Foreword
Introduction
1 Scope
2 Normative references
3 Terms and definitions
4 Hazard identification and risk assessment
5 Design requirements and protective measures
5.1 General
5.2 General requirements
5.3 Actuating controls
5.4 Safety-related control system performance
(hardware/software)
5.5 Robot stopping functions
5.6 Reduced speed control
5.7 Operational modes
5.8 Pendant controls
5.9 Control of simultaneous motion
5.10 Collaborative operation requirements
5.11 Singularity protection
5.12 Axis limiting
5.13 Movement without drive power
5.14 Provisions for lifting
5.15 Electrical connectors
6 Information for Use
6.1 General
6.2 Instruction handbook
6.3 Marking
Annex A (normative) - List of significant hazards
Annex B (normative) - Stopping time and distance metric
Annex C (informative) - Functional characteristics of
3-position enabling device
Annex D (informative) - Optional features
Annex E (informative) - Methods for labelling
Bibliography
Annex ZA (informative) - Relationship between this International
Standard and the Essential Requirements of EU Directive
98/37/EC