UL 1740
Standard for Robots and Robotic Equipment

DETAILS
Edition Number:3SCC Approved:--
Edition Date:2007-12-07DOD Approved: --
Price Code:BANSI Approved: 2007-06-11
Type:ulstd

  • SCOPE

    1 Scope

    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, ANSI/NFPA 70. Since end-use installation of a robot and robotic equipment may vary for each user application, guidelines for end-product installation may be evaluated to the applicable sections of the Robotic Industries Association (RIA) Standard for Industrial Robots and Robot Systems – Safety Requirements, ANSI/RIA R15.06.

    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, diecasting, deburring, welding, paint spraying, clinical/diagnostic systems, pharmaceutical applications, commercial food processing, automated vehicle refueling systems, library book handling/sorting, clean room applications, medical use for surgery, mobile robots, automated guided vehicles, 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, shall also be evaluated to the requirements of the other applicable Standards.

    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, ANSI/NFPA 79.

    1.5 Robots and robotic systems intended for use in hazardous locations, as defined by the National Electrical Code, ANSI/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)    Deleted

    c)    Explosion-Proof and Dust-Ignition-Proof Electrical Equipment for Use in Hazardous (Classified) Locations, UL 1203;

    d)     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;

    e)    Electric Motors and Generators for Use in Hazardous (Classified) Locations, UL 674; and

    f)     Purged and Pressurized Enclosures for Electrical Equipment, NFPA 496.


    1.5 revised January 7, 2015

    1.6 In the following text, a requirement that applies to one type of equipment, such as a controller or teach 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.

  • TABLE OF CONTENTS
    Expand All

    • Cover
    • Transmittal
    • Table of Contents
      • Body
        • INTRODUCTION
          • 1 Scope
          • 2 Glossary
          • 3 Components
          • 4 Units of Measurement
          • 5 Undated References
        • CONSTRUCTION
          • 6 General
          • 7 Frame and Enclosure
            • 7.1 General
            • 7.2 Cast metal
            • 7.3 Sheet metal
            • 7.4 Doors and covers
            • 7.5 Nonmetallic – General
            • 7.6 Bonding
            • 7.7 Parts of enclosures
            • 7.8 Windows
            • 7.9 Openings in enclosures – Ventilating openings
          • 8 Mounting
          • 9 Clearance
          • 10 Operating Mechanism
          • 11 Accessibility of Uninsulated Live Parts, Film-Coated Wire, and Moving Parts
          • 12 Protection Against Corrosion
          • 13 Polymeric Materials
            • 13.1 General
            • 13.2 Small parts
          • 14 Field Connections
            • 14.1 General
            • 14.2 Terminals
          • 15 Portable Robotic Equipment
          • 16 Stationary Robotic Equipment
          • 17 Strain Relief
          • 18 Bushings
          • 19 Current-Carrying Parts
          • 20 Conductors
            • 20.1 General
            • 20.2 Interconnecting cords and cables
            • 20.3 Interconnection of units
          • 21 Grounding
            • 21.1 General
            • 21.2 Grounding means
            • 21.3 Terminals and leads
          • 22 Bonding of Internal Parts
            • 22.1 General
            • 22.2 Construction and connection
          • 23 Motors
          • 24 Printed-Wiring Boards
          • 25 Transformers
          • 26 Capacitors, Capristors and Varistors
            • 26.1 Isolating components
            • 26.2 Across-the-line components
            • 26.3 General
          • 27 Supply-Circuit Disconnecting Means
            • 27.1 General
            • 27.2 Position indication
            • 27.3 Supply conductors to be disconnected
            • 27.4 Connections to supply lines
            • 27.5 Exposed live parts
            • 27.6 Mounting
            • 27.7 Interlocks
            • 27.8 Operating handle
            • 27.9 Attachment plug and receptacle
          • 28 Overcurrent Protection, Control-Circuit Conductors
          • 29 Spacings
            • 29.1 General
            • 29.2 Low-voltage class 2 circuits – Safety circuits
            • 29.3 Other than safety circuits
            • 29.4 Isolated limited-energy secondary circuits (100 VA or less)
            • 29.5 Controlled environment circuits
            • 29.6 Wet locations and other environmental considerations
            • 29.7 Terminals and other circuits
            • 29.8 Controlled-environment secondary circuits
          • 30 Field Wiring Space
          • 31 Separation of Circuits
          • 32 Use with Lasers, X-Radiation
        • PROTECTION AGAINST INJURY TO PERSONS
          • 33 General
          • 34 Sharp Corners and Edges
          • 35 Moving Parts – Other Than the Robot Arm
          • 36 Moving Parts – Robot Arm
          • 37 Temperature
          • 38 Mounting Devices
          • 39 Parts Subject to Pressure
          • 40 Pressure-Relief Devices
          • 41 Protection of Users and Service Personnel
            • 41.1 General
            • 41.2 Robot control
            • 41.3 Actuating controls
            • 41.4 Robot teach mode
            • 41.5 Teach pendant
            • 41.6 Robot system workcell protection
            • 41.7 Servicing of robotic equipment – General
            • 41.8 Mechanical servicing
            • 41.9 Electrical servicing
          • 42 Batteries and Battery Circuits
            • 42.1 General
            • 42.2 Battery terminals
            • 42.3 Lithium battery circuits
            • 42.4 Nonlithium battery circuits
          • 43 Accessories and Attachments
        • PERFORMANCE
          • 44 General
          • 45 Power Input Test
          • 46 Temperature Test
          • 47 Overvoltage and Undervoltage Tests
          • 48 Leakage Current Test
          • 49 Robots Intended for Use in Water Environments
          • 50 Outdoor-Use Tests
          • 51 Maximum Low Voltage Measurement
          • 52 Battery and Battery Circuit Tests – Electrical
            • 52.1 Battery overcharge
            • 52.2 Battery discharge
            • 52.3 Battery drop
            • 52.4 Battery test results
            • 52.5 Battery low voltage – program memory loss
          • 53 Teach Pendant Tests: Drop, Handle and Mounting Means
            • 53.1 General
            • 53.2 Teach pendant handle and mounting means
            • 53.3 Teach pendant: enabling device
          • 54 Interconnecting Cords and Cables Test
          • 55 Abnormal Operation Test – General
          • 56 Component Breakdown Test
          • 57 Overload Test
          • 58 Endurance Test
          • 59 Power Loss and Power Restoration Test
          • 60 Emergency Stop Operation Test
          • 61 Maximum Stopping Time and Distance Verification
            • 61.1 Teach mode
            • 61.2 Emergency stop
          • 62 Emergency Movement of Robot Arm Without Drive Power Test
          • 63 Gripper (End Effector) Test
          • 64 Teach Mode Slow Speed Measurement
          • 65 Effect of Voltage Transient Test
          • 66 Dielectric Voltage-Withstand Test
            • 66.1 General
            • 66.2 Secondary circuits (controlled environment)
            • 66.3 Power transformers
          • 67 Burnout Test (Transformer Overload)
          • 68 Grounding 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 Component Analysis Test
            • 82.1 General
            • 82.2 Evaluation program
          • 83 Safety-Related Software Analysis
        • MANUFACTURING AND PRODUCTION TESTS
          • 84 Production-Line Dielectric Voltage-Withstand Test – General
          • 85 Production-Line Grounding-Continuity Test
          • 86 Production-Line Polarization-Continuity Test
        • RATING
          • 87 Details
        • MARKING
          • 88 General
          • 89 Wiring
          • 90 Elevated Ambient Temperature
          • 91 Cautionary Markings
        • INSTRUCTIONS
          • 92 Manufacturer's Instructions
    • Appendix A