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RIA TR R15.506-2014: Applicability of ANSI/RIA R15.06-2012 for Existing Industrial Robot Applications - PDF Download
TR 506 explains how to apply the ANSI/RIA R15.06-2012: Industrial Robot Safety Standard to existing robot systems, rather than the design of all-new installations that is the primary topic of the 2012 R15. This document supplements the Standard ANSI/RIA R15.06-2012: Industrial Robot Safety.
(TR R15.506 as published in 2014 continues to be the current active version.)
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