RIA

The scope of this Technical Report is to provide test methods and metrics for validating separation distances of robot applications using Speed and Separation Monitoring (SSM) in accordance with ANSI/RIA R15.06 and RIA TR R15.606. This Technical Report also provides guidance on determining how speeds and positions of robot systems, workpieces, and obstacles should be measured, and under what conditions such measurements should be made.This document is informative in nature and is not a standard. The use of the word “shall” and “should” in a particular statement indicates the relative importance of specific criteria or features indicated in ANSI/RIA R15.06, RIA TR R15.606, and RIA R15.08.

This Technical Report describes test methods and metrics for measuring the pressures and forces associated with quasi-static and transient contact events of collaborative applications where risk reduction is provided primarily by robots with power and force limiting (PFL) by inherently safe design or safety functions according to ANSI/RIA R15.06 and RIA TR R15.606. This Technical Report also provides guidance on determining the conditions of the test measurements. A robot with PFL functionality is not to be considered safe “out of the box” as the PFL robot is a component within a collaborative application. If the PFL robot is used in an application with no human/robot collaboration, these test methods are not required. For further guidance on when to test, see Annex A: Determining When to Test PFL Applications. Forces attributable to human motion are not taken into consideration for the application of this technical report.

This Technical Specification specifies safety requirements for collaborative industrial robot systems and the work environment, and supplements the requirements and guidance on collaborative industrial robot operation given in ISO 10218-1 and ISO 10218-2 [ANSI/RIA R15.06-2012].This Technical Specification applies to industrial robot systems as described in ISO 10218-1 and ISO 10218-2 [ANSI/RIA R15.06-2012]. It does not apply to non-industrial robots, although the safety principles presented can be useful to other areas of robotics.

This technical report is written for users of industrial robots or robot systems that comply with ANSI/RIA R15.06-2012 Part 1, a responsibility of the robot manufacturer; and of industrial robot systems that comply with ANSI/RIA R15.06-2012 Part 2, a responsibility of the integrator. This technical report explains some user responsibilities and provides guidance to the user of robot systems to enable the safe use of the robot system(s) in their facilities. Compliance with this technical report is only achievable when using robot and robot systems that are compliant with ANSI/RIA R15.06-2012.

TR 506 explains how to take the 2012 R15.06 standard into account for existing robot systems, rather than the all-new robot installation that is the primary topic of the 2012 R15.06. The TR 506 document as published in 2014 continues to be the current active version.

The purpose of this technical report is to provide interpretation of certain provisions of ANSI/RIA R15.06-1999 and to present examples of current industry practices for teaching (programming) multiple industrial robots that share a common safeguarded space. This information is in addition to the requirements contained in ANSI/RIA R15.06-1999 and the committee considers the examples to comply with the safety standard.