{"id":38552,"date":"2023-01-04T16:36:09","date_gmt":"2023-01-04T15:36:09","guid":{"rendered":"https:\/\/www.gt-engineering.it\/?post_type=normativa_tecnica&#038;p=38552"},"modified":"2025-07-18T11:29:18","modified_gmt":"2025-07-18T10:29:18","slug":"5-12-limitation-des-axes","status":"publish","type":"normativa_tecnica","link":"https:\/\/www.gt-engineering.it\/fr\/reglements-techniques\/normes-en-iso\/en-iso-10218-1-exigences-de-securite-pour-les-robots-industriels\/5-12-limitation-des-axes\/","title":{"rendered":"5.7 Limitation du mouvement du robot"},"content":{"rendered":"\n\n    \n        <section\n            data-name=\"Contenuto testuale con immagine\"\n            class=\"bow-gte-testo-media u-spacer-base\"\n            id=\"\"\n        >\n            \n<div class=\"o-text-media px-side-spacer sm:px-side-spacer-sm lg:px-side-spacer-tablet 2xl:px-side-spacer-desktop flex flex-wrap items-start md:block\">\n\n    \n        \n                    <div\n                class=\"h-auto mb-6 md:mb-4 lg:mb-8 xl:mb-9 float-left mr-6 md:mr-4 lg:mr-8 xl:mr-9  overflow-hidden shadow-content-image w-full md:w-1\/3\"\n            >\n                \r\n\r\n    \r\n        \r\n            \r\n                \r\n                    <picture\r\n                        class=\"\"\r\n                                            >\r\n                                                                                                        <source\r\n                                media=\"(max-width: 150px)\"\r\n                                width=\"150\"\r\n                                height=\"150\"\r\n                                srcset=\"https:\/\/www.gt-engineering.it\/wp-content\/uploads\/2023\/01\/PAN-PR-3DH-DCS-1.jpg-1-150x150.webp\"\r\n                                type=\"image\/webp\"\r\n                            \/>\r\n                                                                                <source\r\n                                media=\"(max-width: 300px)\"\r\n                                width=\"300\"\r\n                                height=\"200\"\r\n                                srcset=\"https:\/\/www.gt-engineering.it\/wp-content\/uploads\/2023\/01\/PAN-PR-3DH-DCS-1.jpg-1-300x200.webp\"\r\n                                type=\"image\/webp\"\r\n                            \/>\r\n                                                                                <source\r\n                                media=\"(max-width: 600px)\"\r\n                                width=\"600\"\r\n                                height=\"400\"\r\n                                srcset=\"https:\/\/www.gt-engineering.it\/wp-content\/uploads\/2023\/01\/PAN-PR-3DH-DCS-1.jpg-1.webp\"\r\n                                type=\"image\/webp\"\r\n                            \/>\r\n                                                                                <source\r\n                                media=\"(max-width: 600px)\"\r\n                                width=\"600\"\r\n                                height=\"400\"\r\n                                srcset=\"https:\/\/www.gt-engineering.it\/wp-content\/uploads\/2023\/01\/PAN-PR-3DH-DCS-1.jpg-1.webp\"\r\n                                type=\"image\/webp\"\r\n                            \/>\r\n                                                                            <img\r\n                            class=\"a-image transparent border-image h-auto  w-full\"\r\n                                                        srcset=\"https:\/\/www.gt-engineering.it\/wp-content\/uploads\/2023\/01\/PAN-PR-3DH-DCS-1.jpg-1.webp\"\r\n                                                        title=\"PAN-PR-3DH-DCS-1.jpg\"\r\n                                                        type=\"image\/webp\"\r\n                        \/>\r\n                    <\/picture>\r\n\r\n                \r\n\r\n                    \r\n    \r\n            <\/div>\n        \n                    <div class=\"relative w-full\">\n                \n<div class=\"a-text font-text text-base normal mt-8 first:mt-0 space-y-4\">\n    <blockquote><p><em>[10218-1: 2025]. <strong>5.7.1 G\u00e9n\u00e9ralit\u00e9s.