International Standard ISO 10218-2 | |
Robotics — Safety requirements Part 2: Industrial robot applications and robot cells Robotique — Exigences de sécurité — Partie 2: Applications robotisées industrielles et cellules robotisées Reference number ISO 10218-2:2025(en) | Second edition 2025-02
© ISO 2025
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| Abbreviated term or symbol | Term | Occurrence |
|---|---|---|
| 2D/ 3D | Two-dimensional / three-dimensional | 4.2 |
| 3P | Three-position [enabling device] | 5.7.6, 5.7.7 |
| A | Surface area (2-dimensional) of contact | Annex M, M.1, M.2, M.3.4, Figure M.2, Formulae M.1, M.5, M.6 |
| A | Ampere, unit of electrical current | Annex C, Table C.2 |
| A1 | Avoidable | Annex C, C.2.1.4.1, Annex E, Tables C.7, E.1, E.2, E.5 |
| A2 | Reasonably avoidable | Annex C, C.2.1.4.1, Annex E, Tables C.7, E.1, E.2, E.5 |
| A3 | Not avoidable | Annex C, C.2.1.4.1, Annex E, Tables C.7, E.1, E.2, E.5 |
| AIS | Abbreviated Injury Scale | Annex M, M.3.1, Table M.2, footnote b |
| AIS 1 | Abbreviated Injury Scale 1 | Annex M, M.3.1, Table M.2, footnote b |
| AOPD | Active Opto‑electronic Protective Device | 5.8.6.1, 5.8.10, Annex J, J.2.3, J.2.9, Annex K, K.2.3, Figures J.4, J.5, J.6, K.3, |
| AOPDDR | Active Opto-electronic Protective Devices Responsive to Diffuse Reflection | 5.8.6.1, Annex J, J.2.9, Annex K, K.2.3, Figures J.7, K.4, |
| AP | Possibility of avoidance | Annex C, C.2.1.4.1, C.2.1.4.2, Tables C.6, C.7 |
| Av | Probability of avoiding or limiting harm, denoted as Av1, Av3 or Av5 | Annex E, E.2.2; Tables E.1, E.3, E.4; Formula E.1 |
| C | Intrusion distance | 5.8.9.1, Annex L, Formula L.1, Figure L.1 |
| °C | Degrees in Celsius, unit of temperature | Annex C, Table C.2 |
| cm | Centimetre, unit of distance | Annex N, Figure N.6, |
| Cat. | Category, as in stop category or functional safety architecture, denoted as B, 1, 2, 3, or 4 | 5.5.3, Annex C, C.1, Annex D, Annex E, E.2.1, Tables D.1, E.2 |
| CL | Claim Limit (of a SIL) | Annex E, E.2.2, Table E.4 |
| CNC | Computer numerical control machine | Annex D, Table D.1 |
| D | Distance | Annex L, Figure L.1 |
| D | Dominant body side | Annex M, Table M.1 |
| D | Duration of a single exposure in minutes | Annex C, C.2.1.3.4, Formula C.1 |
| DCavg | Average diagnostic coverage | 5.5.3 |
| DL | [Harm/] Damage likelihood | Annex C, C.2.1.3.5.4, Table C.5 |
| E | Transfer energy | Annex M, Table M.5, Formulae M.1, M.2 |
| E | Exposure (to a hazard) | Annex C, C.2.1.3.4, Formula C.1 |
| E0 | Exposure prevented | Annex E, E.2.3, Tables E.1, E.5 |
| E1 | Low exposure to hazard | Annex C, C.2.1.3.2, Annex E, Tables E.1, E.2, E.5 |
| E2 | High exposure to hazard | Annex C, C.2.1.3.2, Annex E, Tables E.1, E.2, E.5 |
| EMC | Electromagnetic compatibility | 5.5.10 |
| EOAT | End-of-arm tooling | 3.1.2.3 |
| ESPE | Electro-sensitive protective equipment | 3.1.10.8, 5.8.1, 5.8.6.1, 5.8.9.1, Annex J, J.2.6, Annex K, K.1, K.2.3, Annex L, Figure L.2 |
| F | Frequency, denoted as F1 or F2 | Annex C, C.2.1.3.4, Formula C.1, Annex E, Formula E.1 |
| Fr | Frequency and duration of exposure, denoted as Fr3 or Fr5 | Annex E, E.2.2, Tables E.3, E.4, Formula E.1 |
