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