robot - kosmia29c-4].pdf · 인증본사: 영국런던위치 ... all architectures and up to sil 3...
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DNV GL GROUP
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OIL & GASMARITIME ENERGY BUSINESS
ASSURANCE
SOFTWARE
RESEARCH & INNOVATION
CYBERNETICS
Global Network
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400offices
100countries
16,000employees
150years
▪ 1864년 노르웨이 오슬로 설립▪ 2013년 독일 GL과 합병▪ 그룹본사 : 노르웨이 오슬로 위치▪ 인증 본사 : 영국 런던 위치
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평가(Assessment)
SUSTAINABLE BUSINESS PERFORMANCE
DNV GL Business Assurance
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글로벌 인증기관
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Top 4세계 4대 T.I.C 기관(매출기준)
Top 3세계 3대 인증기관(매출기준)
People전세계 2,000여명의 전문가네트워크 보유
Partnership전세계 180개국에서 70,000 여 고객사와 파트너십 보유
80,00080개 이상의 인정기구의승인을 받은 80,000여 개의경영시스템 인증
국내 인증기관 평가
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1st
국내외 인증기관 중 최다우수심사원상 9회 수상
1st
2017년 6월 기준 해외 유명인증기관 중 ISO 9001,ISO 14001, OHSAS 18001 최다 인증 발행
AAA2008~2014년 인증기관평가에서 해외 유명 인증기관중최다 최우수 인증기관 평가
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EU Product Directive
▪ A Law of the EU that must be implemented by all EEA member states. The
Directive is binding upon the member state as to the objective to be achieved,
with limited leeway as to how to achieve it.
▪ Intended to remove technical trade barriers by establishing a commonly
accepted level of safety.
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EU Product Directive
▪ European Community (EC):
▪ European Economic Area (EEA):
▪ European Union (EU)
▪ European Land Transport Agreement (LTA)
▪ European Mutual Recognition Agreement (MRA)
▪ 28 EU Countries + Norway, Liechtenstein, Switzerland, Turkey
Machinery
Directive
2006/42/EC
Pressure Equipment Directive
2014/68/EU
ATEX
Directive
2014/34/EU
EMC
Directive
2004/30/EU
Low Voltage
Directive
2014/35/EU
0434
Related EU Directives
Others
Slide 11
• ‘Notified’ by the National or Competent Authority of an EEA member state, for a particular Directive
• National authorities are not obliged, under Community law, to notify all bodies who apply.
• Must remain third parties
• Must remain independent of their clients and other interested parties
• Accreditation of Notified Body is not a requirement (certificates contribute to presumption of conformity through EN 45001)
Notified Body
The marking CE, denoting:
“Communautés Européennes”
confirms that a product complies
with all relevant EU Product Directives except;
CE marking
Interoperability Directive, MED which do not bear CE mark
Covers all machines defined as: “ an assembly of linked parts, at least one of which moves, including actuators and control circuits, for the processing , package, moving of a material”
Machine must be powered by external energy source, i.e. electrical, hydraulic, pneumatic, weight, spring, etc.
▪ Main Directive for most robots but do not require NoBo certificate/involvement for DoC (Declaration of Conformity) by Directive itself.
▪ Some suppliers abuse this self-DoC scheme without full compliance.
▪ Not easy for yard to inspect DoC for all supplied equipment.
– 500 more EN harmonized standard under Machinery Directive
Machinery Directive 2006/42/EC
MD DoC Route
Robot per purpose
• Robot
– Actuated mechanism programmable in two or more axes with a degree of autonomy moving within its environment, to perform intended tasks.
• Industrial robot
– Automatically controlled, reprogrammable multipurpose manipulator, programmable in three or more axes, which can be either fixed in place or mobile for use in industrial automation applications
• Service robot
– Robot that performs useful tasks for humans or equipment excluding industrial automation applications
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Industrial robot
• Industrial robot
– The manipulator, including actuators
– The controller, including teach pendant and any communication interface (hardware and software)
– Hand-guided robots
– The manipulating portions of mobile robots
– Collaborating robots
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Personnel care robot
Personnel care robot is Service Robot that performs
actions contributing directly towards improvement in the quality of life of humans, excluding medial applications
•Mobile servant robot
– Personnel care robot that is capable of travelling to perform serving tasks in interaction with humans, such as handling objects or exchanging information
•Physical assistance robot
– Personnel care robot that physically assists a user to
perform required tasks by providing supplementation or augmentation of personnel capabilities
•Person carrier robot
– Personnel care robot with purpose of transporting
humans to an intended destination
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Standards
• Industrial robot – EN ISO 10218-1, -2
– Does not apply to non-industrial robots, although the safety principles established in ISO 10218 can be utilized for these other robots.
– Examples of non-industrial robot applications include, but are not limited to, undersea, military and space robots, tele-operated manipulators, prosthetics and other aids for the physically impaired, micro-robots (displacement less than 1 mm), surgery or healthcare, and service or consumer products.
