ANSI UL 1740-2018 UL Standard for Safety Robots and Robotic Equipment (Fourth Edition).pdf

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

2、HORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL UL Standard for Safety for Robots and Robotic Equipment, UL 1740 Fourth Edition, Dated January 26, 2018 SUMMARY OF TOPICS This is the new edition of ANSI/UL 1740. The scope was revised, and the requirements from the 3rd edit

3、ion were claried. The new requirements are substantially in accordance with Proposal(s) on this subject dated March 17, 2017 and July 21, 2017. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form by any means, electronic, mecha

4、nical 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 event will UL be liable for a

5、ny 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 the possibility of such dam

6、age. 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, expense, liability, damage,

7、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. JANUARY 26, 2018 UL 1740 tr1UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION W

8、ITHOUT PERMISSION FROM UL JANUARY 26, 2018 UL 1740 tr2 No Text on This PageUL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL JANUARY 26, 2018 1 UL 1740 Standard for Robots and Robotic Equipment First Edition February, 1995 Second Edition Novem

9、ber, 1998 Third Edition December, 2007 Fourth Edition January 26, 2018 This ANSI/UL Standard for Safety consists of the Fourth Edition. The most recent designation of ANSI/UL 1740 as an American National Standard (ANSI) occurred on January 26, 2018. ANSI approval for a standard does not include the

10、Cover Page, Transmittal Pages, and Title Page. Comments or proposals for revisions on any 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 https:/. ULs Standards for Safet

11、y are copyrighted by UL. Neither a printed nor electronic copy of a Standard should be altered 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 2018 UNDERWRITERS LABORATORIES INC. ANSI/

12、UL 1740-2018UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL JANUARY 26, 2018 ROBOTS AND ROBOTIC EQUIPMENT - UL 1740 2 No Text on This PageUL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM

13、 UL CONTENTS INTRODUCTION 1 Scope .7 2 Glossary .8 3 Components 16 4 Units of Measurement 16 5 Undated References .16 CONSTRUCTION 6 General.17 7 Frame and Enclosure 17 7.1 General 17 7.2 Cast metal17 7.3 Sheet metal 18 7.4 Doors and covers .20 7.5 Nonmetallic General .25 7.6 Bonding 26 7.7 Parts of

14、 enclosures 26 7.8 Windows .26 7.9 Openings in enclosures Ventilating openings27 8 Mounting28 9 Clearance.28 10 Operating Mechanism .29 11 Accessibility of Uninsulated Live Parts, Film-Coated Wire, and Moving Parts.29 12 Protection Against Corrosion .34 13 Polymeric Materials .34 13.1 General .34 13

15、.2 Small parts 35 13.3 Insulating material 35 14 Field Connections.35 14.1 General .35 14.2 Terminals .38 15 Cord Connected Robotic Equipment39 16 Strain Relief39 17 Bushings 39 18 Current-Carrying Parts 40 19 Conductors 40 19.1 General .40 19.2 Interconnecting cords and cables 43 19.3 Interconnecti

16、on of units .44 20 Grounding .44 20.1 General .44 20.2 Grounding means 45 20.3 Terminals and leads 45 21 Bonding of Internal Parts 46 21.1 General .46 21.2 Construction and connection.47 22 Motors.49 23 Printed-Wiring Boards .49 JANUARY 26, 2018 ROBOTS AND ROBOTIC EQUIPMENT - UL 1740 3UL COPYRIGHTED

17、 MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL 24 Transformers .50 25 Capacitors, Capristors and Varistors 50 25.1 Isolating components .50 25.2 Across-the-line components .50 25.3 General .50 26 Supply-Circuit Disconnecting Means 51 26.1 General .51 26.

