Robots and Robotic Equipment PDF

UL 1740
Robots and Robotic Equipment
UL COPYRIGHTED MATERIAL –
NOT AUTHORIZED FOR FURTHER REPRODUCTION OR
DISTRIBUTION WITHOUT PERMISSION FROM UL
DECEMBER 7, 2007 − UL 1740 tr1
Underwriters Laboratories Inc. (UL)

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Northbrook, IL 60062-2096
UL Standard for Safety for Robots and Robotic Equipment, UL 1740
Third Edition, Dated December 7, 2007
SUMMARY OF TOPICS
The New Edition of ANSI/UL 1740 includes the following changes:
Requirements for operation upon failure to complete intended motion/Locked rotor

abnormal test.
Requirement for equipment to stop and alert teacher prior to a “singularity” event.
Provision of easily unlocked means to exit workcell from within.
Requirement that manufacturers provide Lockout/Tagout procedures in the Service and

Maintenance Manual.
Requirement that the brake release mechanism be readily accessible without the use of a
key or special tools.
Option to mount indicating lamp outside of the workcell in cases where there are high
levels of process contaminants.
Addition of horizontal-surface loading test.
Clarification that supplemental tests are required for applications subjected to outdoor
exposure.
Updated requirements for identification of emergency control (E-stop) button.
Clarification of marking requirements (identification) of multi-colored status-indicating

lamps used with Robotic Systems.
Clarification of requirement that individual E-stop buttons be marked to indicate their

designated function.
Requirement that parts subject to pressure (air hoses, hydraulic hoses, etc.) are reliably
connected to the energy source unless located in an enclosure that would contain any
rupture.
Mechanical securement of rotary switches shall be by a means other than friction fit.
Added Flammability rating exemption for small parts.
Substitute term ″Polymeric Materials″ for ″Insulating Materials
Clarification that Production line tests include equipment that is permanently connected.
tr2 DECEMBER 7, 2007 − UL 1740
Clarify that current carrying parts can include other materials such as carbon brushes.
Clarify term ″shock hazard″ in teach pendant drop test.
Clarify requirements for use in water environment.
The following table lists the future effective dates with the corresponding reference:
Future Effective Dates References

December 7, 2009 Paragraphs 36.1, 36.7, 41.2.2.2, 41.4.4, 77.1 – 77.3, 92.1,
and 92.6
The new requirements are substantially in accordance with UL’s Proposal(s) on this subject dated
February 23, 2007.
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application of the requirements contained in this Standard, the current version of the UL Foreword is
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DECEMBER 7, 2007 − UL 1740 tr3
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Copyright © 2007 Underwriters Laboratories Inc.
tr4 DECEMBER 7, 2007 − UL 1740
This Standard consists of pages dated as shown in the following checklist:
Page Date
1-112 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . December 7, 2007

A1-A2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . December 7, 2007
SR1-SR2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . December 7, 2007
DECEMBER 7, 2007
1
ANSI/UL 1740-2007
UL 1740
Standard for Robots and Robotic Equipment
First Edition – February, 1995

Second Edition – November, 1998
Third Edition
December 7, 2007
The most recent designation of ANSI/UL 1740 as an American National Standard

(ANSI) occurred on June 11, 2007. The ANSI approval for this standard does not
include the Cover Page, Transmittal Pages, Title Page, or effective date
information.
This ANSI/UL Standard for Safety consists of the Third Edition.
Comments or proposals for revisions on any part of the Standard may be

submitted to UL at any time. Proposals should be submitted via a Proposal
Request in UL’s On-Line Collaborative Standards Development System (CSDS)
at http://csds.ul.com..
UL’s Standards for Safety are copyrighted by UL. Neither a printed nor electronic
copy of a Standard should be altered in any way. All of UL’s Standards and all
copyrights, ownerships, and rights regarding those Standards shall remain the
sole and exclusive property of UL.
COPYRIGHT © 2007 UNDERWRITERS LABORATORIES INC.
2 ROBOTS AND ROBOTIC EQUIPMENT - UL 1740 DECEMBER 7, 2007
No Text on This Page
DECEMBER 7, 2007 ROBOTS AND ROBOTIC EQUIPMENT - UL 1740 3
CONTENTS
INTRODUCTION
1 Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
2 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
3 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
4 Units of Measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
5 Undated References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
CONSTRUCTION
6 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
7 Frame and Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
7.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
7.2 Cast metal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
7.3 Sheet metal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
7.4 Doors and covers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
7.5 Nonmetallic – General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
7.6 Bonding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
7.7 Parts of enclosures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
7.8 Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
7.9 Openings in enclosures – Ventilating openings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
8 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
9 Clearance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
10 Operating Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
11 Accessibility of Uninsulated Live Parts, Film-Coated Wire, and Moving Parts . . . . . . . . . . . . . . .25
12 Protection Against Corrosion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
13 Polymeric Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
13.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
13.2 Small parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
14 Field Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
14.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
14.2 Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
15 Portable Robotic Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
16 Stationary Robotic Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
17 Strain Relief . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
18 Bushings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
19 Current-Carrying Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36
20 Conductors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36
20.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36
20.2 Interconnecting cords and cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
20.3 Interconnection of units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
21 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
21.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
21.2 Grounding means . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
21.3 Terminals and leads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
22 Bonding of Internal Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
22.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
22.2 Construction and connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
23 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
24 Printed-Wiring Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
25 Transformers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
26 Capacitors, Capristors and Varistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
26.1 Isolating components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
26.2 Across-the-line components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
26.3 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
27 Supply-Circuit Disconnecting Means . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
27.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
27.2 Position indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
27.3 Supply conductors to be disconnected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
27.4 Connections to supply lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
27.5 Exposed live parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
27.6 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
27.7 Interlocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
27.8 Operating handle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
27.9 Attachment plug and receptacle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
28 Overcurrent Protection, Control-Circuit Conductors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
29 Spacings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
29.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
29.2 Low-voltage class 2 circuits – Safety circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
29.3 Other than safety circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
29.4 Isolated limited-energy secondary circuits (100 VA or less) . . . . . . . . . . . . . . . . . . . . . . . .55
29.5 Controlled environment circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
29.6 Wet locations and other environmental considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
29.7 Terminals and other circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
29.8 Controlled-environment secondary circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58
30 Field Wiring Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
31 Separation of Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
32 Use with Lasers, X-Radiation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
PROTECTION AGAINST INJURY TO PERSONS
33 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
34 Sharp Corners and Edges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
35 Moving Parts – Other Than the Robot Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
36 Moving Parts – Robot Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
37 Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64
38 Mounting Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64
39 Parts Subject to Pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64
40 Pressure-Relief Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
41 Protection of Users and Service Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
41.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
41.2 Robot control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
41.3 Actuating controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .68
41.4 Robot teach mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .68
41.5 Teach pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69
41.6 Robot system workcell protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69
41.7 Servicing of robotic equipment – General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
41.8 Mechanical servicing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72
41.9 Electrical servicing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72
42 Batteries and Battery Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
42.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
42.2 Battery terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
42.3 Lithium battery circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
42.4 Nonlithium battery circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73

43 Accessories and Attachments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74
PERFORMANCE
44 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74
45 Power Input Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
46 Temperature Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
47 Overvoltage and Undervoltage Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
48 Leakage Current Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
49 Robots Intended for Use in Water Environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83
50 Outdoor-Use Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
51 Maximum Low Voltage Measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
52 Battery and Battery Circuit Tests – Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
52.1 Battery overcharge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
52.2 Battery discharge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
52.3 Battery drop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
52.4 Battery test results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
52.5 Battery low voltage – program memory loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
53 Teach Pendant Tests: Drop, Handle and Mounting Means . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
53.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
53.2 Teach pendant handle and mounting means . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86
53.3 Teach pendant: enabling device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86
54 Interconnecting Cords and Cables Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86
55 Abnormal Operation Test – General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86
56 Component Breakdown Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87
57 Overload Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
58 Endurance Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
59 Power Loss and Power Restoration Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
60 Emergency Stop Operation Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
61 Maximum Stopping Time and Distance Verification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
61.1 Teach mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
61.2 Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
62 Emergency Movement of Robot Arm Without Drive Power Test . . . . . . . . . . . . . . . . . . . . . . . . . .89
63 Gripper (End Effector) Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
64 Teach Mode Slow Speed Measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90
65 Effect of Voltage Transient Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90
66 Dielectric Voltage-Withstand Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90
66.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90
66.2 Secondary circuits (controlled environment) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91
66.3 Power transformers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92
67 Burnout Test (Transformer Overload) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92
68 Grounding Resistance Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .93
69 Strain Relief Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .93
70 Flexing Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .94
71 Physical Stability Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .94
72 Lifting/Transportation Means Loading Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .94
73 Mounting Devices Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .94
74 Parts Subject to Pressure Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95
75 Pressure-Relief Devices Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96
76 Enclosure Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96
77 Horizontal Surface Loading Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96
78 Gasket Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .97
79 Glass Window Impact Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .97

80 Securement of Snap-On Cover Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .97
81 Wheel or Caster Securement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98
82 Component Analysis Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98
82.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98
82.2 Evaluation program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98
83 Safety-Related Software Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99
MANUFACTURING AND PRODUCTION TESTS
84 Production-Line Dielectric Voltage-Withstand Test – General . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99

85 Production-Line Grounding-Continuity Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101
86 Production-Line Polarization-Continuity Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101
RATING
87 Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102
MARKING
88 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102
89 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104
90 Elevated Ambient Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .106
91 Cautionary Markings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107
INSTRUCTIONS
92 Manufacturer’s Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110
Appendix A
Standards for Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A1
INTRODUCTION
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) Industrial Control Equipment for Use in Hazardous (Classified) Locations, UL 698;
c) Explosion-Proof and Dust-Ignition-Proof Electrical Equipment for Use in Hazardous

(Classified) Locations, UL 1203;
d) Electrical Equipment for Use in Class I and II, Division 2, and Class III Hazardous
(Classified) Locations, UL 1604;
e) Electric Motors and Generators for Use in Division 1 Hazardous (Classified) Locations, UL
674; and
f) 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 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.
2 Glossary
2.1 For the purpose of this Standard the following definitions apply.
2.2 AUTOMATIC OPERATION (AUTO MODE) – The time when a robot is performing its programmed
tasks through continuous program execution.
2.3 AWARENESS SIGNAL – A device that warns a person of an approaching or present hazard by an
audible or visible means. A visible means could include a text message or display on a teach pendant
or user interface screen.
2.4 CLASS 2 SYSTEM – A circuit, transformer, or power source having energy- and voltage-limiting
characteristics as described in the Standard for Low Voltage Transformers – Part 3: Class 2 and Class
3 Transformers, UL 5085-3.
2.5 CONTROLLED ENVIRONMENT – An environment relatively free of contaminants. A controlled

environment may also be provided by means of a NEMA Type 4, 12 or 13 enclosure as specified in the
Standard for Industrial Control Equipment, UL 508.
2.6 DRIVE POWER – The source or means of supplying energy to the robot actuators to produce
motion.
2.7 EMERGENCY STOP – A method using hardware-based components that override all other robot
controls and removes drive power from the robot actuators and brings all moving parts to a stop.
2.8 ENABLING DEVICE – A manually operated device which, when continuously activated, permits
motion. Releasing the device shall stop robot motion and motion of associated equipment that may
present a hazard.
2.9 END-EFFECTOR – An accessory device or tool specifically designed for attachment to the robot
wrist or tool mounting plate to enable the robot to perform its intended task. (Examples may include
gripper, spot weld gun, arc weld gun, spray paint gun, or any other application tools.)
2.10 FIELD-WIRING TERMINAL – A wiring terminal on permanently connected equipment to which

supply connections are made when the equipment is installed in the field.
2.11 INTERLOCK – An arrangement which allows the operation of one control or mechanism, or
prevents the operation of another.
2.12 ISOLATED LIMITED-ENERGY LOW-VOLTAGE CIRCUIT – A circuit (also hereafter referred to as

a low-voltage circuit) involving a potential of not more than 42.4 V peak supplied by one of the
following:
a) An energy-limiting Class 2 transformer;
b) A nonenergy-limiting Class 2 transformer and an overcurrent protective device. The

protective device is:
1) Not to be of the automatic reclosing type,
2) To be trip-free from the reclosing mechanism, and
3) Not to be readily interchangeable with a device of a different rating;

c) A combination of an isolated transformer secondary winding and a fixed impedance that

complies with all the performance requirements for an energy-limiting Class 2 transformer or
power source;
d) A dry-cell battery having output characteristics not greater than those of an energy-limiting
Class 2 transformer or power source; or
e) A combination of a rechargeable battery and a fixed impedance that complies with all of the
performance requirements for an energy-limiting Class 2 transformer or power source.
2.13 ISOLATED LIMITED-ENERGY SECONDARY CIRCUIT – A circuit derived from an isolated

secondary winding of a transformer having a maximum capacity of 100 Volt-Amperes and an open-
circuit secondary-voltage rating not exceeding 1000 V.
2.14 LOAD CAPACITY – The maximum total weight including the weight of the robot end effector
(hand) assembly that can be applied to the end of the robot arm.
2.15 NONISOLATED LIMITED-ENERGY LOW-VOLTAGE CIRCUIT (POWER SOURCE) – A circuit

