ANSI UL 1740-2007 UL Standard for Safety Robots and Robotic Equipment (Third Edition Reprint with Revisions Through and Including January 7 2015)《机器人和自动化设备的安全标准》.pdf

1、UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL UL 1740 Robots and Robotic EquipmentUL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM ULUL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER

2、REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL UL Standard for Safety for Robots and Robotic Equipment, UL 1740 Third Edition, Dated December 7, 2007 SUMMARY OF TOPICS This revision to UL 1740 is being issued to remove the reference to the withdrawal date of UL 873 and to address universal

3、upkeep of UL Standards for Safety. These revisions are considered to be non-substantive and not subject to ULs STP process. Text that has been changed in any manner or impacted by ULs electronic publishing system is marked with a vertical line in the margin. Changes in requirements are marked with a

4、 vertical line in the margin and are followed by an effective date note indicating the date of publication or the date on which the changed requirement becomes effective. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form by a

5、ny means, electronic, mechanical photocopying, recording, or otherwise without prior permission of UL. UL provides this Standard as is without warranty of any kind, either expressed or implied, including but not limited to, the implied warranties of merchantability or tness for any purpose. In no ev

6、ent will UL be liable for any special, incidental, consequential, indirect or similar damages, including loss of prots, lost savings, loss of data, or any other damages arising out of the use of or the inability to use this Standard, even if UL or an authorized UL representative has been advised of

7、the possibility of such damage. In no event shall ULs liability for any damage ever exceed the price paid for this Standard, regardless of the form of the claim. Users of the electronic versions of ULs Standards for Safety agree to defend, indemnify, and hold UL harmless from and against any loss, e

8、xpense, liability, damage, claim, or judgment (including reasonable attorneys fees) resulting from any error or deviation introduced while purchaser is storing an electronic Standard on the purchasers computer system. The requirements in this Standard are now in effect, except for those paragraphs,

9、sections, tables, gures, and/or other elements of the Standard having future effective dates as indicated in the note following the affected item. The prior text for requirements that have been revised and that have a future effective date are located after the Standard, and are preceded by a SUPERS

10、EDED REQUIREMENTS notice. JANUARY 7, 2015 UL 1740 tr1UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL JANUARY 7, 2015 UL 1740 tr2 No Text on This PageUL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERM

11、ISSION FROM UL DECEMBER 7, 2007 (Title Page Reprinted: January 7, 2015) 1 UL 1740 Standard for Robots and Robotic Equipment First Edition February, 1995 Second Edition November, 1998 Third Edition December 7, 2007 This ANSI/UL Standard for Safety consists of the Third Edition including revisions thr

12、ough January 7, 2015. The most recent designation of ANSI/UL 1740 as an American National Standard (ANSI) occurred on June 11, 2007. ANSI approval for a standard does not include the Cover Page, Transmittal Pages, Title Page, or effective date information. Comments or proposals for revisions on any

13、part of the Standard may be submitted to UL at any time. Proposals should be submitted via a Proposal Request in ULs On-Line Collaborative Standards Development System (CSDS) at http:/. ULs Standards for Safety are copyrighted by UL. Neither a printed nor electronic copy of a Standard should be alte

14、red in any way. All of ULs Standards and all copyrights, ownerships, and rights regarding those Standards shall remain the sole and exclusive property of UL. COPYRIGHT 2015 UNDERWRITERS LABORATORIES INC. ANSI/UL 1740-2007UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION

15、 WITHOUT PERMISSION FROM UL DECEMBER 7, 2007 ROBOTS AND ROBOTIC EQUIPMENT - UL 1740 2 No Text on This PageUL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL CONTENTS INTRODUCTION 1 Scope .7 2 Glossary .8 3 Components 12 4 Units of Measurement 1

16、2 5 Undated References .12 CONSTRUCTION 6 General .12 7 Frame and Enclosure 13 7.1 General 13 7.2 Cast metal 13 7.3 Sheet metal 13 7.4 Doors and covers .16 7.5 Nonmetallic General .21 7.6 Bonding 22 7.7 Parts of enclosures 22 7.8 Windows .22 7.9 Openings in enclosures Ventilating openings 23 8 Mount

17、ing 24 9 Clearance .24 10 Operating Mechanism .25 11 Accessibility of Uninsulated Live Parts, Film-Coated Wire, and Moving Parts .25 12 Protection Against Corrosion .30 13 Polymeric Materials .30 13.1 General .30 13.2 Small parts 31 14 Field Connections .31 14.1 General .31 14.2 Terminals .33 15 Por

18、table Robotic Equipment 34 16 Stationary Robotic Equipment 35 17 Strain Relief 35 18 Bushings 35 19 Current-Carrying Parts 36 20 Conductors 36 20.1 General .36 20.2 Interconnecting cords and cables 39 20.3 Interconnection of units .40 21 Grounding .40 21.1 General .40 21.2 Grounding means 41 21.3 Te

