ISO 9946:1999

Overview

ISO 9946:1999 - Manipulating industrial robots - Presentation of characteristics defines how manufacturers should present robot specifications. It establishes a standardized format and content requirements so users can understand, compare and select manipulating industrial robots. The standard covers documentation of mechanical, electrical, control, environmental and performance characteristics, and specifies preferred units (e.g., mm, kg, s, N, m/s).

Key topics and requirements

ISO 9946 requires manufacturers to provide clear, consistent information about robot characteristics, including:

• Application: intended primary uses (handling, welding, painting, machining, inspection, etc.).
• Power source: types (electrical, hydraulic, pneumatic), breakdown by function and maximum power consumption including permissible ranges and fluctuations.
• Mechanical structure: robot type (rectangular, cylindrical, polar, articulated), number of axes and outline drawings showing axis motions.
• Working space: illustrated boundaries of the wrist reference point, alignment pose and centre of working space, with projections in base coordinate planes and tabulated secondary-axis limits.
• Coordinate system: base and mechanical interface coordinate systems in accordance with ISO 9787 (any deviations declared).
• External dimensions & mass: dimensions (mm) and mass (kg) for mechanical structure and control unit.
• Base mounting & mechanical interface: mounting surface drawings, permissible orientations and mechanical interface details (reference to ISO 9409-1 where applicable).
• Control & programming: control unit type, memory capacity, motion control methods (PTP, CP), path interpolation, number of controlled axes, pendant/operator controls, I/O, data and network interfaces, and program loading means.
• Environment: operating and storage limits (temperature, humidity, altitude, EMI, contaminants, vibration).
• Load, velocity & resolution: rated load (mass, thrust, torque), velocity specifications under rated load, and axis resolution for servo-controlled axes.
• Performance criteria & safety: provision of guaranteed performance criteria per ISO 9283 (pose accuracy/repeatability, path accuracy, cornering deviations, etc.) and compliance with ISO 10218 or other relevant safety standards.

Annex A provides a recommended format for robot specification presentation; Annex B describes performance symbols (from ISO 9283).

Applications and users

ISO 9946 is practical for:

• Robot manufacturers preparing specification sheets and datasheets.
• System integrators and OEMs comparing robot models for applications (welding, painting, machining, assembly, handling).
• Purchasing and engineering teams assessing compatibility (mechanical interfaces, control and power requirements).
• Certification bodies and test labs verifying documented characteristics against standards.

Using ISO 9946 improves clarity, interoperability and procurement efficiency by standardizing how robot characteristics are reported.

Related standards

• ISO 8373 - Vocabulary for manipulating industrial robots
• ISO 9283 - Performance criteria and test methods (referenced for guaranteed criteria)
• ISO 9409-1 - Mechanical interfaces (plates)
• ISO 9787 - Coordinate systems and motion nomenclatures
• ISO 10218 - Robot safety requirements

Keywords: ISO 9946:1999, manipulating industrial robots, presentation of characteristics, robot specifications, working space, performance criteria, mechanical interface, robot control, ISO 9283, ISO 10218.