derived from a source of supply classified as line voltage by connecting impedance in series with the
supply circuit as a means of limiting the voltage and power to comply with Class 2 characteristics.
2.16 OPERATOR – The person designated to start, monitor and stop the intended productive
operation of a robot or robot system. An operator may also interface with a robot for productive
purposes.
2.17 OPPOSITE POLARITY – A difference of potential between two points, where shorting of these
two points would result in a condition involving overload, rupturing of printed-wiring board foil pattern,
components, or fuses, and the like.
2.18 PAYLOAD – The maximum weight and mass of a material that can be handled by a robot in a
normal and continuous operation.
2.19 PERIMETER GUARDING – A rigid fence-like structure that surrounds the restricted envelope
(space) of a system of one or more robots and may have entry openings for process equipment,
material, and/or personnel authorized to operate or maintain the robot system.
2.20 PILOT DUTY – The rating assigned to a relay or switch that controls the coil of another relay or
switch.
2.21 PORTABLE EQUIPMENT – Equipment that is cord and plug connected, is less than 18 kg (40 lb)
in mass, and is not intended to be fastened in place, or a cord-connected wall mounted unit with a
mass less than 18 kg (40 lb) whose mounting means permits easy removal by a user.
2.22 PRESENCE SENSOR – A device designed, constructed and installed to create a sensing field or
area to detect an intrusion into that field or area by personnel, robot(s), or other objects.
2.23 PRIMARY CIRCUIT – The wiring and components that are conductively connected to the supply
circuit.
2.24 PROGRAM –
a) A sequence of instructions to be executed by the computer or robot controller to control a

robot/robot system.
b) To furnish (a computer) with a code of instructions.
c) To teach a robot system a specific set of movements and instructions to accomplish a task.
2.25 QUALIFIED PERSON – One familiar with the construction and operation of the equipment and
the hazard(s) involved.
2.26 REDUNDANCY – The application of more than one device or system, or part of a device or a
system, in the event of one failing to perform its function another is available to perform that function.
2.27 RISK OF ELECTRIC SHOCK –
a) Under Normal Conditions: A risk of electric shock is considered to exist at any part if:
1) The potential between the part and earth ground or any other accessible part is
more than 42.4 V peak, where wet contact is not likely, or 21.2 V peak where wet
contact is likely, and
2) The continuous current flow through a 1500 ohm resistor connected across the
potential exceeds 3.5 mA.
b) Under Fault or Abnormal Conditions: A risk of electric shock is considered to exist at any
part if:
1) The potential between the part and earth ground or any other accessible part is
more than 42.4 V peak, where wet contact is not likely, or 21.2 V peak where wet
contact is likely, and
2) The continuous current flow through a 500 ohm resistor connected across the
potential exceeds 5.0 mA.
2.28 RISK OF FIRE – A risk of fire is considered to exist at any two points in a circuit where the open
circuit voltage is more than 42.4 V peak and the energy available to the circuit under any condition of
load including short circuit, results in a current of 8 A or more after 1 minute of operation.
2.29 ROBOT – A controlled, reprogrammable, multi-purpose, manipulative machine with several

degrees of freedom, which may be either fixed in place or mobile for use in automatic applications.
2.30 ROBOTIC SYSTEM – A system that includes the robot (hardware and software) consisting of the
manipulator whether mobile or not; power supply and control system; the end-effector(s); any
equipment, devices, or sensors required for the robot to perform its tasks; and any communication
interface that is operating and monitoring the robot, equipment, or sensors, as far as these peripheral
devices are supervised by the robot control system.
2.31 SAFEGUARD – A barrier guard, device or safety procedure designed for the protection of
personnel.
2.32 SAFETY CIRCUIT – A primary or secondary circuit containing a control that is relied upon to
reduce a risk of fire, electric shock, or injury to persons at the controlled equipment.
2.33 SAFETY CONTROL – An automatic control and interlock (including relays, switches, and other
auxiliary equipment used to form a system) that is intended to reduce the risk of fire, electric shock, or
injury to persons.
2.34 SECONDARY CIRCUIT – A circuit supplied from a secondary winding of an isolating transformer.
2.35 SENSOR – A device that responds to physical stimuli (such as heat, light, sound, pressure,
magnetism, motion) and transmits the resulting signal or data providing a measurement, operating a
control, or both.
2.36 SINGLE POINT OF CONTROL – The ability to operate the robot such that initiation of robot
motion from one source of control is only possible from that source and cannot be overridden from
another source.
2.37 SINGULARITY – A condition caused by the collinear alignment of two or more robot axes
resulting in unpredictable robot motion and velocities.
2.38 STATIONARY EQUIPMENT – Cord- and plug-connected equipment that is intended to be

fastened in place, or located in a dedicated space.
2.39 TEACH MODE – Movement of a robot to or through a series of points to be stored for the robot
to perform its intended task(s).
2.40 TEACH PENDANT – A hand-held control unit usually connected by a cable to the control system
with which a robot can be programmed or moved.
2.41 TEACHER – A person who provides the robot with a specific set of instructions to perform a task.
2.42 TOOL CENTER POINT (TCP) – The origin of the tool coordinate system.
2.43 USER SERVICING – Any form of servicing that can be performed by personnel other than those
who are trained to maintain the particular equipment is considered user servicing. Some examples of
user servicing are:
a) The attachment of accessories by means of attachment plugs and receptacles or by means

of other separable connectors.
b) The changing of magnetic media and the like that do not involve complicated operations.
c) The replacement of recording tapes, disks, program boards, punched cards, or paper forms.
Replacement of lamps and fuses and resetting of circuit breakers located in an operator-access
area unless the lamps, fuses, or circuit breakers are marked to indicate replacement or
resetting only by qualified service personnel.
d) The marking of routine operating adjustments necessary to adapt the unit for its different
intended functions.
e) Routine cleaning of data-handling media.
2.44 WET LOCATION – Portions of an indoor installation where occasional or continuous exposure to
water (for example: mist, spray, cutting jet) or other liquids is anticipated.
2.45 WORK ENVELOPE (MAXIMUM SPACE) – The volume of space encompassing the maximum
designed movements of all robot parts including the end-effector, workpiece and attachments.
3 Components
3.1 Except as indicated in 3.2, a component of a product covered by this Standard shall comply with the
requirements for that component. See Appendix A for a list of Standards covering components generally
used in the products covered by this Standard.
3.2 A component is not required to comply with a specific requirement that:
a) Involves a feature or characteristic not required in the application of the component in the
product covered by this standard, or
b) Is superseded by a requirement in this standard.
3.3 A component shall be used in accordance with its rating established for the intended conditions of
use.
3.4 Specific components are incomplete in construction features or restricted in performance capabilities.
Such components are intended for use only under limited conditions, such as certain temperatures not
exceeding specified limits, and shall be used only under those specific conditions.
4 Units of Measurement
4.1 Values stated without parentheses are the requirement. Values in parentheses are explanatory or
approximate information.
4.2 Unless indicated otherwise, all voltage and current values are nominal rms values.
5 Undated References
5.1 Any undated reference to a code or standard appearing in the requirements of this standard shall be
interpreted as referring to the latest edition of that code or standard.
CONSTRUCTION
6 General
6.1 Robotic equipment shall employ materials that are acceptable for the application and shall be made
and finished with the degree of uniformity and grade of workmanship practicable in a well-equipped
factory.
7 Frame and Enclosure
7.1 General
7.1.1 Robotic equipment shall be constructed and assembled so that it will have the strength and rigidity
necessary to resist the abuses and the environment to which it is likely or intended to be subjected,
without increasing the risk of fire, electric shock, or injury to persons due to total or partial collapse
resulting in a reduction of spacings, loosening or displacement of parts, or other serious defects.
Examples of intended environment, in addition to normal use, may include water spray, water cutting,
hosedown (cleaning), oil, noncorrosive liquids, corrosive liquids and gases, dust, and the like. See Wet
locations and other environmental considerations – 29.6, Robots Intended for Use in Water Environments
– Section 49, Enclosure Test – Section 76, and Gasket Tests – Section 78 for selected tests.
7.2 Cast metal
7.2.1 A cast-metal enclosure shall be at least 3.2 mm (1/8 inch) thick at every point, more than 3.2 mm
(1/8 inch) thick at reinforcing ribs and door edges, and at least 6.4 mm (1/4 inch) thick at tapped holes for
conduit.
Exception: Other than at plain or threaded conduit holes, malleable iron and die-cast or permanent mold
cast aluminum, brass, bronze, or zinc shall be:
a) At least 2.4 mm (3/32 inch) thick for an area greater than 155 cm2 (24 inch2) or having any
dimension more than 152 mm (6 inch), and
b) At least 1.6 mm (1/16 inch) thick for an area of 155 cm2 (24 inch2) or less having no
dimension more than 152 mm (6 inch). The area considered may be bounded by reinforcing
ribs subdividing a larger area.
7.3 Sheet metal
7.3.1 The thickness of a sheet-metal enclosure shall not be less than that specified in Tables 7.1 and 7.2,
except that at points to which a wiring system is to be connected, uncoated steel shall be at least 0.81
mm (0.032 inch) thick, zinc-coated steel at least 0.86 mm (0.034 inch) thick, and nonferrous metal at least
1.14 mm (0.045 inch) thick.
Exception: Enclosure thickness at points other than where a wiring system is to be connected need not
comply with these requirements if the enclosure complies with the requirements in the Compression Test
and Deflection Test in the Standard for Enclosures for Electrical Equipment, UL 50.
7.3.2 Tables 7.1 and 7.2 are based on a uniform deflection of the enclosure surface for any given load
concentrated at the center of the surface regardless of metal thickness.
7.3.3 With reference to Tables 7.1 and 7.2, a supporting frame is a structure of angle or channel or folded
rigid section of sheet metal that is rigidly attached to and has essentially the same outside dimensions as
the enclosure surface and that has sufficient torsional rigidity to resist the bending moments that may be
applied by the enclosure surface when it is deflected. A structure that is as rigid as one built with a frame
of angles or channels is considered to have equivalent reinforcing. Constructions considered to be without
supporting frame include:
a) A single sheet with single formed flanges – formed edges;
b) A single sheet that is corrugated or ribbed;

c) An enclosure surface loosely attached to a frame – for example, with spring clips; and
d) An enclosure surface having an unsupported edge.
Table 7.1
Thickness of sheet metal for enclosures – carbon steel or stainless steel
Without supporting framea With supporting frame or equivalent Minimum thickness

reinforcinga
Maximum widthb Maximum lengthc Maximum widthb Maximum length Uncoated Metal coated
cm (inch) cm (inch) cm (inch) cm (inch) mm (inch) mm (inch)
10.2 (4.0) Not limited 15.9 (6.25) Not limited 0.51 (0.020)d 0.58 (0.023)d
12.1 (4.75) 14.6 (5.75) 17.1 (6.75) 21.0 (8.25)
15.2 (6.0) Not limited 24.1 (9.5) Not limited 0.66 (0.026)d 0.74 (0.029)d
17.8 (7.0) 22.2 (8.75) 25.4 (10.0) 31.8 (12.5)
20.3 (8.0) Not limited 30.5 (12.0) Not limited 0.81 (0.032) 0.86 (0.034)
22.9 (9.0) 29.2 (11.5) 33.0 (13.0) 40.6 (16.0)
35.6 (14.0) 45.7 (18.0) 53.3 (21.0) 63.5 (25.0)
50.8 (20.0) 63.5 (25.0) 73.7 (29.0) 91.4 (36.0)
63.5 (25.0) 78.7 (31.0) 88.9 (35.0) 109.2 (43.0)
73.7 (29.0) 91.4 (36.0) 104.1 (41.0) 129.5 (51.0)
96.5 (38.0) 119.4 (47.0) 137.2 (54.0) 167.6 (66.0)
119.4 (47.0) 149.9 (59.0) 172.7 (68.0) 213.4 (84.0)
152.4 (60.0) 188.0 (74.0) 213.4 (84.0) 261.6 (103.0)
185.4 (73.0) 228.6 (90.0) 261.6 (103.0) 322.6 (127.0)
aSee 7.3.3.
bThe width is the smaller dimension of a rectangular piece of sheet metal that is part of an enclosure. Adjacent surfaces of an
enclosure may have common supports and be made of a single sheet.
cNot limited applies only if the edge of the surface is flanged at least 12.7 mm (1/2 inch) or fastened to adjacent surfaces not
normally removed in use.
d Sheet steel for an enclosure intended for outdoor use – raintight or rainproof – shall not be less than 0.86 mm (0.034 inch) thick
if zinc coated and not less than 0.81 mm (0.032 inch) thick if uncoated.
Table 7.2
Thickness of sheet metal for enclosures – aluminum, copper, or brass
Without supporting framea With supporting frame or equivalent reinforcinga

Maximum widthb Maximum lengthc Maximum widthb Maximum length Minimum thickness
cm (inch) cm (inch) cm (inch) cm (inch) mm (inch)
7.6 (3.0) Not limited 17.6 (7.0) Not limited
8.9 (3.5) 10.2 (4.0) 21.6 (8.5) 24.1 (9.5) 0.58 (0.023)d
12.7 (5.0) 15.2 (6.0) 26.7 (10.5) 34.3 (13.5) 0.74 (0.029)
16.5 (6.5) 20.3 (8.0) 38.1 (15.0) 45.7 (18.0) 0.91 (0.036)
24.1 (9.5) 29.2 (11.5) 53.3 (21.0) 63.5 (25.0) 1.14 (0.045)
35.6 (14.0) 40.6 (16.0) 76.2 (30.0) 94.0 (37.0) 1.47 (0.058)
50.8 (20.0) 63.4 (25.0) 114.3 (45.0) 139.7 (55.0) 1.91 (0.075)
73.7 (29.0) 91.4 (36.0) 162.6 (64.0) 198.1 (78.0) 2.41 (0.095)
106.7 (42.0) 134.6 (53.0) 236.2 (93.0) 289.6 (114.0) 3.10 (0.122)
152.4 (60.0) 188.0 (74.0) 330.2 (130.0) 406.4 (160.0) 3.89 (0.153)
a See 7.3.3.
b The width is the smaller dimension of a rectangular piece of sheet metal that is part of an enclosure. Adjacent surfaces of an
enclosure may have common supports and be made of a single sheet.

c Not limited applies only if the edge of the surface is flanged at least 12.7 mm (1/2 inch) or fastened to adjacent surfaces not
normally removed in use.

