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Safety Questions - Archived

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Is there a requirement to have a robot activity record for robots? Where would I be able to find this requirement, if it is in place?

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I am working on building a robotic safety cell for my senior design project. Is there a certain impact rating for Plexiglas walls in order for it to be compliant with the ANSI/RIA R15.06-2012 standard?

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If an operator enters a work cell to do a routine and repetitive task such as pick up a dropped part, does the Servo power to the Robot have to be off? The robot can not move due to the fence circuit but still can be jogged manually at 250mm/sec and the operator would not have the teach pendant when entering the cell.

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Is a wireless (wifi) hand held pendant for a basic machine movements with hard function E-stop osha approved?

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On a robotic cell enclosure are there any regulations on the swing direction of the door, i.e. door swings into the robot cell or door swings out of the robot cell?

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Is Fanuc's DCS software acceptable for limiting the robot's reach inside of the 18" zone within a tight robot cell?

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Can clear lexan guarding be substituted for the typical wire mesh guarding found on robot cells and still be in compliance with the latest revision of the robotic safety standard.

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RE: stack light Is a "blue" lens necessary along with amber, green and red lenses for robotic welding cell use to be ANSI/RIA R15.06-2012 compliant?

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I have a robot that is pre-1999 vintage, it has never been deployed at my company. 10 years ago a controls engineer bought this robot used and it just never got used. It is single channel safety. Can I deploy this robot today? Would I need to keep the fence 18" away from the robots maximum reach with end efector? What are the rules in this situation?

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I have read the latest revision of the RIA 15.06 standard (2012), and am unclear about how the collaborative operation is intended to work. The introduction of the collaborative workspace is understood. However, I am unclear as to when the robot must be "stopped", or operating at safe-reduced speed (250mm/s). I have now seen robots marketed as collaborative, where it appears the entire workspace of the robot is a "collaborative" zone. Is the robot permitted to operate at 250mm/s in this collaborative zone? or must it stop when an operator enters the zone? On a different note, according to 5.11.5.5, if the robot is power and force limited by design, does it need to stop? Is there a timeframe for the completion of the guidance document ISO/TS15066?

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Can more than one person be inside of a robot cell to train the robot or train the second person if there is only one teach pendant. Robot in slow speed.

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If there are multiple people in a single robot cell do they both require a teach pendant or enabling device? Where in the RIA is this written?

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For industrial Robot users is there a source for a generic robot Safety Training video for operators & maintenance personel? Not a product specific promotion video.

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What standards or regulations define someone being locked in robot enclosure?

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Can a panel of the cell guarding be manually removed while operating a semi-automated machine? The locating tolerance of the part being placed is within 1mm & changes with every part. Removing the panel will allow the operator to visually inspect the location while operating the controller.

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In the new R15.06-1 2012 collaborative section, it states that the robot SHALL stop when the human is in the collaborative workspace. Later there is a section on power/force limiting, but there is no specification on what the force is, nor whether that if the force is limited, will the initial "SHALL stop" statement be void. If the robot must stop when a human is near, what is the point of the safety rated power/force limiting?

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Source? Training DVD video (generic) on Industrial robot safety awareness. Could you give me vendor contacts? Could not find, via Goggle and Utube search. Limited to product Infoads.

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A turn-key equipment supplier recently gave us a proposal which had a large robot in a relatively narrow self-contained enclosure to perform finish grinding on castings. The robot must use 90%+ of its forward reach capacity to get to the part. However, as the robot spins 180 degrees for a tool change, due to the forward reach requirements, the restricted space goes well outside of the enclosure (by 20+ inches). I asked the supplier if the enclosure was designed to stop the robot and their answer was "no". In my previous experience, there was a requirement of 18" clearance between the restricted envelope and any obstruction or guarding with the hard stops on the robot. Is this still a typical industry standard? Can electrical devices be installed on the robot to prevent that penetration of the enlcosure and possibly hit someone standing outside of it? I was always told to not trust the electrical safety devices and place the robot cell guarding 18" away from the part / end effector / robot.

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In a multiple robot cell. When two people are required for a teaching operation (1 teaching,1 spotter). If a second tm is holding another robot teach pendant with an E-stop does this satisfy the requirement for an enabling device or does it have to be a three position deadman switch? This is provided that the second robot teach pendant E-stop will stop the robot being taught as well.

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ANSI-RIA R15.06-1999, page 29, letter B, states: "Barrier openings shall not be greater than 132.00mm (5.0 inches) unless a risk assessment is performed." Does this apply to the opening underneath permeter guarding, sometimes referred to as a "sweep space"?

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We have set up a robot cell with pure mechanical interlocks. All doors will be locked and keys pulled off the locks and keys need to stay with the controller to activate the robot. Just realised that somebody will be locked during programming because of this safety system. Is there any other way to solve this and still comply with safety regulations?

