ISO/TR 20218-1:2018 is a published ISO Technical Report. It gives safety guidance for robot end-effectors used in industrial robot systems. It is not a certification standard and does not set mandatory requirements. It helps engineers, system integrators, and safety teams design safer grippers and end-of-arm tooling (EOAT).
This page covers what ISO/TR 20218-1 is, what it includes, its current status, and how to use it alongside ISO 10218-2:2025.
What Is ISO/TR 20218-1?
ISO/TR 20218-1:2018 is titled “Robotics — Safety design for industrial robot systems — Part 1: End-effectors.” It is managed by ISO/TC 299 Robotics.
It gives guidance on how to design and integrate end-effectors safely. It covers manufacturing, design, integration, and the safety information manufacturers must provide to users. ISO published it in August 2018. It is still listed as Published on the ISO website.
It is a Technical Report, not an International Standard. That means it gives guidance — not rules you must follow to get certified.
What Is an End-Effector?
An end-effector is the tool attached to the end of a robot arm. It is also called end-of-arm tooling, or EOAT.
End-effectors include grippers, suction cups, magnetic holders, welding torches, and cutting tools. They are the part of the robot that touches the workpiece or comes closest to people. That is why they need special safety attention.
Is ISO/TR 20218-1 Still Valid?
Yes. ISO lists ISO/TR 20218-1:2018 as Published. It has not been withdrawn.
However, it was written using ISO 10218-2:2011 as a reference. That edition has since been withdrawn and replaced by ISO 10218-2:2025. So you should use ISO/TR 20218-1 together with the current ISO 10218 editions — not the older one.
What Does ISO/TR 20218-1 Cover?
The report focuses on end-effectors in industrial robot systems. It provides guidance on:
- Finding hazards related to end-effector design and use
- Using safe design principles to lower risk
- Managing risks when power, vacuum, or energy is lost
- Setting up safety-related control functions for end-effectors
- End-effectors used in collaborative robot applications
- Providing clear safety information to users and integrators
It supports the full robot system risk assessment, but focuses specifically on the tooling at the end of the arm.
What Is Outside the Scope of ISO/TR 20218-1?
ISO/TR 20218-1 does not cover manual load and unload stations. That is covered in ISO/TR 20218-2.
It also does not give specific force limits, numeric thresholds, or Performance Level values. For those, refer to the current ISO 10218 series and ISO/TS 15066.
What Is the Difference Between an ISO Standard, Technical Specification, and Technical Report?
These are three different types of ISO documents. Here is what each one means.
ISO International Standard
This sets clear requirements. Organizations must meet them to achieve certification. ISO 9001 and ISO 10218-2:2025 are examples.
ISO Technical Specification
This is used when a topic is still developing or when full agreement has not been reached. ISO/TS 15066, which covers collaborative robot safety, is one example.
ISO Technical Report
This gives guidance, information, or data. It does not set requirements. ISO/TR 20218-1 is a Technical Report. It helps with safer design decisions. It is not a basis for certification.
Common End-Effector Hazards
End-effectors create risks that the robot arm itself does not always address. Common hazards include:
- A held part dropping unexpectedly
- Crushing or pinching from gripper jaws or fingers
- Loss of vacuum, magnetic force, or power causing part release
- Sharp edges or hot surfaces on specialized tools
- People getting too close during collaborative tasks
Finding these hazards early leads to better, safer design choices.
Types of End-Effectors in ISO/TR 20218-1
ISO/TR 20218-1 covers several types of end-effectors, each with different risks.
Grasp-Type Grippers
These use fingers or jaws to grip a part. Main risks include unexpected opening, pinching, or crushing during use.
Vacuum Grippers
These hold parts using suction. If the vacuum is lost, the part can drop. That is the key hazard to design against.
Magnetic Grippers
These use magnetic force to hold metal parts. If the magnetic force fails, the part can fall. The design must account for that risk.
Application-Specific End-Effectors
These are tools built for one job — like welding, painting, or dispensing. They may have extra hazards from heat, chemicals, or moving parts tied to that specific task.
Key Safety Design Principles for End-Effectors
Good safety design reduces risk early. ISO/TR 20218-1 highlights these key principles.
