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ANSI/RIA R15.06-1999 American National Standard for Industrial Robots and Robot Systems - Safety Requirements (revision of ANSI/RIA R15.06-1992)
Approved June 21, 1999. 75 Pages. The purpose of this standard is to provide guidelines for industrial robot manufacture, remanufacture and rebuild; robot system installation; and the methods of safeguarding to enhance the safety of personnel associated with the use of industrial robots and robot systems.
This standard has been superseded by the ANSI/RIA R15.06-2012 standard and may be used until December 31, 2014.