d Sheet copper, brass, or aluminum for an enclosure intended for outdoor use – raintight or rainproof – shall not be less than 0.74
mm (0.029 inch) thick.
7.3.4 An enclosure shall be constructed to reduce the risk of unintentional contact with enclosed electrical
devices, and to provide internal devices with protection from specified external conditions.
7.3.5 An air filter acting as an enclosure part shall comply with the requirements for Class 1 filters as
specified in the Standard for Air Filter Units, UL 900. If abnormal tests show that no equivalent flame
barrier exists, then an air filter is not considered to be an enclosure part and may be omitted from these
requirements.
7.4 Doors and covers
7.4.1 A part of an enclosure, such as a door or a cover, shall be provided with a means – such as latches,
locks, interlocks, or screws – for firmly securing it in place.
Exception: A snap-on cover that complies with the requirements in Securement of Snap-On Cover Test,
Section 80, need not have additional securing means.
7.4.2 An enclosure cover shall be hinged if it gives access to a fuse or any other overload-protective
device that requires renewal, or if it is necessary to open the cover in connection with the normal operation
of the device.
Exception: A hinged cover is not required for an enclosure:
a) To which access is required only in the event of burnout of a current element or the like on
short circuit;
b) In which the only fuse enclosed is a control-circuit fuse, if the fuse and control-circuit load –
other than a fixed control-circuit load, such as a pilot lamp – are within the same enclosure; or
c) In which a means is provided for resetting all overload-protective devices from outside the
enclosure, or kits are available to provide a means for resetting all overload-protective devices
from outside the enclosure. (See Section 92, Manufacturer’s Instructions.)
7.4.3 Other than as noted in 7.4.4, a hinged cover provided in accordance with the requirement in 7.4.2
shall be provided with a snap latch or a captive multiturn or partial-turn fastener. Such securing means
shall be located or used in multiple so as to hold the cover closed over its entire length. A captive fastener
shall be operable by hand or by a simple hand tool such as a screwdriver.
7.4.4 A door more than 1.2 m (48 inch) long on the hinged side shall be provided with one of the
following:
a) A multipoint latch operated by a single knob or handle; or
b) Two or more snap latches or captive fasteners; or
c) One knob-operated latch and one snap latch or captive fastener.
7.4.5 A hinged cover enclosure that is not required to comply with 7.4.2 may use noncaptive fasteners.
7.4.6 A door giving access to a fuse or any portion of a circuit breaker other than the operating handle
shall shut closely against a 6.4 mm (1/4 inch) rabbet as illustrated in Figure 7.1 or the equivalent.
This is generated text for figtxt.
Figure 7.1
Rabbet
7.4.7 A cover giving access to a fuse or any portion of a circuit breaker other than the operating handle
shall have flanges for the full length of the four edges. Flanges on a cover shall fit closely with the outside
walls of the enclosure, and shall comply with Figure 7.2 and Table 7.3. An acceptable combination of
flange and rabbet may be used.
Exception: The flange width may be less than that specified if the construction complies with the
Deflection Test in the Standard for Enclosures for Electrical Equipment, UL 50.
Figure 7.2
Flanged cover constructionsa
a See Table 7.3 for dimensions for sketches A – H.
b The surfaces ″S″ may be in line with one another – not as shown.
Table 7.3
Dimensions for flanged cover constructions
Sketch – Dimensions
see W A B C D
Figure 7.2 Minimum flange Maximum space Maximum gap Minimum overlap Minimum barrier
widtha between parts extension
mm (inch) mm (inch) mm (inch) mm (inch) mm (inch)
A 12.7 (1/2) 3.2 (1/8) 3.2 (1/8) 11.1 (7/16) – –
A 19.1 (3/4) 4.8 (3/16) 4.8 (3/16) 15.9 (5/8) – –
A 25.4 (1) 6.4 (1/4) 6.4 (1/4) 22.2 (7/8) – –
B 12.7 (1/2) 3.2 (1/8) 3.2 (1/8) 11.1 (7/16) – –
B 19.1 (3/4) 4.8 (3/16) 4.8 (3/16) 15.9 (5/8) – –
B 25.4 (1) 6.4 (1/4) 6.4 (1/4) 22.2 (7/8) – –
C 12.7 (1/2) 4.8 (3/16) 4.8 (3/16) 6.4 (1/4) – –
C 19.1 (3/4) 6.4 (1/4) 6.4 (1/4) 11.1 (7/16) – –
D 12.7 (1/2) 2.4 (3/32) – – 11.1 (7/16) – –
E 12.7 (1/2) 3.2 (1/8) 3.2 (1/8) 11.1 (7/16) 6.4 (1/4)
F 12.7 (1/2) 3.2 (1/8) 6.4 (1/4) 11.1 (7/16) – –
Gb 12.7 (1/2) – – 0.8 (1/32) – – (12.7) (1/2)
H 6.4 (1/4) 3.2 (1/8) – – 4.8 (3/16) – –
a Tolerance: minus 1.6 mm (1/16 inch).
b Equipment within the enclosure must be located on the side of the barrier extension D that is opposite the gap B.
7.4.8 To determine whether a flanged cover complies with the requirement in 7.4.7 regarding width of
flange, the distance between the flat portion of the cover – clear of forming radii, beads, draws, and the
like – and a straight edge placed anywhere across any two flanges at any points is to be measured.
7.4.9 A gasket that is required for an electrical enclosure to maintain a tight fit or to comply with the
enclosure performance requirements shall be secured with adhesive or by mechanical means. The gasket
and its securing means shall not be damaged when the joint is opened. A construction involving a
gasketed joint that provides the intended tight fit shall be investigated to determine whether it is
acceptable for the application.
7.4.10 Figure 7.3 illustrates the method of determining the amount of overlap between a flat cover and a
flanged box wall and the amount of overlap at a corner or box seam. If the radius of the flange bend is
small, the flange width and overlap are considered to be W1 or W2, depending upon the actual
construction, and shall be at least 12.7 mm (1/2 inch). If the radius of the flange bend is excessive or if
the flat sheet is on the inside of the flange, the overlap, W3 or W4, is to be measured over only that portion
where the two pieces of metal are actually in contact with each other, and shall be at least 12.7 mm (1/2
inch).
Figure 7.3
Overlap between flat cover and box flange and at corner or box seam
7.4.11 To determine the overlap of a telescoping cover, the enclosure is to be placed on its back on a
bench, with the cover in its normally closed position, and a mark is to be scribed on all walls of the box
along the edge of the flange. The overlap is the measured distance between the scribe marks and the
edges of the box walls, noted as W4 in Figure 7.3. In scribing the marks, the cover is to be held in a fixed
position with sufficient firmness to prevent displacement of the cover by the scribing tool, but without
bending or distorting any portion of the box, cover, or other part of the enclosure.
7.4.12 A flat strip used to provide a rabbet, or an angle strip fastened to the edges of a door giving access
to a fuse or any portion of a circuit breaker, other than the operating handle, shall be at least 60 percent
of the required thickness of the metal box, but not less than 1.07 mm (0.042 inch) if of uncoated steel, not
less than 1.14 mm (0.045 inch) if of zinc-coated steel, and not less than 1.47 mm (0.058 inch) thick if of
nonferrous metal. It shall be secured at no fewer than two points. There shall not be more than 38 mm
(1-1/2 inch) between an end of the strip and a point at which it is secured, and the distance between
adjacent points at which the strip is secured shall not be more than 152 mm (6 inch).
7.4.13 The continuity of a bonding means for a snap-on or fastener-attached cover shall comply with the
requirements in Bonding of Internal Parts, Section 22.
7.5 Nonmetallic – General
7.5.1 The requirements in 7.5.2 – 7.5.5 cover polymeric enclosures.
7.5.2 A nonmetallic enclosure or enclosure part shall have mechanical strength and durability and be
formed so that operating parts will be protected against damage and shall resist the abuses likely to be
encountered during installation and normal use and service.
7.5.3 An enclosure or enclosure part shall protect persons against a risk of electric shock, and the
material shall not create or contribute to a risk of fire, electric shock, or injury to persons.
7.5.4 Among the factors that are to be taken into consideration when judging the acceptability of a
nonmetallic enclosure are:
a) Mechanical strength;
b) Resistance to impact;
c) Moisture absorption;
d) Resistance to combustion and to ignition from electrical sources;
e) Dielectric properties, insulation resistance, and resistance to arc tracking; and
f) Resistance to distortion and creeping at temperatures to which the material may be subjected
under conditions of normal or abnormal use.
A material shall not display a loss of these properties beyond the minimum acceptable level as a result of
aging. Tests on nonmetallic enclosures for portable equipment, stationary equipment and equipment
intended to be permanently connected electrically shall be conducted in accordance with requirements in
the Standard for Polymeric Materials – Use in Electrical Equipment Evaluations, UL 746C.
7.5.5 A polymeric enclosure intended for connection to a rigid metal conduit system shall comply with the
Polymeric Enclosure Rigid Metallic Conduit Connection Test in the Standard for Enclosures for Electrical
Equipment, UL 50.
7.6 Bonding
7.6.1 Nonmetallic robotic equipment shall be marked in accordance with 91.10 if a bonding means is not
provided.
7.7 Parts of enclosures
7.7.1 A part, such as a dial or nameplate, that is a part of an enclosure shall be metal or other material
as specified for the enclosure in 7.7.2 and 7.7.3.
7.7.2 A nonmetallic part, such as a reset knob, lever, or button not larger than an area of 6.45 cm2 (1
inch2), that protrudes through a hole in the enclosure, shall be made of material rated V-2 or better in
accordance with the requirements in the Standard for Tests for Flammability of Plastic Materials for Parts
in Devices and Appliances, UL 94.
7.7.3 A nonmetallic part that protrudes through an enclosure hole having an area larger than 6.45 cm2 (1
inch2) shall be made of a material that complies with the requirements in 7.5.2 – 7.5.4, and material
requirements of 7.7.2.
7.8 Windows
7.8.1 Glass covering an observation opening or the like shall be secured in place so that it cannot be
readily displaced in service, and shall provide mechanical protection for the enclosed parts.
7.8.2 Glass for an opening not more than 101.6 mm (4 inch) in any dimension shall not be less than 1.6
mm (1/16 inch) thick, and glass for a larger opening, but not more than 929 cm2 (144 inch2) in area and
having no dimension greater than 304.8 mm (12 inch), shall not be less than 3.2 mm (1/8 inch) thick.
Glass used to cover a larger area shall not be less than 3.2 mm (1/8 inch) thick and shall conform to one
of the following:
a) The glass shall be of a nonshattering or tempered type that, when broken, shall conform to
the performance specifications in the Performance Specifications and Methods of Test for
Safety Glazing Material Used in Buildings, ANSI Z97.1; or
b) The glass shall withstand the 3.39 J (2.5 lbf·ft) impact specified in Glass Window Impact
Test, Section 79.
7.9 Openings in enclosures – Ventilating openings
7.9.1 A ventilating opening may be provided in an enclosure if the equipment requiring ventilation
complies with 7.9.2 – 7.9.8 and is:
a) Housed in a separate ventilated portion of the enclosure or compartment; or
b) Housed in a separate ventilated enclosure or compartment.
7.9.2 A ventilating opening shall not be provided in a compartment or part of an enclosure that contains
field-wiring splices in a line-voltage circuit.
7.9.3 A ventilating opening shall not be located in a mounting surface of an enclosure.
7.9.4 The shortest distance between a ventilating opening and the bottom of an enclosure or a
wall-mounting surface shall be at least one-quarter of the enclosure height or depth, respectively, or 25.4
mm (1 inch) whichever is less.
7.9.5 A ventilating opening may be provided in the bottom surface of an enclosure if the opening does
not permit materials to fall directly out from the interior of the unit. Figure 7.4 illustrates a construction that
meets this requirement.
Figure 7.4
Bottom surface ventilating openings
7.9.6 There shall be no emission of flame or molten material through a ventilating opening, or other risk
of fire, during normal tests or during abnormal tests, such as transformer burnout and burnout of a relay
with blocked armature.
7.9.7 Unless the construction of robotic equipment provided with forced ventilation is such that there is
no direct path between live parts and the outlet opening, Abnormal Tests in addition to those mentioned
in 7.9.6 shall be conducted to determine that there is no emission of flame or molten material through that
opening.
7.9.8 Air from a ventilating opening, either forced or otherwise shall not be directed:
a) Into a duct or into a concealed space in a building;
b) Against the mounting surface; and
c) So that a disturbance would be propagated to other equipment.
8 Mounting
8.1 Robotic equipment that is intended to be fastened in place shall have provision for mounting it
securely in position. Bolts, screws, or other parts used for mounting the equipment shall be independent
of those used to secure components of the equipment to the frame, base, or panel.
8.2 Portable robotic equipment shall not be provided with means for permanent mounting. If the
equipment is mounted in a manner that permits removal without the use of tools, a cord connected means
for electrical termination may be employed.
Exception: Means for hanging or storage may be provided.
8.3 Actuating and emergency stop controls subject to rotational movement, where loosening mounting
means can result in a hazard or loss of safety function, shall be mechanically secured by a means other
than friction fit, such as through the use of a “D” shape, keyway, or the like.
9 Clearance
9.1 Where the conditions of maintenance and supervision assure that only qualified persons will service
the installation, the dimensions of the working space in the direction of access to live parts operating at
not over 150 volts – or areas of high temperature, high pressure, or moving parts which could result in the
risk of injury to persons – that are likely to require examination, adjustment, servicing, or maintenance
while energized shall be a minimum of 915 mm (3.0 ft). Where controls are enclosed in cabinets, the
door(s) shall open at least 90 degrees or be removable.
10 Operating Mechanism
10.1 The robotic equipment shall be investigated under conditions of actual service to determine if it
complies with all applicable requirements and is otherwise acceptable for its application.
10.2 The position of an operating handle shall be marked, if necessary, as a guide for proper operation.
10.3 A control that has or is intended to have a marked off position or an implied off position shall:
a) Open all ungrounded conductors of the circuit with an air gap when the adjusting means is
in the off position; and
b) Be prevented from functioning automatically when in the off position either by a positive
mechanical means or the equivalent.
10.4 With reference to the requirements in 10.3, the off state of a solid-state switch is not considered to
be an open circuit.
10.5 A component – such as a resistor, capacitor, diode, and the like – shall not be connected across the
contacts of a safety control or a protective or limiting device.
Exception: A component may be connected across the contacts of a safety control if investigated and
found to be acceptable in the end product.
11 Accessibility of Uninsulated Live Parts, Film-Coated Wire, and Moving Parts
11.1 To reduce the likelihood of unintentional contact that may involve a risk of electric shock from an
uninsulated live part or film-coated wire or injury to persons from a moving part, an opening in an
enclosure shall comply with either (a) or (b).
a) For an opening that has a minor dimension (see 11.5) less than 25.4 mm (1 inch), such a
part or wire shall not be contacted by the probe illustrated in Figure 11.1.
b) For an opening that has a minor dimension of 25.4 mm (1 inch) or more, such a part or wire
shall be spaced from the opening as specified in Table 11.1.
Exception No. 1: A motor need not comply with these requirements if it complies with the requirements in
11.2.
Exception No. 2: Robotic equipment that has certain openings, such as openings for mechanical part
movement in the enclosure need not comply with these requirements.
Figure 11.1
Articulate probe with web stop
Table 11.1
Minimum acceptable distance from an opening to a part that may involve a risk of electric shock
or injury to persons
Minor dimensiona of opening Minimum distance from opening to part,

