMALISATION
EUROPÄISCHES KOMITEE FÜR NORMUNG
Management Centre: rue de Stassart, 36  B-1050 Brussels
© 2002 CEN All rights of exploitation in any form and by any means reserved Ref. No. EN ISO 15187:2002 E
worldwide for CEN national Members.

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SIST EN ISO 15187:2003
EN ISO 15187:2002 (E)
Foreword
The text of ISO 15187:2000 has been prepared by Technical Committee ISO/TC 184 "Industrial
automation systems and integration" of the International Organization for Standardization (ISO)
and has been taken over as EN ISO 15187:2002 by Technical Committee CEN/TC 310
"Advanced Manufacturing Technologies", the secretariat of which is held by BSI.
This European Standard shall be given the status of a national standard, either by publication of
an identical text or by endorsement, at the latest by March 2003, and conflicting national
standards shall be withdrawn at the latest by March 2003.
According to the CEN/CENELEC Internal Regulations, the national standards organizations of
the following countries are bound to implement this European Standard: Austria, Belgium, Czech
Republic, Denmark, Finland, France, Germany, Greece, Iceland, Ireland, Italy, Luxembourg,
Malta, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland and the United Kingdom.
Endorsement notice
The text of the International Standard ISO 15187:2000 has been approved by CEN as a
European Standard without any modifications.
2

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SIST EN ISO 15187:2003
INTERNATIONAL ISO
STANDARD 15187
First edition
2000-11-01
Manipulating industrial robots — Graphical
user interfaces for programming
and operation of robots (GUI-R)
Robots manipulateurs industriels — Interfaces graphiques utilisateur pour
la programmation et l'utilisation de robots (GUI-R)
Reference number
ISO 15187:2000(E)
©
ISO 2000

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SIST EN ISO 15187:2003
ISO 15187:2000(E)
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ii © ISO 2000 – All rights reserved

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SIST EN ISO 15187:2003
ISO 15187:2000(E)
Contents Page
Foreword.iv
Introduction.v
1 Scope .1
2 Normative reference .2
3 Terms and definitions .2
4 Design considerations .4
5 GUI-R elements .5
5.1 Programming concept and general GUI-R elements .5
5.2 General graphical elements.6
5.3 Dialogue boxes for robots .9
5.4 Screen layout .11
6 Functionality and icons.11
6.1 Functionality concept.11
6.2 Icons.13
Annex A (informative) Platforms of GUI-R.20
Bibliography.22
© ISO 2000 – All rights reserved iii

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SIST EN ISO 15187:2003
ISO 15187:2000(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.
International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 3.
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.
Attention is drawn to the possibility that some of the elements of this International Standard may be the subject of
patent rights. ISO shall not be held responsible for identifying any or all such patent rights.
International Standard ISO 15187 was prepared by Technical Committee ISO/TC 184, Industrial automation
systems and integration, Subcommittee SC 2, Robots for manufacturing environment.
Annex A of this International Standard is for information only.
iv © ISO 2000 – All rights reserved

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SIST EN ISO 15187:2003
ISO 15187:2000(E)
Introduction
ISO 15187 is part of a series of International Standards dealing with manipulating industrial robots. Other
International Standards cover such topics as safety, general characteristics, co-ordinate systems, performance
criteria and related test methods, terminology, and mechanical interfaces. It is noted that these standards are
interrelated and are also related to other International Standards.
Annex A provides examples of possible platform with GUI for open architecture.
The purpose of this International Standard is to standardize the use of graphical user interfaces for robot
programming and operation (called GUI-R). Important customer requirements for programming and operation of
robots are
� simplification and
� standardized robot operation.
Programming and operation of industrial robots require a set of tools, e.g. editor, compiler, debugger, which help
the user to specify a number of more or less complex functions to be performed by the robot control. There are
many different functions for the robot control units in use world wide, and the GUI-R standard should simplify the
programming with the help of graphics. In a first step GUI-R will give a style guide for the definition and use of
graphical elements for the programming procedure of robots.
Therefore the GUI-R standard is nothing but the interface for the user to pick up elements for programming and
operation by an easy manner. The function represented by these elements is defined in general, e.g. as a straight
line robot move. The explicit, complete and detailed syntax and semantic meaning is not the purpose of GUI-R, e.g.
all move parameters, the exact meaning of "straight line" by the linear interpolation including the behaviour of
smoothing, and others. This is defined by the underlying robot system control and programming features: GUI-R is
not a robot language expressed by graphical elements and icons. The user is obliged to read the robot system
manuals and to learn about the special robot programming and control functions. GUI-R is a help to find the
programming elements and to work with a graphic layout in the same manner for different robot systems. The
program structure might be displayed on the screen by a program flow chart.
This International Standard only specifies the detailed specifications of GUI-R level and the concept of
hierarchization, see Figure 1. The contents of the low-level hierarchy will not be specified intentionally, and
consideration will be taken so that implementation will be easier.
Of course, a standard should be complete and precisely defined to cover the subject to be standardized. But there
is a variety of robot programming languages and controls with different concepts, functions, syntax, and semantics.
Because it is not possible to include all (partly contradictory) concepts and functions of existing (and future) robot
languages for a representation by graphical elements, GUI-R covers only the main elements and functions for
programming and operation. It doesn’t specify all elements of one function level, e.g. icons for all possible
statements of a robot language, and it doesn’t specify all parameters or elements of a function or statement, e.g.
the parameters of a move statement. This means GUI-R is concentrated on the main functions (defined
horizontally) and on the main syntactical elements or parameters (defined vertically), see Figure 2.
© ISO 2000 – All rights reserved v

