RIA ISO 10218-1 : 2007

Foreword
Introduction
1 Scope
2 Normative references
3 Terms and definitions
4 Hazard identification and risk assessment
5 Design requirements and protective measures
  5.1 General
  5.2 General requirements
       5.2.1 Power transmission components
       5.2.2 Power loss or change
       5.2.3 Component malfunction
       5.2.4 Sources of energy
       5.2.5 Stored energy
       5.2.6 Electromagnetic Compatibility (EMC)
       5.2.7 Electrical Equipment
  5.3 Actuating controls
       5.3.1 General
       5.3.2 Protection from unintended operation
       5.3.3 Status indication
       5.3.4 Labeling
       5.3.5 Single point of control
  5.4 Safety-related control system performance
       (hardware/software)
       5.4.1 General
       5.4.2 Performance requirement
       5.4.3 Other control system performance criteria
  5.5 Robot stopping functions
       5.5.1 General
       5.5.2 Emergency stop function
       5.5.3 Protective stop
  5.6 Reduced speed control
  5.7 Operational modes
       5.7.1 Selection
       5.7.2 Automatic
       5.7.3 Manual reduced speed
       5.7.4 Manual high-speed
  5.8 Pendant controls
       5.8.1 General
       5.8.2 Motion control
       5.8.3 Enabling device
       5.8.4 Pendant emergency stop function
       5.8.5 Initiating Automatic operation
       5.8.6 Cableless teach controls
       5.8.7 Control of multiple robots
  5.9 Control of simultaneous motion
       5.9.1 Single pendant control
       5.9.2 Safety design requirements
  5.10 Collaborative operation requirements
       5.10.1 General
       5.10.2 Stop
       5.10.3 Hand guiding
       5.10.4 Speed and position monitoring
       5.10.5 Power and force limiting by inherent design
       5.10.6 Power and force limiting by control system
  5.11 Singularity protection
  5.12 Axis limiting
       5.12.1 General
       5.12.2 Mechanical and electro-mechanical axis limiting
              devices
       5.12.3 Safety-rated soft axis and space limiting
       5.12.4 Dynamic limiting devices
  5.13 Movement without drive power
  5.14 Provisions for lifting
  5.15 Electrical connectors
6 Information for use
  6.1 General
  6.2 Instruction handbook
  6.3 Marking
Annex A - List of Significant Hazards
Annex B - Stopping time and distance metric
Annex C - Functional characteristics of 3-position enabling
          device
Annex D - Optional Features
Annex E - Methods for mode labeling
Bibliography