1、Specification forRobotic ArcWelding SafetyAWS D16.1M/D16.1:2018An American National StandardAWS D16.1M/D16.1:2018An American National StandardApproved by the American National Standards InstituteFebruary 16th, 2018Specification forRobotic Arc Welding Safety2nd EditionSupersedes AWS D16.1M/D16.1:2004
2、 (R2016)Prepared 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, maintena
3、nce, and operation of arc welding 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.AWS D16.1M/D16.1:2018iiISBN Print: 978-0-87171-947-8ISBN Web: 978-0-87171-975-1 2018 by
4、 American Welding SocietyAll rights reservedPrinted in the United States of AmericaPhotocopy Rights. No portion of this standard may be reproduced, stored in a retrieval system, or transmitted in any form, including mechanical, photocopying, recording, or otherwise, without the prior written permiss
5、ion of the copyright owner.Authorization to photocopy items for internal, personal, or educational classroom use only or the internal, personal, or educational classroom use only of specific clients is granted by the American Welding Society provided that the appropri-ate fee is paid to the Copyrigh
6、t Clearance Center, 222 Rosewood Drive, Danvers, MA 01923, tel: (978) 750-8400; Internet: .AWS D16.1M/D16.1:2018iiiStatement on the Use of American Welding Society StandardsAll standards (codes, specifications, recommended practices, methods, classifications, and guides) of the American Welding Soci
7、ety (AWS) are voluntary consensus standards that have been developed in accordance with the rules of the American National Standards Institute (ANSI). When AWS American National Standards are either incorporated in, or made part of, documents that are included in federal or state laws and regulation
8、s, or the regulations of other governmen-tal bodies, their provisions carry the full legal authority of the statute. In such cases, any changes in those AWS standards must be approved by the governmental body having statutory jurisdiction before they can become a part of those laws and regulations.
9、In all cases, these standards carry the full legal authority of the contract or other document that invokes the AWS standards. Where this contractual relationship exists, changes in or deviations from requirements of an AWS stand-ard must be by agreement between the contracting parties.AWS American
10、National Standards are developed through a consensus standards development process that brings together volunteers representing varied viewpoints and interests to achieve consensus. While AWS administers the proc-ess and establishes rules to promote fairness in the development of consensus, it does
11、not independently test, evaluate, or verify 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, whether special, indirect, consequential, or compensat
12、ory, directly or indirectly resulting from the publication, use of, or reliance on 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 profes
13、sional or other services for or on behalf of any person or entity, nor is AWS undertaking to perform any duty owed by any person or entity to someone else. Anyone using these documents should rely on his or her own independent judgment or, as appropriate, seek the advice of a competent professional
14、in determining the exercise of reasonable care in any given circumstances. It is assumed 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 publi
15、cation of amend-ments or errata, or supplemented 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 they have the latest edition, amendments, errata, and adden
16、da.Publication of this standard does not authorize infringement of any patent or trade name. Users of this standard accept any and all liabilities for infringement of any patent or trade name items. AWS disclaims liability for the infringement of any patent or product trade name resulting from the u
17、se of this standard.AWS does not monitor, police, or 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
18、. Such requests should be addressed to the American Welding Society, Attention: Managing Director, Standards Development, 8669 NW 36 St, # 130, Miami, FL 33166 (see Annex C). With regard to technical inquiries made concerning AWS standards, oral opinions on AWS standards may be rendered. These opini
19、ons are offered solely as a convenience to users of this standard, and they do not constitute professional advice. Such opinions represent only the personal opinions of the particular individuals giving them. These individuals do not speak on behalf of AWS, nor do these oral opinions constitute offi
