oSIST prEN ISO 3991:2023

SLOVENSKI STANDARD
oSIST prEN ISO 3991:2023
01-marec-2023
Kmetijski stroji - Robotski sistemi za krmljenje - Varnost (ISO/DIS 3991:2023)
Agricultural machinery - Robotic feed systems - Safety (ISO/DIS 3991:2023)
Landmaschinen - Roboter-Fütterungssysteme - Sicherheit (ISO/DIS 3991:2023)
Matériel agricole - Systèmes d'alimentation robotisés - Sécurité (ISO/DIS 3991:2023)
Ta slovenski standard je istoveten z: prEN ISO 3991
ICS:
65.060.99 Drugi kmetijski stroji in Other agricultural machines
oprema and equipment
oSIST prEN ISO 3991:2023 en,fr,de
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

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oSIST prEN ISO 3991:2023

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oSIST prEN ISO 3991:2023
DRAFT INTERNATIONAL STANDARD
ISO/DIS 3991
ISO/TC 23/SC 3 Secretariat: DIN
Voting begins on: Voting terminates on:
2023-01-03 2023-03-28
Agricultural machinery — Robotic feed systems — Safety
ICS: 65.060.99
This document is circulated as received from the committee secretariat.
THIS DOCUMENT IS A DRAFT CIRCULATED
FOR COMMENT AND APPROVAL. IT IS
ISO/CEN PARALLEL PROCESSING
THEREFORE SUBJECT TO CHANGE AND MAY
NOT BE REFERRED TO AS AN INTERNATIONAL
STANDARD UNTIL PUBLISHED AS SUCH.
IN ADDITION TO THEIR EVALUATION AS
BEING ACCEPTABLE FOR INDUSTRIAL,
TECHNOLOGICAL, COMMERCIAL AND
USER PURPOSES, DRAFT INTERNATIONAL
STANDARDS MAY ON OCCASION HAVE TO
BE CONSIDERED IN THE LIGHT OF THEIR
POTENTIAL TO BECOME STANDARDS TO
WHICH REFERENCE MAY BE MADE IN
Reference number
NATIONAL REGULATIONS.
ISO/DIS 3991:2023(E)
RECIPIENTS OF THIS DRAFT ARE INVITED
TO SUBMIT, WITH THEIR COMMENTS,
NOTIFICATION OF ANY RELEVANT PATENT
RIGHTS OF WHICH THEY ARE AWARE AND TO
PROVIDE SUPPORTING DOCUMENTATION. © ISO 2023

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oSIST prEN ISO 3991:2023
ISO/DIS 3991:2023(E)
DRAFT INTERNATIONAL STANDARD
ISO/DIS 3991
ISO/TC 23/SC 3 Secretariat: DIN
Voting begins on: Voting terminates on:

Agricultural machinery — Robotic feed systems — Safety
ICS: 65.060.99
This document is circulated as received from the committee secretariat.
COPYRIGHT PROTECTED DOCUMENT
THIS DOCUMENT IS A DRAFT CIRCULATED
FOR COMMENT AND APPROVAL. IT IS
© ISO 2023
ISO/CEN PARALLEL PROCESSING
THEREFORE SUBJECT TO CHANGE AND MAY
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
NOT BE REFERRED TO AS AN INTERNATIONAL
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WHICH REFERENCE MAY BE MADE IN
Reference number
Email: copyright@iso.org
NATIONAL REGULATIONS.
Website: www.iso.org ISO/DIS 3991:2022(E)
RECIPIENTS OF THIS DRAFT ARE INVITED
Published in Switzerland
TO SUBMIT, WITH THEIR COMMENTS,
NOTIFICATION OF ANY RELEVANT PATENT
RIGHTS OF WHICH THEY ARE AWARE AND TO
ii
  © ISO 2023 – All rights reserved
PROVIDE SUPPORTING DOCUMENTATION. © ISO 2022

