Overview:

ISO/TS 15066:2016
Carole Franklin
Director of Standards Development
Robotic Industries Association (RIA)
Overview: ISO/TS 15066:2016
Now Also Available As RIA TR R15.606-2016

• What Is TS 15066 / TR 606?

• Why Is TS 15066 / TR 606 Important?
• How Can It Help You?
• What’s Next for Collaborative Robot Standards?
Overview: ISO/TS 15066:2016
• Now Also Available As RIA TR R15.606-2016

• What Is 15066 / TR 606?

• Why Is 15066 / TR 606 Important?
• How Can It Help You?
• What’s Next for Collaborative Robot Standards?
 What Is 15066 / TR 606?
• ISO/TS 15066:2016 – an ISO Technical Specification
• RIA TR R15.606-2016 – An ANSI-registered Technical Report
• Shorthand: “15066” or “TR 606”
• Order & download PDF from RIA Webstore:
http://www.robotics.org/bookstore-cat.cfm?category_id=118
http://www.robotics.org/Online-Store >> Industrial Robot Standards link

• Important! Supplemental to ISO 10218 / R15.06

• “Industrial Robots and Robot Systems – Safety Requirements”

“
”
What Is 15066 / TR 606?
Robot Definition from ISO 10218 / R15.06
• Industrial Robot = Robot Arm + Robot Controller
• Industrial Robot System = Robot + End-Effector + Workpiece
• The End-effector and Workpiece are determined based on the
Application – or, what the robot is intended to accomplish
• Might be a... ?
• Sealant applicator
• Gripper
• Cutter
• Welder
• ...
• ...

Source: R15.06-2012, Part 1, Clauses 3.10 and 3.11

What Is 15066 / TR 606?

Short Version:
“Safety Requirements for Collaborative Industrial Robot Systems”

Even Shorter:
“Collaborative Robot Safety”
What is “Collaborative?”
A “Collaborative Robot” is...
“...[a] robot designed for direct interaction with a human
within a defined collaborative workspace.” 1

“Collaborative Operation” is...

“…[a] state in which a purposely designed robot system
and an operator work within a collaborative workspace.” 2

The “Collaborative Workspace” is...

“...[the] workspace within the safeguarded space where the
robot and a human can perform tasks simultaneously
during production operation.” 3
Sources: 1 – R15.06-2012, Part 2, Clause 3.2;
2 – ISO/TS 15066:2016, 3.1; 3 – R15.06-2012, Part 1, 3.5
What Is “Collaborative”?
• Collaborative Robot?
• “Power- and Force-Limited Robot” (PFL)
• Collaborative Application
• Collaborative Operation
• Collaborative Robot System

A Collaborative Robot System is...

...one in which the human and the robot system
can occupy the same workspace, at the same time,
while the system is in automatic mode.
What Is “Collaborative”?
• Does it mean there are no safeguards?
• (Hint: No. The “collaborative workspace” is within the “safeguarded space”.)
• Does it mean, take the fence away and now we are
collaborative?
• (Also No.)
• Does it mean, get a “collaborative robot” (PFL) and now we are
collaborative?
• (Still No. If the “collaborative” (PFL) robot arm is juggling knives, that is a non-
collaborative application – or should be.)
• If it’s a “collaborative robot,” does that mean I don’t need to do a
risk assessment?
• (You guessed it... No. You must still do a risk assessment.)
What Is 15066 / TR 606?

Short Version:
“Safety Requirements for Industrial Collaborative Robot Systems”

Even Shorter:
“Collaborative Robot Safety”

• A good first step

• A solid foundation
• Likely to be updated and refined as more studies are done
Overview: ISO/TS 15066:2016
• Now Also Available As RIA TR R15.606-2016

• What Is 15066 / TR 606?

• Why Is 15066 / TR 606 Important?
• How Can It Help You?
• What’s Next for Collaborative Robot Standards?
Why is TS 15066 / TR 606 Important?
• Paradigm Shift
• Old: Primary means of protecting people was to separate them from the
robotic equipment
• Physical safeguards and protective devices
Why is TS 15066 / TR 606 Important?
• Paradigm Shift
• New: With the advent of Collaborative Robot Systems, now the human and
robot system can interact in the shared workspace

???
Why is TS 15066 / TR 606 Important?
Unique strengths of humans (creative problem-solving)
Unique strengths of robot systems (power and precision in repetitive tasks)
Increased productivity in industry and throughout the economy.

