Fence Guarding: I just purchased a Fanuc M-710ic. I am getting ready to purchase some safety fencing to establish a perimeter around the robot. The fence height I am proposing is 2200 mm (86 inches) tall. What are the standards required for fence height? I would prefer to go shorter because this robot will be in a lab setting for development/training etc... Thanks

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When performing the Initial Risk Assessment (according to R15.06), must the safety-rated soft axis and space limiting features of a collaborative robot be excluded from the system?

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FANUC - "Stop position prediction". Hello, can you tell me what this DCS option is used for? We have a supplier who uses this option on the robot in a fully cage scenario, no collaboration with any human. This option increases the footprint inside of the cell to allow the robot to run at full speed. We want this supplier to not use this option, but they feel it is needed for the safety and to prevent the robot from crashing through the fence in an abnormal situation. Any info on this feature would be greatly appreciated!

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I understand that safeguarding multiple people in the workspace require each have his own enable device. Does that mean, when one enables his device, the other devices will be disabled?

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I have a question about the doors in the robot cells, are they required to be painted? if yes, in which standard is the requirement settled?

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Are there requirements to have awareness devices like tower lights on our robot cell? I would like to have some lights signal when the robot is in normal operation, Teach Mode, or if there is an error, but I would like a standard to provide to request the capital. Thank you, Holly

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What are the requirements for protecting personnel in a robot cell that has more than one robot in the cell and each robot has a teach pendant?

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How far away is a container of parts to be from a safety light curtain outside a weld cell

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How should a cell provide safe maintenance access when multiple robots are in single cell?

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I have a Daihen OTC AX robot cell with 2 robots and 2 controllers on it. My issue is when you press the E-stop on the each pendant or start box on either unit it does not go into E-stop but my external E-stops do work fine. Any Ideas?

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In performing a robotic risk assessment -utilizing ISO/TS 15066, there is no force / pressure limits for foot. How do you determine the risk level for the mobile robot rolling over the foot / toe? The current work environment allows sandals so there is a potential for the toe to get struck / rolled over before the bump to the leg.

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Under the task of "maintenance" there are inherent slip/trip/fall hazards that come with working on the robot cell. At a minimum I would think these grade as S2,E1,A1 = Medium risk level. I can't find any way to reduce this risk to the acceptable "low" or "negligible" level. Any insight would be appreciated.

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You come across a stress wrapper that is locked out. You see two employees working on it with their hands point of operations.. What should or should not be done?

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You come across a stress wrapper that is locked out. You see two employees working on it with their hands point of operations.. What should or should not be done?

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I am trying to determine if our robot cell is considered "collaborative" or not. Within R15.06-2012, a collaborative workspace is a "workspace within the safeguarded space where the robot and human can perform tasks simultaneously during production operation". In our cell, the robot and human do not perform tasks "simultaneously", instead they perform tasks in the same space but in sequence. For example, assume there is a "Location A" within our workspace. In our operation the robot moves to Location A, then performs work and then leaves Location A, (but remains in the workspace). Then the human enters the workspace, moves to Location A and performs work, and then leaves the workspace altogether. And it is not the intention for the human to interact with the robot while the human is in the workspace, such as passing material to it, etc. However, in theory I suppose the robot CAN perform tasks simultaneously while the human is in the workspace as it is not locked out, it is simply programmed to remain stowed in a home position. So...is this considered a collaborative workspace? Our confusion/debate is centered around the phrase "can perform tasks simultaneously" and the intuition that the workspace does not feel collaborative but the standard seems to indicate that it is. Just want to make sure we are meeting the appropriate requirements. Thanks for the help.

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In R15.06 part 2 section 4.2, item c) reads as follows: Manual intervention – the layout should be designed to allow tasks requiring manual intervention to be performed from outside the safeguarded space. Where this is not practicable and when the intervention requires powered movements of the machine(s), appropriate enabling devices shall be provided. My question is, does free-driving the robot count as powered movement with respect to the quoted section of the standard above?

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Looking at the following: https://www.outrider.ai/. It is an automated vehicle (trailer shifter) with a robotic arm. What standard(s) does this fall under? I found that there is an ANSI R15.08 Mobile Robots to be published soon. Does this apply?

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Hi, can the emergency stop be used for lock out point (controlled entry) to enter a machine cell for short term activity like cleaning, changing a weld rod, etc. Does any standard restrict such use of lock out point from ANSI/CSA, ISO standard.

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How to find kinematics of a system with 2 differential drives attached together? I have a system like shown in the diagram (https://imgur.com/a/lcc6GMP) where 2 robots having differential drive are physically constrained together. Traditionally for a single robot, we find the Instantaneous center of curvature (ICC)(http://www.cs.columbia.edu/~allen/F17/NOTES/icckinematics.pdf) by equating the "omega" for both wheels. That would work since there are 2 equations (the relationship between the wheel velocities and angular velocity) and 2 unknowns (the distance of ICC from the center of the wheels and the angular velocity). However, in my system, there will be 4 equations and 2 unknowns. So should I solve it as an over-determined system? Or should I only consider the extreme cases ie. left most wheel speed for the left robot and rightmost wheel speed for the right robot?

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