1. Home
    1. Dashboard
    2. Search
  2. Forum
    1. Unresolved Threads
    2. Members
      1. Recent Activities
      2. Users Online
      3. Team Members
      4. Search Members
      5. Trophys
  3. Articles
  4. Blog
  5. Videos
  6. Jobs
  7. Shop
    1. Orders
  • Login or register
  • Search
This Thread
  • Everywhere
  • This Thread
  • This Forum
  • Articles
  • Pages
  • Forum
  • Blog Articles
  • Products
  • More Options
  1. Robotforum - Support and discussion community for industrial robots and cobots
  2. Forum
  3. Industrial Robot Support and Discussion Center
  4. Fanuc Robot Forum
Your browser does not support videos RoboDK Software for simulation and programming
Visit our Mainsponsor
IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Sponsored Ads

How close to the fence with DCS

  • Schroeder
  • January 15, 2019 at 3:21 AM
  • Thread is Resolved
  • Schroeder
    Trophies
    3
    Posts
    9
    • January 15, 2019 at 3:21 AM
    • #1

    I am working on a robot cell and want to make sure I'm in compliance with RIA 15.6. Parts are loaded into a lathe from behind the lathe with a robot on a pedestal. The robot comes about 15" - 20" from the fence when it's loading and unloading parts. There are DCS zones set up in the load scenario to prevent the robot from hitting the fence. The area where it can hit is an operator's area. The area is a sliding gate that is safety interlocked so the operator can not open the gate and get to the robot when it's working. The fence has 1" wire mesh. It's 96" or 102" tall if I remember right.

    Basically I need to know if DCS can be used to get closer than 20" to a fence when necessary. I thought there was some old rule about not being able to get closer to the fence than 20", but I thought that was before DCS.

    Will this pass RIA and OSHA standards? Do you need more info to answer my question?

    Sent from my Pixel 2 XL using Tapatalk

    Edited once, last by Schroeder (January 15, 2019 at 3:31 AM).

  • SEAN-DUDE
    Reactions Received
    1
    Trophies
    3
    Posts
    65
    • January 15, 2019 at 7:39 PM
    • #2

    You need to figure out the reach through of a persons finger through the 1" mesh, and the reach over of the fence. The ANSI/RIA documentation contains this information.

    see RIA TR R15.406-2014, [ISO 13857:2008, Table 2] for fence height

    see RIA TR R15.406-2014, ISO 13857:2008, 4.2.4.1, Table 4 for reach through for the mesh.

  • SEAN-DUDE
    Reactions Received
    1
    Trophies
    3
    Posts
    65
    • January 15, 2019 at 7:47 PM
    • #3

    also in the same document check out [ANSI B11.19-2010 and ANSI/RIA R15.06-1999] I think this is the correct one for the mesh.

  • jrv5207
    Reactions Received
    1
    Trophies
    3
    Posts
    94
    • January 15, 2019 at 9:01 PM
    • #4
    Quote from Schroeder


    I am working on a robot cell and want to make sure I'm in compliance with RIA 15.6. Parts are loaded into a lathe from behind the lathe with a robot on a pedestal. The robot comes about 15" - 20" from the fence when it's loading and unloading parts. There are DCS zones set up in the load scenario to prevent the robot from hitting the fence. The area where it can hit is an operator's area. The area is a sliding gate that is safety interlocked so the operator can not open the gate and get to the robot when it's working. The fence has 1" wire mesh. It's 96" or 102" tall if I remember right.

    Basically I need to know if DCS can be used to get closer than 20" to a fence when necessary. I thought there was some old rule about not being able to get closer to the fence than 20", but I thought that was before DCS.

    Will this pass RIA and OSHA standards? Do you need more info to answer my question?

    Sent from my Pixel 2 XL using Tapatalk

    Can you replace this section with lexan instead of mesh? Then use a dcs input from the safety interlock to disable the zone when open.

  • Lemster68
    Reactions Received
    301
    Trophies
    9
    Posts
    2,493
    Blog Articles
    7
    • January 15, 2019 at 9:10 PM
    • #5

    I am no safety expert but from what you were saying about back in the day, 20" or so was to prevent crushing a person in the cell against the fence. Again, no expert here, just what I can remember being told.