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We are designing a HMI Screen that is currently mirroring our robots Teach Pendant program. The only way to manually jog the robot is still through the Teach Pendant. We do, however, have a "home" button on the HMI screen and on the Teach Pendant to send the robot into a safe position before anyone can enter the robotic cell. What can be done to prevent both devices from being "active" at the same time in order to be in compliance with with 10218-1 (single point of control)?

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Is the Risk Assessment in ANSI R15.06-2012 going to be the same as the Risk Assessment in ISO 10218? Is the draft copy of ANSI R15.06-2012 available?

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Can an employee enter a work envelope by locking the gate open to mop floors or perform set up on a machine not associated with the robot, e.g, a lathe, etc.. The interlock is wired in safe mode and requires the gate to be closed and two start up buttons to be engaged prior to the robot engagement.

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Safety Standards - Is EN ISO 13849-1 relevant in North America, specifically the U.S.?

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We just installed a paint robot in our new lab. We have followed RIA guidlines for install and use in a Lab environment. Is there a agency that inspects an d will certify that we are in compliace operating in a lab using the robot?

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I'm a student writing a paper for school on robot safety devices and what I really need is information on applications of robot safety devices in industry. For example John Deere uses safety mats on all machines and has reduced injuries by 50%. Do you guys have any information like that?

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What speed do you recommend for robot teaching?

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Do robotic security fences have to be yellow? If not, what colors are acceptable?

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If a Robot Cell is modified by adding a new load station, does the safety for the entire cell need to be updated to the latest standards?

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I have a Motoman k6sb robot. After progamming, when I change the mode to play, under the screen it shows "UNDER SAFETY SPEED". What does it mean? How can I solve it?

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Is there a simple print calling out the specific protection requirements for a welding robot? We have a customer with a free standing unit with no protection at all!

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An employee goes into a welding robot w/ both interlocked doors open and teach pendant in his exclusive control at all times. Pendant is not turned "on" or E-stopped, but simply is in his control. If he is doing things inside like changing weld tips, clearing jammed weld wire, cleaning the weld nozzle, changing wire, etc. is this adequate from a lockout standpoint?

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With regards to robotic guarding, there are the ANSI R15.06-2012 standards (American), the CSA Z432-03-2008 standards (Canadian), and the ISO 10218-2 standards (International). ANSI requires a max opening of 7" from floor and a minimum height of 55". CSA requires a maximum opening of 6" from floor and a minimum height of 72". ISO requires a max opening of 7" from floor and a minimum height of 55". Would you know if these are correct statements? I am looking to ensure that our standard guard will meet safety requirements anywhere in the world.

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Do I have to use clear lexan to guard a robot or can I use a mesh metal (e.g. 1"x1" mesh) to do the same thing?

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Can a robotic machine be unjammed or cleaned without being locked out if the interlocked access doors are kept open during this process?

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Do I still need to provide 18" of restricted space between the max. travel of the robot/EOA tooling and the plexiglass guarding?

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Do I need an electronic and/or physical safety curtain around the 'UR 10' robot (manufactured by Universal Robots, Danish company)?

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My understanding of Lock-Out Tag-Out is that light curtains, key-card access & other safety systems are permissible for minor servicing & routine production activities only, and that such systems are not acceptable for startup activities such as die or mold changes or product changeovers. For such start-up activities, de-energization and lockout at the power source(s) is required. Is this correct?

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If I have a robot working on a line, and the line builds out and I move the robot to a line next to it, does it require the robot to meet all current ANSI standards?

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Six months back or so I attended a webinar on changes to and a new safety standard. Is there a new standard or is ANSI / RIA R15.06 1999 still the law of the land so to speak?

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I have been reviewing ANSI/RIA R15.06-1999(R2009) and would like some confirmation that I am interpreting it correctly. The focus of my request centers on the safety of a production operator. As I understand the safety requirements, the operator is to be protected from the hazard(s) located in the safeguarded space by the safeguarding devices. These safeguarding devices provide a perimeter around the hazard. Entry into the safeguarded space may be via interlocked barriers (i.e. gates) and/or presence-sensing safeguarding devices (i.e. light curtains). The intent of these safeguarding devices is to stop the hazard if the operator enters the safeguarded space while the hazard is running. As I interpret this, there is no requirement that there be a presence-sensing safeguarding device inside the safeguarded space if the controls which restart the robot/system (which are located outside the safeguarded space) provide for a clear view of the entire safeguarded space. To my knowledge, there is nothing in the safety requirements which would prevent someone other than the operator from restarting the system (other than common sense). So, in the simplest terms, the intent is that access to the hazard is limited, and when someone enters the hazardous area during operation, the hazard is stopped. No requirement exists that the hazardous area be continually monitored while someone is in the area to prevent someone from outside the hazardous area from restarting the hazard as long as the entire hazardous area can be clearly viewed. Correct?

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What is the minimum distance needed between perimeter fence and reach of end of arm tooling?

