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TECHNICAL FILE

A simple guide to
robot safety
In recent years, collaborative robots (Cobots) have emerged these
cage-free robots can work side by side with humans on shared or
separate tasks explains Andrew Armstrong
Andrew
best possible safety levels. Dual Check Safety (DCS)
Armstrong,
UK Sales & As robots have become more Position Speed Check
Marketing refined, and applied across more Dual Check Safety (DCS) Position/
Manager
industry sectors, mainly for heavy work, Speed Check features check the
devices are used to monitor a robot’s speed and positional data of motors
surroundings, such as vision and force with two independent CPUs within
sensors that allow robots to see and the robot controller. These functions
feel what is around them. Using smart can detect any position and speed
synthetic skins, scientists are even errors immediately and shut down
looking to endow future robots with a the motors power. Safety data and
human-like sense of touch. processes are cross-checked by
two CPUs. Self-diagnosis of safety
Collaborative robots hardware and software is executed
In recent years, collaborative robots periodically to prevent potential

I
(Cobots) have emerged: in contrast failure accumulation.
ndustrial robots are automated to traditional robots, which cannot The DCS position speed check
moving devices with multiple axes. operate in an operator-occupied software monitors allows safety zones
Motion paths, sequences and angles workspace without safety fencing, to be quickly and easily designed:
can be freely programmed and these cage-free robots can work side • DCS Position Check ensures that
controlled by sensors. Robots can by side with humans on shared or the robot stays in the designated
also be fitted with grippers and other separate tasks. safe areas, with adaptive zones that
tools, enabling them to manipulate Although collaborative robots do allow for more compact cell layouts
objects and carry out production not eliminate the need for workplace and which allow robots and humans
tasks. Robots are well suited to risk assessments, the increased to share a common space in a
carry out many different automated adoption of peripheral safety devices controlled way.
tasks and make frequent changes to is enabling robots and humans to • DCS Speed Check monitors the
batches and products. work in close proximity of each other, speed of the robot to ensure safe
Traditionally, the automotive eradicating the fear of interrupting operation. Using the inputs from
industry has led the way to use production or worse, an accident. devices such as floor scanners, the
robots on a large scale. However, Cobots are equipped with force robot slows down to a safe speed,
if used without care, robots can be sensing to limit their power and force: which is then safely monitored by
dangerous to humans. Back in 1961 in any situation they can feel or detect the DCS function. If the robot goes
when General Motors introduced the an abnormal force and stop their over the monitored speed, the DCS
first industrial robot to its production motion immediately. Although they function will stop the robot.
line, humans were at high risk inside still cannot avoid a crash, Cobots can
a robot’s work zone. Since that time, reduce its impact and avoid certain Avoiding heavy lifting
robot manufacturers such as FANUC types of incidents, like crushing Another aspect of safety where robots
have spent enormous effort and accidents. This makes them safer to can help is preventing injury to humans
money to produce models with the work alongside humans. through heavy lifting. With health and
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TECHNICAL FILE

In recent years,
safety regulations stipulating 25kg as collaborative
robots (Cobots)
the maximum load an operator may have emerged:
handle, there is a real requirement for in contrast
a robotic solution to handle loads that to traditional
robots, which
exceed this limit. cannot operate
FANUC has extended the in an operator-
application field for collaborative occupied
workspace
robots with a model that has a higher without safety
payload than any other on the market. fencing, these
The human-safe CR-35iA has a 35kg cage-free
robots can work
payload, opening up applications side by side
that have previously been off limits with humans
for both traditional industrial robots on shared or
separate tasks
and lighter duty collaborative robots,
particularly in difficult-to-access areas
where conventional assist machinery
cannot fit or where a six-axis robot The gripper must cope with the Safety standards
adds dexterity. physical and mechanical properties In 2013, the first safety standards
of the object and handle it without for collaborative robotics, ANSI/RIA
Risk assessments leaving any visible marks or damage. R15.06, were published. More recently,
As collaborative robots are working From a safety point of view, grippers the ISO/TS 15066 standard was
alongside humans without any type of can cause pinching or crushing injuries published in March 2016. It specifically
shield or guarding, it raises a new level and the risks of these should be taken outlines guidance for and the
of complexity. into account in any risk assessment. requirements of collaborative industrial
In line with ISO 10218 and ISO/
Traditionally,
TS 15066 standards which relate to the automotive
the collaborative operation and safety industry has led
the way to use
functions, end users or integrators will
robots on a large
need to do a complete risk assessment scale
to prove that their robotic application
using a collaborative robot is safe.
When doing a risk assessment,
while the robot itself may be safe,
the entire robotic system has to be
considered, including grippers and any
other peripheral equipment.

Gripper technology
Grippers are handling equipment that
secure position and orientation in
relation to the handling device when
picking up and depositing objects.
Most grippers work on a mechanical,
pneumatic, electric or adhesive principle.
Grippers also include vacuum suckers.