  • SEAN-DUDE
    Reactions Received
    1
    Trophies
    3
    Posts
    65
    • January 15, 2019 at 10:54 PM
    • #6

    I did a bit more research, According to the OSHA website the only requirement is to have a teach speed of 250 mm/sec when teaching, but it does reference that ANSI has additional recommendation.

    ANSI 1999 says to have 18" in all cases, this may have been updated in the 2012 addition.

    ISO says the 500mm is only required if high speed manual (T2) is available, I found this in CSA Z434 2014.

  • HawkME
    Reactions Received
    570
    Trophies
    11
    Posts
    3,270
    • January 16, 2019 at 12:18 AM
    • #7

    Correct, my understanding is the 18" rule was changed to apply to T2 mode for a crushing distance.

    For normal operation your distance should be the stopping distance of the robot plus the mesh fence reach though distance.

    Edited once, last by HawkME (January 16, 2019 at 12:20 AM).

  • Schroeder
    Trophies
    3
    Posts
    9
    • January 16, 2019 at 12:31 AM
    • #8

    Thanks everyone. I did some more studying and consulting today and came to the same conclusions you've all outlined here.

    1.) I have 1" mesh. Stop time is .1seconds. that means I should be able to get about 5.7" away from the fence in auto operation if I remember right. The robot will be 16" away, so I'm good there.

    2.) DCS is activated when the operator station door is slid open, so the robot can service the other machines. In my scenario the hazard (robot) is 1800mm away. With the height of the gates and guards I only needed to be 1500mm (going off memory) away from the fence.


    3.) Is there an up to date standard that mentions DCS? Why don't the current RIA standards mention DCS when it's used so extensively?


    Again, thanks for the replies. I never knew about this site before last night. What a good resource. Saved and marked in my Tapatalk app for future robot cell design questions.

    Sent from my Pixel 2 XL using Tapatalk

  • HawkME
    Reactions Received
    570
    Trophies
    11
    Posts
    3,270
    • January 16, 2019 at 2:25 AM
    • #9

    DCS is the Fanuc name. Each robot mfg will have a a different name for their safety software. Under the latest RIA I believe they call it Safety rated soft axis limits or something to that effect.

    Sent from my SM-G930V using Tapatalk

  • Schroeder
    Trophies
    3
    Posts
    9
    • January 16, 2019 at 2:37 PM
    • #10
    Quote from HawkME


    DCS is the Fanuc name. Each robot mfg will have a a different name for their safety software. Under the latest RIA I believe they call it Safety rated soft axis limits or something to that effect.

    Sent from my SM-G930V using Tapatalk

    What's the latest revision number? I don't see mention of the safety rated soft axis limits in 15.406.

    Sent from my Pixel 2 XL using Tapatalk

  • HawkME
    Reactions Received
    570
    Trophies
    11
    Posts
    3,270
    • January 16, 2019 at 2:44 PM
    • #11

    In the 2012 version 15.06.

    Section 5.12.3 discusses Safety-rated soft axis and space limiting.

  • Schroeder
    Trophies
    3
    Posts
    9
    • January 17, 2019 at 2:27 AM
    • #12
    Quote from HawkME


    In the 2012 version 15.06.

    Section 5.12.3 discusses Safety-rated soft axis and space limiting.

    Thanks. I'll see if I can find this in my manual.

    Sent from my Pixel 2 XL using Tapatalk

Advertising from our partners

IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Advertise in Robotics
Advertise in Robotics

Job Postings

  • Anyware Robotics is hiring!

    yzhou377 February 23, 2025 at 4:54 AM
  • How to see your Job Posting (search or recruit) here in Robot-Forum.com

    Werner Hampel November 18, 2021 at 3:44 PM
Your browser does not support videos RoboDK Software for simulation and programming

Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • krc5
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • krc5
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000
  1. Privacy Policy
  2. Legal Notice
Powered by WoltLab Suite™
As a registered Member:
* You will see no Google advertising
* You can translate posts into your local language
* You can ask questions or help the community with your knowledge
* You can thank the authors for their help
* You can receive notifications of replies or new topics on request
* We do not sell your data - we promise

JOIN OUR GREAT ROBOTICS COMMUNITY.
Don’t have an account yet? Register yourself now and be a part of our community!
Register Yourself Lost Password
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on Google Play
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on the App Store
Download