1 Scope

2 Normative references

3 Terms, definitions and abbreviated terms

3.1 Terms and definitions

3.1.1 Robot, robot system, robot application, application

3.1.2 Sub-assemblies and components

3.1.3 Controls-related

3.1.4 Program-related

3.1.5 Power-, energy-related

3.1.6 Hazard-related

3.1.7 Role-related

3.1.8 Functional safety-related

3.1.9 Spaces, zones and distances

3.1.10 Risk reduction measures

3.1.11 Verification and validation

3.2 Abbreviated terms and symbols

4 Risk assessment

5 Design and risk reduction measures

5.1 Robot design

5.1.1 General

5.1.2 Materials, mechanical strength and mechanical design

5.1.3 Handling, lifting and transportation

5.1.4 Packaging

5.1.5 Stability

5.1.6 Temperature and fire risks

5.1.7 Special equipment

5.1.8 Position holding

5.1.9 Auxiliary axis (axes)

5.1.10 Power loss or change

5.1.11 Component malfunction

5.1.12 Hazardous energy

5.1.13 Electrical, pneumatic and hydraulic parts

5.1.14 Tool centre point (TCP) setting

5.1.15 Payload setting

5.1.16 Cybersecurity

5.1.17 Robot class

5.2 Controls

5.2.1 General

5.2.2 Protection from unexpected start-up

5.2.3 Singularity

5.2.4 Interlocking devices

5.2.5 Status indication and warning devices

5.2.6 Labelling

5.2.7 Modes

5.2.8 Means of controlling the robot

5.2.9 Means of initiating automatic operation

5.3 Safety functions

5.3.1 General

5.3.2 Functional safety standards

5.3.3 Performance

5.3.4 Failure or fault detection

5.3.5 Parameterization of safety functions

5.3.6 Communications

5.3.7 Electromagnetic compatibility (EMC)

5.4 Stopping functions

5.4.1 General

5.4.2 Emergency stop

5.4.3 Protective stop

5.4.4 Normal stop

5.5 Other safety functions

5.5.1 Single-point-of-control

5.5.2 Start/restart interlock and reset

5.5.3 Speed limit(s) monitoring

5.5.4 Enabling function

5.5.5 Monitored-standstill

5.5.6 Stopping time limiting

5.5.7 Stopping distance limiting

5.6 Simultaneous motion

5.7 Limiting robot motion

5.7.1 General

5.7.2 Mechanical limiting

5.7.3 Electro‑mechanical limiting

5.7.4 Software-based limiting

5.7.5 Dynamic limiting

5.8 Movement without drive power

5.9 Lasers and laser equipment

5.10 Capabilities for collaborative applications

5.10.1 General

5.10.2 Hand-guided control (HGC)

5.10.3 Speed and separation monitoring (SSM)

5.10.4 Power and force limiting (PFL)

6 Verification and validation

6.1 General

6.2 Verification and validation

7 Information for use

7.1 General

7.2 Signals and warning devices

7.3 Marking

7.4 Signs (pictograms) and written warnings

7.5 Instruction handbook

7.5.1 General

7.5.2 Identification

7.5.3 Intended use

7.5.4 Installation

7.5.5 Stopping

7.5.6 Commissioning and programming

7.5.7 Operation and setting

7.5.8 Singularity

7.5.9 Hazardous energy

7.5.10 Movement without drive power

7.5.11 Cybersecurity

7.5.12 Functional safety

7.5.13 Teach pendants

7.5.14 Change or addition of component parts

7.5.15 Standards

7.5.16 Maintenance

7.5.17 Abnormal and emergency situations

7.5.18 Handling, lifting and transportation

Annex A (informative) List of significant hazards

Annex B (informative) Illustrations of spaces

Annex C (normative) Safety functions

Annex D (informative) Safety function information

Annex E (normative) Test methodology for Class I robots – Maximum force per manipulator (FMPM)

Annex F (informative) Symbols

Annex G (informative) Means of verification and validation of the design and risk reduction measures

Annex H (normative) Stopping time and distance measurement

Annex I (informative) Implementation of start/restart interlock and reset functions

Bibliography

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ISO 10218-1:2025(en)

	International Standard ISO 10218-1
Robotics — Safety requirements Part 1: Industrial robots Robotique — Exigences de sécurité — Partie 1: Robots industriels Reference number ISO 10218-1:2025(en)	Third edition 2025-02 © ISO 2025

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ISO 10218-1:2025(en)

All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below or ISO’s member body in the country of the requester.

