ISO 10218-1:2025 ロボット工学 — 安全要件 — Part 1:産業用ロボット | ページ 6

3.1.1.1

産業環境

公衆のアクセスが制限されているwhere 、または意図した作業や ロボットの用途のために立ち会うことが合理的に期待されていない職場 (3.1.1.4)

注記 1: これには、製造、研究室、製薬、倉庫保管、物流などが含まれます。

3.1.1.2

産業用ロボット

ロボット

自動制御、再プログラム可能な多目的 マニピュレータ (3.1.2.5) 、3 軸以上でプログラム可能 (3.1.2.1) 、所定の位置に固定することも、 産業環境 (3.1.1.1) のオートメーション アプリケーション (3.1.1.5) で使用するために モバイル プラットフォーム (3.1.2.8) に固定することもできます。

注記 2: これには、運動学的ソリューションに統合されているすべての軸が含まれます。

注記 3:移動ロボットは、統合された マニピュレータ (3.1.2.5) またはロボットを備えた移動 プラットフォーム (3.1.2.8) で構成されます。

3.1.1.3

ロボットシステム

産業用ロボットシステム

産業用ロボット (3.1.1.2) 、 エンドエフェクター (3.1.2.3) 、および エンドエフェクターをサポートするために必要なエンドエフェクター センサーおよび機器 (3.1.2.3)

注記 1:機器の例としては、ビジョンシステム、接着剤塗布、溶接制御などがあります。

3.1.1.4

ロボットアプリケーション

産業用ロボット応用

産業用 ロボットシステム（3.1.1.3） 、ワークピース、 タスクプログラム（3.1.4.2） 、および アプリケーション（3.1.1.5） と意図されたタスクをサポートする機械および装置で構成される機械

3.1.1.5

応用

ロボット (3.1.1.2) or ロボット アプリケーション (3.1.1.4) の使用目的と目的、つまりプロセス、タスク

3.1.1.6

連携アプリケーション

1 つ以上の 共同タスク (3.1.1.7) を含む アプリケーション (3.1.1.5)

注記 1:共同アプリケーションには非共同タスクを含めることができます。

3.1.1.7

共同作業

ロボット アプリケーション (3.1.1.4) と オペレーター (3.1.7.2) where 両方が同じ 保護空間 (3.1.9.5) 内にあるロボット シーケンスの部分

3.1.1.8

ロボットセル

産業用ロボットセル

使用目的のリスク評価に影響を与える障害物や物体を含む 1 つ以上の ロボット アプリケーション (3.1.1.4) 、関連する 安全保護された空間 (3.1.9.5) 、および 安全措置 (3.1.10.4)

3.1.2.1

軸

少なくとも 1 つの自由度を提供する作動型 (例: ピボットを中心に回転する、直線的に移動する) 機械的ジョイント

3.1.2.2

補助軸

物理的に マニピュレータ (3.1.2.5) の一部ではなく、 ロボット (3.1.1.2) によって制御される 軸 (3.1.2.1 )

注記 1: 制御されているとは、 ロボットによる閉ループ制御を可能にするフィードバック信号があることを意味します (3.1.1.2) 。

3.1.2.3

エンドエフェクター

ロボット アプリケーション (3.1.1.4) が そのタスクを実行できるようにするために 、機械的インターフェイス (3.1.2.7) に接続するために特別に設計されたデバイス

注記 1:エンドエフェクターは、エンド・オブ・アーム・ツール (EOAT) として知られることもあります。

3.1.2.4

グリッパー

ワークピースを掴んで保持するために設計された エンドエフェクター (3.1.2.3)

注記 1:さまざまなタイプのグリッパーと、グリップ、把握、把握および解放という用語は ISO 14539:2000 で定義されています。

[出典:ISO 14539:2000, 4.1.2, 修正 - エントリへの注記 1 が追加されました。]

3.1.2.5

マニピュレータ

互いに接合またはスライドするセグメントの配置からなる機構

注記 1: ロボットアクチュエータ (3.1.2.10) は、マニピュレータの一部を構成することができます。

3.1.2.6

マニピュレータによる質量

M

マニピュレータのすべての可動部分の質量 (3.1.2.5)

