Australian Standard: Safety of Machinery Part 3301: Robots For Industrial Environments-Safety Requirements

AS 4024.
3301—2009
AS 4024.3301—2009
Australian Standard®
Safety of machinery
Part 3301: Robots for industrial

environments—Safety requirements
Accessed by DEAKIN UNIVERSITY on 28 Jul 2013 (Document currency not guaranteed when printed)
This Australian Standard® was prepared by Committee SF-041, General Principles for the
Guarding of Machinery. It was approved on behalf of the Council of Standards Australia on
26 March 2009.
This Standard was published on 18 May 2009.
The following are represented on Committee SF-041:
• Australian Chamber of Commerce and Industry

• Department of the Premier and Cabinet, SA
• Department of Employment and Industrial Relations, Qld
• Department of Primary Industries, Mineral Resources, NSW
• Engineers Australia
• Federal Chamber of Automotive Industries
• Human Factors and Ergonomics Society of Australia
• Institution of Instrumentation, Control and Automation Australia
• National Electrical and Communications Association
• Safety Institute of Australia
• Tractor and Machinery Association of Australia
• University of Melbourne
• Winery Engineering Association
• WorkCover NSW
• WorkSafe Victoria
This Standard was issued in draft form for comment as DR 06103.
Standards Australia wishes to acknowledge the participation of the expert individuals that
contributed to the development of this Standard through their representation on the
Committee and through the public comment period.
Keeping Standards up-to-date

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be found by visiting www.standards.org.au
Standards Australia welcomes suggestions for improvements, and encourages readers to

notify us immediately of any apparent inaccuracies or ambiguities. Contact us via email at
mail@standards.org.au, or write to Standards Australia, GPO Box 476, Sydney, NSW 2001.
AS 4024.3301—2009
Australian Standard®
Safety of machinery
Part 3301: Robots for industrial

environments—Safety requirements
Originated as AS 2039—1987.
Revised and redesignated as AS 4024.3301—2009.
COPYRIGHT
© Standards Australia
All rights are reserved. No part of this work may be reproduced or copied in any form or by
any means, electronic or mechanical, including photocopying, without the written
permission of the publisher.
Published by Standards Australia GPO Box 476, Sydney, NSW 2001, Australia
ISBN 0 7337 9152 2
AS 4024.3301—2009 2
PREFACE
This Standard was prepared by the Standards Australia Committee SF-041, General
Principles for the Guarding of Machinery to supersede AS 2939—1987, Industrial robot
systems—Safe design and usage.
During its work, the Committee agreed to use the International Standard ISO 10218-1,
Robots for industrial environments—Safety requirements, Part 1: Robot as the basis for this
Australian Standard. This action will ensure the continuing consistency of machinery safety
standards with each other as well as maintaining a consistent approach to machinery safety
standards in Australia.
Hazards associated with robots are well recognized but the sources of these hazards are
frequently unique to a particular robot system. The number and types of hazards are directly
related to the nature of the automation process and the complexity of the installation. Risks
associated with these hazards vary with the type of robot used, its purpose and the way in
which it is installed, programmed, operated and maintained.
The terms ‘normative’ and ‘informative’ have been used in this Standard to define the
application of the appendix to which they apply. A ‘normative’ appendix is an integral part
of a Standard, whereas an ‘informative’ appendix is only for information and guidance.
3 AS 4024.3301—2009
CONTENTS
Page
1 SCOPE........................................................................................................................ 4
2 OBJECTIVE ............................................................................................................... 4
3 REFERENCED DOCUMENTS.................................................................................. 4
4 DEFINITIONS............................................................................................................ 5
5 HAZARD ANALYSIS AND RISK ASSESSMENT................................................... 8
6 SAFETY REQUIREMENTS AND PROTECTIVE MEASURES............................... 9
7 INFORMATION FOR USE...................................................................................... 19
APPENDICES
A GRAPHICAL AIDS DEPICTING THE ROBOT SPACE ......................................... 22
B LIST OF SIGNIFICANT HAZARDS........................................................................ 25
C OPTIONAL FEATURES........................................................................................... 27
D MODE LABELLING ................................................................................................ 29
E FUNCTIONAL CHARACTERISTICS OF THREE-POSITION ENABLING
DEVICES .................................................................................................................. 30
F STOPPING TIME AND DISTANCE METRIC ........................................................ 31
AS 4024.3301—2009 4
STANDARDS AUSTRALIA
Australian Standard
Safety of machinery
Part 3301: Robots for industrial environments—Safety requirements
1 SCOPE
This Standard specifies requirements and guidelines for the inherent safe design, protective
measures and use of industrial robots and robot systems as defined in Clause 4. It describes
basic hazards associated with robots, and provides requirements to eliminate or adequately
reduce the risks associated with these hazards.
This Standard does not apply to non-industrial robots although the safety principles
established in this Standard may be utilized for them. Examples of non-industrial robot
applications include, but are not limited to undersea, military and space robots; tele-
operated manipulators; prosthetics and other aids for the physically impaired; micro-robots
(displacement <1 mm); surgery or healthcare; and service or consumer products.
2 OBJECTIVE
The objective of this Standard is to provide designers, manufacturers, suppliers and
employers with the technical means to minimize the risks to the health and safety of those
working with or otherwise near industrial robots.
3 REFERENCED DOCUMENTS
The following documents are referred to in this Standard.
AS
4024 Safety of machinery
4024.1201 Part 1201: General principles—Basic terminology and methodology
4024.1202 Part 1202: General principles—Technical principles
4024.1301 Part 1301: Risk assessment—Principles of risk assessment
4024.1501 Part 1501: Design of safety related parts of control systems—General
principles for design
4024.1604 Part 1604: Design of controls, interlocks and guarding—Emergency stop—
Principles for design
4024.1905 Part 1905: Displays, controls, actuators and signals—Indication, marking and
actuation—Requirements for marking
4024.2801 Part 2801: Safety distances and safety gaps—Positioning of protective
equipment with respect to the approach speed of parts of the human
body
60204 Safety of machinery—Electrical equipment of machines
60204.1 Part 1: General requirements (IEC 60204-1, Ed. 5 (FDIS) MOD)
AS/NZS
61000 Electromagnetic compatibility (EMC)
61000.6.2 Part 6.2: General standards—Immunity for industrial environments
61000.6.4 Part 6.4: Generic standards—Emission standard for industrial environments
© Standards Australia www.standards.org.au