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Robotics Safety - Entering Robot Cells When entering into a robot cell, cage or area the operator is supposed to: Pull interlock plug (killing the power) Grab teach pendant Enter cell with teach pendant Since the power is dead from the interlock, we have had other people entering as well with the rationale that the power is dead so there are no issues. In this case is it necessary for every other person who enters the robot area to lock out the robot? Or is just having it turned off enough? I think I know the answer but was hoping someone with more experience in robotics safety could assist. Is there an associated standard?Thanks in advance.

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We have a robot in our manufacturing facility that loads and unloads a welding machine and transfers the welded parts to a trolley that delivers them to another machine. The robot has been in service for a number of years. It resides in a closed room that has signage on the door that says authorized personnel only. Once inside the room, access to the robot is limited by a plastic chain across the opening. Based on the fact that it has been in place for several years, are these measures adequate/legal, and if not, what are our requirements when it comes to restricting access to the working envelope of this robot?

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I would like to remove several hard barriers from a robot assembly work cell. Is there a 3-D programmable soft barrier that will slow robot speed related to human proximity that is approved in the United States?

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Good Morning; My question surrounds slide locks and CSA Z460-05 & Z142-10. The question is as follows. (Q) If a worker wants to manually block as well as using the slide lock mechanism to "wipe a die" is this an acceptable request? The company is stating the "slide lock" meets all the requirements and therefore there is no need ( regulated or not ) for blocks.

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Can a Robot be in motion while a light curtain is muted? I'm muting a light curtain for a pallet to exit a work cell, and want to know If the robot can do other tasks while the light curtain is muted.

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Can someone enter a robot cell with a stationary robot to work on a piece of machinery within the cell with the use of a safetymat/Laser scanner etc. while the robot continues operate in other zones?

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What are the height requirements, access hole size reqirements and height off the floor for robot safety fences?

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If I am replacing an obsolete robot in a cell that has single channel interlock guarding with a new robot do I have to upgrade to a two channel interlock system?

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What is a minimum fence height for a robotic cell

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I have been involved in discussions with equipment suppliers recently regarding the requirements to limit robot motion. The discussion centers around not using any form of robot limiting device for a robot that can reach or extend beyond the perimeter fence of a working cell (maximum reach). The main argument in favor of this centers around the use of risk analysis methodology that results in the view that any fence line where no employees will be expected to be working in EXCESS of 2 hours in an 8 hour shift has an acceptable level of risk. This ruling would avoid the need to activate the Safe Robot Software or the installation of robot hardstops or axis monitoring. Please advise if this approach would be acceptable in a US manufacturing environment.

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Can more than one guard door be open at a time if I am jogging a robot with the teach pendant? Example: I open the front door and walk in with the pendant and am jogging the robot, an operator opens the back door. Does that door need to stop the robot?

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We have some large workcells here with multiple entry points. At each entry point, there is a safety interlock key which can be removed and kept with the person entering. The key prevents automated motion in the event that someone else were to close the door and try to start the robot. One of our operators has questioned us on what is considered "with them". Does the key have to be in their pocket, in their hand, etc...? Can you recommend where I should look for information regarding this? Thanks!

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We are wondering what is the right way to label and incorporate cell entry loto to our robot cells. Have you seen anything that might help us out? Right now we place a lock on our safety switches at the door entry and that keeps the robot from starting in auto. We would appreciate any ideas on how to identify this information for our operators.

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If I have a welding operation that is completely enclosed with interlocks, what should the distance be from the robatic arm + the part to the safety barrier? No teaching of the robot needs to be done.

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Though I have asked this question before, I believe it deserves another round of attention. Currently in a workplace in Ontario Canada there are a variety of automation cells and Lifts that have no light curtains/safety matting/ to prevent access to the cell. Following teh train of thought that due diligence is proved by actions not words I have again asked the company to bring this Older architecture of robotic cell into compliance. Their response I believe, should be forthwith and the cells should be made to be brought into compliance. They will ( I am sure) provide the rehearsed speech about " grandfathering". Your thoughts and opinions are greatly appreciated.

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Is the norm ISO 13857 valid in the US?

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In guarding robotic welding cells ANSI states, "Shall be constructed to withstand operational forces and environmental conditions." At a previous employer, only canvas material was used to cover outer cell. Is this considered to be adequate or is a solid (fencing or hard sheet material) required?

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Can we deploy an RJ2 Fanuc Robot w/single channel circuitry and still comply with RIA/ANSI standard? (ex. monitor robot estop and auto chain with safety PLC, conduct risk assessment)

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AT my workplace they have a fixed/permanent guard in place . The guard protects against pullys functioning wheels for ventillation. The company has made this guard with a hinged door and want to secure the door shut with plastic TIE STRAPS. Does this meet the requirements for CSA/ANSI?

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We wish to repurpose an older robot (Fanuc F41453) which has a single circuit. I understand that new robots have dual circuitry, therefore would we be permitted to utilize this older robot under the current RIA std?

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Is there a standard light tower for robotics? If so how long has it been around?

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Are the ANSI/RIA standards for safety fencing, light curtains, etc. the same for systems integrators testing robotic equipment in their own facility as those applied to permanant installations in a manufacturing facility?