ISO copyright office

CP 401 • Ch. de Blandonnet 8

CH-1214 Vernier, Geneva

Tel. + 41 22 749 01 11

E-mail copyright@iso.org

Website www.iso.org

Published in Switzerland

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ISO 10218-1:2025(en)

ContentsPage

Foreword

Introduction

1 Scope

2 Normative references

3 Terms, definitions and abbreviated terms

3.1 Terms and definitions

3.1.1 Robot, robot system, robot application, application

3.1.2 Sub-assemblies and components

3.1.3 Controls-related

3.1.4 Program-related

3.1.5 Power-, energy-related

3.1.6 Hazard-related

3.1.7 Role-related

3.1.8 Functional safety-related

3.1.9 Spaces, zones and distances

3.1.10 Risk reduction measures

3.1.11 Verification and validation

3.2 Abbreviated terms and symbols

4 Risk assessment

5 Design and risk reduction measures

5.1 Robot design

5.1.1 General

5.1.2 Materials, mechanical strength and mechanical design

5.1.3 Handling, lifting and transportation

5.1.4 Packaging

5.1.5 Stability

5.1.6 Temperature and fire risks

5.1.7 Special equipment

5.1.8 Position holding

5.1.9 Auxiliary axis (axes)

5.1.10 Power loss or change

5.1.11 Component malfunction

5.1.12 Hazardous energy

5.1.13 Electrical, pneumatic and hydraulic parts

5.1.14 Tool centre point (TCP) setting

5.1.15 Payload setting

5.1.16 Cybersecurity

5.1.17 Robot class

5.2 Controls

5.2.1 General

5.2.2 Protection from unexpected start-up

5.2.3 Singularity

5.2.4 Interlocking devices

5.2.5 Status indication and warning devices

5.2.6 Labelling

5.2.7 Modes

5.2.8 Means of controlling the robot

5.2.9 Means of initiating automatic operation

5.3 Safety functions

5.3.1 General

5.3.2 Functional safety standards

5.3.3 Performance

5.3.4 Failure or fault detection

5.3.5 Parameterization of safety functions

5.3.6 Communications

5.3.7 Electromagnetic compatibility (EMC)

5.4 Stopping functions

5.4.1 General

5.4.2 Emergency stop

5.4.3 Protective stop

5.4.4 Normal stop

5.5 Other safety functions

5.5.1 Single-point-of-control

5.5.2 Start/restart interlock and reset

5.5.3 Speed limit(s) monitoring

5.5.4 Enabling function

5.5.5 Monitored-standstill

5.5.6 Stopping time limiting

5.5.7 Stopping distance limiting

5.6 Simultaneous motion

5.7 Limiting robot motion

5.7.1 General

5.7.2 Mechanical limiting

5.7.3 Electro‑mechanical limiting

5.7.4 Software-based limiting

5.7.5 Dynamic limiting

5.8 Movement without drive power

5.9 Lasers and laser equipment

5.10 Capabilities for collaborative applications

5.10.1 General

5.10.2 Hand-guided control (HGC)

5.10.3 Speed and separation monitoring (SSM)

5.10.4 Power and force limiting (PFL)

6 Verification and validation

6.1 General

6.2 Verification and validation

7 Information for use

7.1 General

7.2 Signals and warning devices

7.3 Marking

7.4 Signs (pictograms) and written warnings

7.5 Instruction handbook

7.5.1 General

7.5.2 Identification

7.5.3 Intended use

7.5.4 Installation

7.5.5 Stopping

7.5.6 Commissioning and programming

7.5.7 Operation and setting

7.5.8 Singularity

7.5.9 Hazardous energy

7.5.10 Movement without drive power

7.5.11 Cybersecurity

7.5.12 Functional safety

7.5.13 Teach pendants

7.5.14 Change or addition of component parts

7.5.15 Standards

7.5.16 Maintenance

7.5.17 Abnormal and emergency situations

7.5.18 Handling, lifting and transportation

Annex A (informative) List of significant hazards

Annex B (informative) Illustrations of spaces

Annex C (normative) Safety functions

Annex D (informative) Safety function information

Annex E (normative) Test methodology for Class I robots – Maximum force per manipulator (FMPM)