5 AS 4024.3301—2009
ISO
9283 Manipulating industrial robots—Performance criteria and related test methods
9946 Manipulating industrial robots—Presentation of characteristics
4 DEFINITIONS
For the purposes of this Standard, the following definitions apply.
4.1 Actuator
Powered mechanism that converts electrical, hydraulic or pneumatic energy to effect
motion.
4.2 Actuating control
(a) A mechanical mechanism within a control device, e.g. a rod that opens contacts.
(b) A device that initiates a locking or unlocking sequence, e.g. a specialized key.
4.3 Automatic mode
Operating mode in which the robot control system operates in accordance with the task
program.
4.4 Automatic operation
State in which the robot control system operates in accordance with the task as intended.
4.5 Collaborative operation
State in which purposely designed robots work in direct cooperation with a human within a
defined workspace.
4.6 Coordinated motion

Control wherein the axes of the robot arrive at their respective end points simultaneously,
giving a smooth appearance to the motion and control wherein the motions of the axes are
such that the tool centre point (TCP) moves along a prescribed path (line, circle, or other).
4.7 Cycle
Single execution of a task program.
4.8 Drive power
Energy source or sources for the robot actuators.
4.9 End-effector
Device specifically designed for attachment to the mechanical interface to enable the robot
to perform its task.
Examples include a gripper, welding gun or spray painting gun.
4.10 Energy source
Any electrical, mechanical, hydraulic, pneumatic, chemical, thermal, potential, kinetic or
other source of power.
4.11 Hazardous motion
Any motion that is likely to cause personal physical injury or damage to health.
4.12 Industrial robot
Automatically controlled, reprogrammable multipurpose manipulator, programmable in
three or more axes, which may be either fixed in place or mobile for use in industrial
automation applications.
www.standards.org.au © Standards Australia

AS 4024.3301—2009 6
NOTES:
1 The robot also includes the—
(a) manipulator (including actuators); and
(b) controller including teach pendant, and any communication interface (hardware and
software).
2 For the purposes of this Standard the following devices are considered industrial robots:
(a) Hand-guided robots.
(b) The manipulating portions of mobile robots.
(c) Collaborating robots.
3 This includes any additional axes that are controlled by the robot controller.
4.13 Industrial robot system
System comprising—
(a) robot;
(b) end effector(s); and
(c) any equipment, devices, or sensors required for the robot to perform its task.
4.14 Limiting device
Device that restricts the maximum space by stopping or causing to stop all robot motion,
and is independent of the control program and the task programs.
4.15 Local control
State of the system or portions of the system in which the system is operated from the
control panel or pendant of individual machines only.
4.16 Manual mode

Control state that allows the generation, storage and playback of positional data points.
4.17 Pendant
Hand-held device linked to the control system with which a robot can be programmed or
moved. Also called a ‘teach pendant’.
4.18 Program
4.18.1 Control program
Inherent set of instructions that defines the capabilities, actions and responses of the robot
system.
NOTE: This program is fixed and usually not modified by the user.
4.18.2 Task program
Set of instructions for motion and auxiliary functions that defines the specific intended task
of the robot system.
NOTES:
1 An application is a general area of work, a task is specific within the application.
2 This type of program is normally generated by the user.
4.18.3 Task programming
Act of providing the task program (see Clause 4.18.2).
4.18.4 Programmer
Person designated to prepare the task program.

7 AS 4024.3301—2009
4.19 Program path

Path traced by the tool centre point (TCP) during the execution of a task program.
NOTE: The term ‘tool centre point’ is defined in Clause 4.30.
4.20 Program verification
Execution of a task program for the purpose of confirming the robot path and process
performance.
NOTE: Verification may include the total program path or a segment of the path. The instructions
may be executed in a single instruction or continuous instruction sequence. It is used in new
applications and in fine tuning/editing of existing ones.
4.21 Protective stop
Type of interruption of operation that allows an orderly cessation of motion for
safeguarding purposes and which retains the program logic to facilitate a restart.
4.22 Reduced speed control
Mode of robot motion control where the speed is limited to a maximum of 250 mm/s to
allow persons sufficient time to either withdraw from the hazardous motion or stop the
robot. Also called a ‘slow speed control’.
4.23 Safeguarding device
Device that detects or prevents access to a hazard. A protective device.
4.24 Single point of control
Ability to operate the robot such that initiation of robot motion is only possible from one
control source and cannot be overridden from another source.
4.25 Singularity
Condition caused by the collinear alignment of two or more robot axes, resulting in
unpredictable robot motion and velocities.
4.26 Space
4.26.1 Collaborative workspace
Workspace within the safeguarded space of the robot work cell, where the robot and a
human can perform tasks simultaneously during production operation.
4.26.2 Maximum space
Space that can be swept by the moving parts of the robot as defined by the manufacturer
plus the space that can be swept by the end effector and the workpiece.
NOTE: Graphical representations of maximum space are provided in Appendix A.
4.26.3 Restricted space
Portion of the maximum space that is restricted by limiting devices that establish limits that
will not be exceeded.
4.26.4 Operating space
Portion of the restricted space that is actually used while performing all motions
commanded by the task program. Also called ‘operational space’.
4.26.5 Safeguarded space
Space defined by the perimeter safeguarding devices.
4.26.6 Space
The three-dimensional volume encompassing the movements of all robot parts through their
axes. Also called ‘the envelope’.
AS 4024.3301—2009 8
4.27 Teach (programming)

Programming performed by—
(a) manually leading the robot end-effector;
(b) manually leading a mechanical simulating device; or
(c) using a teach pendant to move the robot through the desired actions.
4.28 Teach mode
Control state that allows the generation, storage and playback of positional data points
while under reduced speed control.
NOTE: This is not the same as program verification (see Clause 4.20).
4.29 Teacher
Person who provides the robot with a specific set of instructions to perform a task.
4.30 Tool centre point (TCP)
Point defined for a given application with regard to the mechanical interface coordinate
system.
4.31 User
Entity that uses robots, and is responsible for the personnel associated with the robot
operation.
5 HAZARD ANALYSIS AND RISK ASSESSMENT

5.1 General
AS 4024.1201, AS 4024.1202 and AS 4024.1301 provide guidance in performing hazard

analysis and risk reduction.
Risks shall be eliminated or reduced first by design or by substitution, then by safeguarding
and other complementary measures. Any residual risks shall then be reduced by other
measures, e.g. warnings, signs, training.
The safety requirements given in Clause 6 have been derived from the iterative process of
applying safeguarding measures, in accordance with AS 4024.1201, AS 4024.1202 and
AS 4024.1301 to the hazards identified in Appendix B.
5.2 Hazard analysis
A hazard analysis shall be carried out to identify any additional hazards that may be
present. Appendix B contains a list of hazards that may be present at robots and robot
systems.
NOTE: Additional hazards may be created by specific applications (e.g. welding, laser cutting,
machining). These hazards may need to be considered during robot design.
5.3 Risk assessment
A risk assessment shall be carried out on those hazards identified in Clause 5.2. This risk
assessment shall give particular consideration to—
(a) the intended operations at the robot, including teaching, maintenance, setting and
cleaning;
(b) unexpected start-up;
(c) access by personnel from all directions;
(d) reasonably foreseeable misuse of the robot;
(e) the effect of failure in the control system; and
(f) the hazards associated with the specific robot application.
9 AS 4024.3301—2009
6 SAFETY REQUIREMENTS AND PROTECTIVE MEASURES