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ISO/TS 15066 Collaborating robot
Safety-rated monitored stopHand guidingSpeed and separation monitoring
*Minimum separation distanceAnd Power and force limiting
*Biomechanical limits
Standards
• Personal care robot – EN ISO 13482:2014
Does not apply to
–Faster than 20km/h
–Robot toys
–Water-borne and flying robots
–Industrial robots
–Robots as medical devices
–Military and public forces application
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Robotic battery powered electrical lawnmowers
EN 50636-2-107:2015 - Safety of household and similar appliances - Part 2-107: Particular requirements same with IEC 60335-2-107:2012
EU approach
• Machinery Directive 2006/42/EC covers both industrial and personnel care robots
• Type A, B and C standards
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Type A
Type B
Type C
basic safety standards – Risk Assessment & Reduction
safety distance protective device
electrical safety pneumatic safety guards
machine safety
Functional Safetynoise
EHSRs
EN ISO 12100
EN ISO 14120,EN ISO 13849, others
EN ISO 10218EN ISO 13482
Example Type A, B and C standards
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All directives have to be applied in parallel
▪ In principal if a product is within the scope of other directives at the same time, all directives have to be applied in parallel to fulfill the provisions of each directive.
0434EuP replaced by 2009/125/EC
CE marking step
STEP 1 – Identify the directive(s) and harmonised standards applicable to the product.
▪There are more than 20 directives setting out the product categories requiring CE marking.
▪The essential requirements that products have to fulfill (e.g. safety)
STEP 2 – Verify the product-specific requirements
▪Full compliance of a product to the harmonised standards gives a product the “presumption of conformity”with the relevant essential requirements.
▪The use of harmonised standards remains voluntary.
STEP 3 – Identify whether an independent conformity assessment is required from a NoBo
▪Each directive covering your product specifies whether an authorised third party (Notified Body)must be involved in the conformity assessment procedure necessary for CE marking
STEP 4 – Test the product and check its conformity
▪Testing the product and checking its conformity to the EU legislation (Conformity Assessment Procedure) is the responsibility of the manufacturer.
STEP 5 – Draw up and keep available the required technical documentation
STEP 6 – Affixation of the CE marking to your product and EC Declaration of Conformity
Safety related control system – Functional Safety
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• Freedom from unacceptable risk – IEC 61058
• Avoid Systematic Failure – SW and Process
• Reduce Random Hardware Fault to acceptable level – HW
• Dealing with SIL, PL, ASIL
• PL is popular in the robot world
Functional Safety in Robot
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Safety of Machinery Application independent
EN ISO 12100
Safety of machinery General principles for design
Risk assessment and risk reduction
EN ISO 13849-1
Safety of machinery
Safety-related parts of control systems Part 1: General principles for design
EN IEC 62061
Safety of machinery - Functional safety of safety-related electrical, electronic and programmable electronic control systems
IEC 61508
Functional safety of electrical/electronic/programmable electronic safety-related systems
compatible
Functional Safety
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Term MIL-STD-882DIEC61508, IEC61511,
ISO13489EN50129/EN51028 ISO26262
Safety
Freedom from those conditions that can cause death, injury,occupational illness, damage to or loss of equipment or property, or damage to the environment.
freedom from unacceptable risk
freedom from unacceptable levels of risk of harm
absence of unreasonable risk
Hazard
Any real or potential condition that can cause injury, illness, or death to personnel; damage to or loss of a system, equipment or property; ordamage to the environment
potential source of harm a condition that could lead to an accident
potential source of harm caused by malfunctioning behaviour of the item
Harm Not specified.
physical injury or damage to the health of people or damage to property or the environment
Not specified.
physical injury or damage to health of persons
Risk Not specified.
combination of the probability of occurrence of harm and the severity of that harm
the combination of the frequency, or probability, and the consequence of a specified hazardous event
combination of the probability of occurrence of harm and the severity of that harm
IEC 62061 and ISO 13849-1
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Technology implementing the safety-related control function(s)
ISO 13849-1 IEC 62061
A Non-electrical, e.g. hydraulics X Not covered
B Electromechanical, e.g. relays, and/or non complex electronics
Restricted to designated architectures a
and up to PL = eAll architectures and up to SIL 3
C Complex electronics, e.g. programmable
Restricted to designated architectures a
and up to PL = dAll architectures and up to SIL 3
D A combined with B Restricted to designated architectures a
and up to PL = eX c
E C combined with B Restricted to designated architectures (see Note 1) and up to PL = d
All architectures and up to SIL 3
F C combined with A, or C combined with A and B
X b X c
X indicates that this item is dealt with by the International Standard shown in the column heading.
a Designated architectures are defined in 6.2 in order to give a simplified approach for quantification of performance level.b For complex electronics: use designated architectures according to this part of ISO 13849 up to PL = d or any architecture according to IEC 62061.c For non-electrical technology, use parts in accordance with this part of ISO 13849 as subsystems.
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Safety functions and PLs in the standards
• Industrial robot– EN ISO 10218-1 requires PL D and category 3 structure (shall be applied to cooperative robots)
• Major safety functions with PL D
- Emergency stop
- Protective stop (Comm. loss, enabling device input, mode change, etc)
- Speed control (monitoring, reducing, reduced when Teaching, etc)
- Singularity protection (warning, reducing speed =<250mm/s)
- Power limit, momentum limit, torque limit, position limit, etc
• General robot controls example