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Is there an OSHA speed limit at which a robot operates that makes the perimeter guarding mandatory?
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The ANSI/RIA R15.06-2012 safety standard sets a limit of 250 mm/sec measured at the tool center point as a speed by which an operator with an enabling device could be in proximity of a robot while being inside the perimeter guard. Ultimately, the determination on the requirements for safeguarding a robot cell would be determined by use of a risk assessment. In 29 CFR 1910.212, there is a requirement that "The point of operation of machines whose operation exposes an employee to injury, shall be guarded," but does not take the speed of the machine into consideration.