6.1 General
Robots and robot systems shall comply with the safety requirements and/or protective
measures of this Clause (6). In addition, the robot shall be designed according to the
principles of AS 4024.1201 and AS 4024.1202 for relevant hazards.
NOTE: Hazards such as sharp edges are not dealt with in this standard.
Robots and robot systems shall be designed and constructed to comply with the
performance requirements specified in Clauses 6.2 to 6.15.
NOTES:
1 The requirements of this Clause can be satisfied by methods of verification including but not
limited to—
(a) visual inspection;
(b) practical tests;
(c) measurement;
(d) observation during operation; or
(e) analysis of circuit diagrams.
2 Not all of the hazards identified in this Standard apply to every robot and nor will the level of
risk associated with a given hazardous situation be the same from robot to robot.
Consequently the safety requirements and/or protective measures may vary from what is
specified in the standard. A risk assessment/risk reduction may be conducted to determine
what the protective measures should be.
3 Appendix C provides a short list of optional features that can enhance the safety of a robot.
6.2 General safety requirements
6.2.1 Power transmission components

Exposure to hazards caused by components such as motor shafts, gears, drive belts or
linkages shall be prevented by the use of fixed or moveable guards. Moveable guards shall
be interlocked with the hazardous movements in such a way that the hazardous movements
come to a stop before the hazards can be reached.
The safety-related performance of the interlocking-related control system shall conform to
the requirements of Clause 6.4.
NOTE: Recommended verification methods includes visual inspection, practical tests and
measurement.
6.2.2 Power loss or change
Loss of, or variations in power shall not result in a hazard.
Re-initiation of power after a power loss shall not lead to any motion.
End-effectors shall be designed and constructed so that any loss or change of electrical,
hydraulic, pneumatic or vacuum power does not result in a hazard. If this is not feasible,
then other methods of safeguarding shall be provided to minimize the risk.
Tool change systems shall be designed and installed to only allow release of tools when the
tool is in an assigned location and release does not create a hazard.
NOTES:
1 See AS 60204.1 for electrical power supply requirements.
2 Recommended verification methods include practical tests and analysis of circuit diagrams.

AS 4024.3301—2009 10
6.2.3 Component malfunction

Robot components shall be designed, constructed, secured or contained so that hazards
caused by breaking or loosening, or releasing stored energy are minimized.
NOTE: Recommended verification methods include visual inspection, practical tests and
observation during operation.
6.2.4 Sources of energy
A means of isolating any electrical, mechanical, hydraulic, pneumatic, chemical, thermal,
potential, gravity, kinetic or other hazardous energy source to the robot shall be provided.
The means shall be able to be locked or otherwise secured in the de-energized position.
NOTE: Recommended verification methods include visual inspection, practical tests,
measurement and analysis of circuit diagrams.
6.2.5 Stored energy
Means shall be provided for the controlled release of stored hazardous energy. When
appropriate, a label shall be affixed to the source of the stored energy to identify the hazard.
NOTES:
1 Recommended verification methods include practical tests, observation during operation and
analysis of circuit diagrams.
2 Stored energy sources include pneumatic and hydraulic pressure accumulators, capacitors,
batteries, springs, counter-balances or flywheels.
6.2.6 Electromagnetic compatibility (EMC)
The design and construction of the robot shall comply with the relevant parts of
AS/NZS 61000, to prevent hazardous motion or situations due to the effects of
electromagnetic interference (EMI), radio frequency interference (RFI), and electrostatic
discharge (ESD).
NOTES:
1 Guidance may be found in AS/NZS 61000.6.4 and AS/NZS 61000.6.2.
2 Recommended verification methods include visual inspection, practical tests, measurement
and analysis of circuit diagrams.
6.3 Actuating controls
6.3.1 General
Actuating controls that initiate power or motion shall be designed and constructed to meet
the performance criteria specified in Clauses 6.3.2 to 6.3.5.
6.3.2 Protection from unintended operation
Actuating controls shall be constructed or located so as to prevent inadvertent operation.
For example, a guarded push-button or key selector switch in an appropriate location may
be used.
NOTE: Recommended verification methods include visual inspection and practical tests.
6.3.3 Status indication
The status of the actuating controls shall be indicated, e.g. power on, fault detected,
automatic operation.
NOTE: Recommended verification methods include visual inspection, practical tests or
6.3.4 Labelling
Actuating controls shall be labelled to clearly indicate their function (see AS 4024.1905).
NOTE: A recommended verification method is visual inspection.

11 AS 4024.3301—2009
6.3.5 Single point of control

The robot control system shall be designed and constructed so that when the robot is placed
under local pendant control or other teaching device control, initiation of robot motion, or
change of local control selection from any other source shall be prevented.
NOTE: Recommended verification methods include practical tests, observation during operation
6.4 Safety-related control system performance (hardware/software)
6.4.1 General
Safety-related control systems (electric, hydraulic, pneumatic, and software) shall meet the
performance criteria listed in Clause 6.4.2 as a minimum, unless the results of a risk
assessment determine that an alternative performance in accordance with Clause 6.4.3 is
appropriate. The safety-related control system performance that the piece of equipment
meets shall be clearly stated in the information for use provided with the equipment.
For the purpose of this Standard, a safety-related control system performance is stated as
categories as described in AS 4024.1501. Other standards offering alternative performance
requirements such as control reliability, performance levels and safety integrity levels may
also be used. When using these standards to design safety-related control systems, care
should be taken to ensure that an equivalent level of risk reduction is achieved.
6.4.2 Performance requirements
When safety-related control systems are required, the safety-related parts shall be designed
so that—
(a) a single fault in any of these parts does not lead to the loss of the safety function;
(b) whenever reasonably practicable, the single fault shall be detected at or before the
next demand upon the safety function;

(c) when a single fault occurs, the safety function is always performed and a safe state
shall be maintained until the detected fault is corrected; and
(d) all reasonably foreseeable faults shall be detected.
This requirement is considered to be a Category 3 as described in AS 4024.1501.
NOTES:
1 This requirement of single fault detection does not mean that all faults will be detected.
Consequently, the accumulation of undetected faults can lead to an unintended output and a
hazardous situation at the machine. Typical examples of practicable measures for fault
detection are the connected movement of relay contacts or monitoring of redundant electrical
outputs. A suitable failure mode analysis should be made to determine that all reasonably
foreseeable faults are considered.
6.4.3 Other control system performance criteria
The results of a comprehensive risk assessment performed on the robot and its intended
application may determine that a safety-related control system performance other than
Category 3 (i.e. Category 2 or 4) is warranted for the application. Other performance
criteria are described in AS 4024.1501.
Selection of one of these other safety-related performance criteria shall be specifically
identified and appropriate limitations and cautions included in the information for use
provided with the affected equipment.