Annex F (informative) Symbols

Annex G (informative) Means of verification and validation of the design and risk reduction measures

Annex H (normative) Stopping time and distance measurement

Annex I (informative) Implementation of start/restart interlock and reset functions

Bibliography

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 document 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).

ISO draws attention to the possibility that the implementation of this document may involve the use of (a) patent(s). ISO takes no position concerning the evidence, validity or applicability of any claimed patent rights in respect thereof. As of the date of publication of this document, ISO had not received notice of (a) patent(s) which may be required to implement this document. However, implementers are cautioned that this may not represent the latest information, which may be obtained from the patent database available at www.iso.org/patents. ISO shall not be held responsible for identifying any or all such patent rights.

Any trade name used in this document is information given for the convenience of users and does not constitute an endorsement.

For an explanation of the voluntary nature of standards, 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 www.iso.org/iso/foreword.html.

This document was prepared by Technical Committee ISO/TC 299, Robotics, in collaboration with the European Committee for Standardization (CEN) Technical Committee CEN/TC 310, Advanced automation technologies and their applications, in accordance with the Agreement on technical cooperation between ISO and CEN (Vienna Agreement).

This third edition cancels and replaces the second edition (ISO 10218-1:2011), which has been technically revised.

The main changes are as follows:

—

additional requirements for design;

—

mode requirements;

—

clarifying requirements for functional safety;

—

robot classification (Class I and Class II) for functional safety requirements;

—

test methodology to determine the maximum force per manipulator for Class I robots;

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adding requirements for cybersecurity to the extent that it applies to industrial robot safety;

—

incorporating safety requirements for industrial robots intended for use in collaborative applications (formerly, the content of ISO/TS 15066).

A list of all parts in the ISO 10218 series can be found on the ISO website.

Any feedback or questions on this document should be directed to the user’s national standards body. A complete listing of these bodies can be found at www.iso.org/members.html.

Introduction

The ISO 10218 series has been created in recognition of the hazards that are presented by robotics in an industrial environment. This document addresses robots as partly completed machinery, while ISO 10218-2 addresses robots integrated into machinery (robot applications and cells).

This document is a type-C standard according to ISO 12100.

This document is of relevance for the following stakeholder groups representing the market players regarding robot safety:

—

robot manufacturers (small, medium and large enterprises);

—

robot application integrators (small, medium and large enterprises);

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health and safety bodies (regulators, accident prevention organisations, market surveillance, etc.).

Others can be affected by the level of safety achieved with the means of the document by the above mentioned stakeholder groups:

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robot application users/employers (small, medium and large enterprises);

—

robot application users/employees (e.g. trade unions);

—

service providers, e.g. for maintenance (small, medium and large enterprises);

The above-mentioned stakeholder groups have been given the possibility to participate in the drafting process of this document.

Robots and the extent to which hazards, hazardous situations or hazardous events are covered are indicated in the Scope of this document.

When provisions of a type-C standard are different from those that are stated in type-A or type-B standards, the provisions of the type-C standard take precedence over the provisions of the other standards for machines that have been designed and built in accordance with the provisions of the type-C standard.

In recognition of the variable nature of hazards with different uses of industrial robots, the ISO 10218 series is divided into two parts. This document provides requirements for safety of the robot. For safety of the integration and commissioning of industrial robot applications, ISO 10218-2:2025 provides requirements for the safeguarding of operators during integration, commissioning, functional testing, programming, operation, maintenance and repair.

The ISO 10218 series deals with robotics in an industrial environment, which is comprised of workplaces where the public is excluded and the allowed people (operators) are working adults. Other standards cover topics such as general characteristics, coordinate systems and axis motions, mechanical interfaces performance criteria and related testing methods, and end-effectors.