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Where can I find more detailed information about the requirements (specs) for designing software and firmware based safety controllers? I have read section 6.4 in the RIA 15.06, and section 5.4 in the ISO 10218-1. Are redundant controllers required? Are redundant encoders required? Which NRTL's are qualified to test and verify this safety function? Is there a specific standard they are testing to?

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Now that Safety-Rated Soft Axis and Space Limiting is allowed (per ANSI/RIA/ISO 10218-1 and RIA TR R15.06-2008) it seems likely that Restricted Spaces will more easily be dynamically changed. This would imply that the Perimeter Safeguarding could also be dynamic thus redefining defining the Safeguarded Space dependant upon the established restricted space at the given moment. Would you agree that the extent of the Safeguards Space could, therefore, change location dynamically?

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People here are questioning the "grandfather clause" to the 1992 requlations on installation safety requirements. Was there such a clause that would not have the same safety regulations as required by the 1999 reg?

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When sizing cell guarding, there are 2 requirements that we use to define the perimeter of the cell guarding 1) For slow speed APV, cell guarding must be 18" from operating space. 2) In no case shall the perimeter guarding be inside the restricted space. Following both of these makes the cell guarding much larger than the footprint of the equipment. Many times, we see installations with the cell guarding inside the restricted space. Could you provide a case study or exert of a risk assessment where the cell guarding violates requirement 2 and is deemed safe?

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1. When is the new edition of RIA 15.06 expected to be published? 2. What is the effective date for compliance to the standard? 3. Will RIA 15.06-1999 remain in effect and if so, for how long? 4. If RIA 15.06-1999 remains in effect, will it be considered an alternate to the new edition until it is withdrawn?

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What are the requirements for safe robot cell entry by more than one person?

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What is the method for determing which measurement to use when evaluating the effectiveness of openings in guards? The draft standard references the ISO13857:2008 standard. In discussions with a colleague, some of the measurements from 1910.217, Table O-10 are more restrictive than the ISO 13857 standard. How do you achieve compliance with barrier openings when there are conflicting measurements? Additionally, when can we expect the draft standard be officially released?

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What is the main fundamental changes that you forsee in the new standard? I need to justify bringing 4-5 folks to the conference, what should I use for justification?

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We're having a cell built which will have a robot with a camera as an EOAT and 7th axis servo table to inspect parts. The cell will be enclosed and have 2 solenoid locking doors interlocked to the fence open dual chain to the robot. My question is: While the door is open and an operator is loading/unloading a part is the fence open circuit alone acceptable for operator entry to the cell? If not what is required?

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Refer to ANSI/RIA R15.06-1999(R2009), Section 9, Table 2. A Task/Hazard with S2, E1, A1 results in Risk Category R2B. Flip the page to Table 4, and a Task/Hazard with E1, A1, S2 results in a Risk Category R3B. Is this correct? All other Task Hazard combinations seem to result in equal Risk Categories in both tables.

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In the facility I work in ( Ontario Canada covered under Reg 851 Indutsrial ) we have numerous "Lifts"/" Hopists". This machinery is taking product from level to another ( car bodies ). Currently many of these "lifts" are NOT guarded. Any Team member may walk into the area and no motion is stopped nor does it prevent the Team member from engaging all moving and lifting devices. Some of these "lifts" are on the second floor of our facility with NO guarding surrounding the "lift" nor the drop to the floor. The company continues to use verbage like " Legacy issues" and/or " Grandfathered".......your thoughts please?

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We have a robot cell with 2 robots that are die-punching and stacking mud-flaps. The cell is protected with steel fencing and light curtains and uses a 2 key system to reset and restart the cell after the safety chain is breached. The safety circuitry is Cat. 3 and had a PHSR done in 2009. My question is regarding Lock-out and tag-out procedure. Operators will routinely enter the cell by taking the A key out and putting it in their pocket. They typically adjust tooling etc. Is this sufficient for a lock-out or do we need to completely isolate the power to the equipment in the cell? Where do we draw the line and require a full power lock-out?

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I have a copy of the Robot Draft Standard. When will the a approved standard be ready for purchase. Additionally, we are writing specifications for for new and modified robots cells for installation in 2013. The 1999 standard had sections 1.3.1, 1.3.2, 1.3.3, and 1.3.4. Will the new standard have similar sections? And if so, what are the dates the standard will apply?

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I have a 4 axis servo controlled gantry that has X, Y and Z travel and also a rotating head. All 4 axes are controlled by a Fanuc system. The questionable area I have is a gaging table to measure parts between 1st and 2nd operation and I don't think the Z or X axes are interlocked properly w/ the door switch in the gaging area. Are software axis interlocks acceptable in this situation? That's pretty much what they are doing now but its only for one drop point in the gaging area not the other 2. This seems to work well for the one area that appears to be interlocked. Can you point me to some ANSI/OHSA standards to help point me in the right direction?

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i wish to redeploy refurbished Fanuc 420iF robots with an RJ2 controller. They will be used on an automated cell running on a rail to load and unload 4 CNC centres. How do I get this to meet current Canadian PSHSR standards since they are single channel systems?

