ISO INTERNATIONAL STANDARD 9946 Second edition 1999-04-01 Manipulating industrial robots Presentation of characteristics Robots manipulateurs industriels Présentation des caractéristiques ISO Reference number ISO 9946:1999(E) se with Not for Resale ISO 9946:1999(E) Contents 1 Scope 2 Normative references 3Definition 4 Units 5 Characteristics 5.1General 5.2 Application .. 5.3 Power source 5.4 Mechanical structure. 5.5 Working space .. 5.6 Coordinate system. 5.7 External dimensions and mass . 5.8 Base mounting surface 5.9 Mechanical interface. 5.10Control.. 5.11 Task programming and program loading.. 5.11.1 Examples of programming methods . 5.11.2 Examples of program loading means.. 5.12 Environment 5.13Load 5.14 Velocity .. 5.15 Resolution @ISO1999 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from the publisher. International OrganizationforStandardization Case postale 56 . CH-1211 Geneve 20 · Switzerland Internet [email protected] Printed in Switzerland Not for Resale @ ISO ISO9946:1999(E) 5.16 Performance criteria.... 5.17 Safety. .10 Annex A (informative) Recommended format of presentation for robot specifications. ili T by IHS under lic ted without license from IHS Not for Resale