3.1.2.7

メカニカルインターフェース

エンドエフェクター (3.1.2.3) が取り付けられる マニピュレーター (3.1.2.5) の端の取り付け面

3.1.2.8

モバイルプラットフォーム

移動を可能にし、 マニピュレーター (3.1.2.5) or ロボット (3.1.1.2) を 固定または統合するための構造を提供するコンポーネントのアセンブリ

3.1.2.9

ペイロード

エンドエフェクタ (3.1.2.3) およびワークピースを含む、 マニピュレータ (3.1.2.5) に取り付けられているすべての質量

注記 1:ペイロードは ロボット (3.1.1.2) の 機械的インターフェース (3.1.2.7) に取り付けることができますが、これに限定されません。

3.1.2.10

ロボットアクチュエータ

エネルギーを変換して動きをもたらす動力機構

注記 1: エネルギーには、電気、油圧、空気圧などがあります。

3.1.2.11

工具中心点

TCP

機械的インターフェース (3.1.2.7) 座標系を基準として、特定の アプリケーション (3.1.1.5) に対して定義された点。

注記 1: TCP 設定は、 機械的インターフェース (3.1.2.7) を基準とした TCP の位置を定義します。

3.1.3.1

control station

enclosure which contains one or more control devices intended to activate or deactivate functions

Note 1 to entry: The control station can be fixed in place (e.g. control panel) or can be movable ( pendant (3.1.3.2) or teach pendant (3.1.3.3) which can be referred to as a portable control station).

3.1.3.2

pendant

hand-held control station (3.1.3.1)

3.1.3.3

teach pendant

pendant (3.1.3.2) with which a robot (3.1.1.2) can be programmed, moved or actuated

Note 1 to entry: Hand-held units or devices which only have the capability of displaying parameters (e.g. no motion and no actuation capabilities), are not considered to be control stations (3.1.3.1) or teach pendants (3.1.3.3) .

Note 2 to entry: The teach pendant can be linked to the end-effector (3.1.2.3) and other parts of the robot application (3.1.1.4) .

3.1.3.4

direct control

movement or operation effected by the control station (3.1.3.1) that is part of the robot (3.1.1.2)

Note 1 to entry: Previously direct control was known as local control of the robot (3.1.1.2) .

3.1.3.5

external control

movement or operation effected by the control station (3.1.3.1) not a part of the robot (3.1.1.2)

Note 1 to entry: Previously external control was known as remote control of the robot (3.1.1.2) .

Note 2 to entry: See ISO 10218-2:2025 for requirements of remote control.

3.1.3.6

singularity

occurrence whenever the rank of the Jacobian matrix becomes less than full rank

Note 1 to entry: Mathematically, in a singular configuration, the joint velocity in joint space can become infinite to maintain Cartesian velocity. In actual operation, motions defined in Cartesian space that pass near singularities can produce high axis speeds. These high axis speeds can be unexpected to an operator (3.1.7.2) .

3.1.3.7

span-of-control

predetermined portion of a robot (3.1.1.2) , robot application (3.1.1.4) , robot cell (3.1.1.8) or machinery that is under control of a specific device for a safety function (3.1.8.1)

Note 1 to entry: Protective devices (3.1.10.5) and emergency stop devices could initiate a stop of a machine, a portion of a machine, or partly completed machinery, i.e. a robot (3.1.1.2) .

3.1.3.8

simultaneous motion

motion of two or more robots (3.1.1.2) at the same time under the control of a single robot, which can be coordinated or can be synchronous

3.1.3.9

mode

operating mode

characterization of the way and the extent to which the operator (3.1.7.2) interacts with the control equipment

Note 1 to entry: Mode refers to the control state, e.g. manual mode (3.1.3.10) , automatic mode (3.1.3.11) .

3.1.3.10

manual mode

control state that allows control directly by an operator (3.1.7.2)

Note 1 to entry: Sometimes this is referred to as teach mode where program points, program logic and attributes are set.

3.1.3.11

automatic mode

control state that allows executing programmed tasks

3.1.3.12

masquerade

true source of a message is not correctly identified

Note 1 to entry: For example, a message from a non-safety element is incorrectly identified as a message from a safety element.

[SOURCE:IEC 61508-2:2010, 7.4.11.1]

3.1.4.1

control program

inherent set of instructions that defines the capabilities, actions, and responses of a robot (3.1.1.2)

Note 1 to entry: This type of program is fixed and usually not modified by the user (3.1.7.3) .

3.1.4.2

task program

set of instructions for motion and auxiliary functions that define the specific intended task of the robot application (3.1.1.4)

Note 1 to entry: This type of program is generated during integration (3.1.7.1) or by the use.