mmb (inch)b mmb (inch)b
19.1 (3/4)c 114.0 (4-1/2)
25.4 (1) 165.0 (6-1/2)
31.8 (1-1/4) 190.0 (7-1/2)
38.1 (1-1/2) 318.0 (12-1/2)
47.6 (1-7/8) 394.0 (15-1/2)
54.0 (2-1/8) 444.0 (17-1/2)
(d) 762.0 (30)
a See 11.5.
bBetween 19.1 mm (3/4 inch) and 54 mm (2-1/8 inch), interpolation is to be used to determine a value between values
specified in the table.
c Any dimension less than 25.4 mm (1 inch) applies to a motor only.
d More than 54 mm (2-1/8 inch), but not more than 152.0 mm (6 inch).
11.2 With reference to a part or wire in an integral enclosure of a motor as mentioned in Exception No.
1 to 11.1:
a) An opening that has a minor dimension (see 11.5) less than 19.1 mm (3/4 inch) is
acceptable if:
1) A moving part cannot be contacted by the probe illustrated in Figure 11.2;
2) Film-coated wire cannot be contacted by the probe illustrated in Figure 11.3;
3) In a directly accessible motor (see 11.6), an uninsulated live part cannot be

contacted by the probe illustrated in Figure 11.4; and
4) In an indirectly accessible motor (see 11.6), an uninsulated live part cannot be

contacted by the probe illustrated in Figure 11.2.
b) An opening that has a minor dimension of 19.1 mm (3/4 inch) or more is acceptable if a part
or wire is spaced from the opening as specified in Table 11.1.
Figure 11.2
Probe for moving parts and uninsulated live parts
Figure 11.3
Probe for film-coated wire
Figure 11.4
Articulate probe
11.3 The probes mentioned in 11.1 and 11.2 and illustrated in Figures 11.1 – 11.4 are to be applied to
any depth that the opening will permit; and are to be rotated or angled before, during, and after insertion
through the opening to any position that is necessary to examine the enclosure. The probes illustrated in
Figures 11.1 and 11.4 are to be applied in any possible configuration; and, if necessary, the configuration
is to be changed after insertion through the opening.
11.4 The probes mentioned in 11.1 and 11.2 shall be used as measuring instruments to judge the
accessibility provided by an opening, and not as instruments to judge the strength of a material; they shall
be applied with the minimum force necessary to determine accessibility.
11.5 With reference to the requirements in 11.1 and 11.2, the minor dimension of an opening is the
diameter of the largest cylindrical probe having a hemispherical tip that can be inserted through the
opening.
11.6 With reference to the requirements in 11.2:
a) An indirectly accessible motor is a motor:
1) That is accessible only by opening or removing a part of the outer enclosure, such
as a guard or panel, that can be opened or removed without using a tool, or
2) That is located at such a height or is otherwise guarded or enclosed so that it is

unlikely to be contacted.
b) A directly accessible motor is a motor:
1) That can be contacted without opening or removing any part or
2) That is located so as to be accessible to contact.
11.7 During the examination of a product to determine whether it complies with the requirements in 11.1
or 11.2, a part of the enclosure that may be opened or removed by the user without using a tool (to attach
an accessory, to make an operating adjustment, or for other reasons) is to be opened or removed.
11.8 With reference to the requirements in 11.1 and 11.2, insulated brush caps are not required to be
additionally enclosed.
12 Protection Against Corrosion
12.1 Iron and steel parts shall be protected against corrosion by enameling, galvanizing, plating, or other
equivalent means.
Exception No. 1: Bearings, thermal elements, or the like, if such protection is impractical, need not be
protected.
Exception No. 2: Small minor parts of iron and steel – such as washers, screws, bolts, and the like – that
do not carry current if corrosion of such unprotected parts would not be likely to result in a risk of fire,
electric shock, or injury to persons need not be protected.
Exception No. 3: Parts made of stainless steel (properly polished or treated if necessary), aluminum,
magnesium, and nickel need not be protected.
12.2 The requirement in 12.1 applies to all enclosing cases whether of sheet steel or cast iron, and to all
springs and other parts upon which proper mechanical operation may depend.
12.3 Enclosures exposed to corrosive elements such as salt spray shall comply with the enclosure
performance requirements outlined in the Standard for Enclosures for Electrical Equipment, UL 50.
13 Polymeric Materials
13.1 General
13.1.1 A barrier or integral part, such as an insulating washer or bushing, and a base or a support for
mounting live parts, shall be moisture-resistant material that will not be adversely affected by the
temperature and stresses to which it will be subjected under conditions of use.
13.1.2 Polymeric material is to be judged with respect to its acceptability for the application. If an
investigation is necessary to determine whether a material is acceptable, the investigation is to be
conducted in accordance with the Standard for Polymeric Materials – Use in Electrical Equipment
Evaluations, UL 746C. Consideration is to be given to:
a) The material’s mechanical strength, resistance to hot wire ignition, resistance to high-current-
arc ignition, resistance to high-voltage-arc ignition, dielectric strength, insulation resistance, and
heat-resistant qualities, in both the aged and unaged conditions;
b) The degree to which the material is enclosed; and
c) Any other feature affecting the risk of fire, electric shock, or injury to persons. All factors are
to be considered with respect to conditions of actual service.
13.1.3 Polymeric materials used for parts involved in risk of electric shock, fire, or injury to persons, shall
be rated V-2 minimum as determined in accordance with requirements in the Standard for Tests for
Flammability of Plastic Materials for Parts in Devices and Appliances, UL 94.
13.1.4 Polymeric materials used for parts not involved in risk of electric shock, fire, or injury to persons
shall be rated HB minimum. Internal belts, pulleys, and the like, are exempted from the polymeric material
requirements.
13.2 Small parts
13.2.1 The flammability and other requirements in 13.1.3 and 13.1.4 do not apply to small/segregated
parts. For the purposes of these requirements, a small/segregated part is defined as one that complies
with each of the following items:
a) Its volume does not exceed 2 cubic centimeters (0.122 cubic inches);
b) Its maximum dimensions do not exceed 3 centimeters (1.18 inches); and
c) Its location is such that it cannot propagate flame from one area to another or act as a
bridge between a possible source of ignition and other ignitable parts.
14 Field Connections
14.1 General
14.1.1 Compartments, raceways, and the like – for routing and stowage of conductors connected in the
field – shall not contain rough, sharp, or moving parts that may damage conductor insulation.
14.1.2 For power-circuit connections, permanently connected robotic equipment shall have provision for
the connection of a grounding-type wiring system.
14.1.3 Wiring terminals or leads shall be provided and shall be acceptable for the connection of
conductors having an ampacity not less than 125 percent of the maximum current under full load
conditions with all motors and loads in operation at the same time.
14.1.4 With reference to 14.1.3, it is assumed that minimum 75°C (167°F) conductors will be employed
for currents of more than 100 A.
14.1.5 For equipment marked to indicate that it is acceptable for use with copper, copper-clad aluminum,
or aluminum conductors, the field wiring terminals shall comply with the requirements for such devices and
with the requirement in 14.1.3 for a wire of each metal for which it is marked. See 89.10 and 89.11.
14.1.6 A terminal box or compartment on equipment permanently connected electrically shall be located
so that wire connections therein will be accessible for inspection, without disturbing either factory or field
connected wiring, after the equipment is installed in the intended manner.
Exception No. 1: Wire connections to equipment intended to be mounted on an outlet box may be
accessible upon removal of the equipment from the outlet box.
Exception No. 2: Factory-provided low-voltage, nonsafety-circuit wire connected to a hinged panel or

