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Category: Safety

We have a robotic cell that has multiple openings in the perimeter guarding for material to enter. If an opening is large enough for a person to crawl through on the conveyor, would this be considered “forseeable misuse” and must we guard this with a presence-sensing device? The risk assessment shows severe (death) is possible prior to safeguarding. We are far enough from the hazard zone so that full body entry would be the only means of reaching the hazard (beyond getting hurt by the conveyor itself). Any standard for openings that is specific to dimensions beyond the 5" in the 1999 RIA standard?

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I am wanting to re-purpose two Fanuc robots with manufacture years of 2005 and 2006, respectively in a new cell. Due to the age of these robot controllers they are not capable of adding the DCS option. I have no way to limit the robot from hitting or going through the guarding, so is double wall guarding an acceptable countermeasure?

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I know the standard says that you must have a means to open the cell from the inside with or without power. What page does this reference this on? Does it have to be safety rated? Mechanical or electrical? Right now we've discussed using a PB to break power to a magnetic lock, but I've been looking into a wash down rated touch sensor. I could route it to a input to break the locking output or wire to break the power directly going to the magnetic locking gate switch. Looking for any advice!

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In the forum there are 3 answers to the same question: what is the acceptable height from the floor of the robot enclosure? There are 3 answers 5', 6' and 7". I can find no actual refernce to this in the R15.06-2012

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If I have a robot cell, using soft axis limiting software to limit robot's max reach with tool and surrounded by fixed physical guarding, is there still a minimum distance of clearance required between the fixed guarding and the robot tool in all directions of the work cell?

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Does every E-stop and disconnect need a span of control label per section 5.3.6 and 5.3.8.2, or is it only required if it is not obvious?

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What is considered a "safe" speed for and open design, tabletop Cartesian robot?

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My robot is mounted to the top of a machine, parts are being picked/dropped to a conveyor approximately 8ft from ground. Question how high must my guarding be around the Robot and do I have to extend my guarding around my conveyor pickup and putdown points?

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Is there a specification on the which type of materials are approved for guarding panels around robot cells? We typically use polycarbonate material. Is perspex material acceptable?

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In an existing robotic cell (installed new in 2004), if one is not changing the function of the cell, just speeding up the robot motions to handle more infeed product, is a risk analysis required?

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The Introduction to R15.06-2012 states "installations changed subsequent to the publication of this edition are subject to the requirements of this edition". How is 'changed' defined in this context that would require updating to the 2012 standard?

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A robotics material handling system was quoted without barriers or electronic sensing devices on the conveyor infeed end. Barrier guarding is around 3 sides of the cell but there is nothing to keep someone from "surfing" the conveyor on the open end to the hazard. What section of R15.06-2012 can I cite to my management to justify the addition of a laser scanner or another ESPE somewhere along the conveyors to allow loading of pallets but not bodies?

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What are leading Risk Assessment Tools being used by Integrators?

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Clause 5.4.2 of ANSI/RIA R15.06-2012 states that "The restricted space shall be within the safeguarded space..." and "The perimeter safeguards shall not be installed closer to the hazard than the restricted space." Is it acceptable to use soft limits or cubic interference zones as limiting devices to define the restricted space of the robot in order to meet this requirement? What are some other options for defining restricted space other than hard stops?

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I have a question concerning a safety fence product. The Husky Wire and Rack, Machine Guarding / Matrix Guarding advertises that it is OHSA compliant. Is this product RIA compliant?

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I understand that under the 2012 standard, the risk assessment is mandatory. Is there a required or preferred methodology for the risk assessment? Can the integrator use the same methodology as before (1999)?

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I have a machine where we use a KUKA robot to exchange a tape application heads from storage stands to the machine. This robot has the SafeOperation feature installed. Most of the cell has a hard guard except for an area between the cell and the machine, where the machine operators must regularly pass through. This area is protected with a floor scanner. My first issue is trying to verify the safe distance calculations. I have KUKA's published stopping times but do I use the worst time for 1 axis for these calculations? At what point in the move profile do I use as the baseline for implementing this distance? The highest velocity or farthest reach? The second issue I have is I would like to use a warning zone on the scanner to slow the robot (using the SafeOperation settings) to 250mm/s. Do I use the original safe distance calculations to determine the limits of this warning zone?

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Are there any safety guidelines in the RIA specifications regarding 2 people being in a robot cell while teaching?

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We are working on a robot application with a small SCARA system where the robot's working envelope has to be defined beyond the machine's guarding in order for it to be able to reach all the necessary areas that it must reach. So, the robot will have the potential for smacking into the guarding, which will include a door. The door does include a safety interlock, so when the machine is operating the door is locked and will not open. We have checked the door lock's force rating and compared it against the maximum force that could be generated by the robot at full acceleration and this appears to be safely under the door lock's rating. We will also monitor the robot's motors to determine if they have exceeded any limits that would indicate it's movement was restricted unexpectedly. Also, in this configuration, hard stops cannot be used. Is there anything else that we can/should do to ensure the safety of this robot application?

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We are a group of seniors at Toledo Technology Academy building a guarding around a FANUC R2000iB series robot arm. We were wondering if there is any minimum height that the guarding must be according to OSHA or any other safety group.

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