For ease of reading this document, the words “robot” and “robot application” refer to “industrial robot” and “industrial robot application” as defined in this document.

This document has been updated based on experience gained since the release of the ISO 10218 series in 2011. This document remains aligned with the minimum requirements of a harmonized type-C standard for robots in an industrial environment.

Where appropriate, ISO/TS 15066:2016 on the safety of collaborative robot applications was added to the ISO 10218 series. Because human-robot collaboration relates to the application and not to the robot alone, most of the requirements of ISO/TS 15066 have been incorporated into ISO 10218-2:2025. Safety functions that enable a collaborative task can be part of the robot or can be provided by a protective device, or a combination.

It is important to emphasize that the terms “collaborative operation” and “collaborative robot” are not used in this document. Only the application can be developed, verified and validated as a collaborative application.

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ISO 10218-1:2025(en)

International StandardISO 10218-1:2025(en)

Robotics — Safety requirements

Part 1:

Industrial robots

1Scope

This document specifies requirements for the inherently safe design, risk reduction measures and information for use of robots for an industrial environment.

This document addresses the robot as an incomplete machine.

This document is not applicable to the following uses and products:

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underwater;

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law enforcement;

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military (defence);

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airborne and space robots, including outer space;

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medical robots;

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healthcare robots;

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prosthetics and other aids for the physically impaired;

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service robots, which provide a service to a person and as such where the public can have access;

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consumer products, as this is household use to which the public can have access;

—

lifting or transporting people.

NOTE 1Requirements for robot integration and robot applications are covered in ISO 10218-2:2025.

NOTE 2Additional hazards can be created by robot applications (e.g. welding, laser cutting, machining). These hazards are addressed during robot application design. See ISO 10218-2:2025.

This document deals with the significant hazards, hazardous situations or hazardous events when used as intended and under specified conditions of misuse which are reasonably foreseeable by the manufacturer.

This document does not cover the hazards related to:

—

severe conditions (e.g. extreme climates, freezer use, strong magnetic fields) outside of manufacturer’s specifications;

—

underground use;

—

use that has hygienic requirements;

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use in nuclear environments;

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use in potentially explosive environments;

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mobility when robots or manipulators are fixed to or part of driverless industrial trucks;

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mobility when robots or manipulators are fixed to or part of mobile platforms;

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use in environments with ionizing and non-ionizing radiation levels;

—

hazardous ionizing and non-ionizing radiation;

—

handling loads the nature of which can lead to dangerous situations (e.g. molten metals, acids/bases, radiating materials);

—

handling or lifting or transporting people;

—

when the public, all ages or non-working adults have access (e.g. service robots, consumer products).

Noise emission is generally not considered a significant hazard of the robot alone, and consequently noise is excluded from the scope of this document.

This document is not applicable to robots that are manufactured before the date of its publication.

2Normative references

The following documents are referred to in the text in such a way that some or all their content constitutes requirements of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies.

ISO 3864-1:2011, Graphical symbols — Safety colours and safety signs — Part 1: Design principles for safety signs and safety markings

ISO 3864-2:2016, Graphical symbols — Safety colours and safety signs — Part 2: Design principles for product safety labels

ISO 3864-3:2024, Graphical symbols — Safety colours and safety signs — Part 3: Design principles for graphical symbols for use in safety signs

ISO 3864-4:2011, Graphical symbols — Safety colours and safety signs — Part 4: Colorimetric and photometric properties of safety sign materials

ISO 4413:2010, Hydraulic fluid power — General rules and safety requirements for systems and their components

ISO 4414:2010, Pneumatic fluid power — General rules and safety requirements for systems and their components

ISO 7010:2019, Graphical symbols — Safety colours and safety signs — Registered safety signs

ISO 9283:1998, Manipulating industrial robots — Performance criteria and related test methods

ISO 12100:2010, Safety of machinery — General principles for design — Risk assessment and risk reduction

ISO 13732-1:2006, Ergonomics of the thermal environment — Methods for the assessment of human responses to contact with surfaces — Part 1: Hot surfaces

ISO 13732-3:2005, Ergonomics of the thermal environment — Methods for the assessment of human responses to contact with surfaces — Part 3: Cold surfaces