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oSIST prEN ISO 3991:2023
ISO/DIS 3991:2022(E)
Contents Page
Foreword .v
Introduction . vi
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 3
4 Safety requirements and / or protective measures . 6
4.1 General . 6
4.2 Storage of feed . . 7
4.2.1 Feed storage devices . 7
4.2.2 Feed storage area . 8
4.3 Loading . 8
4.4 Checking of the mixing . 8
4.5 Travelling . 8
4.5.1 Area of travelling and pathways . 8
4.5.2 Safety distance along the route . 8
4.6 MFU . . 10
4.6.1 General . 10
4.6.2 Obstacle protective system . 10
4.6.3 Braking system . 14
4.6.4 Audible alarm .15
4.6.5 Visual alarm . .15
4.7 Distributing . 15
4.8 Pushing feed/Cleaning . 15
4.9 Electrical safety . 16
4.9.1 General . 16
4.9.2 Battery charging . 16
4.10 Controls . 16
4.10.1 Location . 16
4.10.2 Controls for operational modes . 16
4.11 Operational modes . 17
4.11.1 General . 17
4.11.2 Manual mode . . 17
4.11.3 Autonomous mode . 18
4.11.4 Semi-Autonomous Robotic feed system . 18
4.11.5 Service mode . 18
4.12 Service and Maintenance . 18
4.13 Emergency stop devices . 19
4.14 Noise reduction as safety requirement . 19
4.15 Fire and explosion . 19
5 System integration . .19
5.1 General . 19
5.2 Layout design . 19
5.3 Zones. 20
5.3.1 Common zone .20
5.3.2 Caution zone . 20
5.3.3 Restricted zone . 20
6 Information for use .21
6.1 Operators manual . 21
6.1.1 General . 21
6.2 Layout . 21
6.3 Marking . 22
6.3.1 General .22
iii
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oSIST prEN ISO 3991:2023
ISO/DIS 3991:2022(E)
6.3.2 Safety signs . 22
Annex A (informative) Examples of Robotic feed system .24
Annex B (informative) List of significant hazards .27
Annex C (normative) Safety functions of RFS requiring functional safety analysis .30
Annex ZA (informative) Relationship between this European Standard and the Essential
Requirements of EU Directive 2006/42/EC amended by Directive 2009/127/EC
aimed to be covered . .32
Bibliography .35
iv
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oSIST prEN ISO 3991:2023
ISO/DIS 3991:2022(E)
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out
through ISO technical committees. Each member body interested in a subject for which a technical
committee has been established has the right to be represented on that committee. International
organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.
ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the
different types of ISO documents should be noted. This document was drafted in accordance with the
editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/directives).
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of
any patent rights identified during the development of the document will be in the Introduction and/or
on the ISO list of patent declarations received (see www.iso.org/patents).
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and
expressions related to conformity assessment, as well as information about ISO's adherence to
the World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT), see
www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 23, Tractors and machinery for
agriculture and forestry, Subcommittee SC 3, Safety and comfort.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www.iso.org/members.html
v
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oSIST prEN ISO 3991:2023
ISO/DIS 3991:2022(E)
Introduction
This document is a type-C standard as specified in EN ISO 12100: 2010.
This document is of relevance, in particular, for the following stakeholder groups representing the
market players with regard to machinery safety:
— machine manufacturers (small, medium and large enterprises);
— health and safety bodies (regulators, accident prevention organizations, market surveillance etc.)
Others can be affected by the level of machinery safety achieved with the means of the document by the
above-mentioned stakeholder groups:
— machine users/employers (small, medium and large enterprises);
— machine users/employees (e.g. trade unions, organizations for people with special needs);
— service providers, e.g. for maintenance (small, medium and large enterprises);
— consumers (in case of machinery intended for use by consumers).
The above-mentioned stakeholder groups have been given the possibility to participate at the drafting
process of this document.
The machinery concerned and the extent to which hazards, hazardous situations and events are
covered are indicated in the scope of this document.
When provisions of this type C standard are different from those which are stated in type A or B
standards, the provisions of this type C standard take precedence over the provisions of the other
standards, for machines that have been designed and built according to the provisions of this type C
standard.
The purpose of this standard is to establish specific design principles for semi-autonomous and
autonomous functions of Robotic Feed Systems (RFS) agricultural machinery. The application of other
Type C standards which deal with relevant significant hazards to the machinery covered in the scope of
this standard is explained in clause 4.
The requirements of this document concern designers, manufacturers and their authorized
representatives of feed systems. This document also includes information to be provided by the
manufacturer to the user.
vi
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oSIST prEN ISO 3991:2023
DRAFT INTERNATIONAL STANDARD ISO/DIS 3991:2022(E)
Agricultural machinery — Robotic feed systems — Safety
1 Scope
This International Standard specifies the safety requirements and their verification for the design
and construction of Robotic Feed Systems (RFS) (see Annex A - Examples of Robotic feed system)
which distribute feed and perform at least one of the following functions without the need of human
interaction:
— storing of feed;
— loading of mobile feed unit (MFU);
— mixing;
— travelling;
— cleaning (residual feed);
— pushing feed.
Additionally, it provides the type of information, to be provided by the manufacturer, on safe working
practices (including information about residual risks).
This document is for feeding livestock (e.g. cows, sheep, pigs).
When the RFS is intended to be used for other kind of animals other than livestock, the manufacturer
shall perform an additional risk assessment for potential risks caused to this kind of animals.
This document does not apply to:
— Systems designed to be used at a fixed location and that discharge feed at a remote location (e.g.