<\/strong> Un dispositif permettant de limiter le mouvement du robot \u00e0 une amplitude inf\u00e9rieure \u00e0 l\u2019espace maximal doit \u00eatre pr\u00e9vu.<\/em><\/p><\/blockquote>\n<p>Cette fonction devient n\u00e9cessaire lorsque l&rsquo;espace de fonctionnement du robot est plus grand que l&rsquo;espace prot\u00e9g\u00e9, c&rsquo;est-\u00e0-dire lorsqu&rsquo;il y a un risque que le robot se heurte \u00e0 quelque chose.<\/p>\n<p>Le robot ne doit pas pouvoir se d\u00e9placer au-del\u00e0 de la position des dispositifs de limitation, ou il doit se r\u00e9tracter en toute s\u00e9curit\u00e9 d\u00e8s qu&rsquo;il les atteint.<\/p>\n<p>Les dispositifs de limitation doivent \u00e9galement \u00eatre en mesure d&rsquo;arr\u00eater le robot \u00e0 l&rsquo;int\u00e9rieur de l&rsquo;espace prot\u00e9g\u00e9 dans les conditions suivantes<\/p>\n<p>1. s&rsquo;il se d\u00e9place \u00e0 son poids maximal transportable<br \/>\n2. s&rsquo;il se d\u00e9place \u00e0 la vitesse maximale<br \/>\n3. s&rsquo;il se trouve dans la position la plus d\u00e9favorable<br \/>\n4. s&rsquo;il emprunte la trajectoire la plus d\u00e9favorable.<\/p>\n<p>Les dispositifs limiteurs doivent \u00eatre con\u00e7us, test\u00e9s et d\u00e9termin\u00e9s conform\u00e9ment \u00e0 la norme ISO 13849-1 ou \u00e0 la norme IEC 62061 ou IEC 61508.<\/p>\n<p>Les dispositifs en question peuvent \u00eatre <strong>m\u00e9caniques, \u00e9lectrom\u00e9caniques<\/strong> ou ex\u00e9cut\u00e9s par <strong>logiciel.<\/strong><\/p>\n<p>Avec la nouvelle \u00e9dition 2025, la pr\u00e9sence de cette fonction d\u00e9pend <strong>de la classe du Robot.<\/strong><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<\/div>            <\/div>\n        \n        \n                <div class=\"clear-both\"><\/div>\n        \n\n    <\/div>\n        <\/section>\n\n    \n\n\n\n\n    \n        <section\n            data-name=\"Contenuto testuale con immagine\"\n            class=\"bow-gte-testo-media u-spacer-base\"\n            id=\"\"\n        >\n            \n<div class=\"o-text-media px-side-spacer sm:px-side-spacer-sm lg:px-side-spacer-tablet 2xl:px-side-spacer-desktop flex flex-wrap items-start md:block\">\n\n    \n                    <div class=\"mb-6 relative w-full md:mb-4 lg:mb-8 xl:mb-9\">\n                \n        <div                class=\"m-headings\"\n            >\n    \n    \n<h2 class=\"a-heading text-left text-primary font-heading text-2xl lg:text-3xl xl:text-4xl font-normal mt-2 first:mt-0\">\n                    Limiter m\u00e9caniquement l&rsquo;espace    <\/h2>\n        <\/div>\n                <\/div>\n        \n        \n                    <div class=\"relative w-full\">\n                \n<div class=\"a-text font-text text-base normal mt-8 first:mt-0 space-y-4\">\n    <p>En principe, lorsqu&rsquo;aucun logiciel certifi\u00e9 n&rsquo;est fourni pour limiter l&rsquo;espace de manipulation du robot, des moyens doivent \u00eatre pr\u00e9vus pour installer des blocs m\u00e9caniques ou des verrouillages sur les axes du robot, plus pr\u00e9cis\u00e9ment au moins sur les trois axes ayant le plus grand rayon de manipulation.<\/p>\n<p>Les blocages m\u00e9caniques sur les axes limitent \u00ab\u00a0physiquement\u00a0\u00bb et \u00ab\u00a0brutalement\u00a0\u00bb l&rsquo;espace de manipulation du robot.<\/p>\n<p>En fonctionnement normal, le robot ne heurtera pas les blocs m\u00e9caniques, mais cela se produira en cas de d\u00e9faillance.<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<\/div>            <\/div>\n        \n        \n                <div class=\"clear-both\"><\/div>\n        \n\n    <\/div>\n        <\/section>\n\n    \n\n\n\n\n    \n        <section\n            data-name=\"Contenuto testuale con immagine\"\n            class=\"bow-gte-testo-media u-spacer-base\"\n            id=\"\"\n        >\n            \n<div class=\"o-text-media px-side-spacer sm:px-side-spacer-sm lg:px-side-spacer-tablet 2xl:px-side-spacer-desktop flex flex-wrap items-start md:block\">\n\n    \n                    <div class=\"mb-6 relative w-full md:mb-4 lg:mb-8 xl:mb-9\">\n                \n        <div                class=\"m-headings\"\n            >\n    \n    \n<h2 class=\"a-heading text-left text-primary font-heading text-2xl lg:text-3xl xl:text-4xl font-normal mt-2 first:mt-0\">\n                    Limitation \u00e9lectrom\u00e9canique de l&rsquo;espace    <\/h2>\n        <\/div>\n                <\/div>\n        \n        \n                    <div class=\"relative w-full\">\n                \n<div class=\"a-text font-text text-base normal mt-8 first:mt-0 space-y-4\">\n    <p>Cette m\u00e9thode consiste \u00e0 installer des verrouillages sur les axes du robot.