Note 2 to entry: The task program can include functions of other machinery within the robot application (3.1.1.4) .

3.1.4.3

teach

programming of the task manually by positioning of the manipulator (3.1.2.5) , or by using a teach pendant (3.1.3.3) to move the robot (3.1.1.2) through positions, or program without causing motion, or by using an external device for off-line programming

Note 1 to entry: Manually positioning can be referred to as"lead-through teaching" using hand-guided control (HGC).

3.1.4.4

program verification

execution of a task program (3.1.4.2) for confirming the robot (3.1.1.2) path and process performance

Note 1 to entry: Program verification can include the total path traced by the tool centre point (TCP) (3.1.2.11) during the execution of a task program (3.1.4.2) or a segment of the path. The instructions can be executed in a single instruction or continuous instruction sequence. Program verification is used in new applications (3.1.1.5) and in fine-tuning/editing existing applications (3.1.1.5) .

3.1.5.1

drive power

energy enabling the robot actuators (3.1.2.10) to apply force or torque

3.1.5.2

energy source

electrical, mechanical, hydraulic, pneumatic, chemical, thermal, potential, kinetic or other type of source that is capable of supplying power

3.1.6.1

hazard

potential source of harm

Note 1 to entry: The term “hazard” can be qualified in order to define its origin (for example, mechanical hazard, electrical hazard) or the nature of the potential harm (for example, electric shock hazard, cutting hazard, toxic hazard, fire hazard).

[SOURCE:ISO 12100:2010, 3.6, NOTE 3 has been deleted]

3.1.6.2

hazardous motion

movement that can cause personal physical injury or damage to health

3.1.6.3

hazardous situation

circumstance in which a person is exposed to at least one hazard (3.1.6.1)

Note 1 to entry: The exposure can result in harm immediately or over a period of time.

[SOURCE:ISO 12100:2010, 3.10]

3.1.7.1

integration

act of combining a robot (3.1.1.2) , with other equipment or another machine including additional robot applications (3.1.1.4) to form a robot cell (3.1.1.8) capable of performing useful work

Note 1 to entry: This act of machine building can include the requirements for the installation of the machinery and equipment associated with applications (3.1.1.5) .

3.1.7.2

operator

person using, operating, adjusting, maintaining, cleaning, repairing, troubleshooting, transporting, commissioning and disassembling

Note 1 to entry: This definition includes person or persons that can be expected at or near machinery, even if not performing a task associated with the specific machine.

3.1.7.3

user

entity that uses robot applications (3.1.1.4) and robot cells (3.1.1.8) and is responsible for the operator(s) (3.1.7.2) associated with the robot applications (3.1.1.4) and robot cells (3.1.1.8)

3.1.8.1

safety function

function of the machine whose failure can result in an immediate increase of the risk(s) (3.1.10.1)

[SOURCE:ISO 13849-1:2023, 3.1.27]

3.1.8.2

emergency stop

emergency stop function

Note 1 to entry: ISO 13850 gives detailed provisions.

[SOURCE:ISO 12100:2010, 3.40]

3.1.8.3

protective stop

interruption of operation intended to reduce risks

3.1.8.4

monitored-standstill

safety function (3.1.8.1) that monitors the absence of motion while drive power is active

Note 1 to entry: Previously, “monitored-standstill” was called “safety-rated monitored stop”.

3.1.8.5

monitored-speed

safety function (3.1.8.1) that limits the speed to a configured value

3.1.8.6

reduced-speed

safety function (3.1.8.1) that limits the speed to be no greater than 250 mm/s

3.1.8.7

single-point-of-control

single source of control

ability to operate such that initiation of motion is only possible from one source of control and cannot be overridden from another initiation source

3.1.8.8

software-based limiting

safety function(s) (3.1.8.1) with monitored limit(s) placed on the range of motion of the robot (3.1.1.2) or other equipment

3.1.8.9

safety function input

input signal having a specified safety-related performance

3.1.8.10

safety function output

output signal having a specified safety-related performance

3.1.9.1

maximum space

space that can be reached by the moving parts of the robot (3.1.1.2)

Note 1 to entry: In the context of this document, maximum space applies to the robot (3.1.1.2) . See Annex B, Figure B.2 for a figure of the robot (3.1.1.2) space.