chain conveyor feed systems, belt conveyor feed systems or liquid feed systems);
— Tractors;
— Systems designed for field application.
This document deals with all the significant hazards, hazardous situations and events relevant to
Robotic Feed Systems (RFS) see Annex B, when they are used as intended and under the conditions
of misuse, which are reasonably foreseeable, by the manufacturer as listed in clause 4, except for the
hazards arising from:
— Internal combustion engines of Robotic Feed Systems (RFS)
NOTE Hazards related to internal combustion engines of robotic feed systems (e.g. exhaust emissions in
buildings) will be considered in separate standards
Environmental aspects (except noise) have not been considered in this standard.
This document is not applicable to feed systems manufactured before the date of its publication.
2 Normative references
The following documents, in whole or in part, are normatively referenced in this document and are
indispensable for its application. For dated references, only the edition cited applies. For undated
references, the latest edition of the referenced document (including any amendments) applies.
1
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oSIST prEN ISO 3991:2023
ISO/DIS 3991:2022(E)
EN 703:2021, Agricultural machinery – Silage loading, mixing and/or chopping and distributing machines
– Safety
EN 1175:2020, Safety of industrial trucks – Electrical/ electronic requirements
EN-ISO 3691-4:2020, Industrial trucks – Safety requirements and verification -Part 4: Driverless industrial
trucks and their systems
EN-ISO 4254-1:2015, Agricultural machinery – Safety – Part 1: General requirements
EN-ISO 7731:2008, Ergonomics – Danger signals for public and work areas – Auditory danger signals
ISO 11684:1995, Tractors, machinery for agriculture and forestry, powered lawn and garden equipment —
Safety signs and hazard pictorials — General principles
EN-ISO 12100:2010, Safety of machinery – General principles for design – Risk assessment and risk
reduction
EN-ISO 13849-1:2015, Safety of machinery – Safety-related parts of control systems – Part 1: General
principles for design
EN-ISO 13849-2:2012, Safety of machinery - Safety-related parts of control systems - Part 2: Validation
EN-ISO 13850:2015, Safety of machinery – Emergency stop function – Principles for design
EN-ISO 13856-2:2013, Safety of machinery – Pressure-sensitive protective devices – Part 2: General
principles for design and testing of pressure-sensitive edges and pressure-sensitive bars
EN-ISO 13856-3:2013, Safety of machinery – Pressure-sensitive protective devices – Part 3: General
principles for design and testing of pressure-sensitive pressure sensitive protective devices, plates, wires
and similar devices
EN-ISO 13857:2008, Safety of machinery – Safety distances to prevent caution zones being reached by
upper and lower limbs
EN-ISO 14119:2013, Safety of machinery – Interlocking devices associated with guards – Principles for
design and selection
EN-ISO 14120:2015, Safety of machinery – Guards – General requirements for the design and construction
of fixed and movable guards
ISO 15817:2012, Earth-moving machinery — Safety requirements for remote operator control systems
EN-ISO 16230-1:2015, Agricultural machinery and tractors – Safety of higher voltage electrical and
electronic components and systems – Part 1: General requirements
E N-I S O 25119 -1:2018/A 1: 2020, Tractors and machinery for agriculture and forestry – Safety-related parts
of control systems – Part 1: General principles for design and development
EN-ISO 25119-2:2019, Tractors and machinery for agriculture and forestry – Safety-related parts of control
systems – Part 2: Concept phase
E N-I S O 25119 -3:2018/A 1: 2020, Tractors and machinery for agriculture and forestry – Safety-related parts
of control systems – Part 3: Series development, hardware and software
E N-I S O 25119 - 4:2018/A 1: 2020, Tractors and machinery for agriculture and forestry – Safety-related parts
of control systems – Part 4: Production, operation, modification and supporting processes
EN-IEC 60204-1:2018, Safety of machinery – Electrical equipment of machines – Part 1: general
requirements
IEC 61000-6-2:2016, Electromagnetic compatibility (EMC) – Part 6-2: Generic standards - Immunity
standard for industrial environments
2
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oSIST prEN ISO 3991:2023
ISO/DIS 3991:2022(E)
IEC 61000-6-4:2018, Electromagnetic compatibility (EMC) – Part 6-4: Generic standards – Emission
standard for industrial environments
EN-IEC 61496-1:2020, Safety of machinery – Electro-sensitive protective equipment – Part 1: General
requirements and tests
EN-IEC 61496-2:2020, Safety of machinery – Electro-sensitive protective equipment – Part 2: Particular
requirements for equipment using active opto-electronic protective devices
EN-IEC 62485-6:2021, Safety requirements for secondary batteries and battery installations – Part 6:
Lithium-ion batteries for traction applications
EN-IEC 62619:2017, Secondary cells and batteries containing alkaline or other non-acid electrolytes –
Safety requirements for secondary lithium cells and batteries, for use in industrial applications
3 Terms and definitions
For the purpose of this document the following terms and definitions apply:
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— IEC Electropedia: available at https:// www .electropedia .org/
— ISO Online browsing platform: available at https:// www .iso .org/ obp
3.1
Robotic Feed System (RFS)
system consisting of various machinery performing the necessary functions to feed livestock. The
robotic feed system is either semi-autonomous (see 3.1.1) or autonomous (see 3.1.2)
3.1.1
semi-autonomous feed system
system comprising feed robotic device(s) (see 3.2.1) and any machinery, equipment, devices, or sensors
supporting the feed robotic device(s) performing its feed task
3.1.2
autonomous feed system
system comprising feed robot(s) (see 3.2.2) and any machinery, equipment, devices, or sensors
supporting the feed robot performing its feed task
3.2
Mobile Feed Unit (MFU)
Specific mobile device used to deploy the feed to the livestock, which is either a feed robotic device or a
feed robot as part of a Robotic Feed System (RFS)
3.2.1
feed robotic device
actuated programmable mechanism fulfilling the characteristics of feed robot but operating at a semi-
autonomous level of autonomy. Example: Hanging MFU
3.2.2
feed robot
actuated programmable mechanism operating at an autonomous level of autonomy
3.3
autonomy