cover may be flexed.
14.1.7 A field-wiring lead shall not be more than two standard wire sizes smaller than the copper
conductor to which it will be connected, and shall not be smaller than 0.82 mm2 (18 AWG) for example,
a 5.3 mm2 (10 AWG) or larger field-wiring lead is required for connection to a 13.3 mm (6 AWG)
field-provided conductor. A field-wiring lead shall not be less than 152.4 mm (6 inch) long. Insulation on
such a lead shall be:
a) At least 0.8 mm (1/32 inch) thick thermoplastic or equivalent;
b) At least 0.4 mm (1/64 inch) thick rubber plus a braid cover for 300-V or less applications; or
c) At least 0.8 mm (1/32 inch) thick rubber plus a braid cover for applications between 301 and
600 V.
Exception No. 1: A 0.82 mm2 (18 AWG) size field-wiring lead may be provided for connection to a 3.3 mm2
(12 AWG) size branch circuit conductor.
Exception No. 2: A lead may be more than two wire sizes smaller than the field-provided copper conductor
to which it will be connected, but not smaller than 0.82 mm2 (18 AWG), if more than one factory-provided
copper lead is intended for connection to the same field-provided load, and the construction complies with
the following conditions:
a) A wire connector for connection of the field-provided wire is provided as part of the unit of
remote-control assembly, and the wire connector is acceptable for the combination of wires that
will be spliced;
b) The factory-provided leads are bunched or otherwise arranged so that stress does not result
on an individual lead; and
c) The equipment is marked in accordance with 89.12.
14.1.8 A pigtail lead intended for field-wiring connection shall be suitable for the application.
14.1.9 A lead provided for connection to an external line-voltage circuit shall not be connected to a
wire-binding screw or pressure terminal connector located in the same compartment as the splice unless
the screw or connector is rendered unusable for field-wiring connection or:
a) The lead is insulated at the unconnected end; and
b) A marking on the equipment clearly indicates the intended use of the lead.
14.1.10 The surface of an insulated lead intended solely for the connection of an equipment-grounding
conductor shall be green with or without one or more yellow stripes, and no other lead in a field-wiring
compartment shall be so identified.
14.1.11 The free end of a field-wiring lead that will not be used on every installation – such as a tap for
a multivoltage transformer or one free lead for a single-pole, double-throw switch – shall be insulated.
14.1.12 The free end of an equipment-grounding conductor shall be insulated – for example, it shall have
the end folded back and taped to the lead – unless the conductor is located so that it cannot contact live
parts in the event that the conductor is not used in the field.
14.1.13 Robotic equipment that is acceptable for use with a fitting for only one type of wiring system shall
be supplied with such a fitting.
14.1.14 An opening in a conductive enclosure for the entry of a conductor or conductors of an isolated
limited-energy secondary circuit shall be provided with an insulating bushing. The bushing may be
mounted in place in the opening or may be within the enclosure so that it may be properly mounted when
the equipment is installed.
Exception: An insulating bushing may not be required if the conductor or conductors are provided with
suitable protection against abrasion.
14.1.15 The opening mentioned in 14.1.14 may be acceptable for accommodating armored cable or
conduit.
14.1.16 A bushing of rubber or rubber-like material provided in accordance with 14.1.14 shall be 3.2 mm
(1/8 inch) or more thick, except that it may be not less than 1.2 mm (3/64 inch) thick if the metal around
the hole is eyeletted or similarly treated to provide smooth edges. A bushing shall be located so that it will
not be exposed to oil, grease, oily vapors, or other substances having a deleterious effect on the material
of the bushing. A hole in which such a bushing is mounted shall be free from sharp edges, burrs,
projections, or the like, that might damage the bushing.
14.2 Terminals
14.2.1 Terminal parts by which supply connections are made shall comply with the requirements in 14.2.2
– 14.2.9 so as to provide good connections even under hard usage.
14.2.2 A wiring terminal shall acceptably hold the next larger size conductor than that required in 14.1.3
if the terminal receives the larger size conductor, unless the equipment is marked in accordance with
89.13.
14.2.3 Soldering lugs or solderless (pressure) wire connectors shall be used.
Exception: For a 5.3 mm2 (10 AWG) or smaller wire, the parts to which wiring connections are made may
consist of clamps or binding screws with terminal plates having upturned lugs or the equivalent to hold
the wires in position.
14.2.4 A nominal 2.8-, 3.2-, 4.8-, 5.2-, or 6.4-mm (0.110-, 0.125-, 0.187-, 0.205-, or 0.250-inch) wide
quick-connect terminal shall comply with the requirements in the Standard for Electrical Quick-Connect
Terminals, UL 310. Other sizes of quick-connect terminals shall be investigated with respect to crimp
pull-out, engagement-disengagement forces of the connector and tab, and temperature rises; all tests are
to be conducted in accordance with the requirements of UL 310.
14.2.5 A wire-binding screw employed at a wiring terminal shall not be smaller than 4.0 mm diameter (No.
8).
Exception: A 3.5 mm diameter (No. 6) screw may be used for the connection of a 2.1 mm2 (14 AWG)
conductor.
14.2.6 A terminal plate tapped for a wire-binding screw shall be of metal not less than 0.76 mm (0.030
inch) thick for a 2.1 mm2 (14 AWG) or smaller wire, and not less than 1.27 mm (0.050 inch) thick for a
wire larger than 2.1 mm2 (14 AWG). There shall not be less than two full threads in the metal.
Exception: A low-voltage transformer may have terminal plates 0.76 mm (0.030 inch) thick for either
primary or secondary connections.
14.2.7 A terminal plate formed from stock having the required thickness specified in 14.2.6 may have the
metal extruded at a tapped hole for a binding screw so as to provide two full threads.
Exception: Two full threads are not required if fewer threads make a connection in which the threads do
not strip when it is subjected to a 2.3-N·m (20-inch-pound) tightening torque.
14.2.8 A wire-binding screw shall thread into metal.
14.2.9 To polarize the wiring of robotic equipment intended to be connected to more than one wire of a
supply circuit rated at 125 or 125/250 V or less and employing an Edison screwshell lampholder or a
single-pole switch or overcurrent-protective device other than an automatic control, one terminal or lead
shall be identified for connection to the grounded conductor of the supply circuit. A terminal or lead
identified for connection to the grounded supply conductor shall be electrically connected to screw shells
of lampholders and shall not be connected to a single-pole switch or a single-pole overcurrent-protective
device.
15 Portable Robotic Equipment
15.1 Portable equipment requiring external electrical power shall be provided with a power-supply cord –
such as Type S, ST, SJ, SJT, SO, STO, SJO, SJTO or the equivalent – with a grounding conductor and
an attachment plug for connection to the supply circuit. The rating of the plug and the ampacity of the cord
shall be as specified in 14.1.3. The grounding conductor shall be connected to the grounding blade of a
grounding attachment plug and shall be connected to the frame or enclosure of the equipment. The
grounding conductor surface insulation shall be green with or without one or more yellow stripes.
15.2 All external connections to the robotic equipment shall be by means of a cord and attachment plug.
16 Stationary Robotic Equipment
16.1 In determining the acceptability of a cord and plug connection for stationary robotic equipment, the
decision should include consideration of whether:
a) The cord connection of the equipment facilitates frequent interchange;
b) Reduction of the transmission of noise or vibration is accomplished;
c) The fastening means or mechanical connections are intended to permit removal for
maintenance and repair; or
d) All external connections to the equipment are by means of cord and attachment plug.
16.2 The cord shall be: Type S, ST, SJ, SJT, SO, STO, SJO or SJTO including a grounding conductor
or an equivalent hard-usage cord directly connected to the equipment and terminated in a grounding
attachment plug. The rating of the plug and the ampacity of the cord shall comply with 14.1.3.
16.3 Stationary robotic equipment may employ hard-wired electrical power connections.
17 Strain Relief
17.1 Strain relief shall be provided so that mechanical stress on a supply cord will not be transmitted to
terminals, splices, or interior wiring.
17.2 A strain-relief device shall be subjected to the test described in 69.1.
17.3 Surfaces against which a knot in a flexible cord that serves as strain relief may bear or which it may
contact shall be free from projections, sharp edges, burrs, fins, and the like, that may abrade the insulation
on conductors.
18 Bushings
18.1 Where a flexible cord passes or is intended to pass through an opening in a wall, barrier, or
enclosing case, there shall be a substantial bushing or the equivalent that is reliably secured in place, and
has a smoothly rounded surface against which the cord may bear.
18.2 A cord hole with a smoothly rounded surface through wood, porcelain, phenolic composition, or
other acceptable nonconductive material, is considered to be the equivalent of a bushing.
18.3 A bushing exposed to humidity, water, liquids, oil, grease, oily vapor, or other substance shall be
acceptable for the intended application(s).
19 Current-Carrying Parts
19.1 A current-carrying part shall have the necessary mechanical strength and ampacity for the intended
use and shall be of metal, or other material, that is acceptable for the application.
19.2 An uninsulated live part, including a terminal, shall be secured to its supporting surface by a method
other than friction between surfaces so that it is prevented from turning or shifting in position if such motion
may result in reduction of spacings to less than those required by this Standard. The security of a contact
assembly shall provide for the continued alignment of contacts.
Exception: A pressure terminal connector need not be prevented from turning provided spacings not less
than those required result when the terminals are turned 30 degrees toward each other, toward other
uninsulated parts of opposite polarity, or toward grounded metal parts.
20 Conductors
20.1 General
20.1.1 Power and control:
a) Conductors – other than those permitted in 20.1.2 – shall conform to one of the following:
1) Type MTW complying with the requirements in the Standard for Machine-Tool Wires
and Cables, UL 1063.
Exception No. 1: Conductors with insulation characteristics equivalent to Type MTW, or

suitable for the application, shall be permitted on individual devices supplied completely
wired (such as motor starters, and the like).
Exception No. 2: If subject to temperatures, environment, voltages, or flexibility exceeding

the limits for Type MTW, conductors having suitable characteristics shall be used.
2) Multiconductor flexible cords, Type SO, ST, SJ, or SJTO, or equivalent.
3) Multiconductor control cables having individual conductors and a jacket suitable for
the purpose.
4) Mineral-insulated metal-sheathed cable, Type MI.
b) Conductors shall not be smaller than:
1) Power circuits – 2.08 mm2 (14 AWG).
2) Lighting and control circuits on the robotic equipment and in raceways – 1.31 mm2
(16 AWG).
Exception: 0.82 mm2 (18 AWG) shall be permitted in a jacketed, multiconductor cable
assembly.
3) Control circuits on panels – 0.82 mm2 (18 AWG).
4) Electronic, precision, and static control – see 20.1.2.
c) The continuous current carried by conductors shall not exceed the values given in Table
20.1.
Exception: The ampacity values specified in Table 20.1 may be exceeded if it is demonstrated
by a temperature test that the insulation temperature rating is not exceeded.
d) Motor circuit conductors shall have an ampacity not less than 125 percent of the maximum
current under full load conditions with all motors and loads in operation at the same time.
Table 20.1
Conductor ampacity
Conductor size Ampacity in Conductor Ampacity in

mm2 (AWG) Cable or Control mm2 (AWG or Cable or Control
raceway enclosure MCM) raceway enclosure
0.05 (30) 0.5 67.43 (00) 145 225
0.08 (28) 0.8 85.1 (000) 165 260
0.13 (26) 1 107.2 (0000) 195 300
0.21 (24) 2 2 127 (250) 215 340
0.32 (22) 3 3 152 (300) 240 375
0.52 (20) 5 5 177 (350) 260 420
0.82 (18) 6 7 203 (400) 280 455
1.31 (16) 10 10 253 (500) 320 515
2.08 (14) 15 20 304 (600) 355 575
3.31 (12) 20 25 355 (700) 385 630
5.26 (10) 30 40 380 (750) 400 655
8.37 (8) 40 60 405 (800) 410 680
13.30 (6) 55 80 456 (900) 435 730
21.15 (4) 70 105 507 (1000) 455 780
26.67 (3) 85 110
33.62 (2) 95 140
42.41 (1) 110 165
53.49 (0) 125 195
20.1.2 Electronic, precision, and static control:
a) Conductors used to connect electronic, precision, static control, or similar devices or panels
shall be rated VW-1, and shall conform to the following:
1) Conductor insulation shall be suitable for the purpose and voltage on that conductor.
If the conductors are run with, or adjacent to, other conductors, all conductors shall be
insulated for the maximum voltage involved.
2) Conductors shall be of annealed stranded copper.
Exception: Solid conductors 0.205 – 0.0507 mm2 (24 – 30 AWG) are acceptable within
the control enclosure if not subject to flexing.
3) Printed-wiring boards with a minimum rating of V-2 are acceptable in place of

conventional conductor assemblies.
b) Size of conductors:
1) Conductors in raceways shall not be smaller than 0.823 mm2 (18 AWG).
Exception: 0.0507 mm2 (30 AWG) or smaller conductors are acceptable in a jacketed,
multiconductor cable assembly.
2) Conductors within the control enclosures shall not be smaller than 0.128 mm2 (26
AWG).
Exception: Conductors not smaller than 0.0507 mm2 (30 AWG) are acceptable for short
jumpers and special-wiring applications. For example, solderless wrapped or wire-clip
type connections or shielded conductors.
c) The continuous current carried by conductors shall not exceed the values given in Table
20.1.
Exception: The ampacity values specified in Table 20.1 may be exceeded if it is demonstrated
by a temperature test that the insulation provided is acceptable.
20.1.3 The effects of vibration, impact, and exposure are to be considered for the risks of fire, electric
shock and personal injury – under normal and abnormal conditions – for wires smaller than 0.205 mm2
(24 AWG).
20.1.4 Wiring that extends between moving parts of a robot that is subject to movement in use other than
installation and servicing, shall be stranded and the arrangement shall preclude twisting or stressing of
terminations as a result of the movement. The wiring shall be routed or protected to reduce the likelihood
of damage to the insulation. The conductors shall be of a jacketed type – such as Type SJ, SJO, SJT or
other conductors suitable for the purpose – and shall be provided with strain relief so that stress will not
be transmitted to terminals or splices.
Exception: Wiring in Class 2 circuitry – where damage of the wire does not result in a risk of injury to
persons, an uncontrolled motion, dropping payload or the like – need not be jacketed.
20.1.5 Wiring that is subject to motion, and any supplementary insulation provided on the wire, may be
subjected to a flexing test to determine the acceptability for the application. See 70.1.
20.1.6 Impregnated or unimpregnated cotton- or asbestos-insulated wire shall not be employed.
20.1.7 Metal clamps and guides used for routing stationary internal wiring shall be smooth or provided
with rounded edges.
20.1.8 Auxiliary mechanical protection that is not electrically conductive shall be provided:
a) Under a clamp at which pressure is exerted on a conductor having thermoplastic insulation

less than 0.76 mm (0.030 inch) thick and no overall braid; and
b) On any wire or wires that are subject to motion, as defined in 20.1.4.
20.1.9 Tubing shall not be subjected to sharp bends, tension, compression, or repeated flexing, and shall
not contact sharp edges, projections, or corners. Tubing may be used in dry or damp locations but is not
acceptable in wet locations.
20.1.10 Rubber-insulated conductors shall not be exposed to oil, grease, oily vapor, or other substance
having a deleterious effect on rubber, unless the insulation has been investigated and found to be
acceptable for the application.
20.1.11 A wireway shall be smooth and free from sharp edges, burrs, fins, moving parts, and the like that
can abrade insulation on conductors.
20.1.12 Mounting screws and nuts shall be constructed or located so that sharp edges will not damage
wiring. A screw shall have a flat or blunt end. The end of a screw shall have no burrs, fins, or sharp edges
that might abrade wire insulation, and shall not project more than 4.8 mm (3/16 inch) into a wireway.
20.1.13 A hole in a sheet-metal wall through which insulated wires pass and on which they may bear shall
be provided with a smoothly rounded bushing or shall have smooth, rounded surfaces upon which the
wires may bear, to avoid abrasion of insulation.
20.1.14 A soldered connection shall be made mechanically secure before being soldered.
Exception No. 1: A connection for which a soldering or brazing material having a softening or melting point
greater than 454°C (849°F) is used.
Exception No. 2: A hand-soldered lead passed through a hole in a printed-wiring board and bent 90
degrees to the board to make contact with the conductor before soldering. If soldering on a printed-wiring
board is performed by a machine process in which the soldering time and solder temperature are
automatically controlled – bending over of leads is not required.
Exception No. 3: The lead wire is strapped in place, or the equivalent, adjacent to the soldered connection
to hold the lead end in place.
20.2 Interconnecting cords and cables
20.2.1 Cable assemblies and flexible cords used for external interconnection between sections of a unit
or between units of a system shall be of a type as specified in 20.2.2 – 20.2.4 and shall be provided with
acceptable strain relief and bushings in accordance with Strain Relief, Section 17, and Bushings, Section
18.
Exception: Cable assemblies used in nonsafety Class 2 circuits need not comply.
20.2.2 Insertion of a male connector in a female connector other than the one intended to receive it,
misalignment of male and female connectors, and other manipulations of parts that are accessible to the
operator shall not result in a risk of fire, electric shock, or injury to persons. Accessibility shall be judged
by the probes of Figures 11.1 and 11.2.
20.2.3 If either or each end of an external interconnecting cable terminates in a connector with one or
more exposed contacts, a risk of electric shock shall not exist between earth ground and any contact that
is exposed on either the connector or its receptacle while the connector is out of its receptacle.
20.2.4 An interlock circuit in the cable to de-energize the exposed contacts whenever an end of the cable
is disconnected may be provided to comply with the requirement in 20.2.3. If an interlock is not provided,
compliance is to be determined by means of the procedure in Interconnecting Cords and Cables Test,
Section 54.
20.2.5 Electrical connectors that could cause hazard if they are separated, or if they break away, shall be
designed and constructed to guard against such unintended separation. Connectors that must be mated
during robot installation and could cause a hazard if mismated shall be provided with a means to prevent
mismating. See 54.1.
20.3 Interconnection of units
20.3.1 Unless acceptable cable assemblies are employed, each unit in a system shall be provided with
acceptable field-wiring terminals (see 14.2.1 – 14.2.9) to facilitate interconnection by means of
permanently installed wiring.
20.3.2 If interconnection of units of a system involves Class 2 circuits, the Class 2 circuits may be
terminated in field-wiring connections other than specified in 14.2.1 – 14.2.9, such as wire-wrap or
crimp-on types, if:
a) The Class 2 circuits are permanently separated from all other circuits; and
b) The mating parts and constrictions for their method of attachment are provided.
21 Grounding
21.1 General
21.1.1 There shall be provision for grounding the robotic equipment and all dead metal parts that are
exposed or that are likely to be touched by a person during a normal operation or adjustment and that are
likely to become energized through electrical malfunction. (See 68.1 for Grounding Resistance Test.)
21.1.2 To determine whether a part is likely to become energized, such factors as construction, the
proximity of wiring, and a dielectric voltage-withstand test conducted after appropriate overload,
endurance, and burnout tests are to be evaluated.
21.2 Grounding means
21.2.1 An equipment-grounding terminal or lead-grounding point shall be connected to the frame or

