《UL-1740-BULLETINS-2006.pdf》由会员分享，可在线阅读，更多相关《UL-1740-BULLETINS-2006.pdf（110页珍藏版）》请在三一文库上搜索。
1、FOR INTERNAL UL OR CSDS USE ONLY NOT FOR OUTSIDE DISTRIBUTION Subject 1740 August 31, 2006 SUMMARY OF TOPICS The following changes in requirements are being proposed: 1. FOR PRELIMINARY REVIEW ONLY - Proposed New (Third) Edition for UL 1740 including the following changes: a) Requirements for operat
2、ion upon failure to complete intended motion/Locked rotor abnormal test; b) Requirement for equipment to stop and alert teacher prior to a “singularity” event; c) Provision of easily unlocked means to exit workcell from within; d) Requirement that manufacturers provide Lockout/Tagout procedures in t
3、he Service and Maintenance Manual; e) Requirement that the brake release mechanism be readily accessible without the use of a key or special tools; f) Option to mount indicating lamp outside of the workcell in cases where there are high levels of process contaminants; g) Addition of horizontal-surfa
4、ce loading test; h) Clarifi cation that supplemental tests are required for applications subjected to outdoor exposure; i) Updated requirements for identifi cation of emergency control (E-stop) button; j) Clarifi cation of marking requirements (identifi cation) of multi-colored status- indicating la
5、mps used with Robotic Systems; k) Clarifi cation of requirement that individual E-stop buttons be marked to indicate their designated function; l) Requirement that parts subject to pressure (air hoses, hydraulic hoses, etc.) are reliably connected to the energy source unless located in an enclosure
6、that would contain any rupture; m) Mechanical securement of rotary switches shall be by a means other than friction fi t; n) Added Flammability rating exemption for small parts; o) Substitute termPolymeric MaterialsforInsulating Materials ; p) Clarifi cation that Production line tests include equipm
7、ent that is permanently connected; q) Clarify that current carrying parts can include other materials such as carbon brushes; r) Clarify termshock hazardin teach pendant drop test; and s) Clarify requirements for use in water environments. STP COMMENTS DUE: October 30, 2006 This proposal is for revi
8、ew and comment only (no ballot at this time). Please note that comments on a preliminary review document will not receive a response from the proposal author through CSDS. Instead, the proposal author is asked to review the comments received during the preliminary review and adjust the proposals and
9、/or supporting rationale as the author determines to be appropriate. The preliminary review process is an informal mechanism that provides authors with the opportunity to refi ne their proposals before the proposals advance in ULs standards development process. Normally, the next step in the process
10、 is the more formal STP ballot and stakeholder review process. Only comments newly posted during the more formal STP ballot and stakeholder review process will be addressed and responded to. As is common practice with the review of many proposed new editions, the text has not been modifi ed with und
11、erlines and strikeouts to show added and deleted material. Instead, the Rationale section below identifi es in detail the signifi cant changes between the Second and Third Editions. Copyright Underwriters Laboratories Inc. Provided by IHS under license with ULLicensee=North Carolina State University
12、/5618801100 Not for Resale, 10/20/2006 02:08:18 MDTNo reproduction or networking permitted without license from IHS -,-,- FOR INTERNAL UL OR CSDS USE ONLY NOT FOR OUTSIDE DISTRIBUTION Since this will be the fi rst time that the 1740 STP and Subscribers will participate in a review conducted entirely
13、 through CSDS, please note that the Impact Statements and Effective Date information are no longer included with the Proposal because they are not directly related to Standards Issues, but rather to Certifi cation Issues. If necessary, UL will provide this information to the STP and Subscribers in a
14、n area of CSDS referred to as the Effective Date Work Area. 1. FOR PRELIMINARY REVIEW ONLY - Proposed New (Third) Edition for UL 1740 including the following changes: a) Requirements for operation upon failure to complete intended motion/Locked rotor abnormal test; b) Requirement for equipment to st
15、op and alert teacher prior to a “singularity” event; c) Provision of easily unlocked means to exit workcell from within; d) Requirement that manufacturers provide Lockout/Tagout procedures in the Service and Maintenance Manual; e) Requirement that the brake release mechanism be readily accessible wi
16、thout the use of a key or special tools; f) Option to mount indicating lamp outside of the workcell in cases where there are high levels of process contaminants; g) Addition of horizontal-surface loading test; h) Clarifi cation that supplemental tests are required for applications subjected to outdo
