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ISO/TR 20218-1 is an ISO Technical Report on robot end-effector safety. It gives guidance, not mandatory rules, for designing and using safe robot tools such as grippers. ISO/TC 299, the ISO robotics committee, developed it, and ISO still lists it as published.
Global Certification Services (GCS) helps businesses understand and apply this guidance when they choose, specify and integrate robot tools.
What Is an End-Effector?
An end-effector is the tool on the end of a robot arm. It does the real work: gripping, lifting, cutting or welding. People also call it end of arm tooling (EOAT) or a robot tool. On this page, we call it “the tool” or “the gripper.”
The tool works closest to people and parts. It can hold, drop, cut or heat things. The robot’s built-in safety features do not cover every hazard the tool creates. That is why tool safety needs its own attention.
What Is ISO/TR 20218-1?
ISO/TR 20218-1:2018 is a Technical Report from ISO. Its full title is “Robotics — Safety design for industrial robot systems — Part 1: End-effectors.” It guides the design, integration and information for use of robot tools. Read our ISO/TC 299 robotics standards guide ISO/TC 299 Robotics Standards page.
“TR” means Technical Report. A TR shares good practice and guidance. It does not set rules you must follow. Part 1 covers grippers and tools. ISO/TR 20218-2 ISO/TR 20218-2 page covers manual load and unload stations.
Is ISO/TR 20218-1 Still Valid?
Yes. ISO still lists ISO/TR 20218-1:2018 as published, and no replacement is in development. You can check the live status on the official ISO/TR 20218-1:2018 page.
One thing to know: ISO wrote this report to support ISO 10218-2:2011. ISO has since replaced that edition with ISO 10218-2:2025 ISO 10218-2:2025 page. The 2025 edition now sets end-effector rules in its main text and draws on this report. Read ISO/TR 20218-1 alongside ISO 10218-2:2025, and check which editions your buyer or contract names.
Technical Report vs Technical Specification vs International Standard
People often mix up these three ISO document types. Here is a simple breakdown.
| Document Type | What It Does | Sets Requirements? | Example |
| International Standard | Sets requirements that products or systems must meet | Yes | ISO 10218-2:2025 |
| Technical Specification | Gives detailed guidance in a fast-moving area | Guidance, not full consensus | ISO/TS 15066:2016 |
| Technical Report | Shares knowledge and good practice | No | ISO/TR 20218-1:2018 |
ISO International Standard
An International Standard sets clear requirements and passes a full vote of ISO member bodies. Accredited test or certification bodies can assess a product or system against it. ISO itself never issues certificates.
ISO Technical Specification
A Technical Specification gives technical detail for fields still developing, such as collaborative robotics. Read our ISO/TS 15066 guide ISO/TS 15066 page.
ISO Technical Report
A Technical Report shares guidance and good practice. It sets no requirements, so no certificate exists against it.
ISO Standards
- ISO 9001 Certification
- ISO 14001 Certification
- ISO 45001 Certification
- ISO 22000 Certification
- ISO 27001 Certification
- ISO 13485 Certification
- ISO 50001 Certification
- ISO 37001 Certification
- ISO 21001 Certification
- ISO 41001 Certification
- ISO 22301 Certification
- ISO 27701 Certification
- ISO 42001 Certification
- ISO 21678 Certification
- ISO 22241 Certification
- ISO 22716 Certification
- ISO 26000 Certification
- ISO 27031 Certification
- ISO 46001 Certification
- ISO 80079-34 Certification
- SA 8000 Certification
- ISO 30401 Certification
- ISO 20121 Certification
What Are the Main Gripper Types and Their Risks?
The gripper you choose shapes the risks in your robot cell. Each type brings its own hazards.
Grasp-Type Grippers
These grippers hold a part with fingers, jaws or clamps. The main risks are crushing and pinch points, between the gripper and the part or between the gripper and fixed parts of the cell. Plan for what happens if the part slips or drops.
Vacuum Grippers
Vacuum grippers hold a part with suction cups. The biggest risk is loss of vacuum, which can drop the part without warning. If the air or vacuum supply stops, what happens to the part and to nearby workers? Answer that before installation.
Magnetic Grippers
Magnetic grippers hold metal parts with a magnetic field. A power loss or a disturbed field can drop the part. Plan for power loss here too.
Application-Specific Tools (Cutting, Welding, Processing)
Some tools do not grip at all. Cutting, welding and processing tools add sharp edges, heat, sparks and fumes on top of normal robot movement risks.
The right gripper is the first step to a safer robot cell. Need help deciding? Talk to our team about an end-effector safety review.
What Are the Most Common End-Effector Hazards?