AS 4024.3301—2009 12
6.5 Robot stopping functions

6.5.1 General
Every robot shall have a protective stop and an independent emergency stop. These shall
have provision for the connection of external protective devices.
NOTE: Optionally an emergency stop output signal may be provided in accordance with
Appendix C.
Table 1 shows a comparison of the emergency stop and protective stop functions.
TABLE 1
COMPARISON OF EMERGENCY AND PROTECTIVE STOPS
Function Emergency stop Protective stop
Location Operator has quick, unobstructed access Determined by the safety distance formula
Initiation Manually Automatically or manually
Safety system AS 4024.1501 Category 3 or as AS 4024.1501 Category 3 or as
performance determined by risk assessment determined by risk assessment
Reset Manual only Manual or automatic

Use frequency Infrequent Variable: From every cycle to infrequent
Only in emergency
Effect Remove energy source to all hazards Control the safeguarded hazard
NOTE: Recommended verification methods include practical tests, observations during operation and
6.5.2 Emergency stop

AS 4024.1604 sets out functional requirements and design principles for emergency stop.
Each control station capable of initiating robot motion or other hazardous situation shall
have a manually initiated emergency stop function that—
(a) complies with requirements of AS 60204.1;
(b) takes precedence over all other robot controls;
(c) causes all hazards to stop;
(d) removes drive power from the robot actuators;
(e) removes any other hazard controlled by the robot;
(f) remains active until it is reset; and
(g) shall only be reset by manual action that does not cause a restart after resetting, but
shall only permit a restart to occur.
Selection of a Category 0 or Category 1 stop for the function shall be determined from the
risk assessment according to AS 60204.1—2005, Clause 9.2.2.
When an emergency stop output signal is provided, either—
(i) the output shall continue to function when the robot power is removed; or
(ii) where the output does not continue to function when the robot power supply is
removed, an emergency stop signal shall be generated.

13 AS 4024.3301—2009
6.5.3 Protective stop

The robot shall have one or more protective stop circuits (stop Category 0, 1 or 2 as
described in AS 60204.1), designed for the connection of external protective devices.
This stop circuit shall control the safeguarded hazard by—
(a) causing a stop of all robot motion;
(b) removing power from the robot drive actuators; and
(c) causing any other hazard controlled by the robot system to cease.
This stop may be initiated manually or by control logic.
6.6 Reduced speed control
When operating under reduced speed control, the speeds of the end-effector mounting
flange and tool centre point (TCP) shall not exceed 250 mm/s. It should be possible to
select speeds lower than 250 mm/s.
Reduced speed control shall be designed and constructed so that, in the event of any single
reasonably foreseeable malfunction, the speed of the mounting flange and the TCP shall not
exceed the reduced speed velocity limits. An offset feature shall be provided to enable the
TCP speed to be adjusted.
NOTE: Recommended verification methods include practical tests, measurement and analysis of
circuit diagrams.
6.7 Operational modes
6.7.1 Selection of mode
Operational modes shall be selected by a secure means that only enables the selected mode
(e.g. a key operated switch) or other means that provide an equivalent level of security (e.g.
supervisory control).
These means shall—
(a) unambiguously indicate the selected operating mode; and
(b) by themselves, not initiate robot motion or other hazards.
An optional output(s) may be provided to indicate the mode selected. When provided for
safety-related purposes, the output(s) shall comply with the requirements of Clause 6.4.
NOTES:
1 Optional features are described in Appendix C.
2 Examples of labels for modes are illustrated in Appendix D.
6.7.2 Automatic mode
In automatic mode, the robot shall execute the task programme. The robot controller shall
not be in manual mode and safeguarding measures shall be operational.
Automatic operation shall be prevented if any stop condition is detected.
Switching from this mode shall result in a stop.
NOTE: Recommended verification methods include visual inspection, observation during
operation and analysis of circuit diagrams.

AS 4024.3301—2009 14
6.7.3 Manual reduced speed mode

Manual reduced speed mode shall meet the requirements of Clauses 6.3.4 and 6.6 and shall
allow a robot to be operated by human intervention. Automatic operation is prohibited in
this mode.
NOTE: This mode is used for jogging, teaching, programming and program verification of the
robot; it may also be selected when performing some maintenance tasks.
Information for use shall contain appropriate instructions and warnings that, wherever
possible, the manual mode of operation shall be performed with all persons outside the
safeguarded space. Prior to selecting automatic mode, any suspended safeguards shall be
returned to their full functionality.
NOTES:
1 Previously, this mode was also known as T1 or ‘teach’.
2 Recommended verification methods include practical tests, measurement, observation during
6.7.4 Manual high speed mode
If this mode is provided, speeds greater than 250 mm/s can be achieved. In this case, the
robot shall—
(a) have a means to select manual high speed mode that requires a deliberate action (e.g.
a key switch on the robot control panel) and an additional confirming action;
(b) default to a speed not greater than 250 mm/s upon selection of manual high speed
mode;
(c) be provided with a pendant conforming to Clause 6.8 with an additional hold to run
device, exclusive to this mode, that permits robot motion to continue;
(d) have on the pendant a means to adjust the speed from the default value to the full
programmed value; and
(e) display an indication of the adjusted speed on the pendant (e.g. by a highlight on the
pendant display).
NOTES:
1 This optional manual mode has previously been known as T2, or high-speed program
verification.
6.8 Pendant and other teaching controls
6.8.1 General
Where a pendant control or other control device is able to control the robot from within the
safeguarded space, the requirements in Clauses 6.8.2 to 6.8.5 shall apply.
NOTE: This applies to any device used to control a robot from within the safeguarded space
while drive power is applied to any of the robot axes. This includes robots with powered lead-
through teach mode, whether using robot-mounted manual controls or main/secondary teaching
controls.