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Is a Motoman MRC robot required to have a deadman switch? I work for an auto parts supplier and we are installing an old MRC robot in place to pull n/g part off the line. The control cabinet does not have the pendent enable board required for deadman switch operation. It seems that this was an option. Please send me any information you have on this issue. Thank you.

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Do main breakers of lighting panels need to be protected behind a door of some kind if they are attached to the ceiling in an Industrial establishment in Ontario Canada? ( c22.2NO.31-10 - CSA)

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Can a robotic cell be reclassified to non-robotic when automated movement is shut off using control reliable performance? We would like to use a robotic crane system in a manual mode that would work faster than "teach" mode but still use the teach pendant

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Does RIA15.06 recognize safety certifications based on EN954-1, regarding software and safety?

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I am wondering if a software system has been allowed to check the joint position and speed to reduce the restricted space currently required. This is a dual check safety position and speed check. I am leery because software is being used for control.

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Can a Safety Light curtain be used to initiate cycle start of a machine after hand is removed from the light curtain? Machine will be located in Ontario Canada.

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Is it possible to safely have a person welding on the robot at the same time it is operating? Could the robot be programmed to stop while a smaller weld is completed and then operator could restart?

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I am working on my Masters in Advanced Safety Engineering and was writing a paper on hazard analysis and risk assessments. Where would I find information on robotic incidents due to improper setup or safety system failures with robotic systems or human error? I wanted to make a case toward the benefit of risk reduction using the Preferred Method and the Risk Assessment Methodologies.

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Section 4.11 refers to hard stops on the major axis. For large warerhousing gantry robots in the 50 meter length catagory this is impractical and unsafe. What are the exceptions allowed? The one listed, refering to major rotary axis of 360 degrees seems to excuse any and all articulated robots.

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The case is for a robot with three axis, and the average speed of the axis is 2m/s The length of movement outside the machine is 1m horizontal, and 950mm vertical from 2300mm to 1350mm from the floor. Why is necessary to ensure that the robot motion area is completely guarded off from human interference?

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I have been given robot risk assessments by an integrator using a methodology that varies from the method found in ANSI/RIA R15.06-1999. The methodology has an estimation of risk. However, the outcome of the estimation of risk is a numeric number that does not prescribe any safeguarding. Does a methodology have to prescribe safeguarding based on estimation of risk to meet Clause 9 requirements? How do I test the methodology to ensure it meets ANSI/RIA R15.06-1999?

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What are the differences between ANSI RIA R15.06 - 1999 and R2009?

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What materials can robot hard stops be made from?

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Scenario: 6 axis robot mounted on a X direction base axis/ servo track. Will the safety spec allow linear motion of the servo track to exceed 1600mm/sec considering that the robot itself will not be moving; only the track will move?

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What is the standard for safety fencing on a robotic cell. Is 6'8" fencing 1 foot off the ground meeting the safety standard?

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Thank you for your services. I will suggest you are saving lives with this service! Do the Robotics Cell CAN/CSA Z434-94 (reaffirmed 2000 ) Industrial Robots and Robot systems General safety Requirements have any "Grandfather" clause anywhere that would negate a corporation from having to adhere to 6.2.4? Thank you in advance

Lee Burk from Pilz Automation Safety L.P.:
The current standard is Z434-03. Clause 2.3 contains the provisions for exclusion. "Robots that are rebuilt or re-deployed shall comply with the Standard in effect on the date of original manufacture. This does not preclude the addition of safety enhancements of this Standard. Rebuilt robots are those that are overhauled and repaired to their original condition and to the manufacturer’s original or current specifications for that model robot, including software changes. This includes overhaul and repair, reconditioning, refurbishment, or restoration. Re-deployed robots are those that are physically moved and only undergo changes to the task program and end-effector (EOAT)."

Roberta Nelson Shea from Safety Compliance Services, LLC:
There are no "grandfathering" clauses in either R15.06 or Z434. There are requirements about applicability and descriptions of changes that are required for existing robots and/or robot systems. There is no clause 6.2.4 in CSA Z434.

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Do we have to isolate the power to the servo motors while we are in the robot cell work area?

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I am performing a risk assessment for a new robot cell and I have a question about categorizing the Exposure. Is the exposure in regards to how often the task is performed or does the exposure mean that if a task is performed how much time during the task am I exposed to the hazard?

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I work in a facility ( Ontario Canada ) that has an older architect of robotic weld cells. Many do NOT have safety logic stopping movement if penetrated by human interface ( I can walk directly to many robots and shake hands) . Understanding that there is NO grandfathering clause, where does the language exist that directs me to update the cells for compliance?

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When using the Dual Check Safety function (soft stops) in lieu of axis limiting devices, is there still a requirement for a hard stop on the base axis (J1) per clause 4.11?

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I need a sample risk assessment report for robot installation.