These hazards come up most often when teams run a risk assessment on a robot tool:
- Crushing and pinch points: between the tool and fixed structures, or the tool and the part
- Sharp edges: on the tool or the part it handles
- Loss of power, air or vacuum: the part can drop without warning
- Unexpected tool movement: during a fault or power loss
- Ejected parts: when the grip fails at high speed
- Stored energy: in springs, magnets or pressurised systems inside the tool
- Hot surfaces: on welding or processing tools
- Cables and hoses: tangled or snagged during movement
- Tool changer faults: when the tool does not lock correctly
- Contact with people: especially in collaborative applications
A good risk assessment looks at the tool, the part and the whole cell together.
What Happens When a Gripper Loses Power?
When a gripper loses power, air or vacuum, it may drop or release the part.
This is one of the most important cases to plan for. Does a jaw gripper stay closed or open when it loses power? When a vacuum gripper loses suction, how fast does the part fall, and what sits below it?
Safe tool design plans for this from the start. Some grippers stay closed when power fails. Others rely on safety functions that stop the robot before the tool can drop a part. Planning for power loss at the specification stage costs far less than fixing it after installation. Link this decision to your risk assessment and to the safety functions in your robot cell.
How Do End-Effectors Affect Collaborative Applications?
In collaborative work, robots and people share the same space. That makes tool safety even more important.
A collaborative robot does not make the tool safe. The tool’s shape, surfaces and function all affect the risk. A sharp tool or a heavy part changes everything, even when the robot moves slowly.
For collaborative use, read ISO/TR 20218-1 alongside ISO 10218-2:2025, which now holds most collaborative application rules. ISO/TS 15066 gives useful background on contact between people and robots. Sharp edges, pinch points, heat and unplanned part release all carry more risk when a worker stands nearby. Treat the tool as a primary safety concern in every collaborative setup.
How Does ISO/TR 20218-1 Fit With ISO 10218:2025?
ISO wrote ISO/TR 20218-1 to support ISO 10218-2. ISO 10218-2:2025 has replaced the 2011 edition and is now the integration standard for industrial robot applications and cells. Here is how the documents relate:
| Document | Type | Focus |
| ISO/TR 20218-1:2018 | Technical Report | End-effector safety guidance |
| ISO/TR 20218-2:2017 | Technical Report | Manual load/unload station guidance |
| ISO 10218-2:2025 | International Standard | Robot application and cell requirements, including end-effector rules |
| ISO/TS 15066:2016 | Technical Specification | Collaborative methods and body contact data |
Read ISO/TR 20218-1 with the current ISO 10218 editions for the full picture. See our ISO 10218-1:2025 guide ISO 10218-1:2025 page.
ISO/TR 20218-1 vs ISO/TR 20218-2 – What Is the Difference?
These two reports cover different things:
- ISO/TR 20218-1:2018 covers end-effectors: grippers and tools mounted on the robot arm
- ISO/TR 20218-2:2017 covers manual load/unload stations, where a person loads or removes parts by hand near the robot
Many robot cells need both. A cell with grippers and tool changers should use Part 1. A cell where workers load parts by hand should use Part 2. If your cell has both, review both reports.
Can You Get ISO/TR 20218-1 Certification?
No. ISO/TR 20218-1 is a Technical Report, and ISO itself never issues certificates. Nobody can certify a business to a Technical Report.
Businesses can still use the report as guidance while they pursue recognised certifications:
- Gripper and tool makers can get ISO 9001 certification for a strong quality management system
- Factories and robot users can get ISO 45001 certification for a safe workplace
GCS supports both. We help you use ISO/TR 20218-1 as guidance while you build toward certifications that buyers and auditors recognise.
How to Specify a Safe End-Effector
Follow these seven steps when you choose and specify a robot tool. This is practical guidance, not an official ISO process.
1. Define the Task and the Part
Know your part first: its size, weight, shape and surface. These details shape every gripper decision.
2. Pick the Right Gripper Type
Match the gripper to the part and the task. Choose between grasp-type, vacuum, magnetic or application-specific tools based on the part and the risks each type brings.
3. Plan for Loss of Power, Air or Vacuum
Decide what the tool should do on power or air loss before you buy it. Make this a clear requirement for suppliers.
4. Remove Sharp Edges and Pinch Points
Check the tool for sharp edges and pinch points, both on its own and once you mount it in the cell.
5. Check Collaborative Use
If workers will stand near the robot, check the tool against the collaborative rules in ISO 10218-2:2025.
6. Ask Suppliers for Safety Information
Get documented safety information from your gripper supplier, including power-loss behaviour, materials and known hazards.
7. Assess the Tool Within the Full Cell
Run a risk assessment for the tool as part of the whole robot cell. A tool that looks safe on its own can behave differently once it runs in the cell.
What Should You Ask Your End-Effector Supplier?
Before you buy a gripper, ask your supplier these questions:
- What does the tool do if power, air or vacuum fails?
