Source: https://standardscatalog.ul.com/standards/en/standard_1740_4
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UL - 1740 Standard for Robots and Robotic Equipment | Standards Catalog
Purchase UL 1740
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. Equipment 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 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, 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 specifically addressed in this standard 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 Industrial Machinery, NFPA 79.
1.5 Robots and robotic systems intended for use in hazardous locations, as defined by the National Electrical Code, NFPA 70, shall also comply with the applicable safety requirements based on the specific end-use application, including those contained in the following standards:
a) Intrinsically Safe Apparatus and Associated Apparatus for Use in Class I, II, and III, Division 1, Hazardous (Classified) Locations, UL 913;
b) Explosion-Proof and Dust-Ignition-Proof Electrical Equipment for Use in Hazardous (Classified) Locations, UL 1203;
c) Nonincendive Electrical Equipment for Use in Class I and II, Division 2 and Class III, Divisions 1 and 2 Hazardous (Classified) Locations, ISA 12.12.01;
d) Electric Motors and Generators for Use in Hazardous (Classified) Locations, UL 674; and
e) Purged and Pressurized Enclosures for Electrical Equipment, NFPA 496.
1.6 In the following text, a requirement that applies to one type of equipment, such as a controller or pendant, will be identified by a specific reference. In the absence of a specific reference or if the term robot or robotic equipment is employed, it is to be understood that the requirement applies to all types of equipment covered by this standard.
7.4 Doors and covers
7.5 Nonmetallic &ndash; General
7.6 Bonding
7.7 Parts of enclosures
7.9 Openings in enclosures &ndash; Ventilating openings
10 Operating Mechanism
11 Accessibility of Uninsulated Live Parts, Film-Coated Wire, and Moving Parts
13 Polymeric Materials
13.2 Small parts
13.3 Insulating material
14 Field Connections
14.2 Terminals
15 Cord Connected Robotic Equipment
17 Bushings
18 Current-Carrying Parts
19.2 Interconnecting cords and cables
19.3 Interconnection of units
20.2 Grounding means
20.3 Terminals and leads
21 Bonding of Internal Parts
21.2 Construction and connection
23 Printed-Wiring Boards
25 Capacitors, Capristors and Varistors
25.1 Isolating components
25.2 Across-the-line components
25.3 General
26 Supply-Circuit Disconnecting Means
26.2 Position indication
26.3 Supply conductors to be disconnected
26.4 Connections to supply lines
26.5 Exposed live parts
26.6 Mounting
26.7 Electrical cabinet interlocks (Not intended for Functional Safety of a Workcell)
26.8 Operating handle
26.9 Attachment plug and receptacle
27 Overcurrent Protection, Control-Circuit Conductors
28.2 Clearance and creepage distances
29 Field Wiring Space
30 Separation of Circuits
31 Use with lasers or X-Radiation
33 Sharp Corners and Edges
34 Moving Parts &ndash; Other Than the Robot
35 Moving Parts &ndash; Drive Power Indicator
35.2 Limiting robot motion
35.3 Robot control system
35.4 Emergency movement without drive power and brake release
37 Mounting Devices
38 Parts Subject to Pressure
39 Pressure-Relief Devices
40 Protection of Users and Service Personnel
40.2 Robot control
40.3 Actuating controls
40.4 Robot manual mode
40.5 Pendant
40.6 Robot system workcell protection
40.7 Safeguarding requirements for maintenance &ndash; General
40.8 Electrical servicing
41 Batteries and Battery Circuits
41.2 Battery and fuel cell terminals
41.3 Lithium batteries
41.4 Non-lithium battery circuits
41.5 Fuel cells
42 Accessories and Attachments
44 Power Input and Maximum Ampacity Test
44.1 Power input
44.2 Maximum ampacity
46 Overvoltage and Undervoltage Tests
48 Robots Intended for Use in Water Environments
49 Outdoor-Use Tests
50 Maximum Low Voltage Measurement
51 Energy Storage and Energy Storage Circuit Tests &ndash; Electrical
51.1 Battery or super-capacitor (Ultra-cap) overcharge
51.2 Battery or super-capacitor discharge
51.3 Battery / battery pack drop
51.4 Energy storage test results
51.5 Energy Source low voltage &ndash; program memory loss
52 Pendant Tests: Drop, Handle and Mounting Means
52.2 Pendant: Handle and mounting means
52.3 Pendant: Enabling device
53 Interconnecting Cords and Cables Test
54.2 Loss of primary power single phase test
54.3 Locked ventilation motor test
54.4 Blocked mechanical filter test
54.5 Locked drive motor test
54.6 Locked brake test
55 Component Breakdown Test
56 Overload Test
57 Endurance Test
58 End of Travel Hardstop Test
59 Power Loss and Power Restoration Test
60 Emergency Stop Operation Test and Maximum Stopping Time and Distance or Angle Verification
61 Enabling Device Verification
62 Emergency Movement of Robot Without Drive Power Test (See )
63 Gripper (End-Effector) Test
64 Manual Mode Reduced Speed Measurement
65 Voltage Surge Test
66 Dielectric Voltage-Withstand Test
66.2 Power transformer dielectric withstand
67 Burnout Test (Transformer Overload)
68 Ground Resistance Test
69 Strain Relief Test
70 Flexing Test
71 Physical Stability Test
72 Lifting/Transportation Means Loading Test
73 Mounting Devices Test
74 Parts Subject to Pressure Tests
75 Pressure-Relief Devices Test
76 Enclosure Test
77 Horizontal Surface Loading Test
78 Gasket Tests
79 Glass Window Impact Test
80 Securement of Snap-On Cover Test
81 Wheel or Caster Securement
82 Electromagnetic Compatibility (EMC)
83 Functional Safety Analysis
83.2 Analysis program
83.3 Provisions for redundancy
83.4 Use of diversity
84 Production-Line Dielectric Voltage-Withstand Test &ndash; General
85 Production-Line Grounding-Continuity Test
86 Production-Line Polarization-Continuity Test
90 Elevated Ambient Temperature
91 Cautionary Markings
MANUFACTURER SUPPLIED DOCUMENTATION
92 Manufacturer's Documentation
UL 1740 REFERENCES THESE STANDARDS