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Can a Type 3 vertically mounted safety laser scanner be used to replace perimeter fencing protecting a robotic cell? Because the scanner is vertically mounted, I am aware that reference point monitoring is required and will be used.

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I would like to know if there is a good executive overview on Robotic Safety. I would like to have something like the "Top Ten" general safety considerations. Are you aware of any document that could fit this need?

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What are the most current editions of ANSI 15.06 and CSA 434? I have ANSI15.06-1999 and CSA Z434-03. Do I need an update? Thanks & br.

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What are the requirements for Robot Hard Limits in an assembly welding cell?

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We have a SCARA that is contained in a fixed barrier cage. What are common procedures/products to ensure that the doors stay open if a person is the cage?

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Can software be used to mute light curtains? Robotic work cell when robot is working in area away from operator - can light curtains be muted to allow placing parts?

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Can you please provide details about robot interlock? I am a student in one of the engineering colleges and want to know some details about that to give a seminar in class. Kindly reply to my question.

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I am looking for a Lock-Out/Tag-Out procedure for the model of Robot that I have. It is an automatic robot welder. The company that I bought it from referred me to this website to attain any safety standards for robotic systems. Where can I find Lock-Out/Tag-Out procedures, and are there specific procedures for different models?

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We currently have a robotic inspection cell. There is a monument parallel to a robot on a track. If we could mount a second monument on the other side of the robot we could have two inspection cells with one robot. Inspection cell A could be unloaded and loaded by personel while inspection cell B is inspecting. The robot has an electronic work envelope that limits where it can go. If we set up two electronic work envelopes and light curtains outside of those envelopes to isolate the two sides/work cells, does this meet the ANSI safety standards? One rep said yes, others say no.

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During the RIA Conference it was stated that a means of egress shall be made available from inside a robot cell. Does this apply to single robot cells and where is it located? In What Standard?

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How close can a robot come to a service gate? Is there a minimum distance or law that states how far it can come towards the gate?

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I should have been less ambiguous in my question. Section 11.1 of RIA15.06:1999, it states in section (e) that fixed barriers shall require the use of tools to remove any fixed portion. Can a barrier be considered "fixed" if it has the ability to be locked? The key to the lock would only be available to trained maintenance personnel. In this sense, the key would be a tool. It would require a deliberate action by someone to gain access through the barrier.

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Section 11.1 of RIA15.06:1999, it states in section (e) that fixed barriers shall require the use of tools to remove any fixed portion. Does the key in "key-lock" fixed barrier fulfill the requirements of a "tool." There is no definition for what a tool is, in the definitions. In other words, is a "key" a tool? Thanks

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I need to write a robotics safety policy for our company and need some direction or sample policies to go off of. Can I get some help or direction with this?

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What do the standards say about distance between the entry/exit safeguarding into and out of a robot paint booth and the part?

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Is there a safety standard available for using limit switches to limit motion of a six axis robot?

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Regarding fixed barrier guards, what kind of impact from a robot would a fixed barrier guard have to sustain? In other words, if somebody is standing next to the fixed barrier guard outside the safeguarded space and the robot impacts fixed barrier guarding through some mishap how much deflection should fixed barrier guard allow to protect person standing next to it?

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As far as a load area surrounding a tool, what is the minimum height for any low barrier fencing that guards against migration into the cell around the tool? Assuming the robot work path is not a concern for interference.

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Is there an internationally recognized safety symbol for an industrial robot?

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I am looking for approvals documentation on using a wireless pendant in an industrial safety application.

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We have a number of die casting machines that are robot loaded and unloaded. The machines have light curtians on both the front (operator) area and side (robot) area. When the operators have to tilt the cope it breaks the front light curtians which e-stop the robot. To reset, the operator must hold an opto-touch and press a reset button together. I have been asked to add a bypass key switch for the front light curtians which will bypass only the front light curtians for the cope tilt. The robot would receive a cycle stop to finish it's task. The robot side light curtians would remain active and latch if broken e-stopping the robot. My question is if this is in compliance with the 15.06 standard?

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I work for a die cast company and use many robots to load, unload from the die cast, place scrap in tubs etc. The guarding around the robot cell is hard fastened to the floor and fully interlocked gates for entry into the work space. We have openings to move in and out scrap tubs. When the tubs are in place, the entire opening is closed off as to not allow anyone from entering the robot work area. The robots do not run when the tub is out as the scrap would end up on the floors and extra time would be needed to clean the floor area within the robot cell.(LOTO would be required to do this). The question is: Is having the tubs in place when the robot is running a sufficient method of keeping people out of the robot work space or do I need to put in a light curtain, some type of interlock between the fencing and the tubs or other method to meet ANSI robot guarding standards?

