1、Specification forRobotic ArcWelding SafetyAWS D16.1M/D16.1:2004 (R2016)An American National StandardAWS D16.1M/D16.1:2004 (R2016)An American National StandardApproved by theAmerican National Standards InstituteFebruary 3, 2004Reaffirmed: May 27, 2016Specification forRobotic Arc Welding SafetyPrepare
2、d by theAmerican Welding Society (AWS) D16 Committee on Robotic and Automatic WeldingUnder the Direction of theAWS Technical Activities CommitteeApproved by theAWS Board of DirectorsAbstractThis standard establishes safety requirements with respect to the design, manufacture, maintenance, and operat
3、ion of arc weld-ing robot systems and ancillary equipment. It also helps to identify and minimize hazards involved in maintaining, operating,integrating, and setting up of arc welding robot systems.iiAWS D16.1M/D16.1:2004 (R2016)ISBN-13: 978-0-87171-890-7 2015 by American Welding SocietyAll rights r
4、eservedPrinted in the United States of AmericaPhotocopy Rights. No portion of this standard may be reproduced, stored in a retrieval system, or transmitted in anyform, including mechanical, photocopying, recording, or otherwise, without the prior written permission of the copyrightowner.Authorizatio
5、n to photocopy items for internal, personal, or educational classroom use only or the internal, personal, oreducational classroom use only of specific clients is granted by the American Welding Society provided that the appropriatefee is paid to the Copyright Clearance Center, 222 Rosewood Drive, Da
6、nvers, MA 01923, tel: (978) 750-8400; Internet:.iiiAWS D16.1M/D16.1:2004 (R2016)Statement on the Use of American Welding Society StandardsAll standards (codes, specifications, recommended practices, methods, classifications, and guides) of the AmericanWelding Society (AWS) are voluntary consensus st
7、andards that have been developed in accordance with the rules of theAmerican National Standards Institute (ANSI). When AWS American National Standards are either incorporated in, ormade part of, documents that are included in federal or state laws and regulations, or the regulations of other governm
8、en-tal bodies, their provisions carry the full legal authority of the statute. In such cases, any changes in those AWS stan-dards must be approved by the governmental body having statutory jurisdiction before they can become a part of thoselaws and regulations. In all cases, these standards carry th
9、e full legal authority of the contract or other document thatinvokes the AWS standards. Where this contractual relationship exists, changes in or deviations from requirements of anAWS standard must be by agreement between the contracting parties.AWS American National Standards are developed through
10、a consensus standards development process that bringstogether volunteers representing varied viewpoints and interests to achieve consensus. While AWS administers the pro-cess and establishes rules to promote fairness in the development of consensus, it does not independently test, evaluate,or verify
11、 the accuracy of any information or the soundness of any judgments contained in its standards.AWS disclaims liability for any injury to persons or to property, or other damages of any nature whatsoever, whetherspecial, indirect, consequential, or compensatory, directly or indirectly resulting from t
12、he publication, use of, or relianceon this standard. AWS also makes no guarantee or warranty as to the accuracy or completeness of any information pub-lished herein.In issuing and making this standard available, AWS is neither undertaking to render professional or other services for oron behalf of a
13、ny person or entity, nor is AWS undertaking to perform any duty owed by any person or entity to someoneelse. Anyone using these documents should rely on his or her own independent judgment or, as appropriate, seek theadvice of a competent professional in determining the exercise of reasonable care i
14、n any given circumstances. It isassumed that the use of this standard and its provisions is entrusted to appropriately qualified and competent personnel.This standard may be superseded by new editions. This standard may also be corrected through publication of amend-ments or errata, or supplemented
15、by publication of addenda. Information on the latest editions of AWS standards includ-ing amendments, errata, and addenda is posted on the AWS web page (www.aws.org). Users should ensure that theyhave the latest edition, amendments, errata, and addenda.Publication of this standard does not authorize