15 AS 4024.3301—2009
6.8.2 Motion control

Motion of the robot initiated from the pendant or teaching control device shall be under
reduced speed control as described in Clause 6.6. Where the pendant contains provisions for
selecting higher speeds, the robot system shall meet the requirements in Clause 6.7.4. All
buttons and other devices on the pendant that cause robot motion shall stop the motion
when the button or device is released.
NOTE: Recommended verification methods include practical tests, observations during operation
6.8.3 Enabling device
The pendant or teaching control device shall have a three-position enabling device in
accordance with AS 60204.1 that, when continuously held in a centre-enabled position,
permits robot motion and any other hazards controlled by the robot. The enabling device
shall demonstrate the following performance characteristics:
(a) The enabling device may be integral with, or physically separate from (e.g. a grip
type enabling device) the pendant control. It shall operate independently from any
other motion control function or device.
(b) Release of or compression past the centre-enabled position of the device shall stop
hazards (e.g. robot motion) in accordance with Clause 6.4.
(c) Where more than one switch is used on a single enabling device (i.e. allowing
alternating left and/or right hand operation without stopping), fully depressing any
switch shall override the control of the other switches and cause a protective stop.
(d) When more than one enabling device is used (i.e. more than one person is in the
safeguarded space with an enabling device), motion shall only be possible when each
device is held in the centre (enabled) position at the same time.

(e) Dropping the enabling device shall not result in a failure that would allow motion to
be enabled.
(f) If an enabling output signal is provided, then the output shall signal the stop condition
when the safety system supply is off and shall comply with the requirements of
Clause 6.5.
NOTES:
2 Functional characteristics of three-position enabling devices are described in Appendix E.
6.8.4 Pendant emergency stop function
The pendant or teaching control device shall have a stop function in accordance with
Clause 6.5.2. The presentation of the device shall be an emergency stop device as described
in AS 4024.1604.
NOTE: Recommended verification methods include visual inspection and analysis of circuit
diagrams.
6.8.5 Cableless teach controls
Where pendant or other teaching controls having no connecting cables are used, the
following requirements shall apply:
(a) A visual indication that the pendant is active shall be provided, e.g. at the teach
pendant display.
(b) Loss of communication shall result in a protective stop for all robots when in manual
reduced speed or manual high speed modes. Restoration of communication shall not
restart the robot motion without a separate deliberate action.

AS 4024.3301—2009 16
(c) The maximum response times for data communication (including error correction)
and for loss of communication shall be stated in the information for use.
(d) Care shall be taken to avoid confusion between active and inactive emergency stop
devices, by providing for appropriate storage or design and information for use.
NOTE: Recommended verification methods include visual inspection, practical tests,
measurement and analysis of circuit diagrams.
6.9 Control of simultaneous motion
6.9.1 Single pendant control
One or more robot controls can be linked to a single teach pendant. When so configured, the
teach pendant shall have the capability to move one or more of the robots either
independently or in simultaneous motion. When in the manual operational mode, all
functions of the robot system shall be under the control of the one pendant.
NOTE: Recommended verification methods include visual inspection, practical tests and analysis
of circuit diagrams.
6.9.2 Safety requirements
Each robot shall be selected individually before it can be activated. To be selected, all
robots shall be in the same operational mode (e.g. manual reduced speed mode). An
indication shall be provided at the point of selection (e.g. at the pendant, control cabinet, or
robot) of those robot(s) that have been selected.
Only the selected robot(s) shall be activated. An indication, clearly visible from within the
safeguarded space, shall be provided of those robot(s) that have been activated.
Unexpected start-up of any robots not activated shall be prevented. This function shall
comply with the requirements of Clause 6.3.

The robot system(s) shall not respond to any remote commands or conditions that could
cause hazardous conditions.
NOTE: Recommended verification methods include visual inspection, practical tests, observation
during operation and analysis of circuit diagrams.
6.10 Collaborative operation requirements
6.10.1 General
Robots designed for collaborative operation shall provide a visual indication when the robot
is in collaborative operation and comply with one or more of the requirements in
Clauses 6.10.2 to 6.10.6.
6.10.2 Stop
The robot shall stop when a human is in the collaborative workspace. The stop function
shall comply with Clause 6.5. The robot may resume automatic operation when the human
leaves the collaborative workspace.
6.10.3 Hand guiding
Where provided, hand guiding equipment shall be located close to the end-effector and shall
be equipped with—
(a) an emergency stop complying with Clauses 6.5.2 and 6.8.4; and
(b) an enabling device complying with Clause 6.8.3.
The robot shall operate at a reduced speed determined by a risk assessment, but not
exceeding 250 mm/s. The reduced speed function shall comply with Clause 6.4.

17 AS 4024.3301—2009
If the reduced speed is exceeded, a protective stop shall be issued.

NOTE: Recommended verification methods include visual inspection, measurement, observation
during operation and analysis of circuit diagrams.
6.10.4 Speed and position monitoring
The robot shall maintain a separation distance from the operator in accordance with
AS 4024.2801. Failure to maintain the separation distance shall result in a protective stop
complying with Clauses 6.4 and 6.5.3.
The robot shall operate at a reduced speed not exceeding 250 mm/s and its position shall be
monitored.
The reduced speed and position monitoring functions shall comply with Clause 6.4.
NOTES:
1 The relative speeds of the operator and robot should be considered when calculating the safe
separation distance.
2 Recommended verification methods include visual inspection, practical tests, measurement,
observation during operation and analysis of circuit diagrams.
6.10.5 Power and force limiting by inherent design
The robot shall be designed to ensure either a maximum dynamic power of 80 W or a
maximum static force of 150 N at the flange or TCP (determined by risk assessment). The
robot design shall ensure that these values cannot be exceeded.
NOTES:
1 Use of this feature may be limited by exposure to additional hazards (e.g. pinch points,
shearing hazards).
2 Recommended verification methods include practical tests, measurement and analysis of
circuit diagrams.
6.10.6 Power and force limiting by control system
Where a control system is used to ensure that the maximum values of power and force given
in Clause 6.10.5 are not exceeded, it shall comply with Clause 6.4.
If the maximum values are exceeded, a protective stop shall be issued.
NOTE: Recommended verification methods include practical tests, measurement and analysis of
circuit diagrams.
6.11 Singularity protection
When in the teach mode, the robot control shall—
(a) stop the robot’s motion and alert the teacher prior to the robot passing through or
correcting for a singularity (the collinear alignment of two or more axes) during
coordinated motion initiated from the teach pendant; or
(b) generate an audible or visible warning signal and continue to pass through singularity
with the velocity of each axis limited to a maximum speed of 250 mm/s.
6.12 Axis limiting
6.12.1 General
A means shall be provided to establish a restricted space around the robot by using limiting
devices. A means for installing adjustable mechanical stops shall be provided to limit the
motion of the primary axis (the axis with the greatest displacement motion) of the robot.
Limiting devices shall comply with Clause 6.12.2 or Clause 6.12.3, or both.