18、2 Position indication 51 26.3 Supply conductors to be disconnected 51 26.4 Connections to supply lines52 26.5 Exposed live parts52 26.6 Mounting 52 26.7 Electrical cabinet interlocks (Not intended for Functional Safety of a Workcell) .52 26.8 Operating handle .52 26.9 Attachment plug and receptacle

19、53 27 Overcurrent Protection, Control-Circuit Conductors53 28 Spacings 55 28.1 General .55 28.2 Clearance and creepage distances .55 29 Field Wiring Space57 30 Separation of Circuits .58 31 Use with lasers or X-Radiation .59 PROTECTION AGAINST INJURY TO PERSONS 32 General59 33 Sharp Corners and Edge

20、s .59 34 Moving Parts Other Than the Robot .59 35 Moving Parts Drive Power Indicator .60 35.1 General .60 35.2 Limiting robot motion .60 35.3 Robot control system .61 35.4 Emergency movement without drive power and brake release .61 36 Temperature .62 37 Mounting Devices.62 38 Parts Subject to Press

21、ure62 39 Pressure-Relief Devices .62 40 Protection of Users and Service Personnel 63 40.1 General .63 40.2 Robot control 64 40.3 Actuating controls 66 40.4 Robot manual mode 66 40.5 Pendant .67 40.6 Robot system workcell protection.68 40.7 Safeguarding requirements for maintenance General .68 40.8 E

22、lectrical servicing .68 41 Batteries and Battery Circuits 69 41.1 General .69 41.2 Battery and fuel cell terminals69 41.3 Lithium batteries .69 41.4 Non-lithium battery circuits 70 41.5 Fuel cells70 42 Accessories and Attachments 70 JANUARY 26, 2018 ROBOTS AND ROBOTIC EQUIPMENT - UL 1740 4UL COPYRIG

23、HTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL PERFORMANCE 43 General70 44 Power Input and Maximum Ampacity Test .71 44.1 Power input .71 44.2 Maximum ampacity .71 45 Temperature Test.71 46 Overvoltage and Undervoltage Tests 76 47 Leakage Current Tes

24、t .77 48 Robots Intended for Use in Water Environments79 49 Outdoor-Use Tests80 50 Maximum Low Voltage Measurement .80 51 Energy Storage and Energy Storage Circuit Tests Electrical80 51.1 Battery or super-capacitor (Ultra-cap) overcharge 80 51.2 Battery or super-capacitor discharge81 51.3 Battery /

25、battery pack drop 81 51.4 Energy storage test results 81 51.5 Energy Source low voltage program memory loss 81 52 Pendant Tests: Drop, Handle and Mounting Means .82 52.1 General .82 52.2 Pendant: Handle and mounting means82 52.3 Pendant: Enabling device .82 53 Interconnecting Cords and Cables Test83

26、 54 Abnormal Operation Test 83 54.1 General .83 54.2 Loss of primary power single phase test 84 54.3 Locked ventilation motor test 84 54.4 Blocked mechanical lter test 84 54.5 Locked drive motor test .84 54.6 Locked brake test 85 55 Component Breakdown Test .85 56 Overload Test 86 57 Endurance Test

27、86 58 End of Travel Hardstop Test .86 59 Power Loss and Power Restoration Test 86 60 Emergency Stop Operation Test and Maximum Stopping Time and Distance or Angle Verication .87 61 Enabling Device Verication87 62 Emergency Movement of Robot Without Drive Power Test (See 35.4) 88 63 Gripper (End-Effe

28、ctor) Test 88 64 Manual Mode Reduced Speed Measurement 88 65 Voltage Surge Test .89 66 Dielectric Voltage-Withstand Test .90 66.1 General .90 66.2 Power transformer dielectric withstand 91 67 Burnout Test (Transformer Overload) .92 68 Ground Resistance Test .93 69 Strain Relief Test .93 70 Flexing T

29、est93 71 Physical Stability Test .94 72 Lifting/Transportation Means Loading Test .94 73 Mounting Devices Test 94 74 Parts Subject to Pressure Tests 94 JANUARY 26, 2018 ROBOTS AND ROBOTIC EQUIPMENT - UL 1740 5UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PER

30、MISSION FROM UL 75 Pressure-Relief Devices Test.96 76 Enclosure Test .96 77 Horizontal Surface Loading Test 96 78 Gasket Tests .97 79 Glass Window Impact Test.97 80 Securement of Snap-On Cover Test 97 81 Wheel or Caster Securement.98 82 Electromagnetic Compatibility (EMC) 98 83 Functional Safety Ana