16、 infringement of any patent or trade name. Users of this standard acceptany and all liabilities for infringement of any patent or trade name items. AWS disclaims liability for the infringement ofany patent or product trade name resulting from the use of this standard.AWS does not monitor, police, or
17、 enforce compliance with this standard, nor does it have the power to do so.Official interpretations of any of the technical requirements of this standard may only be obtained by sending a request,in writing, to the appropriate technical committee. Such requests should be addressed to the American W
18、elding Society,Attention: Managing Director, Technical Services Division, 8669 NW 36 St, # 130, Miami, FL 33166 (see Annex A).With regard to technical inquiries made concerning AWS standards, oral opinions on AWS standards may be rendered.These opinions are offered solely as a convenience to users o
19、f this standard, and they do not constitute professionaladvice. Such opinions represent only the personal opinions of the particular individuals giving them. These individualsdo not speak on behalf of AWS, nor do these oral opinions constitute official or unofficial opinions or interpretations ofAWS
20、. In addition, oral opinions are informal and should not be used as a substitute for an official interpretation.This standard is subject to revision at any time by the AWS D16 Committee on Robotic and Automatic Welding. It mustbe reviewed every five years, and if not revised, it must be either reaff
21、irmed or withdrawn. Comments (recommendations,additions, or deletions) and any pertinent data that may be of use in improving this standard are requested and should beaddressed to AWS Headquarters. Such comments will receive careful consideration by the AWS D16 Committee onRobotic and Automatic Weld
22、ing and the author of the comments will be informed of the Committees response to thecomments. Guests are invited to attend all meetings of the AWS D16 Committee on Robotic and Automatic Welding toexpress their comments verbally. Procedures for appeal of an adverse decision concerning all such comme
23、nts are pro-vided in the Rules of Operation of the Technical Activities Committee. A copy of these Rules can be obtained from theAmerican Welding Society, 8669 NW 36 St, # 130, Miami, FL 33166.This page is intentionally blank.ivAWS D16.1M/D16.1:2004 (R2016)vAWS D16.1M/D16.1:2004 (R2016)Personnel (Re
24、affirmation)AWS D16 Committee on Robotic and Automatic WeldingJ. S. Noruk, Chair Servo Robot CorporationV. L. Mangold, Vice-Chair KaysafetyD. L. Pape, 2nd Vice-Chair Wolf RoboticsP. Portela, Secretary American Welding SocietyC. T. Anderson Motoman, IncorporatedJ. M. Blahnik Caterpillar, Incorporated
25、E. Boan John Deere SeedingR. E. Campbell Banker Steel CompanyE. DiMalanta ABBC. Gandee The Lincoln Electric CompanyK. Gilgenbach Airgas, IncorporatedL. K. Gross Milwaukee Area Technical CollegeB. Hackbarth Joy Global Surface MiningT. B. Hansen TrinityRail CarS. M. Henderson Henderson Hanes electrode
26、 feedsystem, dereeling system, welding circuit, shielding and communication control, and grounding system. There may beother accessories that are outside the scope of this document. A typical system is illustrated in Figure 1.This specification makes use of both U.S. Customary Units and the Internat
27、ional System of Units (SI). These measure-ments may not be exact equivalents; therefore each system must be used independently of the other without combiningin any way. The specification D16.1M uses SI Units. The specification with the designation D16.1 uses U.S. CustomaryUnits. The latter are shown
28、 in appropriate columns in tables or within parentheses ( ) when used in the text.Figure 1Example of a Typical Robotic Arc Welding CellAWS D16.1M/D16.1:2004 (R2016) 21.2 Applications1.2.1 New or Remanufactured Installations. The requirements of this standard pertaining to design and manufac-ture sha
29、ll apply to all new or remanufactured arc welding robot systems, fixtures, and ancillary equipment manufacturedfor installation or installed after the compliance date subsequent to the ANSI approval date of this standard. Complianceto the standard shall be 12 months after the ANSI approval date.1.2.