AS 4024.3301—2009 18
6.12.2 Mechanical and electro-mechanical axis limiting devices

Provisions for adjustable mechanical or non-mechanical limiting devices shall be provided
for the axes two and three (the axes with the second and third largest displacement
motions).
Mechanical stops shall be capable of stopping robot motion at rated load, maximum speed
conditions, and at maximum and minimum extension. Testing of mechanical hard stops
shall be without any assisted stopping.
The control circuit performance of electro-mechanical limiting devices shall be in
accordance with the requirements given in Clause 6.4. The robot control and task programs
shall not change the electro-mechanical limit device settings.
NOTES:
1 Alternative methods of limiting the range of motion may be provided only if they are
designed, constructed, and installed to achieve the same level of safety as the mechanical
stops.
2 Recommended verification methods include practical tests, measurement and observations
during operation.
3 Examples of electro-mechanical limiting devices include—
(a) stops that are positioned electrically, pneumatically or hydraulically;
(b) limit switches;
(c) light curtains;
(d) laser scanning devices; and
(e) pull cords when used to limit robot travel and define the restricted space.
4 The adjustable devices allow the user to minimize the size of the restricted space. The degree
of adjustment should be included in the instruction handbook specified in Clause 7.2.
5 Mechanical stops include mechanical stops that are adjusted and then secured with fasteners.
6.12.3 Dynamic limiting devices
Dynamic limiting is the automatically controlled change in a robot’s restricted space during
a portion of the robot system’s cycle. Control devices such as, but not limited to, cam
operated limit switches, light curtains or control activated retractable hard stops may be
utilized to further limit robot movement within the restricted space while the robot performs
its task program. The dynamic limiting device and its associated controls shall be capable
of stopping the robot motion under rated load and speed conditions, and the associated
safety controls shall comply with Category 3 of AS 4024.1501 unless a risk assessment is
performed and determines that another category is required.
6.12.4 Safety rated soft axis and space limits
Soft limits are software-defined limits to robot motion while in automatic mode or any
mode using speeds above reduced speed. Axis limiting is used to define the restricted space
of the robot. Space limiting is used to define any geometric shape which may be used as an
exclusionary zone; either limiting robot motion within the defined space, or preventing the
robot from entering the defined space.
NOTE: A soft limit may be defined as a sphere, cylinder, cube, or other defined spaces within the
restricted space. The movement may be defined to be restricted inside or outside this defined
space.
Safety-rated soft limits are permitted as a means to define and reduce the restricted space
provided they can effect a stop of the robot at full rated load and speed. The restricted reach
shall be defined at the actual expected stopping position that accounts for the stopping
distance travel. The manufacturer shall state the capability in the information for use and
shall disable safety-rated soft limits if this capability is not supported.

19 AS 4024.3301—2009
Control systems using soft limiting shall comply with Clause 6.4 and not be changeable at
the user level. If the safety-rated soft limit is violated, a protective stop shall be initiated.
Information for use shall include information on worst case stopping time at maximum
speed for soft limits including monitoring time and distance travelled before full stop is
achieved.
NOTE: Additional information is in Appendix C.
Safety-rated zone outputs for use in dynamic restricted space applications shall comply with
Clause 6.4. The hardware configuration of the outputs shall be stated in the information for
use.
A safety rated soft limit shall be set as a stationary zone that cannot be changed without a
system power up and shall not be changed dynamically. Authorization to change the safety
rated soft limit shall be password protected and secure. Once set, safety rated soft limits
shall always become activated upon power up.
NOTES:
1 Soft limits may be particularly useful in controlling motion on the additional axis not fitted
with limiting devices (see Clause 6.12.2),
6.13 Movement without drive power
The robot shall be designed so that axes are capable of being moved without the use of
drive power in emergency or abnormal situations. Where practicable, moving the axes shall
be carried out by a single person. Controls shall be readily accessible, but protected from
unintended operation. Instructions for moving the axes shall be included in the information
for use, along with recommendations for training personnel on responding to emergency or
abnormal conditions.
Instructions to the user shall include a warning that gravity and the release of braking
devices can create additional hazards. Where practicable, warning notices shall be posted
near to the activating controls.
6.14 Provisions for lifting
Provisions for lifting the robot and its associated components shall be provided and shall be
adequate for handling the anticipated load. Examples include lifting hooks, eye bolts,
threaded holes, and fork pockets.
NOTE: Recommended verification methods include visual inspection, practical tests and
6.15 Electrical connectors
Electrical connectors that might cause a hazard if they are separated, or if they break away,
shall be designed and constructed so as to prevent unintended separation.
Connectors shall be provided with a means to prevent cross-connection.
NOTE: Recommended verification methods include visual inspection and practical tests.
7 INFORMATION FOR USE

7.1 General
Machine warning devices (e.g. audible and visual signals), markings (e.g. signs, symbols),
and instructional material (e.g. manuals for operation, maintenance) shall be provided by
the manufacturer and supplier/integrator in accordance with AS 4024.1201, AS 4024.1202,
AS 4024.1905 and AS 60204.1.

AS 4024.3301—2009 20
Information specified in Clauses 6.7.3 (manual reduced-speed mode), 6.12.2 (degree of