<\/p>\n<p>Lorsque l&rsquo;un des verrouillages est activ\u00e9, il commande l&rsquo;arr\u00eat du robot.<\/p>\n<p>Il est \u00e9vident que ces dispositifs doivent \u00eatre actionn\u00e9s par s\u00e9curit\u00e9 et que leur syst\u00e8me de s\u00e9curit\u00e9 doit \u00eatre mis en \u0153uvre conform\u00e9ment \u00e0 la section 5.4.<\/p>\n<p>&nbsp;<\/p>\n<\/div>            <\/div>\n        \n        \n                <div class=\"clear-both\"><\/div>\n        \n\n    <\/div>\n        <\/section>\n\n    \n\n\n\n\n    \n        <section\n            data-name=\"Contenuto testuale con immagine\"\n            class=\"bow-gte-testo-media u-spacer-base\"\n            id=\"\"\n        >\n            \n<div class=\"o-text-media px-side-spacer sm:px-side-spacer-sm lg:px-side-spacer-tablet 2xl:px-side-spacer-desktop flex flex-wrap items-start md:block\">\n\n    \n                    <div class=\"mb-6 relative w-full md:mb-4 lg:mb-8 xl:mb-9\">\n                \n        <div                class=\"m-headings\"\n            >\n    \n    \n<h2 class=\"a-heading text-left text-primary font-heading text-2xl lg:text-3xl xl:text-4xl font-normal mt-2 first:mt-0\">\n                    Limiter l&rsquo;espace avec un logiciel certifif\u00e9    <\/h2>\n        <\/div>\n                <\/div>\n        \n        \n                    <div class=\"relative w-full\">\n                \n<div class=\"a-text font-text text-base normal mt-8 first:mt-0 space-y-4\">\n    <p>Une m\u00e9thode pour limiter l&rsquo;espace du robot consiste \u00e0 utiliser un logiciel de s\u00e9curit\u00e9 certifi\u00e9.<\/p>\n<p>Ce logiciel d\u00e9finit des formes g\u00e9om\u00e9triques ou des plans qui peuvent \u00eatre utilis\u00e9s par le robot :<\/p>\n<ul>\n<li>Ne permettent pas au robot de quitter les zones programm\u00e9es ou<\/li>\n<li>Ne permettent pas au robot d&rsquo;entrer dans les zones programm\u00e9es.<\/li>\n<\/ul>\n<p>Cette m\u00e9thode est la solution privil\u00e9gi\u00e9e pour d\u00e9limiter un \u00ab\u00a0espace confin\u00e9\u00a0\u00bb du robot.<\/p>\n<p>Si le robot doit s&rsquo;arr\u00eater dans l&rsquo;une des zones programm\u00e9es par le logiciel, il doit n\u00e9cessairement se d\u00e9placer \u00e0 vitesse r\u00e9duite pendant qu&rsquo;il se trouve dans cette zone.<\/p>\n<\/div>            <\/div>\n        \n        \n                <div class=\"clear-both\"><\/div>\n        \n\n    <\/div>\n        <\/section>\n\n    \n","protected":false},"excerpt":{"rendered":"<p>Cette fonction devient n\u00e9cessaire lorsque l&rsquo;espace de fonctionnement du robot est plus grand que l&rsquo;espace prot\u00e9g\u00e9, c&rsquo;est-\u00e0-dire lorsqu&rsquo;il y a un risque que le robot se heurte \u00e0 quelque chose.<\/p>\n","protected":false},"author":182,"featured_media":38549,"parent":38513,"menu_order":6,"template":"","meta":{"_acf_changed":false,"footnotes":""},"normative-tecniche":[164],"class_list":["post-38552","normativa_tecnica","type-normativa_tecnica","status-publish","has-post-thumbnail","hentry","tipologia_normativa-normes-en-iso"],"acf":{"sottotitolo":"","allegati":null},"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.2 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>5.7 Limitation du mouvement du robot - Gt-Engineering<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.gt-engineering.it\/fr\/reglements-techniques\/normes-en-iso\/en-iso-10218-1-exigences-de-securite-pour-les-robots-industriels\/5-12-limitation-des-axes\/\" \/>\n<meta property=\"og:locale\" content=\"fr_FR\" \/>\n<meta property=\"og:type\" 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