AS 2939-1987

1 - AS 2939 -1987 INDUSTRIAL ROBOT SYSTEMS - SAFE DESIGN AND USAGE
4 - PREFACE
5 - CONTENTS
6 - SECTION 1. SCOPE AND GENERAL
6 - 1.1 SCOPE.
6 - 1.2 APPLICATION.
6 - 1.3 RELATIONSHIP TO REGULATIONS.
6 - 1.4 INNOVATION.
6 - 1.5 INTERPRETATIONS.
6 - 1.6 REFERENCE DOCUMENTS.
6 - 1.7 DEFINITIONS.
6 - 1.7.1 Active station
6 - 1.7.2 Actuating control
6 - 1.7.3 Automatic operation
6 - 1.7.4 Current restricted space
6 - 1.7.5 Dead man's control
6 - 1.7.6 Emergency stop
6 - 1.7.7 End effector
7 - 1.7.8 Failure to safety (fail safe)
7 - 1.7.9 Guard (or barrier)
7 - 1.7.10 Hazardous motion
7 - 1.7.11 Hold
7 - 1.7.12 Inactive station
7 - 1.7.13 Industrial robot
7 - 1.7.14 Industrial robot system
7 - 1.7.15 Limiting device
7 - 1.7.16 Manipulator
7 - 1.7.17 Maximum space
7 - 1.7.18 Operating space
7 - 1.7.19 Park position
7 - 1.7.20 Pendant
7 - 1.7.21 Potential restricted space
7 - 1.7.22 Presence-sensing device
7 - 1.7.23 Regulatory Authority
7 - 1.7.24 Repeat
7 - 1.7.25 Restricted space
7 - 1.7.26 Safeguard
7 - 1.7.27 Safety device
7 - 1.7.28 Shall and should
7 - 1.7.29 Teach
7 - 1.7.30 Teach restrict
7 - 1.7.31 Transitional restricted space
8 - SECTION 2. DESIGN AND CONSTRUCTION
8 - 2.1 GENERAL.
8 - 2.2 ACTUATING AND CONTROL SYSTEMS.
8 - 2.2.1 General.
8 - 2.2.2 Protection from unintended operations.
8 - 2.2.3 Master (isolate) switch.
8 - 2.2.4 Controls for robot teaching, setting, and adjustment.
8 - 2.2.5 Position.
8 - 2.2.6 Identification and labelling.
8 - 2.2.7 Remotely located control.
8 - 2.3 EMERGENCY STOP DEVICE.
9 - 2.4 POWER SYSTEMS.
9 - 2.4.1 General.
9 - 2.4.2 Power or loss or change.
9 - 2.4.3 Source of power.
9 - 2.4.4 Electromagnetic and radio-frequency interference.
9 - 2.5 PENDANT.
9 - 2.6 SLOW SPEED.
10 - 2.7 MECHANICAL STOPS.
10 - 2.8 PROVISION FOR LIFTING.
10 - 2.9 ELECTRICAL PLUGS AND SOCKETS.
10 - 2.10 FIRE RISKS.
10 - 2.11 COVERS AND ENCLOSURES.
10 - 2.12 VISUAL DISPLAY.
10 - 2.13 LIGHTING.
11 - SECTION 3. SAFEGUARDING
11 - 3.1 GENERAL.
11 - 3.2 GUARDING.
11 - 3.2.1 Fixed guard.
11 - 3.2.2 Interlocked
11 - 3.2.3 Guard construction.
13 - 3.3 PRESENCE-SENSING DEVICES.
13 - 3.3.1 General.
13 - 3.3.2 Photoelectric systems.
13 - 3.3.3 Pressure-sensitive mat.
13 - 3.4 OTHER SAFEGUARDING REQUIREMENTS.
13 - 3.4.1 Load/unloading stations.
13 - 3.4.2 Associated equipment.
13 - 3.5 INTERLOCKING.
13 - 3.5.1 General.
13 - 3.5.2 Limit switches.
15 - 3.5.3 Captive (trapped) key interlocked system.
15 - 3.5.4 Software interlocking.
15 - 3.5.5 Park position interlock.
15 - 3.6 MULTI-STATION AND MULTI-ROBOT INSTALLATIONS.
15 - 3.6.1 General.
16 - 3.6.2 Multi-station robotinstallations.
16 - 3.6.3 Multi-robot installation.
16 - 3.7 INSTALLATION.
19 - SECTION 4. INSTRUCTIONS AND INFORMATION
19 - SECTION 5. COMMISSIONING AND ACCEPTANCE
19 - 5.1 COMMISSIONING.
19 - 5.1.1 General.
19 - 5.1.2 Initial start-up.
19 - 5.1.3 Restart.
19 - 5.2 ACCEPTANCE.
20 - SECTION 6. TRAINING
20 - 6.1 GENERAL.
20 - 6.2 SYLLABUS.
21 - SECTION 7. GUIDE TO SAFE PROGRAMMING, MAINTENANCE, AND AUTOMATIC OPERATION
21 - 7.1 GENERAL.
21 - 7.2 ROBOT MOVEMENTS.
21 - 7.2.1 Axes of motion and wrist articulation.
21 - 7.2.2 Robot configuration.
24 - 7.3 HAZARDS.
24 - 7.3.1 General.
24 - 7.3.2 Types of hazards.
24 - 7.3.3 Sources of hazards.
24 - 7.4 ACCESS.
24 - 7.4.1 Safe system of work.
24 - 7.4.2 Permit-to-work system.
25 - 7.4.3 Procedure for entry within guarded areas.
25 - 7.5 PROGRAMMING.
25 - 7.5.1 Methods of robot control.
28 - 7.5.2 Robot teaching and programming.
28 - 7.5.3 Design and testing of programs off-line.
28 - 7.6 MAINTENANCE.
28 - 7.6.1 General.
28 - 7.6.2 Diagnosis and maintenance.
29 - 7.6.3 Safeguarding maintenance personnel.
29 - 7.6.4 Inspection.
29 - 7.7 AUTOMATIC OPERATION.
29 - 7.7.1 Operation and loading.
29 - 7.7.2 Safeguarding the operator.

Specifies requirements for the design, construction, safeguarding and installation of industrial robot systems. In addition, requirements are given for the training of personnel. Recommendations for the safe programming, maintenance and operation of industrial robots are also included. The Standard is extensively illustrated.

This standard sets out requirements for the design, construction, safeguarding, and installation of industrial robot systems. In addition, requirements are given for the training of personnel. Recommendations for the safe programming, maintenance, and operation of industrial robots are also included.This standard is intended for industrial robots and robot systems only and does not apply to the following: Automatic guided vehicle systems Undersea and space robotsAutomated storage and retrieval systems Automatic conveyor and shuttle systems TeleoperatorsProsthetics and other aids for the handicapped Numerically controlled machine tools Special purpose machines and equipment, and the like.