- Which materials and edge finishes does it use?
- Have you reviewed the tool for collaborative use?
- Which safety-related control functions does it support?
- Can you provide safety documentation for our risk assessment?
- Which markings and manuals come with the tool?
- What maintenance does the tool need?
- Which tool changer options do you offer?
- Which standards did you use when you designed the tool?
- Do you hold ISO 9001 certification for your quality system?
Clear answers show that the supplier built safety into the tool from the start.
ISO/TR 20218-1 and Global Regulations
Safety rules for robot cells differ by country and region. ISO/TR 20218-1 is guidance, not a law, and it is rarely a legal requirement on its own.
- European Union: The EU Machinery Regulation (EU) 2023/1230 applies from January 2027. Tool makers and integrators serving Europe should align with ISO 10218-2:2025 before then.
- GCC, Middle East, Africa, Central Asia and Asia: Buyers often cite ISO guidance in their own requirements. Using ISO/TR 20218-1 in your safety planning helps you meet international expectations, even where local rules differ.
GCS supports businesses across these regions. See our countries we serve page to find support near you.
End-Effector Safety Checklist
Use this checklist when you review a gripper or tool for your robot cell:
- You confirmed the current ISO status before the project started
- You defined the task and part requirements
- You matched the gripper type to the task and part
- You confirmed power-loss behaviour with the supplier
- You reviewed sharp edges, pinch points, heat and process hazards
- You checked collaborative use requirements, where relevant
- You assessed cables, hoses and tool changers
- You assessed the tool within the full cell under ISO 10218-2:2025
- You completed and documented the risk assessment
- You collected manuals and markings and kept records for audit
How GCS Supports End-Effector Safety
Global Certification Services (GCS) helps gripper makers, robot buyers and factories make sense of end-effector safety, from the guidance to the certifications that matter. Our support includes:
- Standards guidance: ISO/TR 20218-1 and ISO 10218-2:2025 explained in plain language
- Gap review: your current tool and cell setup compared with good practice
- Documentation support: the risk assessment records you need
- Supplier checklists: ready-to-use questions for your gripper supplier
- ISO 9001 certification: for gripper and EOAT makers building a quality management system
- ISO 45001 certification: for factories and integrators managing workplace safety
We also support ISO certification for the automotive industry, where robot cells and grippers run every day. We work across the Middle East, GCC, Africa, Europe, Central Asia and Asia, and we focus on what your buyer, auditor or contract actually needs.
Choose Safer Robot Tools With GCS
A safe robot gripper depends on more than the tool itself. The task, the part, the cell and the people nearby all matter. GCS helps gripper makers, robot buyers and factories get this right, from reading the guidance to getting certified.
ISO/TR 20218-1 FAQs
What is ISO/TR 20218-1?
ISO/TR 20218-1:2018 is an ISO Technical Report on the safe design of robot end-effectors, such as grippers and tools. It gives guidance, not mandatory rules, on design, integration and information for use. ISO/TC 299 developed it, and ISO published it in August 2018 to support ISO 10218-2.
What is an end-effector?
An end-effector is the tool on the end of a robot arm. It does the real work, such as gripping, lifting, cutting or welding. Common types include jaw grippers, vacuum grippers and magnetic grippers. People also call it end of arm tooling, or EOAT.
Is ISO/TR 20218-1 still valid?
Yes. ISO still lists ISO/TR 20218-1:2018 as published, and it has no replacement. ISO wrote it to support ISO 10218-2:2011, which ISO has since replaced. ISO 10218-2:2025 now sets end-effector rules in its main text, so read the report alongside the 2025 edition.
What happens when a gripper loses power?
The gripper may release or drop the part it holds, which can injure anyone nearby. A vacuum gripper can lose suction, and a magnetic gripper can lose its hold. Decide how the tool should behave on power, air or vacuum loss before you buy it.
What is the difference between ISO/TR 20218-1 and ISO/TR 20218-2?
Part 1 covers end-effectors, meaning the grippers and tools mounted on the robot arm. Part 2 covers manual load and unload stations, where a person handles parts by hand near the robot. Many robot cells need both reports, so review each one that applies to your cell.
Is ISO/TR 20218-1 a certification?
No. ISO/TR 20218-1 is a guidance document, and ISO itself never issues certificates. Nobody can certify a business to a Technical Report. Gripper makers can still pursue ISO 9001 for quality, and factories can pursue ISO 45001 for workplace safety, using this report as guidance.
How can GCS help with end-effector safety?
GCS explains ISO/TR 20218-1 and ISO 10218-2:2025 in plain language and reviews your gripper and cell setup. Our team helps you build risk assessment records and supplier checklists. We also support ISO 9001 and ISO 45001 certification across the Middle East, GCC, Africa, Europe and Asia.