UL 1740
Standard for Robots and Robotic Equipment

DETAILS
Edition Number:4SCC Approved:--
Edition Date:2018-01-26DOD Approved: --
Price Code:CANSI Approved: 2018-01-26
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, 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.

  • 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
            • 13.3 Insulating material
          • 14 Field Connections
            • 14.1 General
            • 14.2 Terminals
          • 15 Cord Connected Robotic Equipment
          • 16 Strain Relief
          • 17 Bushings
          • 18 Current-Carrying Parts
          • 19 Conductors
            • 19.1 General
            • 19.2 Interconnecting cords and cables
            • 19.3 Interconnection of units
          • 20 Grounding
            • 20.1 General
            • 20.2 Grounding means
            • 20.3 Terminals and leads
          • 21 Bonding of Internal Parts
            • 21.1 General
            • 21.2 Construction and connection
          • 22 Motors
          • 23 Printed-Wiring Boards
          • 24 Transformers
          • 25 Capacitors, Capristors and Varistors
            • 25.1 Isolating components
            • 25.2 Across-the-line components
            • 25.3 General
          • 26 Supply-Circuit Disconnecting Means
            • 26.1 General
            • 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 Spacings
            • 28.1 General
            • 28.2 Clearance and creepage distances
          • 29 Field Wiring Space
          • 30 Separation of Circuits
          • 31 Use with lasers or X-Radiation
        • PROTECTION AGAINST INJURY TO PERSONS
          • 32 General
          • 33 Sharp Corners and Edges
          • 34 Moving Parts – Other Than the Robot
          • 35 Moving Parts – Drive Power Indicator
            • 35.1 General
            • 35.2 Limiting robot motion
            • 35.3 Robot control system
            • 35.4 Emergency movement without drive power and brake release
          • 36 Temperature
          • 37 Mounting Devices
          • 38 Parts Subject to Pressure
          • 39 Pressure-Relief Devices
          • 40 Protection of Users and Service Personnel
            • 40.1 General
            • 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 – General
            • 40.8 Electrical servicing
          • 41 Batteries and Battery Circuits
            • 41.1 General
            • 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
        • PERFORMANCE
          • 43 General
          • 44 Power Input and Maximum Ampacity Test
            • 44.1 Power input
            • 44.2 Maximum ampacity
          • 45 Temperature Test
          • 46 Overvoltage and Undervoltage Tests
          • 47 Leakage Current Test
          • 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 – 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 – program memory loss
          • 52 Pendant Tests: Drop, Handle and Mounting Means
            • 52.1 General
            • 52.2 Pendant: Handle and mounting means
            • 52.3 Pendant: Enabling device
          • 53 Interconnecting Cords and Cables Test
          • 54 Abnormal Operation Test
            • 54.1 General
            • 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
            • 66.1 General
            • 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
            • 83.1 General
            • 83.2 Analysis program
            • 83.3 Provisions for redundancy
            • 83.4 Use of diversity
        • 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
        • MANUFACTURER SUPPLIED DOCUMENTATION
          • 92 Manufacturer's Documentation
    • Appendix A