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A guard, to contain the full energy of a robot, needs to be carefully designed and be very substantial. What deflection of the guard is permissible under full impact conditions? Zero deflection would be unrealistic but if a person is leaning on the outside of the guard, opposite the point of impact, even a small deflection could cause injury? Can Safety-rated soft axis and space limiting software, offered with some of the latest robots, be used to minimise the risk of the Robot running into the guard and potentially people? Can a lower strength guard like a perimeter fence guard style be used in combination with this dual processor zone check software? Are there other options where the work envelope is small or irregularly shaped and mechanical limits are not possible to contain the robot motion without using a fortress style guard? Regards, James

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Do you forsee requirements for redundant valves in pneumatic systems or some similar impact on pneumatic systems in the upcomming release of R!A 15.06?

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What does the standard say about fencing around a robot and its height?

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Are there new emerging standards for robot safety? We have have heard from customers that they require their existing system reviewed for compliance with the 2010 standards. Could you refer me to a location where I can acquire the most recent standards?

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I am using the 15.06 risk assessment on some of our equipment. I am new to this task, having inherited it from another engineer who left. So far, I have performed the initial assessment, selected and applied the appropriate safeguarding; now I am validating my guarding using Table 4. Some of my tasks are maintenance tasks whose initial assessments were in the R2 range. The safeguarding for these tasks is locking out the machine power - as long as power stays locked out, the machine cannot start and the hazards do not really exist. How do I show that in the post-safeguarding section of my risk assessment? From the 15.06 sample form, it looks like I set Exposure and Avoidance to E1 and A1, respectively, but I want to be sure - is that all I must do, or am I reading it wrong?

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What are the current options for camera based, robot safety systems? Is there anything else besides PILZ SafetyEYE?

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My question is about the strength of the guard around a robot. We are building a machine that an operator will be within the reach of a robot. There will be a guard door with a interlock switch that is tied into the robot E-Stop. If the door is open the robot will stop. The problem is that the robot could break through the door guard. My question is, does the guarding system around a robot need to be stronger than any force the robot can apply or is it enough that the door interlock switch will trip if the door is broke through?

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I am adding unload robots to some existing industrial X-ray machines. While doing the electrical engineering for this project I became aware that the existing safety circuit is single channel E-stops in series interrupting the MCR latch. My question is in updating this to control reliable with monitoring for the robot additions, if I incorporate a second N/C E-stop chain and run each chain to a safety rated relay (AB 700S-CF620DC) then monitor each relay through the PLC (SLC5/05) for channel imbalance, then add both safety relays N/O and the PLC controlled imbalance relay N/O (requiring reset if channel imbalance is detected), would this satisfy the definition of a control reliable system with monitoring (type 3 or better)? If a schematic is desired, e-mail me at hahnt@divmi.com.

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Under 1910.147 a 2 ii, we enter the robotic cell to change tips on robotic weld guns by using a master controls switch that interrupts the control circuitry. Robots cannot be placed into teach mode to move the robot nor can other ancillary equipment in the cell will move. Two questions: Can this procedure be used during non-production periods of time to enter a robotic cell to perform routine and repetitive tip changes? If during production time we need to perform non-routine or non-repetitive work on a single robot in the cell and we lockout all energy sources to THAT robot, can we consider the work as two activities: a) service a robot using lockout and b) passing through or working with the operating envelope of adjacent robot(s) by using the above procedure because the activity of passing through the cell is routine and repetitive.

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RIA 15.06 mentions "Existing Installations" and New Installations. If I move an existing robot cell to another facility, does that now become a new installation?

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What document or addendum defines the use of dual channel safeties on a robotic system? I have ANSI/RIA R15.06-1999(R2009). That document describes a single channel safety.

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Is there a defined minimum width defined for a robotic cell door other then common sense?

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We are considering a new robotic cell to pack our product in large re-useable totes. The opening in the barrier guarding is more than large enough for a human to enter. We intend to protect that opening with a light curtain. Even so, is there a minimum distance the robot's controlled movement must be from the entry point of the barrier opening? If so, what is that distance?

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Is there a standard for MIG Gun control cables that are attached to the safety clutch? Right now, we have orange cables and we considering switching to yellow or even black. Is there any safety standard that would prevent us from implementing this new colour?

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When using a rotary turntable, If the light curtain is broken mid cycle and the rotary table is stopped at 90deg of rotation two potential entry points into the cell may be created. My company has always held the belief that in that circumstance signage saying “Not an entry point” would suffice. We currently have a customer requesting that these openings be guarded with an electronic sensing device. Is this necessary?

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Where can I find safety standards for impact hazards? For example, my company always used the pinch points at either end of a rotary table as the hazard. Currently, we have a customer requesting that we treat the whole diameter of the motion of the rotary table as an impact hazard.

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Is there a practical test that can be performed to determine the real world stopping distance of tooling? I have heard that you can allow a meter stick standing vertically to fall over through the light curtain and if it is not contacted by the tooling than there is no danger but can find no mention of this.

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What clearance must there be in Canada under the interlock fencing and why do we we require clearance at all?

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I have a robot suspended over people. The robot is held in place via a rack and pinion system. There are two levels of redundancy (two failures) before the robot falls to the ground. Is this sufficient or is a fail-safe mechanism required?

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I'm presently working to build a robotic cell using CSA z434 standard. Is there any book to help understand that standard and help me put in place the fencing system?