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TECHNICAL FILE

Using Dual robot systems, such as contact forces


Check Safety
(DCS) and a and pressures that can be applied to
series of area different regions of the body.
scanners to
safely monitor
robot motion Practical measures
area and speed In order to ensure that humans are
the robot not exposed to unacceptable risks
operates with
no safety fences when working collaboratively, the
surrounding it. current standards describe four
separate measures that can be used
to provide risk reduction.
It is required that at least one of
these is fulfilled, in addition to having
visual indication that the robot is in
collaborative operation.

The four measures are:


• SAFETY-RATED MONITORED
STOP: when it is detected
that a human has entered the
collaborative workspace, the robot
should stop. The stop condition
should then be maintained until the
LEVELS OF ROBOT SAFETY human leaves the workspace.
The US National Bureau of Standards defines three levels of safety sensor • HAND GUIDING: the human can
systems in robots. guide the robot by hand. Additional
• Level 1: perimeter penetration detection: intended to detect that an intruder requirements for safety include
has crossed the perimeter boundary of the workcell without regard to the safe-limited speed monitoring and a
location of the robot. local emergency stop.
• Level 2: intruder detection inside the workcell: the region between the • SPEED AND SEPARATION
workcell boundary and the limit of the robot work volume. MONITORING: the robot must
• Level 3: intruder detection in the immediate vicinity of the robot: inside the maintain a specified separation
work volume of the robot. distance from the human and
operate at a pre-determined speed.
There are two common means of implementing a robot safety sensing system This measure requires careful risk
• Pressure sensitive floor mats: area pads placed on the floor around the assessment and needs to take
workcell that sense the weight of someone standing on the mat. These can account of safety distances.
be used for either level1 or level2 sensing systems. • POWER AND FORCE LIMITING
• Light curtain: light beams and photosensitive devices placed around the BY INHERENT DESIGN OR
workcell that sense the presence of an intruder by an interruption of the light CONTROL: the power and force
beam. Use of light curtains would be more appropriate as level1 systems.
of the robot actuators need to be
• Proximity sensors located on the robot arm can also be utilized as Level 3
monitored by safety-related control
sensors.
systems to ensure that they are
within limits established by a risk
The safety monitoring strategies that might be followed by the workcell
assessment.
controller would include the following schemes.
• Complete shutdown of the robot upon detection of an intruder.
• Activation of warning alarms. Andrew Armstrong is FANUC UK Sales
• Reduction of the speed of the robot to safe level. & Marketing Manager
• Directing the robot to move its arm away from the intruder to avoid collision.
• Directing the robot to perform tasks away from the intruder. www.fanuc.eu

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TECHNICAL FILE

TOP TIPS FOR KEEPING YOUR WORKFORCE SAFE


WHEN WORKING ALONGSIDE ROBOTS
• SCOPE OUT ALL POTENTIAL HAZARDS - safety risks will vary depending on your chosen robot and application. Start
with a well-documented risk assessment. It is worth noting that most robot-related accidents occur during non-
routine operating conditions, for example, operators entering the cell for programming, maintenance, testing, setup, or
adjustment tasks.
• REVISIT THE REGULATIONS - The Health and Safety Executive (HSE) offers industrial robot safety guidance in the
HSG43, Industrial Robot Safety publication. International standards are set out in EN ISO 10218 - Part 1 Robots and
robotic devices - Safety requirements for industrial robots, while EN ISO 10218 - Part 2 goes into more detail about
robot systems and integration.
• USE SIMULATION SOFTWARE to plan out and test robotic concepts. Software (eg FANUC’s Roboguide) can model all
of the variable robotic movements, obstacles and potential collision scenarios, in a 3D virtual world.
• INTRODUCE SAFEGUARDS - seek expert guidance when building a safety related control system (SRCS) early in the
design phase, as there are many different concepts to consider, including whether it should be a dedicated system or
integrated within your robot controller or robot safety software.
• PROVIDE EMPLOYEES WITH CLEAR INSTRUCTIONS - reduce the risks of incidents by ensuring employees receive
regular operator training and are issued with appropriate personal protective equipment (PPE).
• CONSIDER THE COST BENEFIT AND EFFECTIVENESS OF SOFTWARE-ENABLED TECHNOLOGY - having less hardware
means that safety can be integrated more cost-effectively. FANUC’s latest DCS software can monitor the robot’s
position and speed. The removal of limit and zone switches also makes work cell configurations tighter and simpler.
• CREATE ADAPTIVE ZONES - it is now possible to program, enable and disable the zone that the robot can or can’t
enter, depending on the task in-hand.
• DEFINE MAXIMUM ROBOT SPEED - this can be done during normal operation or adjusted to a defined event, enabling
an operator to work safely within the proximity of the robot.
• COMPLIANCE WITH MACHINE SAFETY STANDARDS - check the system meets the PL (performance level) safety
standards specified in BS EN ISO 13849-1.
• STAY ON TOP OF SAFETY REQUIREMENTS - robotic work cells and plant layouts evolve quickly, which is when a
software-based robot comes into its own.

The CR-7iA
- this new
collaborative
robot has a
payload of
7kg and the
mechanics
correspond
to that of the
company’s
popular LR
Mate-series

The human-safe
CR-35iA has a
35kg payload,
opening up
applications
that have
previously been
off limits for
both traditional
and lighter duty
collaborative
robots

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