I am looking for the UL standard that talks about using an older single channel robot when re-tasking into a new cell. I thought I read in the code that you can do this without upgrading the robot to dual channel safety. but I can not find it anywhere! Can anyone point me to the section? Or did I just think I saw this.
My plan is to have the Main Control Panel be dual channel Estop and Fence but the robot still "single" channel but split the single channel to run to both sides of the Estop and Fence relay.
Thanks!