enclosure by a positive means, such as by a bolted or screwed connection.
21.2.2 Nonconductive coatings – such as paint, lacquer, and enamel – shall be removed from the
grounding surface area to assure electrical continuity; or the grounding connection shall reliably penetrate
the nonconductive coating.
21.2.3 A grounding point shall be located so that it is unlikely that the grounding means will be removed
during normal servicing.
21.2.4 The following are acceptable means for electrically grounding permanently connected equipment:
a) An equipment-grounding terminal or lead intended to be connected to a nonmetal-enclosed

wiring system, for example, a nonmetallic-sheathed cable.
b) A knockout or equivalent opening in a metal enclosure intended to be connected to a metal-

enclosed wiring system.
21.3 Terminals and leads
21.3.1 A wire-binding screw intended for connection of an equipment-grounding conductor shall have a
green-colored head that is hexagonal, slotted, or both.
21.3.2 A wire-binding screw or pressure wire connector intended for connection of an

equipment-grounding conductor shall be located so that it is unlikely to be removed during servicing.
21.3.3 A terminal for connection of an equipment-grounding conductor shall be capable of securing a

conductor of the required size and shall be constructed as specified in 14.2.1 – 14.2.9.
21.3.4 A grounding terminal for a 5.3 mm2 (10 AWG) or smaller wire may be a threaded stud welded to
the enclosure or equivalent. Such a terminal shall be of acceptable material, for example, it shall be plated
if of steel; and shall also comply with 21.3.1 – 21.3.3, and 14.2.1 – 14.2.9.
21.3.5 A soldering lug, a push-in (screwless) connector, or a quick-connect or similar friction-fit connector
shall not be used for a grounding terminal.
21.3.6 A lead intended for connection to an equipment-grounding conductor shall be of the size specified
in 22.2.8, and shall have a free length of 152 mm (6 inch) or more.
21.3.7 The surface of an insulated lead intended solely for connection of an equipment-grounding
conductor shall be green with or without one or more yellow stripes, and no other lead visible in a field
wiring compartment to the installer shall be so identified.
21.3.8 The color coding requirement in 21.3.7 does not apply to a low-voltage nonsafety circuit under the
following conditions:
a) Leads or wiring to low-voltage terminals are remote from the location where the line-voltage
connections are made and connectors and live parts are segregated in accordance with 31.5
and 31.6; or
b) Leads or low-voltage terminals are specifically marked with the intended use so that
reference to a wiring diagram is not necessary.
21.3.9 The surface of an insulated grounding conductor of a flexible cord shall be green with or without
one or more yellow stripes and no other lead shall be so identified.
21.3.10 The grounding conductor of a power-supply cord shall be attached to the grounding blade of an
attachment plug and shall be connected within the frame or enclosure by a means not likely to be removed
during ordinary servicing not involving the power-supply cord. A grounding conductor shall be arranged
so that an external pull on a power-supply cord will not transmit stress to the grounding connection on a
frame or enclosure before line-voltage connections are broken.
21.3.11 Circuitry shall be arranged so that an equipment-grounding connection or conductor, an

enclosure, a frame, a component mounting panel, and earth ground do not carry current except in the
event of an electrical fault.
Exception: A single-point reference ground may be employed in a low-voltage or isolated limited-energy

low-voltage secondary circuit. An enclosure, frame, or panel, including bolted joints, may carry the current
of a low-voltage circuit. Such current shall not be carried by a field-equipment grounding means, a metallic
raceway or other power-supply grounding means, or earth ground in either case.
22 Bonding of Internal Parts
22.1 General
22.1.1 On robotic equipment that is grounded, an exposed noncurrent-carrying metal part likely to
become energized through electrical fault – see 21.1.1 and 21.1.2 – shall be reliably bonded to the point
of connection of the field-equipment grounding means.
Exception No. 1: A metal part, such as an adhesive-attached metal-foil marking, a screw, or a handle that
is:
a) Located on the outside of an enclosure or cabinet and isolated from an electrical

components and wiring by grounded metal parts so that it is not likely to become energized; or
b) Separated from wiring and spaced from uninsulated live parts as if it were a grounded part.
Exception No. 2: A small internal assembly screw, or other small fastener, such as a rivet, a handle for a
pull-out disconnect switch, or a magnet or armature of a relay of contactor.
Exception No. 3: A metal panel or cover, that:
a) Is insulated from electrical components and wiring by an insulating barrier of vulcanized

fiber, varnished cloth, phenolic composition, or other moisture-resistant material not less than
0.71 mm (0.028 inch) thick and reliably secured in place, (also, see 29.1.12);
b) Does not enclose uninsulated live parts, and wiring is positively separated from the panel or
cover so that it is not likely to become energized; or
c) Is isolated from live parts and wiring by grounded or bonded interposing metal so that the
interposing metal would be subject to an electrical fault before the isolated metal panel or cover.
22.1.2 A guard, baffle, or cover that can be removed without a tool is to be removed when determining
whether a part is exposed to contact by the user. A part that can be contacted by a 9.5 mm (3/8 inch)
diameter rod having a hemispherical end inserted through an opening in a permanently attached guard of
baffle for a distance of 102 mm (4 inches) is considered exposed for the purposes of grounding.
22.1.3 Uninsulated metal parts – such as cabinets, electrical enclosures and covers, motor frames and
mounting brackets, controller mounting frames, brackets, capacitors, other electrical components,
interconnecting tubing and piping, valves, and pneumatic accessories – shall be electrically bonded
together if they may be contacted by a user or service person. See 22.1.5 and Exceptions to 22.1.1 for
parts to which this requirement does not apply.
22.1.4 Operations and adjustments that subject parts to contact by a user include actions taken at the
time of installation and during normal use – such as seasonal adjustments, relamping, replacing fuses,
resetting overload devices, and oiling motors. These procedures and those specified in Protection of
Users and Service Personnel, Section 41, subject parts to contact by a service person.
22.1.5 A part on the back side of a component mounting panel and a part located so as to require major
disassembly by using tools are not considered to be exposed to the user; such parts are not considered
to be exposed to a service person unless it is likely that servicing will be performed while the equipment
is energized after disassembly.
22.1.6 Uninsulated live parts and wiring shall be held away from moving parts – such as relay and
contactor magnets and armatures – by clamping, routing, or equivalent means that provide permanent
separation.
22.1.7 If a component is likely to be separated from its grounding means after installation for the purposes
of testing or adjustment while the equipment is energized, it shall be provided with a bonding terminal or
with a bonding conductor so that it is not necessary to remove it from the component for such service
22.2 Construction and connection
22.2.1 Parts shall be bonded by metal-to-metal contact or by a separate bonding jumper in accordance
with 22.2.2 – 22.2.9.
22.2.2 A separate bonding conductor shall be copper, a copper alloy, or other material acceptable for use
as an electrical conductor.
22.2.3 A ferrous metal part in a grounding path shall be protected against corrosion by enameling,
galvanizing, plating, or other equivalent means.
22.2.4 A separate bonding conductor or strap:
a) Shall be protected from mechanical damage or shall be located within an outer enclosure or
frame; and
b) Shall not be secured by a removable fastener used for any purpose other than bonding
unless the bonding conductor is unlikely to be omitted after removal and replacement of the
fastener.
22.2.5 The ends of a bonding conductor shall be in metal-to-metal contact with the parts to be bonded.
22.2.6 A splice shall not be employed in a wire used for bonding purposes.
22.2.7 An internal connection for bonding internal parts to an enclosure for grounding, but not for a
field-installed grounding conductor or for the grounding wire in a supply cord, may employ a quick-connect
terminal provided:
a) The connector is not likely to be displaced;
b) The terminal has the dimensions specified in Table 22.1; and
c) The component is limited to use on a circuit having a branch-circuit protective device as

specified in Table 22.1.
Table 22.1
Quick-connect terminals for grounding internal parts
Nominal size of terminal, mm (inch) Rating of branch-circuit

Width Thickness Length protective device, amperes
4.7 (0.187) 0.5 (0.020) 6.35 (1/4) 20 or less
4.7 (0.187) 0.8 (0.032) 6.35 (1/4) 20 or less
5.2 (0.205) 0.8 (0.032) 6.35 (1/4) 20 or less
6.4 (0.250) 0.8 (0.032) 8.0 (5/16) 60 or less
22.2.8 A separate component-bonding conductor shall not be smaller than;
a) That specified in Table 22.2; or
b) The conductor supplying a motor or component, whichever is the smaller.
Table 22.2
Bonding conductor size
Rating or setting of Size of bonding conductora

automatic over current
device in circuit ahead Copper wire Aluminum wire Rigid conduit or Electrical metallic
of equipment, conduit, pipe tubing
etc., not exceeding,
mm2 (AWG) mm2 (AWG) mm (inch) mm (inch)
amperes
20b 3.3 (12) 5.3 (10) 12.7 (1/2) 12.7 (1/2)
30 5.3 (10) 8.4 (8) 12.7 (1/2) 12.7 (1/2)
40 5.3 (10) 8.4 (8) 12.7 (1/2) 12.7 (1/2)
60 5.3 (10) 8.4 (8) 12.7 (1/2) 12.7 (1/2)
100 8.4 (8) 13.3 (6) 12.7 (1/2) 12.7 (1/2)
200 13.3 (6) 21.2 (4) 12.7 (1/2) 25.4 (1)
400 26.7 (3) 42.4 (1) 19.05 (3/4) 31.75 (1-1/4)
600 42.4 (1) 67.4 (00) 19.05 (3/4) 31.75 (1-1/4)
800 53.5 (1/0) 85.0 (000) 25.4 (1) 50.8 (2)
1000 67.4 (2/0) 107.2 (0000) 25.4 (1) 50.8 (2)
1200 85.0 (3/0) 127.0 (250 kcmil) 25.4 (1) 50.8 (2)
a Or equivalent cross-sectional area.
b For a cord-connected device, the grounding wire in the cord may be the same size as the current carrying conductors.
22.2.9 If more than one size of branch-circuit overcurrent device is involved, the size of the bonding
conductor is to be based on the rating of the overcurrent device intended to provide ground-fault
protection for the component bonded by the conductor. For example, if a motor is individually protected
by a branch-circuit overcurrent device smaller than other overcurrent devices used with the equipment, a
bonding conductor for that motor is to be sized on the basis of the overcurrent device intended for
ground-fault protection of the motor.
23 Motors
23.1 A motor shall be suitable for the application and shall be capable of delivering its maximum normal
load without introducing a risk of fire, electric shock, or injury to persons.
23.2 A motor shall incorporate overload protection and short-circuit protection (locked-rotor protection).
Exception: A motor intended to move air only by means of an air-moving fan that is integrally attached,
keyed, or otherwise fixed to the motor shaft is not required to have overload protection.
23.3 The overload protection required by 23.2 shall consist of one of the following:
a) Thermal protection complying with the applicable requirements in the Standard for
Overheating Protection for Motors, UL 2111;
b) Impedance protection complying with the requirements in the Standard for Overheating
Protection for Motors, UL 2111; or
c) Other protection, such as overload relays and the like, that tests show is equivalent to the
protection mentioned in (a).
24 Printed-Wiring Boards
24.1 A printed-wiring board shall comply with the Standard for Printed-Wiring Boards, UL 796.
24.2 A printed-wiring board containing circuits involving a risk of fire or electric shock shall be rated at
least V-2 as specified in requirements in the Standard for Tests for Flammability of Plastic Materials for
Parts in Devices and Appliances, UL 94. Printed-wiring boards not involving a risk of fire or electric shock
may be rated HB.
24.3 The laminate material in a printed-wiring board used in a circuit that involves a risk of fire or electric
shock shall:
a) Comply with the direct support of current-carrying parts performance level requirements
specified in the Standard for Printed-Wiring Boards, UL 796; and
b) Be marked with:
1) ″▲″ or
2) Have a unique type designation that is limited to such printed-wiring boards to

indicate compliance with the UL 796 requirements.
24.4 A conformal coating employed on the surface of a printed-wiring board, intended to be used for the
acceptance of reduced spacings as described in 29.1.12 – 29.1.14, may be acceptable if it complies with
the Standard for Printed Wiring Boards, UL 796.
25 Transformers
25.1 A transformer that supplies a low-voltage circuit shall be an isolating type.
25.2 A transformer shall comply with the performance requirements outlined in this Standard, including
the temperature and dielectric voltage-withstand tests.
26 Capacitors, Capristors and Varistors
26.1 Isolating components
26.1.1 A component – such as a capacitor, a combination capacitor and resistor, or a suppressor used
for line-by-pass, or metal-cabinet isolation; or between supply-circuit (line) connected parts and exposed
metal parts (where the component is continually stressed) – shall comply with the requirements in the
Standard for Capacitors and Suppressors for Radio- and Television-Type Appliances, UL 1414.
26.2 Across-the-line components
26.2.1 A component – such as a capacitor, a combination capacitor and resistor, a varistor, or a

suppressor connected across the supply circuit – shall comply with the Standard for Capacitors and
Suppressors for Radio- and Television-Type Appliances, UL 1414.
26.2.2 A component as described in 26.2.1 is also considered to be across-the-line if it is used for

