Header
About this publication
PREFACE
FOREWORD
INTRODUCTION
1 Scope
2 Normative references
3 Terms and definitions
4 Hazard identification and risk assessment
4.1 General
4.1.1
4.1.2
4.1.3
4.1.4
4.2 Layout design
4.3 Risk assessment
4.3.1 General
4.3.2 Limits of the robot system
4.4 Hazard identification
4.4.1 General
4.4.2 Task identification
4.5 Hazard elimination and risk reduction
5 Safety requirements and protective measures
5.1 General
5.2 Safety-related control system performance (hardware/software)
5.2.1 General
5.2.2 Performance requirement
5.2.3 Other control system performance criteria
5.3 Design and installation
5.3.1 Environmental conditions
5.3.2 Location of controls
5.3.3 Actuating controls
5.3.4 Power requirements
5.3.5 Equipotential bonding/earthing requirements (grounding)
5.3.6 Isolating sources of energy
5.3.7 Control of stored energy
5.3.8 Robot system and cell stopping functions
5.3.8.1 General
5.3.8.2 Emergency stop function
5.3.8.3 Protective stop
5.3.9 Associated equipment shut-down
5.3.10 End-effector (end of arm tooling) requirements
5.3.11 Emergency recovery procedure
5.3.12 Warning signs
5.3.13 Lighting
5.3.14 Application hazards
5.3.15 Enabling devices
5.4 Limiting robot motion
5.4.1 General
5.4.2 Establishing safeguarded and restricted spaces
5.4.3 Means for limiting motion
5.4.4 Dynamic limiting
5.5 Layout
5.5.1 Perimeter safeguarding
5.5.2 Access for interventions
5.5.3 Material handling
5.5.4 Process observation
5.6 Robot system operational mode application
5.6.1 General
5.6.2 Selection
5.6.3 Automatic mode
5.6.3.1 General
5.6.3.2 Selection of automatic mode
5.6.3.3 Initiation of automatic operation
5.6.3.4 Manual reset, start/restart and unexpected start-up
5.6.3.4.1
5.6.3.4.2
5.6.3.4.3
5.6.4 Manual mode
5.6.4.1 General
5.6.4.2 Manual reduced speed
5.6.4.3 Manual high-speed
5.6.5 Remote access for manual intervention
5.7 Pendants
5.7.1 General
5.7.2 Requirements for cableless or detachable installations/communications
5.7.3 Control of simultaneous motion
5.7.4 Hand guiding of robot systems (collaborative robots)
5.8 Maintenance and repair
5.8.1 General
5.8.2 Safeguarding requirements for maintenance
5.8.3 Safeguarding of maintenance access points
5.8.4 Safeguarding adjacent cells for maintenance
5.9 Integrated manufacturing system (IMS) interface
5.9.1 General
5.9.2 Emergency stop
5.9.3 Safety-related parts of the IMS
5.9.4 Local control
5.9.5 Enabling device
5.9.6 Mode selection
5.9.7 Task zone implementation
5.10 Safeguarding
5.10.1 General
5.10.2 Perimeter safeguarding
5.10.3 Minimum (safety) distances
5.10.3.1 General
5.10.3.2 Minimum (safety) distances for guards
5.10.3.3 Minimum (safety) distances for protective devices
5.10.3.4 Minimum (safety) distances for providing clearances
5.10.4 Requirements for guards
5.10.4.1 General
5.10.4.2 General requirements for fixed distance guards
5.10.4.3 General requirements for interlocked movable guards
5.10.4.4 General requirements for movable guards with guard locking
5.10.4.5 Movable guards allowing access into the safeguarded space
5.10.5 Sensitive protective equipment
5.10.5.1 General
5.10.5.2 Sensitive protective equipment used to initiate a protective stop
5.10.5.3 Sensitive protective equipment used for presence sensing to prevent a start
5.10.6 Safeguarding at manual loading, unloading or handling stations (manual stations)
5.10.6.1 General
5.10.6.2 Additional requirements for moving manual stations
5.10.6.3 Additional requirements for manual stations with a shared workspace
5.10.7 Safeguarding of openings for material flow
5.10.8 Safeguarding multiple adjacent robot cells
5.10.9 Safeguarding of tool changing systems
5.10.10 Muting
5.10.11 Suspension of safeguards
5.11 Collaborative robot operation
5.11.1 General description of purpose
5.11.2 General requirements
5.11.3 Requirements for collaborative workspaces
5.11.4 Change between autonomous operation and collaborative operation
5.11.5 Operation in the collaborative workspace
5.11.5.1 General
5.11.5.2 Safety-rated monitored stop
5.11.5.3 Hand guiding
5.11.5.4 Speed and separation monitoring
5.11.5.5 Power and force limiting by design or control
5.12 Commissioning of robot systems
5.12.1 General
5.12.2 Selection of interim safeguards
5.12.3 Initial start-up procedure plan
6 Verification and validation of safety requirements and protective measures
6.1 General
6.2 Verification and validation methods
6.3 Required verification and validation
6.4 Verification and validation of protective equipment
7 Information for use
7.1 General
7.2 Instruction handbook
7.2.1 General
7.2.2 Handling
7.2.3 Installation and commissioning
7.2.4 Information for commissioning test or initial start-up procedure
7.2.5 System information
7.2.6 Use of the system
7.2.7 Maintenance
7.2.8 Decommissioning
7.2.9 Emergency situations
7.2.10 Robot specific
7.3 Marking
Annex A
Annex B
Annex C
C.1 General considerations to prevent access at conveyors
C.2 Example of small openings
C.3 Example for tunnels
C.4 Example of safeguarding with ESPE
Annex D
Annex E
Annex F
F.1 General
F.2 Comments on the process observation
Annex G
Bibliography