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SIST EN ISO 15187:2003
ISO 15187:2000(E)
Key
1High 6 Language Level (Implementation)
2 Abstract Level 7C
3 Low 8 Visual Language
4 GUI Level 9 Flow Chart
5 Function Level 10 Others (Interpreter, etc.)
Figure 1 — Image of hierarchies
vi © ISO 2000 – All rights reserved

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SIST EN ISO 15187:2003
ISO 15187:2000(E)
Figure 2 — Horizontal and vertical extensions
The GUI-R standard cannot cover all elements of a specific robot programming language, and it should be possible
to use GUI-R also in the future for new functions. Therefore the definition of GUI-R allows the addition of new
elements and rules as well as user or robot system vendor specific elements. The user or vendor can specify new
elements on high functional level (horizontal extension), like for new statements or new functions, or new
parameters can be added (vertical extension), e.g. for move control. Especially, it is not intended that GUI-R
represents a complete functional or language definition.
Whenever it is possible, GUI-R contains reference (and perhaps a short explanation in addition, it depends on the
background) to a standard or de-facto standard used for its definition base. The objective of the development of
GUI-R is the use on robotic applications and not for general use in other fields like graphics. A decision was made
to develop rules which are realistic and can find practical applications in industrial production. This resulted in
sometimes developing vigorous GUI-R standard specifications and in other occasions provide references to other
standards. The first case was used only if it was strongly needed.
GUI-R specifies how to position icons, how to structure the different areas on the screen for user programming and
operation input and gives rules for the design of icons. But this could not be a "precise" definition: For example, it is
not specified that the area for language statement icons is from screen co-ordinates (22,34) to (345,57) or that only
blue is used for icon background. However, the scope of this International Standard has been defined in a
pragmatic manner, e.g. the rules for a movement icon. There is a recommendation for GUI-R elements or screen
layout, to help the user apply the standard, but not to restrict him too much. GUI-R was designed in such a manner
that it is possible to convert the graphical elements into a robot language representation and vice versa.
© ISO 2000 – All rights reserved vii

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SIST EN ISO 15187:2003

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SIST EN ISO 15187:2003
INTERNATIONAL STANDARD ISO 15187:2000(E)
Manipulating industrial robots — Graphical user interfaces
for programming and operation of robots (GUI-R)
1 Scope
This International Standard specifies the structure and the elements of a graphical user interface for programming
and operation of robots (GUI-R). Figure 3 shows the relation to the robot system, to the programming and
simulation system, and to the program editor.
It is important that a graphic programming system can be used both off-line, working in a separate programming
station, and on-line, working in direct connection with a robot system. The same kind of graphical user interface for
off-line systems might then be used in combination with any existing robot and any existing textual language. The
produced code might be stored on disk or other media for downloading to a robot system, or downloaded directly,
e.g. via a serial link. An on-line system might be connected to a robot system via a high speed serial link or might
be fully integrated into the robot control system.
The content of this International Standard is focussed on GUI-R for programming. The robot program itself, and its
representation are thus beyond the scope of this International Standard.
GUI-R for operation will be covered in a future edition of this International Standard.
Figure 3 — Model of the context and environment for the robot programming and operation
© ISO 2000 – All rights reserved 1

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SIST EN ISO 15187:2003
ISO 15187:2000(E)
2 Normative reference
The following normative document contains provisions which, through reference in this text, constitute provisions of
this International Standard. For dated references, subsequent amendments to, or revisions of, any of these
publications do not apply. However, parties to agreements based on this International Standard are encouraged to
investigate the possibility of applying the most recent edition of the normative document indicated below. For
undated references, the latest edition of the normative document referred to applies. Members of ISO and IEC
maintain registers of currently valid International Standards.
IEC 60416, General principles for the formulation of graphical symbols.
3 Terms and definitions
For the purposes of this International Standard, the following te
...