line-by-pass isolation in a product provided with a terminal or connection intended to be grounded
26.3 General
26.3.1 A component – such as a capacitor, a combination capacitor and resistor, varistor or a suppressor
– shall employ materials and shall be constructed so that it will not constitute a risk of fire. It shall not be
adversely affected by the temperature it reaches under the most severe conditions of use.
26.3.2 Under both normal and abnormal conditions of use, a component as described in 26.3.1,
employing a liquid dielectric medium more combustible than askarel shall not result in a risk of fire or
electric shock; and shall be constructed to reduce the risk of expelling the dielectric medium.
26.3.3 A capacitor complying with the requirements for protected oil-filled capacitors in the Standard for
Capacitors, UL 810, is considered to be protected against the expulsion of the dielectric medium.
27 Supply-Circuit Disconnecting Means
27.1 General
27.1.1 A disconnecting means shall be provided for each incoming supply circuit. This means shall be
located outside the work envelope (maximum space).
27.1.2 The disconnecting means shall be:
a) Manually operable and shall be a fusible or nonfusible motor circuit switch or a circuit
breaker; or
b) An attachment plug in accordance with 27.9.1.
27.1.3 Rating:
a) The ampacity of the disconnecting means shall not be less than 125 percent of the sum of
the full-load currents required for all equipment that may be in operation at the same time under
normal conditions of use. For an attachment plug, see 27.9.1.
b) The interrupting capacity of the disconnecting means shall not be less than the sum of the
locked-rotor current of the largest motor plus the full-load current of all other connected
operating equipment.
c) Fusible motor-circuit switches or circuit breakers shall be applied in accordance with the
Electrical Standard for Industrial Machinery, ANSI/NFPA 79.
27.2 Position indication
27.2.1 The disconnecting means shall plainly indicate whether it is in the open or closed position.
27.3 Supply conductors to be disconnected
27.3.1 Each disconnecting means shall disconnect all ungrounded conductors of a single supply circuit
simultaneously. Where there is more than one source, additional individual disconnecting means shall be
provided for each supply circuit, so that all supply to the robot may be interrupted.
27.4 Connections to supply lines
27.4.1 Incoming supply-line conductors shall terminate at the disconnecting means with no connection to
terminal blocks or other devices ahead of the disconnecting means.
27.5 Exposed live parts
27.5.1 With the disconnecting means open, there shall be no exposed live parts.
27.6 Mounting
27.6.1 The disconnecting means shall be mounted within or adjacent to the control enclosure. If mounted
within the control enclosure, the disconnecting means shall be mounted at the top of the control panel with
no other equipment mounted directly above it.
27.6.2 If two or more disconnecting means are provided within the control enclosure for multiple supply
circuits, they shall be grouped in one location.
27.7 Interlocks
27.7.1 Any door(s) that permit(s) access to live parts operating at 50 V or more shall be so interlocked
that the door(s) cannot be opened unless all power is disconnected.
Exception No. 1: External interlocking circuits operating at less than 150 V need not be disconnected if
the circuit conductors are identified with a yellow colored insulation and a warning marking is attached to
the door. See 91.5.
Exception No. 2: It shall be permitted to provide means for qualified persons to gain access without
removing power. The interlocking shall be reactivated automatically when the door(s) is (are) closed.
Exception No. 3: If an attachment plug is used as the disconnecting means and a warning marking is
attached to the door. See 91.14.
27.7.2 Each disconnecting means shall be mechanically or electrically interlocked, or both, with the
control enclosure doors.
Exception No. 1: A disconnecting means used only for maintenance lighting circuits within control
enclosures shall not be required to be interlocked with the control enclosure. The marking requirements
of 91.13 shall apply.
Exception No. 2: If an attachment plug is used as the disconnecting means in accordance with 27.9.
Exception No. 3: A disconnecting means used for power-supply circuits within control enclosures to
memory elements and their support logic requiring power at all times to maintain the storage of
information is not required to be interlocked with the control enclosure doors.
27.8 Operating handle
27.8.1 The operating handle shall include the following characteristics:
a) The operating handle of the disconnecting means shall be readily accessible.
b) The center of the grip of the operating handle of the disconnecting means, when in its
highest position, shall not be more than 1.98 m (6-1/2 ft) above the floor. A permanent
operating platform, readily accessible by means of a permanent stair or ladder, shall be
considered as the floor for the purpose of this requirement.
c) The operating handle shall be capable of being locked only in the ″off″ position.
d) When the control enclosure door is closed, the operating handle shall positively indicate
whether the disconnecting means is in the open or closed position.
27.9 Attachment plug and receptacle
27.9.1 An attachment plug and receptacle are acceptable as a disconnecting means if there is
compliance with all of the following conditions:
a) The motor or motors on the machine total two horsepower or less.
b) The supply voltage does not exceed 150 Volts to ground.
c) DC is not used.
d) The ampacity of the attachment plug is not less than 125 percent of the sum of the full-load
currents required for all equipment that may be in operation at the same time under normal
conditions of use.
e) The attachment plug is single-voltage rated.
f) The attachment plug is provided with a grounding pole and so constructed that the grounding
pole is made before any current-carrying poles are made and is not broken until all current-
carrying poles of the attachment plug have been disconnected. A grounding pole shall not be
used as a current-carrying part.
g) The attachment plug is readily accessible.
28 Overcurrent Protection, Control-Circuit Conductors
28.1 A conductor of a control circuit that is connected to the load side of the branch-circuit protective
device – common control – shall be protected against overcurrent in accordance with Table 28.1 by a
protective device located within the controller. See 28.2 and 28.4.
Exception No. 1: If the rating or setting of the intended branch-circuit protective device is not more than
the applicable value specified in Table 28.2, and the equipment is marked in accordance with 88.10 and
88.11, additional protection is not required.
Exception No. 2: A limited-energy control circuit, such as Class 2 need not be so protected.
Exception No. 3: A control-circuit conductor that is the same as or larger than the main circuit conductors
need not be protected.
Table 28.1
Protective Devices
Control-circuit wire size Maximum acceptable rating of

mm2 (AWG) protective device, amperes
0.32 (22) 3
0.52 (20) 5
0.82 (18) 7
1.3 (16) 10
2.1 (14) 20
3.3 (12) 25
Table 28.2
Branch-circuit protective devices
Control-circuit wire size Maximum acceptable rating of branch-circuit protective

device, amperes
mm2 (AWG) Conductors within Conductors outside
enclosure enclosure
0.32 (22) 12 3
0.52 (20) 20 5
0.82 (18) 25 7
1.3 (16) 40 10
2.1 (14) 100 45
3.3 (12) 120 60
28.2 The protective device specified in 28.1 shall be either a supplementary or a branch-circuit
overcurrent-protective device. A fuse shall be factory installed in a supplementary fuseholder but may be
omitted if a branch-circuit-type fuseholder is provided. The equipment shall be marked in accordance with
88.11.
28.3 Internal conductors of control circuits that are connected to a remote source of supply – not a
common control – shall be provided with overcurrent protection in accordance with Table 28.2 or the
device shall be marked in accordance with 88.12. The internal conductors shall not be smaller than 0.52
mm2 (20 AWG).
28.4 With reference to 28.1 and 28.3:
a) A short, direct lead – generally 305 mm (12 inches) long, such as transformer leads or a
printed-wiring assembly having no connection external to the controller – need not be so
protected.
b) Short, direct leads from contacts of a switching device, or the like for connection within the
enclosure to field wiring need not be protected in addition to the remote protective device that
will be provided for the field wiring. See 14.1.7.
28.5 A control-circuit transformer shall be protected by an overcurrent device in each secondary circuit.
The device shall be rated or set at not more than 200 percent of the rated secondary current of the
transformer.
Exception No. 1: A transformer protected by other means in accordance with the National Electrical Code
need not be so protected.
Exception No. 2: A limited-energy transformer, such as Class 2, need not be so protected.
29 Spacings
29.1 General
29.1.1 Other than as noted in 29.1.2, spacings in primary circuits shall not be less than the applicable
values specified in Table 29.1.
29.1.2 Spacings in robotic equipment where transient voltages are known and controlled by a transient
suppressive device, as described in 29.1.3, shall not be less than those specified in Table 29.2, except
that spacings at a field-wiring terminal shall be in accordance with Table 29.1.
Table 29.1
Spacings for nonsurge-controlled circuits in a general environment
Potential involved in volts rms (peak) Minimum spacings, mm (inch)

Equipment with a volt ampere rating that is not Equipment having a
limited limited volt ampere rating
(See 29.1.9)
A B
0 – 50 > 50 – 150 > 150 – 300 > 300 – 600 > 50 – 300 > 300 – 600
(0 – 70.7) (70.7 – (212.1 – (424.3 – (70.7 – (424.3 –
212.1) 424.3) 848.5) 424.3) 848.5)
Between any uninsulated Through air
live part of opposite polarity or oil
and any uninsulated 1.6a (1/16)a 3.2a (1/8)a 6.4 (1/4) 9.6 (3/8) 1.6a (1/16)a 4.8a (3/16)a
grounded part other than the 3/8 (9.6)
enclosure, or exposed metal Over
partc,d Surface 1.6a (1/16)a 6.4 (1/4) 9.6 (3/8) 12.7 (1/2) 1/8a (3.2)a
Between any uninsulated Shortest
live part and the walls of a Distance
metal enclosure including 6.4 (1/4) 12.7 (1/2) 12.7 (1/2) 12.7 (1/2) 6.4 (1/4) 12.7 (1/2)
fittings for conduit or
armored cableb
a The spacing between field-wiring terminals of opposite polarity and the spacing between a field-wiring terminal and a grounded
dead metal part shall not be less than 6.4 mm (1/4 inch) if a short-circuiting or grounding of such terminals results from projecting
strands of wire.
b For the purpose of this requirement, a metal plate attached to the enclosure is considered to be a part of the enclosure if
deformation of the enclosure is likely to reduce spacings between the metal piece and uninsulated live parts.
c In a safety circuit the spacing between wiring terminals, regardless of polarity, and the spacing between a wiring terminal and a
grounded dead metal part – including the enclosure – shall not be less than 6.4 mm (1/4 inch).
d In a safety circuit the spacing between same polarity live parts on opposite sides of a switching mechanism, except at contact
point, shall not be less than 0.8 mm (1/32 inch) through air and 1.6 mm (1/16 inch) over surface.
Table 29.2
Spacings for surge-controlled circuits in a general environment
Between any uninsulated live part and an uninsulated live part of opposite
polarity, uninsulated grounded part other than the enclosure, or exposed metal
parta,b,e
Short-circuit Peak working Through air or oil Over surface
powerc voltage mm (inch) mm (inch)
0 – 50 0.762 (0.030) 0.762 (0.030)
>50 – 225 1.91 (0.075) 2.54 (0.100)
More than 10 kVAd
>225 – 450 3.81 (0.150) 5.08 (0.200)
>450 – 900 7.62 (0.300) 10.16 (0.400)
0 – 50 0.762 (0.030) 0.762 (0.030)