20、cial or unofficial opinions or interpretations of AWS. In addi-tion, 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 must be reviewed every
21、five years, and if not revised, it must be either reaffirmed or withdrawn. Comments (recommendations, additions, or deletions) and any pertinent data that may be of use in improving this standard are required and should be addressed to AWS Headquarters. Such comments will receive careful considerati
22、on by the AWS D16 Committee on Robotic and Automatic Welding and the author of the comments will be informed of the Committees response to the comments. Guests are invited to attend all meetings of the AWS D16 Committee on Robotic and Automatic Welding to express their comments verbally. Procedures
23、for appeal of an adverse decision concerning all such comments are pro-vided in the Rules of Operation of the Technical Activities Committee. A copy of these Rules can be obtained from the American Welding Society, 8669 NW 36 St, # 130, Miami, FL 33166.AWS D16.1M/D16.1:2018ivThis page is intentional
24、ly blank.AWS D16.1M/D16.1:2018vPersonnelAWS D16 Committee on Robotic and Automatic WeldingD. L. Pape, Chair Wolf RoboticsK. Gilgenbach, Vice Chair Airgas, IncorporatedJ. S. Noruk, 2nd Vice Chair Servo Robot CorporationP. Portela, Secretary American Welding SocietyC. T. Anderson Yakasawa American, In
25、corporatedJ. M. Blahnik Caterpillar, IncorporatedE. Boan John Deere SeedingR. E. Campbell Banker Steel CompanyE. DiMalanta ABBC. Gandee Lincoln ElectricL. K. Gross Milwaukee Area Technical CollegeB. Hackbarth Komatsu Mining Corp GroupT. B. Hansen Trinity Rail CarS. M. Henderson Ocean-EJ. R. Keister
26、Shockride LLCJ. D. Lane D therefore, each system must be used independently. 1.3 Safety. Safety issues and concerns are addressed in this standard, although health issues and concerns are beyond the scope of this standard. Safety and health information is available from the following sources: Americ
27、an Welding Society:(1) ANSI Z49.1, Safety in Welding, Cutting, and Allied Processes(2) AWS Safety and Health Fact Sheets(3) Other safety and health information on the AWS websiteMaterial or Equipment Manufacturers:(1) Safety Data Sheets supplied by materials manufacturers(2) Operating Manuals suppli
28、ed by equipment manufacturersApplicable Regulatory AgenciesWork performed in accordance with this standard may involve the use of materials that have been deemed hazardous, and may involve operations or equipment that may cause injury or death. This standard does not purport to address all safety an
29、d health risks that may be encountered. The user of this standard should establish an appropriate safety program to address such risks as well as to meet applicable regulatory requirements. ANSI Z49.1 should be considered when devel-oping the safety program.AWS D16.1M/D16.1:201832. Normative Referen
30、cesThe following documents are referenced within this publication and are mandatory to the extent specified herein. For undated references, the latest edition of the referenced standard shall apply. For dated references, subsequent amend-ments to, or revisions of, any of these publications do not ap
31、ply.American Welding Society (AWS) standards:AWS A3.0M/A3.0, Standard Welding Terms and Definitions, Including Terms for Adhesive Bonding, Brazing, Soldering, Thermal Cutting, and Thermal SprayingAWS D16.2M/D16.2, Guide for Components of Robotic and Automatic Arc Welding InstallationsAWS D16.3M/D16.
32、3, Risk assessment Guide for Robotic Arc WeldingAWS D16.4M/D16.4, Specification for the Qualification of Robotic Arc Welding PersonnelAWS AWR, Arc Welding with Robots: Dos and DontsAWS, AWS Safety and Health Fact SheetsANSI Z49.1, Safety in Welding, Cutting, and Allied ProcessesAmerican National Sta
33、ndards Institute (ANSI) standards:ANSI Z535.1, Safety Color CodeANSI Z535.2, Environmental and Facility Safety SignsANSI Z535.3, Criteria for Safety SymbolsANSI Z535.4, Product Safety Signs and LabelsANSI Z535.5, Accident Prevention TagsInternational Electrotechnical Commission (IEC) standards:IEC 6
34、0974-1, Arc Welding EquipmentPart 1: Welding Power SourcesIEC 60974-7, Arc Welding EquipmentPart 7: TorchesInternational Organization for Standardization (ISO) standards:ISO 8373, Manipulating Industrial Robots VocabularyNational Electrical Manufacturers Association (NEMA) documents:NEMA EW-1, Elect
35、ric Arc Welding Power SourcesNEMA EW-3, Semiautomatic Wire Feed Systems for Arc WeldingNational Fire Protection Association (NFPA) documents:ANSI/NFPA, Electrical Standard for Industrial MachineryANSI/NFPA, National Electrical CodeANSI/NFPA 51B, Standard for Fire Prevention during Welding, Cutting,