adjustment for limiting the robots range of motion), 6.12.4 (soft limits and hardware
configurations) and 6.13 (movement without drive power) shall also be included.
7.2 Instruction handbook
In addition to the requirements of Clause 7.1, each robot or robot system shall be
accompanied by an instruction handbook(s) or appropriate media containing the following
information:
(a) The name, address, and necessary contact information of the manufacturer or
supplier.
(b) Instructions for commissioning, programming and restarting procedures, including
installation requirements such as utility needs, floor loading, and environmental
conditions.
(c) Information on the robot characteristics according to ISO 9946.
(d) Instructions for the initial testing and examination of the robot or robot system and its
guarding system before their first use, including functional testing of the reduced
speed control.
(e) Instructions for any test or examination necessary after a change of component parts
or addition of optional equipment (both hardware and software) to the robot or robot
system which can affect the safety functions, including an emergency stop output
signal (see Clause 6.5.2) and common enabling circuit (see Clause 6.8.3 Item (f)).
(f) Instructions for safe operation, setting and maintenance, including safe working
practices, hazardous energy control procedures and the training required to achieve
the necessary skill level of persons operating the equipment.
(g) The location and function of all control systems, including the interface diagrams for
electrical, hydraulic, and pneumatic systems necessary for set-up and installation.
(h) The ability to select high speed control using the pendant.
(i) The installation of limiting devices, including their number, location and degree of
adjustment of mechanical limiting capability. This includes the number, location and
implementation of any non-mechanical limiting devices, capabilities of dynamic
limiting (when included) and the actual expected stopping position that accounts for
the stopping distance travel when using safety-rated soft limiting.
(j) The number and operation of enabling devices and instructions for installation of
additional devices.
(k) The stopping time and distance or angle from initiation of stop signal of the three
axes the greatest displacement and motion.
NOTE: A suggested metric is given in Appendix F.
(l) The safety control system performance of the robot as determined from Clause 6.4.
(m) Specifications for any fluids or lubricants to be used in lubrication, braking, or the
transmission system internal to the robot, including guidance on correct selection,
preparation, application and maintenance of any process-unique consumables.
(n) Guidance on the means for the release of persons trapped in the machine.
(o) Information defining the limits for the range of motion and load capacity, including
maximum mass, position of the centre of gravity of the workpiece and work holding
fixture.

21 AS 4024.3301—2009
(p) The limits for the maximum mass, moment of inertia, tilting moment, and space
required for auxiliary machines and for tools supplied with automatic tool magazine
systems.
(q) Procedures to avoid errors of fitting during maintenance of the machine.
(r) Information on relevant Standards the robot meets, including any that have been
certified by a third party.
(s) Response time of detection of loss of communication signal for cableless pendants.
Any changes or additions to the information provided by the manufacturer shall be provided
by the party that makes the change or addition to the robot system.
7.3 Marking
AS 4024.1905 specifies general requirements for the marking of machinery.
Additionally, each robot or robot system shall be marked in a distinct, legible and durable
manner with—
(a) the manufacturer’s name and address, model number and reference number, month
and year of manufacture;
(b) the mass of the machine;
(c) supply data for electrical and where applicable, hydraulic, and pneumatic systems
(e.g. minimum and maximum pneumatic pressures);
(d) lifting points for transportation and installation purposes (where applicable); and
(e) range and load capacity.
Guards, protective devices and other parts that are part of the machine but not fitted to it
shall be marked with identification data. Any other information needed for fitting shall be
provided.

AS 4024.3301—2009 22
APPENDIX A
GRAPHICAL AIDS DEPICTING THE ROBOT SPACE
(Informative)
FIGURE A1 SPACE REQUIREMENTS FOR ARTICULATED ROBOT ARMS

23 AS 4024.3301—2009
FIGURE A2 SPACE REQUIREMENTS FOR TRANSVERSING AND

ELEVATED ROBOT ARMS

AS 4024.3301—2009 24
FIGURE A3 EXAMPLES OF RESTRICTED SPACE

25 AS 4024.3301—2009
APPENDIX B
LIST OF SIGNIFICANT HAZARDS
(Normative)
Example(s) of related hazardous Related danger Clause

Description
situations zone reference
Mechanical hazards
Crushing Movements (normal or singularity) of Restricted space 6.11; 6.12
any part of the robot arm or additional
axes
Shearing Movement of additional axes Around accessory 6.3
equipment
Cutting or severing Movement or rotation creating scissor Restricted space 6.3
action
Entanglement Rotation of wrist or additional axes Restricted space 6.8.2
Drawing-in or trapping Between robot arm and any fixed object Around fixed 6.12
objects close to
restricted space
Impact Movements (normal or singularity) of Restricted space 6.12

any part of the robot arm
Electrical hazards
Contact of persons Contact with live parts or connections Electrical cabinet, 6.2.4
with live parts (direct terminal boxes,
contact) control panels at
machine
Hazards generated by neglecting ergonomic principles in the design process
Unhealthy postures or Poorly designed teach pendant Teach pendant 6.8
excessive effort
(repetitive strain)
Inadequate Inappropriate location of controls At load/unload 6.3
consideration of work piece and tool
operation by hand, mounting or setting
arm, foot or leg or sharpening or
cleaning positions
Inadequate design, Inadvertent operation of controls At or near robot 6.3
location or cell
identification of
manual controls
Inadequate design or Misinterpretation of displayed At or near robot 6.3
location of visual information cell
display units
Unexpected start-up, unexpected overrun/over speed
Failure/disorder of the Mechanical hazards associated with At or near robot 6.2.2
energy source robot or additional axes cell
(continued)

AS 4024.3301—2009 26
Example(s) of related hazardous Related danger Clause

Description
situations zone reference
Restoration of energy Unexpected movements of robot or At or near robot 6.2.2
supply after an additional axes cell
interruption
External influences on Unpredictable behavior of electronic At or near robot 6.2
the electrical controls due to electromagnetic cell
equipment interference
Failure of the power Malfunctions of the control with At or near robot 6.2
supply consequent release of robot arm brake. cell where robot
(external power Release of brake causes robot elements elements retained in
sources) to move under residual forces (inertia, a safe condition by
gravity, spring/energy storage mean) the application of
unexpectedly power or fluid
pressure.
Failure of the control Unexpected movements of robot, end- At or near robot 6.3.1
circuit effector or auxiliary axes cell
(hardware or software)
Loss of stability, Unrestrained robot or associated At or near robot 6.2.3
overturning of machine part (maintained in position by cell
machinery gravity), falls or overturns

27 AS 4024.3301—2009
APPENDIX C
OPTIONAL FEATURES
(Informative)
C1 GENERAL
The requirements contained in this Standard are the minimum to ensure the safety of a
robot. Many additional features can be added to a robot to enhance safety, but are not
necessarily required safety items in the traditional sense, or do not require specific safety
performance criteria given in AS 4024.1501 or other such documents.
The following optional features are in no specific order of importance or desirability.
Robots equipped with these features will have greater flexibility in use and re-use and
greater potential safety performance.
NOTES:
1 The features given in Paragraphs C2 to C4 are very important to provide additional flexibility
for robot installation if the robot may ever be redeployed in an application other than that for
which it was originally designed and configured.
2 Feature given in Paragraph C5 to C7 provide an enhanced level of safety in robot systems.
C2 EMERGENCY STOP OUTPUT FUNCTIONS

Additional features for the emergency stop are as follows:
(a) Capability for emergency stop output functions as given in Clause 6.5.1. This
provides for a common emergency stop, allowing the robot emergency stop to
function as a system emergency stop.
(b) Capability for emergency stop device to be functional without power (see
Clause 6.5.2).
C3 ENABLING DEVICE
Additional features for enabling devices are as follows:
(a) Capability of enabling device output functions to interconnect enabling devices into a
common circuit controlling multiple robots and equipment.
(b) Capability to connect multiple additional enabling devices to one enabling circuit.
C4 MODE SELECTION
Additional features for mode selection are as follows:
(a) Capability to provide information as to the state of the mode selection to the safety
control system.
(b) Output requirements are specified in Clause 6.7.
C5 ANTI-COLLISION SENSING
To be most effective in preventing harm to personnel, the robot should stop and create an
awareness signal when a collision is sensed and not move to another position without
operator intervention.