17、or exposure; i) Updated requirements for identifi cation of emergency control (E-stop) button; j) Clarifi cation of marking requirements (identifi cation) of multi-colored status-indicating lamps used with Robotic Systems; k) Clarifi cation of requirement that individual E-stop buttons be marked to
18、indicate their designated function; l) Requirement that parts subject to pressure (air hoses, hydraulic hoses, etc.) are reliably connected to the energy source unless located in an enclosure that would contain any rupture; m) Mechanical securement of rotary switches shall be by a means other than f
19、riction fi t; n) Added Flammability rating exemption for small parts; o) Substitute term Polymeric Materials for Insulating Materials; p) Clarifi cation that Production line tests include equipment that is permanently connected; q) Clarify that current carrying parts can include other materials such
20、 as carbon brushes; r) Clarify term shock hazard in teach pendant drop test; and s) Clarify requirements for use in water environments. RATIONALE Proposal submitted by Charles A. Goetz, UL. Signifi cant Changes Contained in New Edition of UL 1740 SUMMARY OF CHANGERATIONALE a. Requirements for operat
21、ion upon failure to complete intended motion/Locked rotor abnormal test. UL is proposing to add, failure to complete an intended motion to 36.4 to not result in dropping of payload or uncontrolled motion. For testing purposes, this failure shall be simulated by a locked-rotor condition per 55.6 in U
22、L 1740. Currently, the existing UL 1740 Locked-Rotor Test is designed to obtain ultimate results regarding fi re, electric shock, and personal injury. It may be possible for a person to be trapped between the robot manipulator arm and a building structure; therefore, there should be provisions for t
23、he robot to sense a stall condition, remove drive power, and generate an awareness signal to attract attention during this emergency condition. A text message or display on the pendant would be an acceptable form of providing the awareness signal. See 2.3, 36.4, 36.5, and 55.6 AUGUST 31, 2006SUBJECT
24、 1740-2- Signifi cant Changes Contained in New Edition of UL 1740 Continued on Next Page Copyright Underwriters Laboratories Inc. Provided by IHS under license with ULLicensee=North Carolina State University/5618801100 Not for Resale, 10/20/2006 02:08:18 MDTNo reproduction or networking permitted wi
25、thout license from IHS -,-,- FOR INTERNAL UL OR CSDS USE ONLY NOT FOR OUTSIDE DISTRIBUTION Signifi cant Changes Contained in New Edition of UL 1740 Continued b Requirement for equipment to stop and alert teacher prior to a “singularity” event. UL is proposing to adopt a singularity requirement per A
26、NSI/RIA R15.06 - June 21, 1999 Edition. During slow speed teach mode, an unexpected motion caused by the collinear alignment of two or more robot axes can result in hazardous, unpredictable robot motion and velocities exceeding 250 mm/sec. UL is therefore proposing to require that in the teach mode,
27、 the robot control can stop robot motion and alert the teacher prior to a singularity occurrence, or further reduce speed so that no part of the robot exceeds 250 mm/sec. See 2.37 and 41.4.4 c. Provision of easily unlocked means to exit workcell from within UL is proposing that interlocked portions
28、of the workcell shall be capable of being easily unlocked from the inside of the safeguarded space - with or without power available - when the possibility of full body access exists. Workcell doors, gates, and servicing and maintenance access doors may not be provided with a release from inside the
29、 workcell. This could create an inability to exit a hazardous area. See 41.6.1.5 and 92.5 d. Requirement that manufacturers provide Lockout/Tagout procedures in the Service and Maintenance Manual. UL is proposing to add a requirement that manufacturers provide Lockout/Tagout procedures in the Servic
30、e and Maintenance Manual. UL recognizes the possibility of injury to service/maintenance personnel from an unexpected energizing or start-up of the robot/robotic equipment or the release of stored energy during servicing and maintenance. The proposed Lockout/Tagout procedure establishes minimum perf
31、ormance requirements for the control of such hazards. The proposed requirement refers to OSHAs 1910.147 document. Additionally, RIA R15.06 - 1999 Edition - references this requirement. See 92.1 (item b) e. Requirement that the brake release mechanism be readily accessible without the use of a key or
32、 special tools. UL is proposing that the brake release means be readily accessible without the use of a key or special tools. Some robot controllers provide brake release buttons to allow for emergency movement of each axis without drive power: however, in some applications, these buttons are locate
33、d inside the controller enclosure requiring a key or special tool for access. During an emergency, the access key or tool may not be readily available for use. See 36.7 (Item b) f. Option to mount indicating lamp outside of the workcell in cases where there are high levels of process contaminants UL