19、rminals and leads 41 22 Bonding of Internal Parts 42 22.1 General .42 22.2 Construction and connection .43 23 Motors .45 24 Printed-Wiring Boards .45 DECEMBER 7, 2007 ROBOTS AND ROBOTIC EQUIPMENT - UL 1740 3UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMI

20、SSION FROM UL 25 Transformers .46 26 Capacitors, Capristors and Varistors 46 26.1 Isolating components .46 26.2 Across-the-line components .46 26.3 General .46 27 Supply-Circuit Disconnecting Means 47 27.1 General .47 27.2 Position indication 47 27.3 Supply conductors to be disconnected 47 27.4 Conn

21、ections to supply lines 48 27.5 Exposed live parts 48 27.6 Mounting 48 27.7 Interlocks 48 27.8 Operating handle .49 27.9 Attachment plug and receptacle 49 28 Overcurrent Protection, Control-Circuit Conductors 50 29 Spacings 51 29.1 General .51 29.2 Low-voltage class 2 circuits Safety circuits .54 29

22、.3 Other than safety circuits 55 29.4 Isolated limited-energy secondary circuits (100 VA or less) 55 29.5 Controlled environment circuits .56 29.6 Wet locations and other environmental considerations 56 29.7 Terminals and other circuits .56 29.8 Controlled-environment secondary circuits .58 30 Field

23、 Wiring Space 59 31 Separation of Circuits .61 32 Use with Lasers, X-Radiation .62 PROTECTION AGAINST INJURY TO PERSONS 33 General 62 34 Sharp Corners and Edges .62 35 Moving Parts Other Than the Robot Arm 62 36 Moving Parts Robot Arm .63 37 Temperature .64 38 Mounting Devices .64 39 Parts Subject t

24、o Pressure 64 40 Pressure-Relief Devices .65 41 Protection of Users and Service Personnel 66 41.1 General .66 41.2 Robot control 67 41.3 Actuating controls 68 41.4 Robot teach mode 68 41.5 Teach pendant .69 41.6 Robot system workcell protection .69 41.7 Servicing of robotic equipment General .71 41.

25、8 Mechanical servicing 72 41.9 Electrical servicing 72 42 Batteries and Battery Circuits 73 42.1 General .73 42.2 Battery terminals .73 42.3 Lithium battery circuits 73 DECEMBER 7, 2007 ROBOTS AND ROBOTIC EQUIPMENT - UL 1740 4UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIB

26、UTION WITHOUT PERMISSION FROM UL 42.4 Nonlithium battery circuits .73 43 Accessories and Attachments 74 PERFORMANCE 44 General 74 45 Power Input Test .75 46 Temperature Test .75 47 Overvoltage and Undervoltage Tests 80 48 Leakage Current Test .80 49 Robots Intended for Use in Water Environments 83 5

27、0 Outdoor-Use Tests 84 51 Maximum Low Voltage Measurement .84 52 Battery and Battery Circuit Tests Electrical .84 52.1 Battery overcharge .84 52.2 Battery discharge 85 52.3 Battery drop .85 52.4 Battery test results .85 52.5 Battery low voltage program memory loss .85 53 Teach Pendant Tests: Drop, H

28、andle and Mounting Means .85 53.1 General .85 53.2 Teach pendant handle and mounting means 86 53.3 Teach pendant: enabling device .86 54 Interconnecting Cords and Cables Test 86 55 Abnormal Operation Test General .86 56 Component Breakdown Test .87 57 Overload Test 88 58 Endurance Test 88 59 Power L

29、oss and Power Restoration Test 88 60 Emergency Stop Operation Test 88 61 Maximum Stopping Time and Distance Verication .89 61.1 Teach mode .89 61.2 Emergency stop 89 62 Emergency Movement of Robot Arm Without Drive Power Test 89 63 Gripper (End Effector) Test 89 64 Teach Mode Slow Speed Measurement

30、.90 65 Effect of Voltage Transient Test 90 66 Dielectric Voltage-Withstand Test .90 66.1 General .90 66.2 Secondary circuits (controlled environment) .91 66.3 Power transformers .92 67 Burnout Test (Transformer Overload) .92 68 Grounding Resistance Test 93 69 Strain Relief Test .93 70 Flexing Test 9

31、4 71 Physical Stability Test .94 72 Lifting/Transportation Means Loading Test .94 73 Mounting Devices Test 94 74 Parts Subject to Pressure Tests 95 75 Pressure-Relief Devices Test .96 76 Enclosure Test .96 77 Horizontal Surface Loading Test .96 78 Gasket Tests .97 DECEMBER 7, 2007 ROBOTS AND ROBOTIC

32、 EQUIPMENT - UL 1740 5UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL 79 Glass Window Impact Test .97 80 Securement of Snap-On Cover Test 97 81 Wheel or Caster Securement .98 82 Component Analysis Test 98 82.1 General .98 82.2 Evaluation pro