ISO 13849-1:2023, Safety of machinery — Safety-related parts of control systems — Part 1: General principles for design

ISO 13850:2015, Safety of machinery — Emergency stop function — Principles for design

ISO 14118:2017, Safety of machinery — Prevention of unexpected start-up

ISO 14119:2024, Safety of machinery — Interlocking devices associated with guards — Principles for design and selection

ISO 14120:2015, Safety of machinery — Guards — General requirements for the design and construction of fixed and movable guards

ISO 19353:2019, Safety of machinery — Fire prevention and fire protection

ISO 20607:2019, Safety of machinery — Instruction handbook — General drafting principles

ISO 20643:2005/Amd 1:2012, Mechanical vibration — Hand-held and hand-guided machinery — Principles for evaluation of vibration emission

IEC 60073:2002, Basic and safety principles for man-machine interface, marking and identification — Coding principles for indication devices and actuators

IEC 60204-1:2016+AMD1:2021, Safety of machinery — Electrical equipment of machines — Part 1: General requirements

IEC 60947-5-8:2020, Low-voltage switchgear and controlgear — Part 5-8: Control circuit devices and switching elements — Three-position enabling switches

IEC 61310-1:2007, Safety of machinery — Indication, marking and actuation — Part 1: Requirements for visual, acoustic and tactile signals

IEC 61310-2:2007, Safety of machinery — Indication, marking and actuation — Part 2: Requirements for marking

IEC 61310-3:2007, Safety of machinery — Indication, marking and actuation — Part 3: Requirements for the location and operation of actuators

IEC 61508-2:2010, Functional safety of electrical/electronic/ programmable electronic safety-related systems — Part 2: Requirements for electrical/ electronic/ programmable electronic safety-related systems

IEC 62061:2021, Safety of machinery — Functional safety of safety-related control systems

IEC 62745:2017, Safety of machinery — Requirements for cableless control systems of machinery

3Terms, definitions and abbreviated terms

For the purposes of this document, the terms and definitions given in ISO 12100:2010 and the following apply.

ISO and IEC maintain terminology databases for use in standardization at the following addresses:

—

ISO Online browsing platform: available at https://www.iso.org/obp;

—

IEC Electropedia: available at https://www.electropedia.org/

3.1Terms and definitions

3.1.1Robot, robot system, robot application, application

3.1.1.1

industrial environment

workplace where the public is restricted from access or not reasonably expected to be present for the intended tasks and robot application(s) (3.1.1.4)

Note 1 to entry: This includes manufacturing, laboratory, pharmaceutical, warehousing, logistics, and more.

3.1.1.2

industrial robot

robot

automatically controlled, reprogrammable multipurpose manipulator(s) (3.1.2.5), programmable in three or more axes (3.1.2.1), which can be either fixed in place or fixed to a mobile platform (3.1.2.8) for use in automation applications (3.1.1.5) in an industrial environment (3.1.1.1)

Note 1 to entry: The industrial robot includes:

—

the manipulator(s) (3.1.2.5), including robot actuators (3.1.2.10) controlled by the robot control;

—

the robot control; and

—

the means to teach or program the robot, including any communications interface (hardware and software).

Note 2 to entry: This includes any axes that are integrated into the kinematic solution.

Note 3 to entry: A mobile robot consists of a mobile platform (3.1.2.8) with an integrated manipulator (3.1.2.5) or robot.

3.1.1.3

robot system

industrial robot system

industrial robot (3.1.1.2), end-effector(s) (3.1.2.3), and any end-effector sensors and equipment needed to support the end-effector(s) (3.1.2.3)

Note 1 to entry: Examples of equipment are vision systems, adhesive dispensing, weld control.

3.1.1.4

robot application

industrial robot application

machine comprising an industrial robot system (3.1.1.3), workpieces, task program (3.1.4.2), and machinery and equipment to support the application (3.1.1.5) and intended tasks

3.1.1.5

application

intended use and purpose of the robot (3.1.1.2) or robot application (3.1.1.4), i.e. the process, the task(s)

EXAMPLE Manipulating, processing, machining, inspection, spot welding, painting, assembly, palletizing.