• Collaborative robot systems will have built-in safety capabilities to

reduce risks to the human worker.
• Key collaborative techniques
include...
• Safety-rated monitored stop
• Hand guiding
• Speed and separation monitoring
• Power and force limiting
 Why is TS 15066 / TR 606 Important?
• TS 15066 integrates key information together in one document:
• Definition of collaborative robotic operation
• Characteristics of safety-related control systems for collaborative operation
• Factors for the design of a collaborative robot system*
• Built-in safety-related systems for collaborative operation, and requirements
for their use;
• How to implement a collaborative application using the following techniques:
• Safety-rated monitored stop
• Hand guiding
• Speed and Separation Monitoring
• Guidance on speeds, protective distances, formula for protective separation
distance*
• Power and Force Limiting
• Threshold limit values for power and force to avoid pain*
* New Information in 15066/ TR 606!
Why is TS 15066 / TR 606 Important?
• New information:
• Annex A: “The Body Model”
incorporates important data
from a study of pain thresholds
for Power and Force Limiting
applications
• Study conducted at the
University of Mainz in Germany
• 100 human test subjects; both
sexes and wide range of ages
and body dimensions
• Maximum permissible pressure
values shown in Annex A
represent the 75th percentile
Sources: ISO/TS 15066:2016, Annex A;
http://www.dguv.de/ifa/fachinfos/kollaborierende-roboter/schmerzschwellenkataster/index-2.jsp
Why is TS 15066 / TR 606 Important?
• New information:
• Annex A: “The Body Model”

Source: ISO/TS 15066:2016, Fig. 4, Fig A.1

Overview: ISO/TS 15066:2016
• Now Also Available As RIA TR R15.606-2016

• What Is 15066 / TR 606?

• Why Is 15066 / TR 606 Important?
• How Can It Help You?
• What’s Next for Collaborative Robot Standards?
How Can TS 15066 / TR 606 Help You?
• Guidance primarily for suppliers and integrators for the safe design
and operation of collaborative robot systems.
• Four types of collaborative operation:
• Safety-rated monitored stop
• Hand guiding
• Speed and separation monitoring
• Power and force limiting
How Can TS 15066 / TR 606 Help You?

Source: ISO/TS 15066:2016.

Graphic Source: R. Nelson Shea, NRSC 2016 Presentation. Used with permission.
Why is TS 15066 / TR 606 Important?

Source: ISO/TS 15066:2016.

Graphic Source: R. Nelson Shea, NRSC 2016 Presentation. Used with permission.
How Can TS 15066 / TR 606 Help You?
• Safety-Rated Monitored Stop
• A stop is assured while maintaining
power to the robot
• Operator may interact with robot
• Automatic operation may resume when
the human leaves the collaborative
workspace (requires safeguarding)
• Either the person OR the robot system
may move, but NOT at the same time.
How Can TS 15066 / TR 606 Help You?
• Hand guiding
• Operator is in direct
contact with the robot and
is using hand controls to
direct the robot where to go
and what to do
• Robot system under
manual control
• Both the person and the
robot may move at the
same time; motion
controlled by the person
How Can TS 15066 / TR 606 Help You?
• Speed and separation monitoring
• Robot/hazard speed is reduced the closer an operator is to the hazard area
• Protective stop is issued when operator is in potential contact
• Person and robot may move at the same time
How Can TS 15066 / TR 606 Help You?
• Power and force limiting
• Speed, torque, motion of the robot is controlled so that incidental
contact between robot and operator will not cause harm
• Since contact is permitted, it must be controlled and its risks understood
• Person and robot can move at the same time
• Possible risk reduction measures:
• Robot design factors (e.g., rounded shape, compliant materials)
• Appropriate application selection & robot cell design (e.g., end-effector,
workpiece, motion path, etc.)
• Consult biomechanical power and force guidance (Annex A)
• Transient Contact (human body part can usually recoil or “bounce away”)
• Quasi-Static Contact (clamping; entrapment risk)
• Safety = Freedom from injury
Design Factors
Transient and Quasi-Static Contact

Transient Contact: Quasi-Static Contact:

Human body part is capable Human body part is at risk of
of recoiling from impact being clamped or entrapped

Source: ISO/TS 15066:2016.

Graphic Source: B. Matthias, NRSC 2015 Presentation. Used with permission.
Overview: ISO/TS 15066:2016
• Now Also Available As RIA TR R15.606-2016

• What Is 15066 / TR 606?

• Why Is 15066 / TR 606 Important?
• How Can It Help You?
• What’s Next for Collaborative Robot Standards?
What’s Next?
• Continual advances in technology...
• Sensors
• Materials
• End-effectors safe for collaborative applications
• More information and guidance using 15066 / TR 606 as a
foundation
• New study on transient force from the Fraunhofer Institute at
Mecklenburg, Germany
• Other new studies?
• Refine and validate data from earlier studies
Summary
• ISO/TS 15066:2016 and RIA TR R15.606-2016 have the same
content: Guidance for safety with collaborative robot systems
• A “collaborative robot” is only collaborative if placed into a
“collaborative robot system” to perform a “collaborative application”
• You still need to do a risk assessment, which will tell you if you
need to place safeguards, and if so, which ones and where
• Collaborative operation can be achieved by means of...
• Safety-rated monitored stop
• Hand guiding
• Speed and separation monitoring
• Power and force limiting
Questions About Standards?

Carole Franklin
Director of Standards Development

Robotic Industries Association (RIA)

900 Victors Way, Suite 140
Ann Arbor, Michigan
U.S.A.

Telephone: 734-994-6088
Email: cfranklin@robotics.org

www.robotics.org