TECHNICAL ISO/TS

SPECIFICATION 15066

First edition
2016-02-15

Robots and robotic devices —

Collaborative robots
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Robots et dispositifs robotiques — Robots coopératifs

Reference number
ISO/TS 15066:2016(E)

© ISO 2016
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Contents Page

Foreword......................................................................................................................................................................................................................................... iv
Introduction...................................................................................................................................................................................................................................v
1 Scope.................................................................................................................................................................................................................................. 1
2 Normative references....................................................................................................................................................................................... 1
3 Terms and definitions...................................................................................................................................................................................... 1
4 Collaborative industrial robot system design......................................................................................................................... 2
4.1 General............................................................................................................................................................................................................ 2
4.2 Collaborative application design.............................................................................................................................................. 3
4.3 Hazard identification and risk assessment..................................................................................................................... 4
4.3.1 General...................................................................................................................................................................................... 4
4.3.2 Hazard identification.................................................................................................................................................... 4
4.3.3 Task identification........................................................................................................................................................... 5
4.3.4 Hazard elimination and risk reduction......................................................................................................... 5
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5 Requirements for collaborative robot system applications..................................................................................... 6

5.1 General............................................................................................................................................................................................................ 6
5.2 Safety-related control system performance................................................................................................................... 6
5.3 Design of the collaborative workspace............................................................................................................................... 6
5.4 Design of the collaborative robot operation................................................................................................................... 6
5.4.1 General...................................................................................................................................................................................... 6
5.4.2 Protective measures....................................................................................................................................................... 6
5.4.3 Stopping functions.......................................................................................................................................................... 6
5.4.4 Transitions between non-collaborative operation and collaborative operation....... 7
5.4.5 Enabling device requirements.............................................................................................................................. 7
5.5 Collaborative operations................................................................................................................................................................. 7
5.5.1 General...................................................................................................................................................................................... 7
5.5.2 Safety-rated monitored stop................................................................................................................................... 8
5.5.3 Hand guiding........................................................................................................................................................................ 9
5.5.4 Speed and separation monitoring................................................................................................................... 10
5.5.5 Power and force limiting......................................................................................................................................... 15
6 Verification and validation......................................................................................................................................................................19
7 Information for use..........................................................................................................................................................................................19
7.1 General......................................................................................................................................................................................................... 19
7.2 Information specific to collaborative robot operations..................................................................................... 19
7.3 Description of the collaborative robot system.......................................................................................................... 19
7.4 Description of the workplace application..................................................................................................................... 19
7.5 Description of the work task..................................................................................................................................................... 20
7.6 Information specific to power and force limiting applications................................................................... 20
Annex A (informative) Limits for quasi-static and transient contact...............................................................................21
Bibliography.............................................................................................................................................................................................................................. 33

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 ISO/TS 15066:2016(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.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular the different approval criteria needed for the
different types of ISO documents should be noted. This document was drafted in accordance with the
editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/directives).
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of
any patent rights identified during the development of the document will be in the Introduction and/or
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on the ISO list of patent declarations received (see www.iso.org/patents).

Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation on the meaning of ISO specific terms and expressions related to conformity assessment,
as well as information about ISO’s adherence to the World Trade Organization (WTO) principles in the
Technical Barriers to Trade (TBT) see the following URL: www.iso.org/iso/foreword.html.
The committee responsible for this document is Technical Committee ISO/TC 299, Robots and
robotic devices.
This Technical Specification is relevant only in conjunction with the safety requirements for
collaborative industrial robot operation described in ISO 10218-1 and ISO 10218-2.

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 ISO/TS 15066:2016(E)


Introduction
The objective of collaborative robots is to combine the repetitive performance of robots with the
individual skills and ability of people. People have an excellent capability for solving imprecise exercises;
robots exhibit precision, power and endurance.
To achieve safety, robotic applications traditionally exclude operator access to the operations area
while the robot is active. Therefore, a variety of operations requiring human intervention often cannot
be automated using robot systems.
This Technical Specification provides guidance for collaborative robot operation where a robot system and
people share the same workspace. In such operations, the integrity of the safety-related control system is
of major importance, particularly when process parameters such as speed and force are being controlled.
A comprehensive risk assessment is required to assess not only the robot system itself, but also the
environment in which it is placed, i.e. the workplace. When implementing applications in which people and
robot systems collaborate, ergonomic advantages can also result, e.g. improvements of worker posture.
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This Technical Specification supplements and supports the industrial robot safety standards
ISO 10218-1 and ISO 10218-2, and provides additional guidance on the identified operational functions
for collaborative robots.
The collaborative operations described in this Technical Specification are dependent upon the use
of robots meeting the requirements of ISO 10218-1 and their integration meeting the requirements
of ISO 10218-2.
NOTE Collaborative operation is a developing field. The values for power and force limiting stated in this
Technical Specification are expected to evolve in future editions.

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 TECHNICAL SPECIFICATION ISO/TS 15066:2016(E)

Robots and robotic devices — Collaborative robots

1 Scope
This Technical Specification specifies safety requirements for collaborative industrial robot systems
and the work environment, and supplements the requirements and guidance on collaborative industrial
robot operation given in ISO 10218-1 and ISO 10218-2.
This Technical Specification applies to industrial robot systems as described in ISO 10218-1 and
ISO 10218-2. It does not apply to non-industrial robots, although the safety principles presented can be
useful to other areas of robotics.
NOTE This Technical Specification does not apply to collaborative applications designed prior to its publication.
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2 Normative references
The following documents, in whole or in part, are normatively referenced in this document and are
indispensable for its application. For dated references, only the edition cited applies. For undated
references, the latest edition of the referenced document (including any amendments) applies.
ISO 10218-1:2011, Robots and robotic devices — Safety requirements for industrial robots — Part 1: Robots
ISO 10218-2:2011, Robots and robotic devices — Safety requirements for industrial robots — Part 2: Robot
systems and integration
ISO 12100, Safety of machinery — General principles for design — Risk assessment and risk reduction
ISO 13850, Safety of machinery — Emergency stop function — Principles for design
ISO 13855, Safety of machinery — Positioning of safeguards with respect to the approach speeds of parts
of the human body
IEC 60204-1, Safety of machinery — Electrical equipment of machines — Part 1: General requirements

3 Terms and definitions

For the purposes of this document, the terms and definitions given in ISO 10218-1, ISO 10218-2 and
ISO 12100 and the following apply.
3.1
collaborative operation
state in which a purposely designed robot system and an operator work within a collaborative workspace
[SOURCE: ISO 10218‑1:2011, 3.4, modified]
3.2
power
mechanical power
mechanical rate of doing work, or the amount of energy consumed per unit time
Note 1 to entry: Power does not pertain to the electrical power rating on an electronic device, such as a motor.

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