| Fmax | Threshold force, quasi-static contact | Annex M, Table M.2, Annex N, N.2.4.6, Figure N.7, Formulae M.1, M.6 |
| FT | Threshold force, transient contact (multiplier of quasi-static force) | Annex M, Annex N, N.2.4.6, Table M.3, Figure N.7, Formulae M.2, M.5 |
| FSA | Actual maximum force, quasi-static contact | Annex N, N.2.4.6, Figure N.7 |
| FTA | Actual maximum force, transient contact | Annex N, N.2.4.6, Figure N.7 |
| FTrig | Trigger force | Annex N, N.2.4.6 |
| h | Hour | 5.5.2, 5.5.3, Annex C, Table C.1, Table C.3 |
| H | 1 000 mm minimum height of impeding device | Annex J, Figure J.6 |
| HFT | Hardware fault tolerance | 5.5.2, 5.5.3, Annex D, Table D.1 |
| HGC | Hand-guided control | 4.3.1, 5.5.7.1, 5.14.3, 5.14.4, 5.14.4.1, 5.14.4.2, Annex C, Annex I, I.3.1, Table C.1, Figure I.1 |
| HP | Hazard perception | Annex C, C.2.1.4.2, C.2.1.4.3, C.2.1.4.4; Tables C.6, C.7 |
| Hz | Hertz, unit of alternating current or electromagnetic wave frequency | Annex N, N.1.4 |
| I/O | Input(s)/Output(s) | Annex F, Table F.1 |
| IH | Incident history | Annex C, C.2.1.3.5.4, Table C.5 |
| IMS | Integrated manufacturing system | 5.3.1, 5.3.5 |
| J | Joule, unit of energy | Annex M, Table M.4 |
| K | Effective spring constant (stiffness) for a specific body region | Annex M, Table M.3 Formulae M.1, M.2, M.5, M.6, Annex N, N.1.1, N.1.5, N.5.2, Table N.1, Figure N.1 |
| kg | Kilogram, unit of mass | Annex M, Table M.3, Annex N, Table N.1 |
| kHz | Kilohertz, unit of alternating current or electromagnetic wave frequency | Annex N, N.1.4 |
| kPa | Kilopascal, unit of pressure and stress | Annex C, Table C.2 |
| lx | Lux, unit of light intensity per unit of area | 5.15.4, Annex H |
| M | Mass per manipulator | 3.1.2.8, Annex M, Figure: M.3, Formula: M.4 |
| m | Metre, unit of distance | 7.5.19, Annex L, L.2 |
| mH | Effective mass of the human body region and the effects of that body region being connected to other body regions | Annex M, Annex N, M.3.4, M.3.4.1, N.2.4.1.2, Tables : M.3, N.1 Figure: M.2, Formula: M.3 |
| mL | Effective mass of the payload for the robot application (specified maximum payload of the application) | Annex M, M.3.4, Figures: M.2, M.3, Formula M.4 |
| mR | Effective mass of the moving parts of the robot as a function of robot posture and motion | Annex M, M.3.4, M.3.4.1, Table M.2, Figures: M.4, Formulae: M.3, M.4 |
| mA | Milliampere, unit of electrical current | Annex C, Table C.2 |
| mm | Millimetre, unit of distance | 3.1.8.6, 5.5.6.1, 5.5.6.2, 5.7.2.3.2, 5.7.7.2, 5.8.5.1, 5.12.2.1, 5.12.2.2, Annex M, Annex N, Table M.5, Table N.1 |
| MTTFD | Mean time to failure dangerous | 5.5.3 |
| N | Newton, unit of force | Annex C, Table C.2, Annex M, Annex N, Figure N.6, N.7, N.8 |
| ND | Non-dominant body side | Annex M, Table M.1 |
| nop | Mean number of annual operations | Annex D, Table D.1 |
| Nr | Factor for the number of persons exposed | Annex C, C.2.1.3.4, Formula C.1 |
| O1 | Probability of occurrence – low | Annex C, C.2.1.3.5.1, Annex E, E.2.1, Tables: C.5, E.1, E.2 |
| O2 | Probability of occurrence – medium | Annex C, C.2.1.3.5.1, Annex E, E.2.1, Tables: C.5, E.1, E.2 |
| O3 | Probability of occurrence – high | Annex C, C.2.1.3.5.1, C.2.1.3.5.2, Annex E, E.2.1, Tables: C.5, E.1, E.2 |
