Collaborative Robots - Safe Hand Guiding Applications

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Collaborative RobotsHand GuidingSafe Applications DescriptionDefinitionsGuidelinesDesign“Human error isnot a potential, itis a given.”www.omron247.com

Collaborative Robot Hand Guiding ApplicationDescriptionIn a hand guiding application, the robot allows alimited amount of its motioncontrol to be released, allowing the operator to manually move the robot to variouspositions. This application has been primarily used to teach programs, especially when newparts are added frequently. It may be done with traditional and collaborative robots, withsome difference in safety requirements.Information can be found in the Industrial Robots and Robot Systems – Safety Requirementsstandard, ANSI RIA R15.06-2012, which is harmonized with ISO 10218-1:2011 and ISO 102182:2011.Detailed collaborative safety requirements will be available in the ISO/TS 15066 TechnicalSpecification, which is expected to be available in late 2015 or early 2016.DefinitionsCollaborative WorkspaceIt is the space within the operating spacewhere the robot system and a human canperform tasks concurrently.End-EffectorThis is a device attached to the end of therobot’s/collaborative robot’s arm(mechanical interface). It allows a task to bedone.This may also be referred to as end-of-armtools.Refer to the standards for detailed informationSafety-Rated Monitored StopThe robot/collaborative robot stops beforethe operator enters the collaborativeworkspace.With a traditional robot this may be achievedwith a safety-rated control system thatcomplies with the requirements in ANSI/RIA15.06-2012.With a collaborative robot this may beachieved through inherently-safe design.Safety-Rated Space LimitingA limit is placed on the robot’s range ofmotion by a software- or firmware-basedsystem having a sufficient safety-ratedperformance.2

Collaborative Robot Hand Guiding ApplicationGuidelines for all SystemsThese guidelines are applicable for traditionaland collaborative robot systems. Detailedinformation can be found in the ISO/TS 15066technical specification. The operator is responsible for the robot’smotion during the hand-guiding process.This includes being aware of surroundingequipment and prevent being crushedbetween the robot and auxiliaryequipment, walls, columns, barriers, etc.If the operator’s safety is dependent onlimiting the robot’s range of motion, theapplication can use the robot’s safetyrated soft axis and space limitingfunctions or other external safety-ratedsystem.The robot system must utilize safety-ratedreduced speed control and the safetyrated monitored speed controls, asspecified in ANSI/RIA R15.06.The motion direction must be intuitive tothe operator. For example, if an operatoris using a joystick type device and pressesleft, the robot should move in the leftdirection.Transition to and from a hand guidingapplication shoulda. be a deliberative andcontrolled behaviorb. not lead to unexpectedmotions or behaviorsc. not create additional hazardsRefer to the standards for detailed information The robot is not allowed to be movingwhen the operator enters thecollaborative workspace.The collaborative workspace is definedas any area where the robot can move.In many cases this will be the same asthe robot’s defined workspace(including the end-effector and part).If an operator enters the collaborativeworkspace while the robot is moving,the robot shall generate a protectivestop. The operator must reset thesystem before the hand guiding can bestarted.The operator must activate the forceguiding feature before the robot canenter hand guiding mode.The robot shall not resume normaloperation until the operator(s) has leftthe safeguarded space. Additionalmeans requiring operator verification,such as the operator pressing a restartbutton, may be used.If operator safety is dependent on themovement or location of the robot, therobot shall have a way to knowing itsposition.Note: Each application is unique and mayinclude topics not listed.3

Collaborative Robot Hand Guiding ApplicationDesignTraditional Robot GuidelinesA system that is functional and easy to useincreases the operator’s ability to teach newprograms quickly. Some design considerationmay include;Traditional robots typically have higherpayload, faster speeds, and most safetyrelated features are monitored and controlledby an external system. These guidelines mayalso be applied with collaborative robotapplications. Place mechanisms giving the operatormotion control close to the robot’send-of-arm and end-effector (tooling).The distance between the operator andthe portion where the operatormanually moves the robot should be acomfortable level for the operator toreach and easy to maneuver.Ensure the robot does not have anuncontrolled singularity point that canspin the robot’s arm out of theoperator’s control. If a singularity pointexists, methods such as reduce speedthrough the point, warning signals, orstopping the robot may be used.Determine if additional limited speedsare needed. When designing these,make the switch to lower speeds easyand intuitive for the operator to use.Clearly define areas where theoperator may be located during theprogramming.Verify the operator is able to clearlysee within the entire operation area.Signals, such as indicator lights, may beused to alert others when the robot ishand-guiding mode.Refer to the standards for detailed information Movement of the robot is only allowedwhen an enabling device/switch isactivated.Additional safety-rated controls, such asenabling devices, are needed for eachperson if multiple operators are withinthe operating space.Emergency stop is required.The emergency stop and enabling switchshould be located on the guiding deviceand the location should be so they do notcause additional hazards.Collaborative Robot GuidelinesMost collaborative robots are inherently safeby their design. This may include featuressuch as force amplification, virtual safetyzones, and tracking technologies. Thisguideline may not be applicable for traditionalrobot applications unless specified by the riskassessment. Power and force collaborative robotsdo not need to use an enabling deviceas long as the power and forcecapability cannot be deactivated.The transient contact chart in theannex of ISO/TR 15066 should be usedto determine robot’s maximum speed.4

R48I-E-01Note: Specifications are subject to change 2015 Omron Electronics LLCPrinted in U.S.A.

Collaborative Robot Hand Guiding Application In a hand guiding application, . Detailed collaborative safety requirements will be available in the ISO/TS 15066Technical Specification, which is expected to be available in late 2015 or early 2016. . information can be found in the ISO/TS 15066 technical specification.

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