Inherently Safe Design
Remove hazards through the design itself. Choose shapes, materials, and mechanisms that lower risk without needing extra safeguards.
Holding the Workpiece Safely
Think about what happens if grip, vacuum, or magnetic force is lost. Design the end-effector so that parts do not drop or release suddenly.
Safety-Related Control Functions
Use sensors and control systems linked to the end-effector. For example, a sensor that checks grip status and stops the robot if grip is lost.
Contact Situations and Accessibility
Think about how close people get to the end-effector. This matters during normal use, maintenance, and any collaborative tasks.
Information for Use
Manufacturers must give clear information to integrators and operators. This includes how to use the end-effector safely and what risks remain.
End-Effectors in Collaborative Applications
In collaborative robot (cobot) setups, people work alongside robots with no fixed guarding. The end-effector becomes even more critical here.
Even if the robot’s movement is controlled, the tool at the end of the arm can still hurt someone. Shape, edges, and the end-effector’s function all affect how safe contact is.
Do not assume a cobot makes the end-effector safe on its own. Every collaborative application needs its own risk assessment. Also refer to ISO/TS 15066 for collaborative robot safety guidance.
ISO/TR 20218-1 and ISO 10218:2025 – How Do They Relate?
ISO 10218-1:2025 and ISO 10218-2:2025 are the current International Standards for industrial robot safety. ISO/TR 20218-1:2018 was written using the older ISO 10218-2:2011, which is now withdrawn.
ISO/TR 20218-1 has not yet been updated to reference the 2025 editions. So use this Technical Report alongside the current ISO 10218 standards to stay aligned with the latest robot safety rules.
Here is a quick comparison:
| Document | Type | Status | Focus | Sets Requirements? |
| ISO/TR 20218-1:2018 | Technical Report | Published | End-effector safety guidance | No |
| ISO 10218-1:2025 | International Standard | Published | Industrial robots | Yes |
| ISO 10218-2:2025 | International Standard | Published | Robot applications and cells | Yes |
| ISO 10218-2:2011 | International Standard | Withdrawn | Robot applications and cells | Yes (withdrawn) |
| ISO/TS 15066:2016 | Technical Specification | Published | Collaborative robots | Yes |
ISO/TR 20218-1 vs ISO/TR 20218-2
These two documents are part of the same series but cover different topics.
- ISO/TR 20218-1 covers end-effectors — grippers, suction tools, magnetic holders, and task-specific tooling.
- ISO/TR 20218-2 covers manual load and unload stations — where people load or remove parts near a robot.
They are not interchangeable. Each one addresses a separate part of the robot system.
Is ISO/TR 20218-1 a Certification?
No. ISO/TR 20218-1 is not a certification standard.
ISO Technical Report
It gives guidance. It does not set requirements that a certification body can assess.
Certification and Conformity Assessment
Certification works with International Standards that have clear requirements. There is no certification scheme attached to ISO/TR 20218-1.
End-Effector Testing and Validation
You can still test and validate your end-effector designs against other relevant standards, such as ISO 10218-2:2025. ISO/TR 20218-1 can support that process, but it is not a testing or certification framework itself.
Who Uses ISO/TR 20218-1?
This document is used by:
- End-effector and gripper manufacturers designing safer tooling
- System integrators building complete robot work cells
- Robot cell designers planning layouts and tool paths
- Safety and mechanical engineers doing risk assessments
- Manufacturing companies using robots with grippers or task-specific tools
- Compliance and quality managers checking robot safety documentation
- Procurement teams setting safety requirements for robot tooling
If your work involves designing, building, or using robot end-effectors, this guidance is relevant to you.
How Can Companies Use ISO/TR 20218-1 Today?
Here are the steps to apply this guidance in a structured way.
1. Check Current ISO Status and Referenced Documents
Confirm ISO/TR 20218-1:2018 is still listed as Published. Note that it references the withdrawn ISO 10218-2:2011. Use it alongside ISO 10218-2:2025.
2. Define the End-Effector and Its Task
Identify what type of end-effector you are working with and what it does. Is it a grasp-type gripper, vacuum gripper, magnetic gripper, or a task-specific tool?
3. Identify End-Effector Hazards
List the hazards for that specific end-effector type. Think about grip loss, vacuum failure, sharp edges, heat, and contact with people.