3.1.1.6

collaborative application

applications (3.1.1.5) that contains one or more collaborative task(s) (3.1.1.7)

Note 1 to entry: Collaborative applications can include non-collaborative tasks.

3.1.1.7

collaborative task

portion of the robot sequence where both the robot application (3.1.1.4) and operator(s) (3.1.7.2) are within the same safeguarded space (3.1.9.5)

3.1.1.8

robot cell

industrial robot cell

one or more robot applications (3.1.1.4) including any obstacle or object that has influence on the risk assessment of the intended use, associated safeguarded space(s) (3.1.9.5) and safeguards (3.1.10.4)

3.1.2Sub-assemblies and components

3.1.2.1

axis

actuated (e.g. rotating about a pivot, moving linearly) mechanical joint that provides at least one degree of freedom

3.1.2.2

auxiliary axis

axis (3.1.2.1) that is not physically part of the manipulator (3.1.2.5) and is controlled by the robot (3.1.1.2)

Note 1 to entry: Controlled means that there is a feedback signal(s) to enable closed loop control by the robot (3.1.1.2).

3.1.2.3

end-effector

device specifically designed for attachment to the mechanical interface (3.1.2.7) to enable the robot application (3.1.1.4) to perform its task

EXAMPLE Gripper, welding gun, spray gun.

Note 1 to entry: End-effectors are sometimes known as end-of-arm tooling (EOAT).

3.1.2.4

gripper

end-effector (3.1.2.3) designed for seizing and holding workpieces

Note 1 to entry: Various types of grippers and the terms grip, grasp, grasping and releasing are defined in ISO 14539:2000.

[SOURCE: ISO 14539:2000, 4.1.2, modified — Note 1 to entry has been added.]

3.1.2.5

manipulator

mechanism consisting of an arrangement of segments, jointed or sliding relative to one another

Note 1 to entry: Robot actuators (3.1.2.10) can constitute parts of a manipulator.

3.1.2.6

mass per manipulator

mass of all moving parts of the manipulator (3.1.2.5)

3.1.2.7

mechanical interface

mounting surface at the end of the manipulator (3.1.2.5) to which the end-effector (3.1.2.3) is attached

3.1.2.8

mobile platform

assembly of the components which enables locomotion and provides the structure to affix or integrate a manipulator (3.1.2.5) or robot (3.1.1.2)

3.1.2.9

payload

mass of all that is attached to the manipulator (3.1.2.5), including the end-effector (3.1.2.3) and workpiece

Note 1 to entry: The payload can be attached to, but is not limited to, the mechanical interface (3.1.2.7) of a robot (3.1.1.2).

3.1.2.10

robot actuator

powered mechanism that converts energy to effect motion

Note 1 to entry: Energy can be electrical, hydraulic, pneumatic or more.

3.1.2.11

tool centre point

TCP

point defined for a given application (3.1.1.5) relative to the mechanical interface (3.1.2.7) coordinate system.

Note 1 to entry: The TCP setting defines the location of the TCP relative to the mechanical interface (3.1.2.7).

3.1.3Controls-related

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]

3.1.4Program-related

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).

3.1.5Power-, energy-related

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

3.1.6Hazard-related

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).

Note 2 to entry: The hazard envisaged by this definition either

—

is permanently present during the intended use of the machine (for example, motion of hazardous moving elements, electric arc during a welding phase, unhealthy posture, noise emission, high temperature), or

—

can appear unexpectedly (for example, explosion, crushing hazard as a consequence of an unintended/unexpected start-up, ejection as a consequence of a breakage, fall as a consequence of acceleration/deceleration).

[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]

3.1.7Role-related

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)

3.1.8Functional safety-related

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

function that is intended to

—

avert arising or reduce existing hazards (3.1.6.1) to persons, damage to machinery or to work in progress, and

—

be initiated by a single human action

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

3.1.9Spaces, zones and distances

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.

3.1.10Risk reduction measures

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

measure intended to achieve risk reduction, implemented:

—

by the designer (inherently safe design, safeguarding (3.1.10.3) and complementary protective measures, information for use); and/or

—

by the user (3.1.7.3) (organization: safe working procedures, supervision, permit-to-work systems; provision and use of additional safeguards (3.1.10.4); use of personal protective equipment; training).