| OS | Operator skill / information | Annex C, C.2.1.4.2, Tables: C.6, C.7 |
| Pmax | Threshold pressure, quasi-static contact | Annex M, Annex N, M.3.4.1, N.2.4.6, Table M.2, Figure N.7, Formulae: M.1, M.6 |
| PT | Threshold pressure, transient contact, a multiplier of quasi-static pressure | Annex M, Annex N, N.2.4.6, Table M.2, Figure N.7, Formula M.5 |
| PSA | Actual maximum pressure, quasi-static contact | Annex N, N.2.4.6, Figure N.7 |
| PTA | Actual maximum pressure, transient contact | Annex N, N.2.4.6, Figure N.7 |
| PTrig | Trigger pressure | Annex N, N.2.4.6 |
| PFH | Average frequency of a dangerous failure per hour | 5.5.2, 5.5.3, Annex D, Table D.1 |
| PFL | Power and force limiting | 4.3.1, 5.5.6.1, 5.7.7, 5.9.4, 5.14.3, 5.14.4.1, 5.14.5.1, 5.14.6, 5.14.6.1, 5.14.6.3, Annex B, Figure B.6, Annex C, Annex I, Annex J, Annex M, Annex N, I.3.2, J.2.1, M.1, M.2, M.3.2, N.1.1, N.2.1, N.4, N.4.3, Table C.1, Figure I.2, |
| PFMD | Pressure and/or Force Measuring Device | Annex M, Annex N, M.3.4, N.1.1, N.1.2, N.2.3, N.2.4, N.2.4.1.1, N.2.4.1.2, N.2.4.2, N.2.4.3, N.2.4.4, N.4.2, N.5, N.5.2, N.5.3, N.5.4, Figures: N.1, N.2, N.3, N.4 |
| PL | Performance Level, denoted as PL a, PL b, PL c, PL d or PL e | 4.1, 5.5.2, 5.5.3, Annex C, C.1, Annex D, Annex E, E.1, E.2, Tables: C.1, D.1, E.1 (footnote), E.2, E.5 |
| PLr | Required Performance Level | 4.1, 5.5.3, Annex C, Annex E, Annex I, C.1, E.1, E.2.1, E.2.3, I.3.2, Tables: C.1, E.1 (footnote), E.2, E.5 |
| PLC | Programmable logic controller | Annex D, Table D.1 |
| PPE | Personal protective equipment | Annex I, I.2.3 |
| Pr | Probability of occurrence of hazardous event, denoted as Pr1, Pr2 or Pr3 | Annex E, E.1, E.2.2, Tables: E.1, E.3, E.4, Formula E.1 |
| PSD | Presence-sensing device | 3.1.10.7, |
| psi | Pounds per square inch, unit of pressure and stress | Annex C, Table C.2 |
| PSPD | Pressure-sensitive protective device | 3.1.10.9 |
| PTFE | Polytetrafluoroethylene | Annex N |
| s | Second, unit of time | 3.1.8.6, 5.5.6.2, 5.5.6.2, 5.7.2.3.2, 7.5.19, Annex C, Table C.2, Annex M, Annex N, Table M.5, Figure N.6, N.7, N.8 |
| S1 | Severity parameter – minor | Annex C, C.2.1.2.1, Annex E, E.1, E.2.1, Tables: C.2, E.1, E.2, E.5 |
| S2 | Severity parameter – moderate | Annex C, C.2.1.2.1, Annex E, E.1, E.2.1, Tables: C.2, E.1, E.2, E.5 |
| S3 | Severity parameter – serious | Annex C, Annex E C.2.1.2.1, E.1, E.2.1; Tables: C.2, E.1, E.2, E.5 |
| S4 | Severity parameter – catastrophic | Annex C, C.2.1.2.1, Annex E, E.1, E.2.1, Tables: C.2, E.1, E.2 |
| Se | Severity, denoted as Se1, Se2, Se3 or Se4 | Annex E, Tables: E.1, E.4 |
| Sh | Contribution to the separation distance attributable to the operator’s change in location until the robot application has stopped | Annex L, Figure L.1, Formulae: L.1, L.2, L.3 |
| Sp | Separation distance | Annex L, Figure L.1, Formula L.1, Figure L.1 |
| Sr | Contribution to the separation distance attributable to the robot application reaction time | Annex L, Figure L.1, Formulae: L.1, L.4, L.5 |
| Ss | Contribution to the separation distance that occurs while the robot application is stopping until it stops | Annex L, Figure L.1, Formulae: L.1, L.6 |