AS 4024.3301—2009 28
C6 MAINTAINING PATH ACCURACY ACROSS ALL SPEEDS

This feature limits the perceived need to monitor a robot movement from a position of
danger.
C7 SAFETY RATED SOFT LIMITS

As described in Clause 6.12.4, these limits allow creation of exclusion space and inclusion
space programming,

29 AS 4024.3301—2009
APPENDIX D
MODE LABELLING
(Informative)
Table D1 provides examples of graphic symbols that may be used to denote the operational
modes identified in Clause 6.7. Additional descriptive text may be included with the
graphic symbols to be as explicit as possible in providing information on the mode selection
and expected performance.
TABLE D1
ROBOT OPERATIONAL MODE LABELS
Clause Mode Graphic symbol
6.7.2 Automatic
6.7.3 Manual reduced speed
6.7.4 Manual high-speed


AS 4024.3301—2009 30
APPENDIX E
FUNCTIONAL CHARACTERISTICS OF THREE-POSITION
ENABLING DEVICES
(Informative)
NOTES:
1 When the operator part is pressed fully to Position 3, the contact is opened again.
2 When the operator part returns from Position 3 to Position 1, the contact remains open without functionally
passing Position 2.

31 AS 4024.3301—2009
APPENDIX F
STOPPING TIME AND DISTANCE METRIC
(Informative)
F1 SCOPE
This Appendix provides guidance for a metric that can be used in presenting information for
use required in Clause 7.2(k) to ensure standardized data from all the manufacturers. This
information is needed to calculate the safe distance when applying safeguarding devices. To
make this information useful and practical, measurements need to be taken at a number of
conditions up maximum speed and rated payload to be able to predict actual running
conditions.
These tests should comply with the performance testing conditions described in ISO 9283
as applicable. This includes the following areas:
(a) The manipulator should be warmed up prior to testing.
(b) The robot should be mounted per manufacturer’s requirements.
(c) Environmental requirements for power, temperature, etc. should be met.
(d) Establish a proper test procedure.
(e) Describe the method of measurement.
Test points should be measured multiple times for each data point and an average provided.
The manufacturer should forecast the degradation of stopping performance due to normal
use and recommend when the robot should be refurbished.
F2 DATA RECOMMENDATIONS
(a) The stopping time should be measured from the initiation of a stop signal to when all
manipulator motion ceases.
(b) The stopping distance should be measured as the total distance travelled after the
initiation of a stop signal. Distance should be provided in linear or angular units as
appropriate.
(c) At minimum, the stop category should be a stop Category 0. If the robot has the
capability of using a stop Category 1, additional data or correction factors should be
provided.
(d) The speed should be measured at 25, 50, 75 and 100% of maximum speed.
(e) The payload should be measured at 25, 50, 75 and 100% of maximum rated payload.
(f) Data should be provided for the three axes of greatest displacement.
F3 DATA PRESENTATION
Stopping time and distance should be presented graphically. A typical chart is given in
Figure F1.

AS 4024.3301—2009 32
FIGURE F1 EXAMPLE CHART FOR STOPPING TIME


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AS 4024.

Part 3301: Robots for industrial

The following are represented on Committee SF-041:

• Australian Chamber of Commerce and Industry

This Standard was issued in draft form for comment as DR 06103.

Keeping Standards up-to-date

Standards Australia welcomes suggestions for improvements, and encourages readers to

Part 3301: Robots for industrial

Part 3301: Robots for industrial environments—Safety requirements

working with or otherwise near industrial robots.

© Standards Australia www.standards.org.au

4.6 Coordinated motion

www.standards.org.au © Standards Australia

4.16 Manual mode

© Standards Australia www.standards.org.au

4.19 Program path

4.27 Teach (programming)

5 HAZARD ANALYSIS AND RISK ASSESSMENT

AS 4024.1201, AS 4024.1202 and AS 4024.1301 provide guidance in performing hazard

6 SAFETY REQUIREMENTS AND PROTECTIVE MEASURES

6.2.1 Power transmission components

www.standards.org.au © Standards Australia

6.2.3 Component malfunction

© Standards Australia www.standards.org.au

6.3.5 Single point of control

next demand upon the safety function;

www.standards.org.au © Standards Australia

6.5 Robot stopping functions

Reset Manual only Manual or automatic

6.5.2 Emergency stop

© Standards Australia www.standards.org.au

6.5.3 Protective stop

www.standards.org.au © Standards Australia

6.7.3 Manual reduced speed mode

© Standards Australia www.standards.org.au

6.8.2 Motion control

device is held in the centre (enabled) position at the same time.

www.standards.org.au © Standards Australia

comply with the requirements of Clause 6.3.

© Standards Australia www.standards.org.au

If the reduced speed is exceeded, a protective stop shall be issued.

www.standards.org.au © Standards Australia

6.12.2 Mechanical and electro-mechanical axis limiting devices

© Standards Australia www.standards.org.au

7 INFORMATION FOR USE

www.standards.org.au © Standards Australia

Information specified in Clauses 6.7.3 (manual reduced-speed mode), 6.12.2 (degree of

© Standards Australia www.standards.org.au

www.standards.org.au © Standards Australia

FIGURE A1 SPACE REQUIREMENTS FOR ARTICULATED ROBOT ARMS

© Standards Australia www.standards.org.au

FIGURE A2 SPACE REQUIREMENTS FOR TRANSVERSING AND

www.standards.org.au © Standards Australia

FIGURE A3 EXAMPLES OF RESTRICTED SPACE

© Standards Australia www.standards.org.au

Example(s) of related hazardous Related danger Clause

Impact Movements (normal or singularity) of Restricted space 6.12

www.standards.org.au © Standards Australia

Example(s) of related hazardous Related danger Clause

© Standards Australia www.standards.org.au

C2 EMERGENCY STOP OUTPUT FUNCTIONS

www.standards.org.au © Standards Australia

C6 MAINTAINING PATH ACCURACY ACROSS ALL SPEEDS