Note 2 to entry: In the context of ISO 10218-2:2025, maximum space applies to either the robot system (3.1.1.3) or robot application (3.1.1.4) . See Annex B, Figure B.1 and Figure B.3 for figures of spaces.

Note 3 to entry: In the context of mobile platforms (3.1.2.8) , maximum space is indeterminate.

3.1.9.2

operating space

portion of the restricted space (3.1.9.3) that is used while performing all motions commanded by the task program (3.1.4.2)

Note 1 to entry: In the context of this document, operating space applies to the robot (3.1.1.2) .

3.1.9.3

restricted space

portion of the maximum space (3.1.9.1) restricted by limiting devices (3.1.9.4)

Note 1 to entry: When the restricted space refers to the robot system (3.1.1.3) , this includes the space reached by the end-effector (3.1.2.3) , see ISO 10218-2:2025.

Note 2 to entry: When the restricted space refers to the robot application (3.1.1.4) , this includes the space reached by the end-effector (3.1.2.3) and workpiece(s), see ISO 10218-2:2025.

3.1.9.4

limiting device

means that reduces the range of motion to a portion of the maximum space (3.1.9.1) , resulting in the restricted space (3.1.9.3)

Note 1 to entry: ISO 12100:2010, 3.28.8 has a broader definition of a limiting device, which encompasses more than motion. In ISO 12100, it is a device that prevents a machine or hazardous machine condition(s) from exceeding a designed limit (such as space limit, pressure limit, load moment limit, etc.).

Note 2 to entry: Limiting device(s) can be fulfilled by safety function(s) (3.1.8.1) , e.g. software-based limiting (3.1.8.8) . See safeguard (3.1.10.4) .

3.1.9.5

safeguarded space

space where safeguards (3.1.10.4) are active or where the perimeter safeguard provides protection

Note 1 to entry: This sometimes refers to the space within perimeter safeguarding (3.1.10.3) .

Note 2 to entry: This can change dynamically.

3.1.9.6

separation distance

shortest permissible distance between any moving hazardous part of the robot application (3.1.1.4) and any operator (3.1.7.2)

Note 1 to entry: This value can be fixed or variable.

3.1.10.1

risk

combination of the probability of occurrence of harm and the severity of that harm

[SOURCE:ISO 12100:2010, 3.12]

3.1.10.2

risk reduction measure

protective measure

[SOURCE:ISO 12100:2010, 3.19, with addition of alternate term “risk reduction measure”]

Note 1 to entry: In the context of this document, “designer” is the robot manufacturer.

3.1.10.3

safeguarding

protective measure using safeguards (3.1.10.4) to protect persons from the hazards (3.1.6.1) that cannot reasonably be eliminated or risks (3.1.10.1) which cannot be sufficiently reduced by inherently safe design measures

[SOURCE:ISO 12100:2010, 3.21]

3.1.10.4

safeguard

guards or protective devices (3.1.10.5)

[SOURCE:ISO 12100:2010, 3.26, modified — Note 1 to entry has been added.]

3.1.10.5

protective device

safeguards (3.1.10.4) other than a guard

Note 1 to entry: Examples of types of protective devices are provided in 3.28.1 to 3.28.9 of ISO 12100:2010.

[SOURCE:ISO 12100:2010, 3.18, modified — Note 1 to entry has been adapted.]

3.1.10.6

sensitive protective equipment

SPE

equipment for detecting persons or parts of persons that generates an appropriate signal to the control system to reduce risk (3.1.10.1) to the persons detected

[SOURCE:ISO 12100:2010, 3.28.5, modified — Note 1 to entry has been deleted.]

3.1.11.1

verification

confirmation, through the provision of objective evidence, that specified requirements have been fulfilled

Note 1 to entry: Verification determines if the design meets its specification, e.g. through review, measurement, analysis, or inspection.

[SOURCE:ISO 9000:2015, 3.8.12, modified — modified by the deletion of Notes 1, 2, and 3 to entry and the addition of a new Note 1 to entry.]

3.1.11.2

validation

confirmation, through the provision of objective evidence, that the requirements for a specific intended use or application (3.1.1.5) have been fulfilled

Note 1 to entry: Validation determines if the specification accomplishes what was intended, e.g. that a specified limit is acceptable for its purpose. Validation includes functional testing.

[SOURCE:ISO 9000:2015, 3.8.13, modified —modified by the deletion of Notes 1, 2, and 3 to entry and the addition of a new Note 1 to entry.]