30、2 Existing or Rebuilt Installations. Existing installations or the repair or rebuilding thereof shall be compliantwith the standards in effect at the time of their original installation. Modifications to fixtures, end-of arm devices, orancillary equipment shall be reviewed for the creation of new ha
31、zards. Such new hazards shall be safeguarded in accor-dance with the applicable clauses of this standard.1.2.3 All Installations. The requirements of Clauses 7 and 8 of this standard pertaining to the use and maintenance ofarc welding robot systems shall apply to all users subsequent to the approval
32、 of this standard.1.3 Exclusions. This standard applies to arc welding robot systems and is not intended to apply to the followingmachines:(1) Robots with a payload capacity greater than 20 kg (45 lbs)(2) Automated guided vehicle systems(3) Undersea and space robotics(4) Automatic conveyor and shutt
33、le systems(5) Teleoperators(6) Mobile robots(7) Resistance welding robotsThis list is not intended to be all-inclusive.1.4 Responsibilities. The responsibility for the application of this standard is defined by this standard.1.4.1 Manufacturer or Remanufacturer. It shall be the responsibility of the
34、 arc welding robot machine manufac-turer or remanufacturer to design and construct the arc welding robot system in accordance with Clause 4 of thisstandard.1.4.2 Rebuilder or Modifier. It shall be the responsibility of any person rebuilding or modifying arc welding robotsystems to do so in accordanc
35、e with portions of Clause 4 of this standard applicable to components being rebuilt or mod-ified.1.4.3 System Integrator. The system integrator shall ensure that the system complies with Clause 6 of this standard.The System Integrator has the responsibility to ensure that any modifications made to t
36、he arc welding robot systemsshall conform to Clause 4. The employer shall be the system integrator unless another party contractually acceptsresponsibility as the system integrator.1.4.4 Employers. Employers should make training available for operators, programmers, and maintenance techni-cians to h
37、elp them attain and maintain certifications, such as the Certified Robotic Arc Welding Technician/OperatorProgram.2. Normative ReferencesThe following standards contain provisions, which, through reference in this text, constitute provisions of this AmericanNational Standard. All standards are subje
38、ct to revision, and parties are encouraged to use the most recent editions of thestandards indicated below.(1) ANSI/NFPA179, Electrical Standard for Industrial Machinery1NFPA standards are published by the National Fire Protection Association, 1 Batterymarch Park, Quincy, MA 02269-9101.AWS D16.1M/D1
39、6.1:2004 (R2016) 3(2) ANSI/NFPA 70, National Electrical Code(3) ANSI/NFPA 51B, Standard for Fire Prevention during Welding, Cutting, and Other Hot Work(4) ANSI/NFPA2T2.13.8, Hydraulic Fluid PowerFire Resistant FluidsDefinitions, Classifications, and Testing(5) ANSI/RIA3R15.06, Industrial Robots On-l
40、ine ordering of publications: http:/www.osha.gov/pls/publications/pubindex.list.AWS D16.1M/D16.1:2004 (R2016) 4alarm. An indication (visual or auditory) that a failure or misadjustment of a device has occurred.anti-repeat. The part of the machine control system designed to limit the arc welding robo
41、t system to a single cycle ifthe cycle actuating means are held or tied down. Anti-repeat requires release of all cycle actuating mechanisms beforeanother cycle can be initiated.NOTE: There shall be no inference that the purpose of anti-repeat is to prevent an inadvertent cycle initiation of therobo
42、t system. An inadvertent cycle start is the result of a malfunction.anti-tie down. A circuit designed to prevent machine operation in case a control is continuously actuated.attended program verification. The act when a person within the safeguarded space verifies the robots programmedtasks at progr
43、ammed speed not to exceed a TCP speed of 250 mm/sec (10 in/sec).automatic mode. Operating mode in which the control system operates in accordance with the task program.awareness barrier. Physical and visual means that warn a person of an approaching or present hazard.barrier. A physical means of sep
44、arating persons from a hazard.concurrent. Acting in conjunction, and is used to describe a situation, wherein two or more controls exist in an operatedcondition at the same time.dereeler. A system for conveying welding wire from the wire package (i.e., spools, payoff packs) of any size to theentranc
45、e of the wire feeder mechanism.door. A movable barrier that when closed prevents the entry of any portion of a persons body into the robots or othermoving equipments operating space.emergency stop. An operation of a circuit that overrides all machine control, removes drive power, and causes all mov-
46、ing machinery to stop.employer. Any person who contracts, hires, or is responsible for the personnel associated with the operation, mainte-nance, and setup of arc welding robot systems.enabling device. A manually operated device which when continuously activated permits motion.end-effector. An acces
47、sory device or tool specifically designed for attachment to the wrist or tool mounting plate toenable the robot to perform the arc welding process.energy source. Any electrical, mechanical, hydraulic, pneumatic, laser, chemical, thermal, potential, kinetic, or othersources of power/movement that can
48、 be a hazard.fixed guard. A protective barrier that cannot be moved except with the use of tools.former installation. A currently existing arc welding robot system installed prior to the compliance date of this standard.gate. A movable barrier that when closed prevents the exposure of any portion of
49、 a persons body to a hazard.guard. A physical barrier which protects personnel from exposure to a hazardous area.hardwired. The components of an electrical circuit that are permanently, electrically wired together, resulting in anelectrical circuit that is independent of electronic logic (hardware or software).hazard. A potential source of harm.industrial robot (robot). An automatically controlled, reprogrammable, multipurpose manipulator that is programma-ble in three or more axes.industrial arc welding robot system (robot system).(1) An industrial robot combined with ancillary and
