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If I'm not using any safety devices in my robot cell, what equation do I use for safety distance? I believe S = K*T + C is only for used with safety devices, due to the variables dealing with human interaction speeds. Is there a general equation for safety distance with regards to fencing and so maintenance personnel can't get pinned?
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What you need to look at is ANSI/RIA R15.06-2012 (for industrial robots and robot systems - Safety Requirements) Which requires you do to a risk assessment. to do that see RIA R15.306-2016 (Task-based Risk Assessment Methodology). You will find that the minimum safe distance for guards "Shall" meet the requirements of ISO 14120 and the minimum distance from any hazard "shall" be determined according to the relevant requirements of ISO 13857. I would strongly recommend that you conduct a Risk Assessment in accordance with all appropriate standards before you use your system again, otherwise you may find yourself exposed to serious fines and/or litigation if an injury were to occur, but most importantly a person will have been injured in what may well have been a preventable incident
No, there is not a general equation in regards to safe distance with regards to "fencing". ISO 14120 (General requirements for the design and construction of fixed and movable guards) states that guards intended for preventing access to hazard zones shall be positioned to prevent parts of the body from reaching hazard zones according to ISO 13857 (Safety of machinery - Safety distances to prevent hazard zones being reached by upper and lower limbs) . For interlocked movable guards, safety distances according to ISO 13855 shall also be fulfilled. There are several factors that affect the safe distance of guards, to include but not limited to, protective structure opening dimensions, type of opening (i.e. slot, square, round), height of the protective structure, height of the hazard zone, etc.