4. Apply Safe Design Principles
Design the hazards out where you can. Use safe shapes, materials, and mechanisms before adding extra safeguards.
5. Review Safety-Related Control Functions
Decide what sensors and controls are needed. Think about what the system should do if grip or vacuum is lost.
6. Assess the End-Effector Within the Full Robot Application
Look at how the end-effector fits into the whole robot system. If there is any collaborative use, also check ISO/TS 15066.
7. Verify, Validate, and Document
Write down your design decisions and risk assessment results. Keep records clear so others can understand the safety reasoning.
ISO/TR 20218-1 and Regulatory Compliance
ISO/TR 20218-1 is guidance. It is not a law. It does not carry legal status on its own.
But it can support your compliance work. It shows that you followed a structured approach to end-effector safety. That matters when a customer, client, or authority asks how you assessed the risks.
Legal requirements depend on your country and industry. Always check local regulations separately. ISO/TR 20218-1 is one useful input — not a replacement for legal advice or full compliance review.
Checklist Before Applying ISO/TR 20218-1
Use this list before starting a project:
- Confirmed ISO/TR 20218-1:2018 is still listed as Published
- Checked ISO 10218-2:2025 alongside this Technical Report
- Identified the end-effector type and task
- Listed the specific hazards for that end-effector
- Considered what happens when power, vacuum, or grip is lost
- Checked for sharp edges, hot surfaces, and pinch points
- Assessed collaborative use and contact risk
- Reviewed safety-related control functions needed
- Checked if ISO/TS 15066 also applies
- Completed a full risk assessment for the robot application
- Confirmed local regulatory requirements
- Prepared information for use and documented design decisions
How Can ISO Certifications UAE Support End-Effector and Robot Safety Requirements?
Working through ISO/TR 20218-1 and the current ISO 10218 standards can feel complex. ISO Certifications UAE can help you move forward with clarity and confidence.
We support organizations with:
- Interpreting ISO/TR 20218-1 and related robot safety documents
- Reviewing documentation and design against current ISO 10218 guidance
- Preparing for internal or external safety reviews
- Supporting risk assessment documentation and information for use
- Guiding related management system certifications such as ISO 9001 (quality) and ISO 45001 (occupational health and safety)
If you also need help with management system certification, ISO Certification Services explains how our consultants guide you from gap analysis to final audit.
If you design, integrate, or use robot end-effectors and need help understanding ISO/TR 20218-1, contact ISO Certifications UAE today.
Get Support for Robot End-Effector Safety Standards
Do you design or use robot end-effectors? Do you need to understand ISO/TR 20218-1 and how it fits with ISO 10218:2025?
ISO Certifications UAE can help you review your documentation, close gaps, and connect end-effector safety guidance with your broader certification goals. Our team makes the process clear and manageable.
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ISO/TR 20218-1 Frequently Asked Questions
What is ISO/TR 20218-1?
It is an ISO Technical Report. It gives safety guidance for the design and integration of end-effectors used in industrial robot systems. It is not a certification standard.
What is an end-effector?
It is the tool at the end of a robot arm. It can be a gripper, suction cup, magnet, or task-specific tool. It is also called end-of-arm tooling or EOAT.
Is ISO/TR 20218-1 still valid?
Yes. ISO lists it as Published. It has not been withdrawn. But it references an older edition of ISO 10218-2 that is now withdrawn, so use it with the current ISO 10218 editions.
How does ISO/TR 20218-1 relate to ISO 10218-2:2025?
ISO/TR 20218-1 was written using ISO 10218-2:2011 as a reference. That edition is now withdrawn. ISO 10218-2:2025 is the current standard. Use both together for up-to-date guidance.
What is the difference between ISO/TR 20218-1 and ISO/TR 20218-2?
ISO/TR 20218-1 covers end-effectors. ISO/TR 20218-2 covers manual load and unload stations. They are separate documents for different parts of the robot system.
Is ISO/TR 20218-1 a standard or guidance?
It is guidance. A Technical Report gives information and best practices, not requirements. It is not a pass-or-fail document.
Is ISO/TR 20218-1 a certification?
No. You cannot get certified to a Technical Report. There is no certification scheme linked to ISO/TR 20218-1.