[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)

Note 1 to entry: Protective devices (3.1.10.5) include a broad range of means to reduce or control risks (3.1.10.1), for example:

—

interlocking devices for guards;

—

sensitive protective equipment (SPE) (3.1.10.6);

—

safety function (3.1.8.1) that replace a protective device (3.1.10.5);

—

limiting devices (3.1.9.4);

—

limited movement control device.

[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.]

3.1.11Verification and validation

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.]

3.2Abbreviated terms and symbols

Abbreviated term or symbol	Term
3P	3-position [enabling device]
Cat	Category
Class	Classification
DC	Diagnostic coverage
EMC	Electromagnetic compatibility
EMI	Electromagnetic interference
FMEA	Failure modes and effects analysis
FMPM	maximum force per manipulator
HFT	Hardware fault tolerance
HGC	Hand-guided control
M	Mass per manipulator
nop	Mean number of annual operations
PFH	Average frequency of a dangerous failure per hour
PFL	Power and force limiting
PL	Performance level
PL a	Performance level a
PL b	Performance level b
PL c	Performance level c
PL d	Performance level d
PL e	Performance level e
SCS	Safety-related control system
SIL	Safety integrity level
SIL 1	Safety integrity level 1
SIL 2	Safety integrity level 2
SRP/CS	Safety-related parts of control system
SSM	Speed and separation monitoring
SPE	Sensitive protective equipment
TCP	Tool centre point
TCP/UDP	Transmission control protocol/ user datagram protocol

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ISO 10218-1:2025(en)

Bibliography

[1]		ISO 7000, Graphical symbols for use on equipment — Registered symbols
[2]		ISO 9000, Quality management systems — Fundamentals and vocabulary
[3]		ISO 10218-2:2025, Robots and robotic devices — Safety requirements for industrial robots — Part 2: Robot systems and integration
[4]		ISO/TS 13732-2:2001, Ergonomics of the thermal environment — Methods for the assessment of human responses to contact with surfaces — Part 2: Human contact with surfaces at moderate temperature
[5]		ISO 14539, Manipulating industrial robots — Object handling with grasp-type grippers — Vocabulary and presentation of characteristics
[6]		ISO/TR 22100-4, Safety of machinery — Relationship with ISO 12100 — Part 4: Guidance to machinery manufacturers for consideration of related IT-security (cyber security) aspects
[7]		IEC 60269 (all parts), Low-voltage fuses
[8]		IEC 60947 (all parts), Low-voltage switchgear and controlgear
[9]		IEC 60812, Failure modes and effects analysis (FMEA and FMECA)
[10]		IEC 61800-5-2, Adjustable speed electrical power drive systems — Part 5-2: Safety requirements — Functional
[11]		IEC 61508-3, Functional safety of electrical/electronic/programmable electronic safety-related systems — Part 3: Software requirements
[12]		IEC 61508-4:2010, Functional safety of electrical/electronic/ programmable electronic safety-related systems — Part 4: Definitions and abbreviations
[13]		IEC 62280, Railway applications — Communication, signalling and processing systems — safety related communication in transmission systems
[14]		IEC 62443 (all parts), Industrial communication networks — Network and system security
[15]		IEC TR 63074, Safety of machinery — Security aspects related to functional safety of safety-related control systems
[16]		IEC/IEEE 82079-1, Preparation of information for use (instructions for use) of products — Part 1: Principles and general requirements
[17]		EN 1005-2, Safety of Machinery — Human physical performance — Manual handling of machinery and component parts of machinery
[18]		EN 1005-5, Safety of machinery — Human physical performance — Risk Assessment for repetitive handling at high frequency
[19]		EN 50159, Railway applications — Communication, signalling and processing systems — Safety-related communication in transmission systems
[20]		Research project No. FP-0317: Collaborative robots – Investigation of pain sensibility at the Man-Machine-Interface. Institute for Occupational, Social and Environmental Medicine at the Johannes Gutenberg University of Mainz, Germany. Final report December 2014

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ICS 25.040.30 Price based on 95 pages © ISO 2025All rights reserved	iso.org