33、gram .98 83 Safety-Related Software Analysis .99 MANUFACTURING AND PRODUCTION TESTS 84 Production-Line Dielectric Voltage-Withstand Test General .99 85 Production-Line Grounding-Continuity Test .101 86 Production-Line Polarization-Continuity Test 101 RATING 87 Details .102 MARKING 88 General 102 89

34、Wiring 104 90 Elevated Ambient Temperature 106 91 Cautionary Markings .107 INSTRUCTIONS 92 Manufacturers Instructions .110 Appendix A Standards for ComponentsA1 DECEMBER 7, 2007 ROBOTS AND ROBOTIC EQUIPMENT - UL 1740 6UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WI

35、THOUT PERMISSION FROM UL INTRODUCTION 1 Scope 1.1 These requirements cover robots and robotic equipment rated 600 V or less and intended for installation in accordance with the National Electrical Code, ANSI/NFPA 70. Since end-use installation of a robot and robotic equipment may vary for each user

36、application, guidelines for end-product installation may be evaluated to the applicable sections of the Robotic Industries Association (RIA) Standard for Industrial Robots and Robot Systems Safety Requirements, ANSI/RIA R15.06. 1.2 These requirements cover robotic equipment and systems intended for

37、indoor and outdoor use in applications such as parts assembly, parts transfer, automated material handling, inspection, loading, diecasting, deburring, welding, paint spraying, clinical/diagnostic systems, pharmaceutical applications, commercial food processing, automated vehicle refueling systems,

38、library book handling/sorting, clean room applications, medical use for surgery, mobile robots, automated guided vehicles, automated storage/retrieval systems, and the like. 1.3 Robots and robotic equipment that contain unique features or functions associated with the application or end-product equi

39、pment, and not specically addressed in this Standard, shall also be evaluated to the requirements of the other applicable Standards. 1.4 In addition to the requirements in this Standard, robots and robotic systems shall also comply with the applicable sections of the Electrical Standard for Industri

40、al Machinery, ANSI/NFPA 79. 1.5 Robots and robotic systems intended for use in hazardous locations, as dened by the National Electrical Code, ANSI/NFPA 70, shall also comply with the applicable safety requirements based on the specic end-use application, including those contained in the following st

41、andards: a) Intrinsically Safe Apparatus and Associated Apparatus for Use in Class I, II, and III, Division 1, Hazardous (Classied) Locations, UL 913; b) Deleted c) Explosion-Proof and Dust-Ignition-Proof Electrical Equipment for Use in Hazardous (Classied) Locations, UL 1203; d) Nonincendive Electr

42、ical Equipment for Use in Class I and II, Division 2 and Class III, Divisions 1 and 2 Hazardous (Classied) Locations, ISA 12.12.01; e) Electric Motors and Generators for Use in Hazardous (Classied) Locations, UL 674; and f) Purged and Pressurized Enclosures for Electrical Equipment, NFPA 496. 1.5 re

43、vised January 7, 2015 1.6 In the following text, a requirement that applies to one type of equipment, such as a controller or teach pendant, will be identied by a specic reference. In the absence of a specic reference or if the term robot or robotic equipment is employed, it is to be understood that

44、 the requirement applies to all types of equipment covered by this Standard. JANUARY 7, 2015 ROBOTS AND ROBOTIC EQUIPMENT - UL 1740 7UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL 2 Glossary 2.1 For the purpose of this Standard the followin

45、g denitions apply. 2.2 AUTOMATIC OPERATION (AUTO MODE) The time when a robot is performing its programmed tasks through continuous program execution. 2.3 AWARENESS SIGNAL A device that warns a person of an approaching or present hazard by an audible or visible means. A visible means could include a

46、text message or display on a teach pendant or user interface screen. 2.4 CLASS 2 SYSTEM A circuit, transformer, or power source having energy- and voltage-limiting characteristics as described in the Standard for Low Voltage Transformers Part 3: Class 2 and Class 3 Transformers, UL 5085-3. 2.5 CONTR

47、OLLED ENVIRONMENT An environment relatively free of contaminants. A controlled environment may also be provided by means of a NEMA Type 4, 12 or 13 enclosure as specied in the Standard for Industrial Control Equipment, UL 508. 2.6 DRIVE POWER The source or means of supplying energy to the robot actu

48、ators to produce motion. 2.7 EMERGENCY STOP A method using hardware-based components that override all other robot controls and removes drive power from the robot actuators and brings all moving parts to a stop. 2.8 ENABLING DEVICE A manually operated device which, when continuously activated, permi

49、ts motion. Releasing the device shall stop robot motion and motion of associated equipment that may present a hazard. 2.9 END-EFFECTOR An accessory device or tool specically designed for attachment to the robot wrist or tool mounting plate to enable the robot to perform its intended task. (Examples may include gripper, spot weld gun, arc weld gun, spray paint gun, or any other application tools.) 2.10 FIELD-WIRING TERMINAL A wiring terminal on permanently connected equipment