36、and Other Hot WorkANSI/NFPA 79, Electrical Standard for Industrial EquipmentNational Fluid Power Association (NFPA) documents:ANSI/NFPA T2. 13.8, Hydraulic Fluid Power Fire Resistant FluidsDefinitions, Classifications, and TestingOccupational Safety and Health Administration (OSHA) documents:OSHA 19
37、04, General Requirement for Recording and Reporting Occupational Injuries and IllnessesOSHA 1910.147, Control of Hazardous Energy (Lockout/Tagout)AWS D16.1M/D16.1:20184OSHA 1910.212, General Requirements for all Machines (Machine Guarding)OSHA 1910.219, Mechanical Power Transmission ApparatusOSHA 19
38、10 Subpart Q, Welding, Cutting, and BrazingOSHA 3120, Control of Hazardous Energy (Lockout/Tagout)OSHA 3075, Controlling Electrical HazardsRobotic Industries Association (RIA) documents:ANSI/RIA R15.06, Industrial Robots the end-effector(s); and any other associated machinery and equipment within th
39、e safeguarded space.AWS D16.1M/D16.1:20186inspection. Examination or measurement to verify whether an item or activity conforms to specified requirements.integration. Act of combining a robot with other equipment or another machine (including additional robots) to form a machine system capable of pe
40、rforming useful work such as production of parts. This act of machine building can include the requirements for the installation of the system.integrator. Entity that designs, provides, manufactures or assembles robot systems or integrated manufacturing systems and is in charge of the safety strateg
41、y, including the protective measures, control interfaces and interconnections of the control system. The integrator can be a manufacturer, assembler, engineering company, or the user.interlock. An arrangement whereby the operation of one control or mechanism allows, or prevents the operation of anot
42、her.interlock control. An electrical or mechanical means by which activation will cause all hazardous motion to cease and prevent operation from resuming.interlock switch. An electrical or mechanical means by which operation of a component is prevented or maintained unless required conditions are me
43、t.interlocked barrier. A physical barrier that serves two purposes: 1) to physically separate personnel from a potential hazard and 2) used to disable and thereby prevent the operation of the equipment if the barrier is removed or if the operator crosses into the space that the barrier protects.join
44、t. An axis of motion. For a six (6) axis, articulated servo controlled welding robot, the joints are typically defined as follows:Joint 1 - Rotary or waist rotationJoint 2 - Shoulder rotationJoint 3 - Elbow rotationJoint 4 - Outer link or upper arm rotationJoint 5 - Wrist bend or yawJoint 6 - Wrist
45、roll or swivellight curtain. A non-contact perimeter barrier device which will send a signal to the system controller if an objectpenetrates or interrupts the plane of the perimeter.limiting device. A device that restricts the maximum space by stopping or causing to stop all robot motion and is inde
46、pendent of the control program and the task programs.lockout/tagout. A means to render equipment incapable of inadvertent release of energy from sources such as electrical, mechanical, pneumatic and hydraulic during periods of maintence or servicing. Lockout/tagout procedures are identified within O
47、SHA 1910.147, The Control of Hazardous Energy (Lockout/Tagout).logic program. A series of ladder logic instructions that monitors the states of addresses and determines if changes in state need to be made to other addresses. This is used to control input/output signals or devices within or outside t
48、he robot system. The logic program runs independently of the robots task program and may be located within the robot control, in an external Programmable Logic Control (PLC), or both. The logic program is normally executing whether the robot is in automatic or manual mode.maintenance. The act of kee
49、ping the robots and robot systems in their proper operating condition.maintenance personnel. Person employed to inspect, repair, and maintain arc welding robot systems.manipulator. The mechanism of a machine that usually consists of a series of segments jointed or sliding relative to one another used for grasping and/or moving objects usually in several degrees of freedom.manufacturer. Any person or organization who manufactures, converts, modifies, or otherwise alters robotic arc welding systems.maximum space. Space which can be swept by the moving parts of the robo