34、 is proposing to include an exception permitting an indicating lamp to be mounted outside of the workcell environment for applications where the manipulator arm and indicating lamp are covered by supplemental covering means for the purpose of protection against process-related contaminants (e.g., pa
35、int spray, oil, metallic dust). Indicator lamps used in certain environments can become covered by process contaminants and, over time, may not be readily visible. This exception would permit the indicator lamp to be relocated to a different location but still meet the intent of the requirement. See
36、 Exception No. 3 to 36.1 and 92.6 AUGUST 31, 2006SUBJECT 1740-3- Signifi cant Changes Contained in New Edition of UL 1740 Continued on Next Page Copyright Underwriters Laboratories Inc. Provided by IHS under license with ULLicensee=North Carolina State University/5618801100 Not for Resale, 10/20/200
37、6 02:08:18 MDTNo reproduction or networking permitted without license from IHS -,-,- FOR INTERNAL UL OR CSDS USE ONLY NOT FOR OUTSIDE DISTRIBUTION Signifi cant Changes Contained in New Edition of UL 1740 Continued g. Addition of horizontal-surface loading test.UL is proposing that an equipment enclo
38、sure horizontal surface area which is fl at and not more than 3 feet (915 mm) from the fl oor or mounting surface be considered as a possible site for sitting and shall be tested to see if it can support a designated load. The minimum area that is being proposed for testing is 144 square inches (390
39、 square cm) with no cross dimension being smaller than 6 inches. (153 mm). For the test, 200 lbf (90.9 kgf) shall be uniformly applied for one minute to the surface. There shall be no deformation or damage that results in the risk of fi re, electric shock, or injury to persons. Flat surface areas -
40、although not intended for seating - may be used by a person for that purpose if the surface and height are conducive for testing or sitting. The load force being proposed represents that of an average adult. See Section 77 h. Clarifi cation that supplemental tests are required for applications subje
41、cted to outdoor exposure UL is proposing to clarify UL 1740 to specify that additional tests (e.g., UV and rain) are required for applications subjected to outdoor exposure. The scope of UL 1740 presently includes robotic systems used in outdoor applications. These systems must be tested for environ
42、mental exposures corresponding to their intended use. See Section 50 i. Updated requirements for identifi cation of emergency control (E-stop) button UL proposes to adopt the robotic industrys convention for emergency-stop-device design by requiring a yellow background as part of the construction re
43、quirements. UL is also proposing the addition of a requirement that emergency stop devices be unguarded. The red button contrasting with a yellow background achieves a more visible indication of the buttons location. Having the ability to quickly locate and activate an unguarded emergency stop devic
44、e is essential during an emergency situation. See 41.2.2.2 j. Clarifi cation of marking requirements (identifi cation) of multi-colored status-indicating lamps used with Robotic Systems UL is proposing to require a permanent marking for multi- colored status-indicating lamps that are provided as an
45、optional feature on Robotic Systems. An explanation of each lamp color and condition (fl ashing, continuously on, operation mode, and so forth) should be added, where readily visible near the lamp assemblies to provide clear status awareness to the user and others in the area. Some multi-mode robot
46、systems incorporate tower lamps that are color coded to differentiate between modes of systems operating status. It is quite common, in industry, to fi nd robotic workcells being used adjacent to each other that employ different color coding for the tower lamps (i.e., the color blue may denote entir
47、ely different functions on two adjacent machines). Without a function- identifi cation marking being provided, it may be unclear to the user as to which mode of operation is in effect (e.g., safe to enter the workcell, operator assistance required, hazardous motion pending, drive power enabled, and
48、the like). See 88.3 AUGUST 31, 2006SUBJECT 1740-4- Signifi cant Changes Contained in New Edition of UL 1740 Continued on Next Page Copyright Underwriters Laboratories Inc. Provided by IHS under license with ULLicensee=North Carolina State University/5618801100 Not for Resale, 10/20/2006 02:08:18 MDT
49、No reproduction or networking permitted without license from IHS -,-,- FOR INTERNAL UL OR CSDS USE ONLY NOT FOR OUTSIDE DISTRIBUTION Signifi cant Changes Contained in New Edition of UL 1740 Continued k. Clarifi cation of requirement that individual E-stop buttons be marked to indicate their designated function UL is proposing that individual E-stop buttons be marked according to their design