| Shore A | Shore A, unit of measurement of the hardness of a material, i.e., resistance to indentation, obtained by use of a shore durometer | Annex N, Table N.1 |
| SIL | Safety Integrity Level, denoted as SIL 1, SIL 2, or SIL 3 | 4.1, 5.5.2, 5.5.3, Annex C, C.1, Annex D, Annex E, E.1, E.2.2, Tables: C.1, D.1, E.1 (footnote), E.3, E.4 |
| SPE | Sensitive protective equipment | 3.1.10.6, 5.8.4, 5.8.6.2, 5.8.6.3, 5.8.8, 5.12.2.3, Annex B, Figure B.5, Annex J, J.2.3, J.2.8, J.2.9, Figure J.3, J.4, J.5 |
| SR | System robustness | Annex C, C.2.1.3.5.4, Table C.5 |
| SRP/CS or SCS | Safety-related part of the control system | 5.5.1, 5.5.2, 5.5.3, Annex F, Table F.1, Annex J, Figure J.4 |
| SSM | Speed and Separation Monitoring | 4.3.1, 5.14.3, 5.14.4.1, 5.14.5, 5.14.5.1, 5.14.5.2, Annex C, Annex F, Annex L, L.2, L.3, Tables: C.1, F.1, Figure L.1, L.2 |
| t or T | Time | Annex C, Annex L, Table C.3, Figure L.1 |
| T, dt | Time (T) and the differential for the integration variable (dt) | Annex L, Figure L.1, Formulae: L.2, L.3, L.4, L.5, L.6 |
| t0 | Present or current time | Annex L, Figure L.1, Formulae: L.2, L.4, L.5, L.6 |
| Tr | Reaction time of the robot application, excluding the time for the robot application to come to a stop | Annex L, Figure L.1, Formulae: L.2, L.3, L.4, L.5, L.6 |
| Ts | Stopping time of the robot application, from the activation of the stop command until the robot application has stopped | Annex L, Figure L.2, Formulae: L.2, L.3, L.6 |
| Ttrig | Trigger time | Annex N, N.2.4.6 |
| TCP | Tool centre point | 3.1.2.13, 5.2.14, 5.9.6, 7.5.8, Annex L, L.2 |
| TCP/UDP | Transmission control protocol/ user datagram protocol, describing types of ports for transmission or receipt of data | 5.2.16 |
| μ | Reduced mass of the two-body system | Annex M, Formulae: M.2, M.3, M.5, M.6 |
| V | Volt, unit of electric potential or electromotive force | Annex A, Table A.1 |
| V | Velocity | Annex L, Figure L.1, Formulae: L.2, L.4, L.5, L.6 |
| vh | Directed speed of an operator in the safeguarded space in the direction of the moving part of the robot application | Annex L, Figure L.1, Formula L.2 |
| vr | Directed speed of the robot application in the direction of an operator in the safeguarded space | Annex L, Figure L.1, Formulae: L.4, L.5 |
| vs | Speed of the robot application during stopping, from the activation of the stop command until the robot application has stopped | Annex L, Figure L.1, Formula L.6 |
| vrel | Relative speed between moving parts of the robot application and human body region | Annex M, Figure M.2, Formula M.2 |
| vrel,max | Maximum relative speed between moving parts of the robot application and human body region | Annex M, Figure M.4, Formula M.6 |
| VBPD | Vision-Based Protective Devices | 5.8.6.1 |
| ω | Rotational speed | Annex M, Figure M.3 |
| Zd | Position uncertainty of the operator as measured by the PSD, resulting from the accuracy of the sensing system measurement | Annex L, Figure L.1, Formula L.1 |
| Zr | Position uncertainty of the robot application, resulting from the accuracy of the robot application position measurement system | Annex L, Figure L.1, Formula L.1 |
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