31、lysis .98 83.1 General .98 83.2 Analysis program.98 83.3 Provisions for redundancy .99 83.4 Use of diversity 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-Continu

32、ity Test 101 RATING 87 Details .102 MARKING 88 General 102 89 Wiring 104 90 Elevated Ambient Temperature106 91 Cautionary Markings .107 MANUFACTURER SUPPLIED DOCUMENTATION 92 Manufacturers Documentation 109 Appendix A Standards for ComponentsA1 JANUARY 26, 2018 ROBOTS AND ROBOTIC EQUIPMENT - UL 1740

33、 6UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT 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, NFPA 70. Equi

34、pment evaluated to these requirements is intended to meet the requirements of Robots and Robotic Devices Safety Requirements for Industrial Robots Part 1, ISO 10281-1, and can be installed in accordance with ISO 10218-1, Robots and Robotic Devices Safety Requirements for Industrial Robots Part 1 and

35、 ISO 10218-2, Robots and Robotic Devices Safety Requirements for Industrial Robots Part 2: Robot Systems and Integration. 1.2 These requirements cover robotic equipment and systems intended for indoor and outdoor use in applications such as parts assembly, parts transfer, automated material handling

36、, inspection, loading, die-casting, deburring, welding, paint spraying, 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 equipment, and not specically addressed in this standar

37、d or referenced standards, shall also be evaluated to the applicable requirements of standards for the application or end-product equipment. 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

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

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

40、t for Use in Class I and II, Division 2 and Class III, Divisions 1 and 2 Hazardous (Classied) Locations, ISA 12.12.01; d) Electric Motors and Generators for Use in Hazardous (Classied) Locations, UL 674; and e) Purged and Pressurized Enclosures for Electrical Equipment, NFPA 496. 1.6 In the followin

41、g text, a requirement that applies to one type of equipment, such as a controller or 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 the requirement applies to all types of equipm

42、ent covered by this standard. JANUARY 26, 2018 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 following denitions apply. 2.2 AUTOMATIC OPERATION The

43、 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 text message or display on a pendant or user interface scr

44、een. 2.4 CATEGORY Classication of the Safety-Related Parts of a Control System (SRP/CS) in respect of their resistance to faults and their subsequent behavior in the fault condition, and which is achieved by the structural arrangement of the parts, fault detection and/or by their reliability. ISO. T

45、his material is reproduced from ISO 13849-1:2015 with permission of the American National Standards Institute (ANSI) on behalf of the International Standardization Organization. All rights reserved. 2.5 CLASS 2 A circuit, transformer, or power source having energy- and voltage-limiting characteristi

46、cs as described in Standard for Low Voltage Transformers Part 3: Class 2 and Class 3 Transformers, UL 5085-3. 2.6 COLLABORATIVE OPERATION State in which a purposely designed robot system and an operator work within a collaborative workspace. ISO. This material is reproduced from ISO/TS 15066 with pe

47、rmission of the American National Standards Institute (ANSI) on behalf of the International Organization for Standardization. All rights reserved. ISO/TS 15066 was an ISO draft document that was subject to change without notice. It cannot be referred to as an approved ISO standard. 2.7 COLLABORATIVE

48、 WORKSPACE Space within the operating space where the robot system (including the workpiece) and a human can perform tasks concurrently during production operation. ISO. This material is reproduced from ISO/TS 15066 with permission of the American National Standards Institute (ANSI) on behalf of the

49、 International Organization for Standardization. All rights reserved. ISO/TS 15066 was an ISO draft document that was subject to change without notice. It cannot be referred to as an approved ISO standard. 2.8 DRIVE POWER The source or means of supplying energy to the robot actuators to produce motion. 2.9 ELECTRICAL/ ELECTRONIC/ PROGRAAMMABLE ELECTRONIC E/E/PE Based on Electrical (E) and/or Electronic (E) and/or Programmable Electronic (PE) technology. NOTE The term is