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What Robotic Safety Guidelines apply to Brazil in South America?

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If you have a large robotic workcell with multiple ingress doors. Is there a standard that states that each door (even if not used to enter the cell initially) should allow for egress from the cell if an emergency arises?

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Is there a defined safe jog speed?

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I always thought that the 1999 standard required dual channel e-stop circuits. I don't see anywhere in the standard where dual channel is mentioned. Even if a risk assessment requires a higher level of safety I don't see where it elevates to dual channel e-stop circuits. What am I missing?

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I understand that OSHA requires that we follow 15-06-1992 not 1999. What are the differences between 1992 and 1999? I have the 1999 standard but where can I still get a copy of the 1992 standard?

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We are building a robot cell for an end user and they have sent us used robots which we believe are not RIA compliant. Where in the OSHA standards would I find out if they are acceptable with our category 3 system if they are only single channel e-stop circuit? Is there an acceptable "minimum" standard?

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I am doing a risk assessment on a robot cell where boxes go in on a continuous running conveyor to be fill-up and then go out of the robot cell. The opening to let the boxes go in and out is around 24 inches by 24 inches. A human can goes in by this opening. To protect the access, we can not use a light curtain with muting because the distance between the boxes is extremely variable. Is the use of a 36 inch-long tunnel is a good safety practice to move the operators away from the danger even if a suicidal one can lay down on the conveyor and goes in the robot cell?

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Are there any standards addressing colors for robots or automated equipment?

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Inside of a robotic cell, is there a minimum required distance between conveyors or any equipment in the cell for aisles or access? Does RIA have definitions? OSHA? CSA?

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What are the standards that govern Machine Perimeter Guarding in Canada? I need the actual numbers of the specific standards.

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What is the regulation for the storage distance of flammable gasses from a robot cell?

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I am working on a custom designed system that is using a robot like a (very) glorified operator lift assist. The original intent was to use the robot in T1 teach mode under operator control and use appropriately trained personnel and other safety system design features to limit the operators exposure into the robots restricted space. I am running into an issue though of cycle time so am considering what is necessary, for this already customized safety solution, to allow us to move the robot at say 500 mm/s for portions of the cycle (operating in T2 mode). Without objects that the operator can get pinched against and by limiting where the operator can stand, I believe we can still provide a system that contains a reasonable level of risk. I would be interested in your comments. I knew from the start that we would not be complying with some aspects of the 15.06 standard, but we are being diligent about assessing the risks to the operator for our unique solution.

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I have just recieved robots that have an electronic safety restriction system that termed EPS by ABB. My question is if this is a legal alternate solution to hard stops on a robot when hard stops are practical? Robot Cell sizes are shrinking and the restricted space limits are staying the same.

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Is runaway robot a possibility? If so, are there any documented incidents? What would be the likelihood of such an event?

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Is there an International and European standard that addresses the minimum clearance from the operating space such as specified in the R15.06 section 10.7.7?

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What is the frequency of Fanuc robots damaged by hitting the e- stop? I ask because at work today I was told to never hit the e-stop on a Fanuc robot because of possible damage to the robot.

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Hello, I am a Board Member of the Iowa Illinois Safety Council. We are looking for a speaker to present a Robotic Safety lecture at our professional development conference on April 23, 2009. Please call me at 319-390-2190 for details. Thank you.

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Does the latest version of ANSI allow an extra person in the cell without an enabling device when training?

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What is the latest on Human/Robot Interaction. Is there a set standard on robot required performance, category?

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We need an alternative way of viewing the path of the paint robot in our paint booth. We view now through the window of the paint booth, which is not good enough. We have interlocks on the paint booth, but we need to get the into paint booth to view the spray path of the robot. There is room behind the robots to view. We are reviewing numerous guarding methods. We do have hard pins on the robots. What method do you suggest?

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When will R15.06 be modified to address new products such as ABB Robotics SafeMove and Fanuc Robotics DCS?

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I'm working on a project and need industrial robotics injury and fatality statistics. I'm having a hard time finding them, could you help me please.

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I'm looking at a Joint 1 safety limit system, in particular a retractable hard stop system. Was wondering if you knew of a company - or several - that makes these for a variety of robots - say for Nachi... Thanks!

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Where can I find the governing document that determines what is an acceptable barrier, (conveyor, fencing, cabinets…) and protection level within the cell area but beyond the robot reach (including EOAT with load)?

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I have been tasked with producing a procedure for "extracting a human that is pinned by a robot." Is there a best practice for this procedure? Anyone have guidelines or procedures that they are willing to share? Thank you Bob

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I am looking at using color tinted UV filtering Plexiglas or Lexan in place of the standard wire cage with vinyl screens for our welding robots. The cage we want to replace with the Plexiglas or Lexan would be the same layout, height, gates, interlocks, light curtains maintained etc. Does section 5.1a of ANSI/RIA R15.06 restrict this or any other section. We have questions about 5.1a "be constructed to withstand operational forces" .

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