3
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oSIST prEN ISO 3991:2023
ISO/DIS 3991:2022(E)
3.3.1
level of autonomy
combinations of functions and modes described by the terms manual non-automated, partially
automated, semi-autonomous and autonomous
[1]
[SOURCE: ISO/DIS 18497-1 ]
Note 1 to entry: definition will be deleted once ISO 18497-1 is published
3.3.2
autonomous
automated machine functions that operate in autonomous mode during all of the machine’s operating
cycle
[1]
[SOURCE: ISO/DIS 18497-1 ]
Note 1 to entry: definition will be deleted once ISO 18497-1 is published
3.3.3
automated
the technique, method, or system of operating and controlling machine function(s) by automatic means
[1]
[SOURCE: ISO/DIS 18497-1 ]
Note 1 to entry: definition will be deleted once ISO 18497-1 is published
3.3.4
automatic
a process or part of a process when machine functions follow defined rules
[1]
[SOURCE: ISO/DIS 18497-1 ]
Note 1 to entry: definition will be deleted once ISO 18497-1 is published
3.3.5
semi autonomous
automated machine functions that are intended to operate in autonomous mode during part of the
machine’s operating cycle in addition to non-automated and automated machine functions that are
intended to operate in manual mode to complete some of the tasks assigned
[1]
[SOURCE: ISO/DIS 18497-1 ]
Note 1 to entry: definition will be deleted once ISO 18497-1 is published
3.4
operator
designated person who is responsible for the movement and operation of the RFS. An operator can be
local or remote
3.5
feed storage area
designated area where one or more different feed storage devices are located and/or where feedstuffs
are stocked in bulk
3.6
feed storage device
device for intermediate storage and processing of feedstuffs (e.g. Feed bunker)
3.7
filling
act of supplying feedstuffs to the feed storage area or to the feed storage device(s)
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oSIST prEN ISO 3991:2023
ISO/DIS 3991:2022(E)
3.8
loading
act of transferring feedstuffs into the MFU
3.9
loading area
designat
...