More than 500 VA,
>50 – 225 1.52 (0.060) 1.52 (0.060)
but not more than
10kVAd >225 – 450 2.54 (0.100) 2.54 (0.100)
>450 – 900 5.08 (0.200) 5.08 (0.200)
DISTRIBUTION
TableWITHOUT PERMISSION
29.2 Continued on Next Page FROM UL
Table 29.2 Continued
Between any uninsulated live part and an uninsulated live part of opposite
polarity, uninsulated grounded part other than the enclosure, or exposed metal
parta,b,e
Short-circuit Peak working Through air or oil Over surface
powerc voltage mm (inch) mm (inch)
More than 15 VA 0 – 36 0.30 (0.012) 0.30 (0.012)
but not more than >36 – 72 0.41 (0.016) 0.41 (0.016)
500 VAd
>72 – 100 0.762 (0.030) 0.762 (0.030)
>100 – 225 1.14 (0.045) 1.14 (0.045)
>225 – 450 1.52 (0.060) 1.52 (0.060)
>450 – 900 2.54 (0.100) 2.54 (0.100)
a For spacings between live parts and the enclosure refer to Table 29.1.
b For field wiring terminals refer to Table 29.1.
c Maximum short-circuit power is the product of the open-circuit voltage and the short-circuit current available at the supply
terminals when protective devices are by-passed.
d Where transient voltages are known and controlled. See 29.1.3.
e For additional spacing requirements in safety circuits, refer to Table 29.1, footnotes c and d.
29.1.3 The transient suppressive device mentioned in 29.1.2 shall prevent peak transient voltages from
exceeding 300 percent of the instantaneous peak working voltage, or 300 Volts, whichever is greater. See
Effect of Voltage Transient Test, Section 65.
29.1.4 A spacing at a wiring terminal is to be measured with appropriate wires connected to each terminal
and other parts as in actual service.
29.1.5 The required spacing applies only to the sum of the spacings involved wherever an isolated dead
metal part is interposed.
29.1.6 For the purpose of these requirements, the voltage and volt-ampere ratings are those measured
with the equipment connected to a supply circuit as specified in Table 44.1.
29.1.7 Uninsulated live parts connected to different circuits shall be spaced from each other as if they
were parts of opposite polarity, in accordance with the requirement in 29.1.1, and shall be judged on the
basis of the highest voltage involved.
29.1.8 Safety circuits, such as interlock circuits, shall be judged as primary circuits with regard to
spacings. Primary circuit spacings shall also apply to inherent spacings in component devices in such
circuits.
Exception: Spacings between parts of the same polarity specified in footnote a to Table 29.1 do not apply
to the protective component of a power source.
29.1.9 The spacings specified in column B of Table 29.1 are applicable to robotic equipment or circuits
rated 1 horsepower or less, 720 VA or less – break pilot duty; or not more than 15 A at 51 – 150 V, 10 A
at 151 – 300 V, or 5 A at 301 – 600 V.
29.1.10 Spacings inherent in a component, such as a snap switch, a lampholder, a motor, or a clock
motor, are judged under the requirements for the component. Spacings from such a component to another
component and the enclosure, and spacings at wiring terminals shall comply with the requirements in
29.1.1 and Table 29.1.
29.1.11 Spacings at a fuse and fuseholder are to be measured with a fuse that has the maximum
standard dimensions for the rating in place and shall not be less than those specified in column A of Table
29.1.
29.1.12 An insulating barrier or liner that is used to provide spacings, including spacings in conjunction
with the required over surface spacings, shall not be less than 0.71 mm (0.028 inch) thick. A barrier or
liner that is used in conjunction with a spacing through air and oil not less than 0.33 mm (0.013 inch) thick,
provided the barrier or liner is an acceptable insulating material resistant to moisture and has the
necessary mechanical strength if exposed or otherwise likely to be subject to mechanical damage, reliably
held in place, and located so that it will not be adversely affected by operation of the equipment in service
– particularly arcing.
Exception: As provided in 29.2.1.
29.1.13 An insulating barrier or liner used as the sole separation between live parts and grounded parts
or between live parts of opposite polarity, shall be a material that is acceptable for mounting uninsulated
live parts and is not less than 0.71 mm (0.028 inch) thick. Otherwise, a barrier shall be used in conjunction
with at least a 0.8 mm (1/32 inch) air spacing.
Exception: As provided in 29.2.1.
29.1.14 Insulating and encapsulating materials and coatings having a thickness less than that specified
in 29.3.2 and 29.4.1 may be used if, upon investigation, it is found to be acceptable for the application,
and is equivalent in all respects to materials of the thickness specified in 29.1.13.
29.2 Low-voltage class 2 circuits – Safety circuits
29.2.1 If a short circuit between the parts in a low-voltage Class 2 safety control may result in a risk of
fire, electric shock, or injury to persons, spacings shall be as specified in 29.2.2 – 29.2.4.
Exception: A protective component of a power source need not have the spacings specified.
29.2.2 Spacing between an uninsulated live part and the wall of a metal enclosure, including fittings for
connection of conduit or armored cable, shall not be less than 3.2 mm (1/8 inch). Also, see Exception No.
3 in 22.1.1. A greater spacing may be required if an enclosure is not sufficiently rigid to maintain the
required spacing because of its size, shape, or the material used.
29.2.3 Spacing between wiring terminals, regardless of polarity, and between a wiring terminal and a
dead metal part – including the enclosure – that may be grounded when the equipment is installed shall
not be less than 6.4 mm (1/4 inch).
29.2.4 Spacing between uninsulated live parts, regardless of polarity, and between an uninsulated live
part and a dead metal part, other than the enclosure, that may be grounded when the equipment is
installed shall not be less than 0.8 mm (1/32 inch) if the construction is such that spacings will be
permanently maintained.
29.3 Other than safety circuits
29.3.1 The spacings between bare live parts connected to separate low-voltage, Class 2 circuits shall not
be less than 0.8 mm (1/32 inch) through air and over the surface of insulating material.
29.3.2 The spacings within a low-voltage Class 2 circuit, other than a safety circuit, are judged on the
basis of a dielectric voltage-withstand test. See 66.1.2 and 66.1.3.
29.4 Isolated limited-energy secondary circuits (100 VA or less)
29.4.1 If short-circuiting of parts in a safety circuit of an isolated limited-energy secondary circuit can
cause the controlled equipment to result in a risk of fire, electric shock, or injury to persons, then the
spacings shall be as specified in Table 29.1, Column A or B; otherwise Table 29.3 shall apply.
Table 29.3
Minimum spacings in safety circuits in isolated limited-energy secondary circuits
Potential involved (volts)

Spacing between uninsulated live parts and: 0 – 600
mm (inch)
A. Exposed isolated (insulated) dead metal part Through air 3.2 (1/8)
Over surface 6.4 (1/4)
B. Grounded dead metal part other than the enclosure Through air 1.6 (1/16)
C. Uninsulated live part of opposite polarity Through air 1.6 (1/16)
D. Wall of metallic enclosure Through air 6.4 (1/4)
29.4.2 Spacing between uninsulated live parts of opposite polarity and between such parts and dead
metal that may be grounded in service is not specified for an isolated limited-energy secondary circuit. The
spacing is based on acceptable performance of applicable dielectric voltage-withstand and abnormal
operation tests.
29.5 Controlled environment circuits
29.5.1 The requirements in 29.7.1 – 29.7.4 apply to equipment that is:
a) Intended for use in a controlled environment and so marked in accordance with 91.12; or
b) Provided with a NEMA Type 12 enclosure, or equivalent, or a filter system that affords the
same degree of protection from environmental contamination.
29.6 Wet locations and other environmental considerations
29.6.1 Equipment intended for use in wet locations shall be designed and constructed to prevent water
entry if a risk of fire, electric shock, or injury to persons could result. Similarly, use with oil or other
contaminates shall be evaluated based on the intended application.
29.7 Terminals and other circuits
29.7.1 The spacings between field-wiring terminals of opposite polarity and the spacings between a
field-wiring terminal and any other uninsulated metal part (dead or alive) not of the same polarity shall not
be less than the applicable value specified in Table 29.4.
Table 29.4
Minimum acceptable spacings at field-wiring terminals
Between field- wiring Minimum spacings, mm (inch)

terminals, through air or Between field- wiring Between field-wiring terminals and other uninsulated
over surface terminals, through air or parts not always of the same polarity
over surface Over surface Through air
0 ≤ v ≤ 50 3.2 (1/8)a 3.2 (1/8)a 3.2 (1/8)a
50 < v ≤ 250 6.4 (1/4) 6.4 (1/4) 3.2 (1/8)a
250 < v ≤ 600 12.7 (1/2) 12.7 (1/2) 9.5 (3/8)
v > 600 See Table 29.5 See Table 29.5 See Table 29.5
a For a terminal in a safety circuit, Table 29.1, footnote c applies.
29.7.2 In primary circuits other than at field-wiring terminals, the spacings between uninsulated live parts
of opposite polarity and between an uninsulated metal part (dead or live) not of the same polarity shall not
be less than indicated in Table 29.5 – see also 29.7.3. If an uninsulated live part is not rigidly fixed in
position by a means other than friction between surfaces or if a movable dead metal part is in proximity
to an uninsulated live part, the construction shall be such that the minimum acceptable spacings specified
in Table 29.5 will be maintained regardless of the position of the movable part.
Table 29.5
Spacings in motors and in primary circuits other than at field-wiring terminals
Potential involved, volts rms (peak) Minimum spacings, mm (inch)f

Over surface Through air
0 – 50 (0 – 70.7) 1.2 (3/64) 1.2 (3/64)
51 – 125 (72.1 – 176.8) 1.6 (1/16) 1.6 (1/16)
126 – 250 (178.2 – 353.5) 2.4 (3/32) 2.4 (3/32)
251 – 600 (354.9 – 848.4) 12.7 (1/2)a,b 9.5 (3/8)a,b
601 – 3000 (849.8 – 4242.0)e 19.1 (3/4)b,c,d 19.1 (3/4)b,c,d
3001 – 5000 (4243.4 – 7070.0)e 25.4 (1)c,d 25.4 (1)c,d
5001 – 10000 (7071.4 – 14140.0)e 38.1 (1-1/2)c 38.1 (1-1/2)c
28.6 (1-1/8)d 28.6 (1-1/8)d
10001 – 15000 (14141.4 – 21210.0)e 38.1 (1-1/2)c,d 38.1 (1-1/2)c,d
aFilm-coated wire is to be considered as if it were an uninsulated live part. However, 12.7 mm (1/2 inch) and greater spacings
over the surface and through the air are acceptable between dead metal parts and film-coated wire that is rigidly supported
and held in place on a coil.
b On printed-wiring boards and their connectors wired on the load side of line filters (or similar voltage-peak reduction
networks and components), 2.4 mm (3/32 inch) plus 0.005 mm (0.0002 inch) per volt peak spacings over the surface and
through the air are acceptable between uninsulated live parts and any other conductive parts (live or dead) not of the same
polarity.
c Between uninsulated high-voltage parts, and
1) Insulated high-voltage parts of opposite polarity or of different potentials,
2) Grounded metal parts, and
3) Uninsulated primary circuit parts.
d Between uninsulated high-voltage parts, and
1) Insulated primary-circuit parts, and
2) Insulated high-voltage parts of opposite polarity or of different potentials.
e Applies to internal circuitry.

fFor additional spacing requirements in safety circuits up to 600 V, refer to Table 29.1, footnote d. Spacing requirements for
higher voltage safety circuits are under consideration.
29.7.3 Primary-circuit spacings apply in all secondary circuits that are safety circuits and in all secondary
circuits supplied by a transformer winding of a 200 VA or higher capacity (maximum available power) at
a potential higher than 100 V. Except as noted in 29.8, the spacings in all other secondary circuits that
are not safety circuits are judged on the basis of the Dielectric Voltage-Withstand Test, Section 66.
29.7.4 With reference to 29.7.3, an isolated internal secondary circuit is considered to have less than a
200 VA capacity starting at any point beyond:
a) A reliable limiting impedance that limits the available power to less than 200 VA under all
conditions; or
b) A fuse or other overcurrent-protective device other than an automatically reset type having a
current rating in amperes not exceeding:
in which:
Vmax is the open-circuit voltage of the secondary in question in volts rms with the primary
connected to maximum rated voltage.
Maximum available power is to be measured using a variable resistor connected in place of the circuit in
question. For a transformer having multiple secondary windings, all measurements on one
secondary-winding circuit are to be made with all other windings unloaded.
29.8 Controlled-environment secondary circuits
29.8.1 Secondary circuits – other than safety circuits – shall be evaluated in accordance with 29.8.2 –
29.8.8 if in equipment intended for installation in a controlled environment or provided with:
a) A gasketed enclosure;
b) A tight-fitting enclosure that has been investigated for the purpose; or
c) A filter system that provides the same degree of protection from environmental
contamination.
29.8.2 Circuits supplied by a single source consisting of an isolating transformer, or a battery need not
be investigated for spacings with regard to the risk of electric shock and fire if the open-circuit potential is
not more than 42.4 V peak and the energy available to the circuit is limited:
a) So that the current under any condition of load including short circuit is limited by;
1) Construction of the battery or isolating transformer, or
2) Construction or value of a fixed impedance or reliable regulating network to not more

than 8 A measured after 1 minute of operation; or
b) By a fuse or a nonadjustable manually reset circuit-protective device that is rated or set at

not more than the values specified in Table 29.6.
Table 29.6
Rating for fuse or circuit protector
Open-circuit potential, Current rating,

peak volts amperes
0 – 21.2 5
21.3 – 42.4 3.2
29.8.3 The voltage limit specified in 29.8.2 is to be measured with the equipment, the power supply, or
the transformer primary connected to rated voltage (see Table 44.1) and all load circuits disconnected
from the battery, transformer, or the power supply under test. The measurement may be made at the
output terminals of the battery, transformer, or power supply. If a tapped transformer winding is used to
supply a full-wave rectifier, the voltage measurement is to be made from each end of the winding to the
tap.
29.8.4 If the performance of a regulating network used to limit the voltage or current in accordance with
29.8.2(a) may be adversely affected by either a short circuit or open circuit of any single component in the
network, the likelihood of such an occurrence is to be determined by investigation of that component.
29.8.5 In a circuit of the type described in 29.8.2, the secondary winding of the transformer, the fuse or
circuit-protective device, or the regulating network and all wiring up to the point at which the current and
voltage are limited are to be judged under the applicable requirements of this standard, except for
spacings.
29.8.6 Secondary circuits as defined in 29.8.2 may be connected to the frame of the unit.
29.8.7 If the frame is used as a current-carrying part of a secondary circuit, a hinge or other movable part
shall not be relied upon as a current-carrying means.
29.8.8 A circuit supplied from a Class 2 transformer rated at 30 V rms sinusoidal or less need not be
investigated.
30 Field Wiring Space
30.1 Except as noted in 30.2 and 30.3, the field wiring space within an enclosure shall provide ample
room for the distribution of wires and cables as specified in Table 30.1.
Table 30.1
Field wiring space
Conductor size Minimum usable volume

per conductor
mm2 (AWG) cm3 (inch3)
2.1 and smaller (14 and smaller) 33 (2)
3.3 (12) 37 (2.25)
5.3 (10) 41 (2.5)
8.4 (8) 49 (3)
13.3 (6) 82 (5)
30.2 As an alternative to the volume specified in Table 30.1, a trial installation may be made to determine
that ample room is provided for the distribution of wires and cables required for the proper wiring of the
robotic equipment. However, wire-bending space shall be provided in accordance with 30.4 and 30.5.
30.3 To determine if the robotic equipment complies with 30.2, it is to be wired as it would be in service,
and in doing so, a reasonable amount of slack is to be left in each conductor. No more than average care
is to be exercised in stowing this slack into the wiring compartment. The wiring shall not bear against
sharp projections or edges that may damage the insulation.
30.4 The wire-bending space within the enclosure of a controller shall be in accordance with Table 30.2.
Bending space is to be measured in a straight line from the end of the lug, connector, or terminal to the
wall or barrier, in the direction the wire leaves the terminal.
Table 30.2
Minimum wire-bending space at terminals of enclosed controllers
Conductors size Bending space, mm (inch) wires per terminal

mm2 (AWG or MCM) 1 2
2.1 – 5.3 (14 – 10) Not specified –
8.4 – 13.3 (8 – 6) 38 (1-1/2) –
21.2 – 26.7 (4 – 3) 51 (2) –
33.6 (2) 64 (2-1/2) –
42.4 (1) 76 (3) –
53.5 (1/0) 127 (5) 127 (5)
67.4 (2/0) 152 (6) 152 (6)
85.0 – 107.2 (3/0 – 4/0) 178 (7) 178 (7)
127 (250) 203 (8) 203 (8)
152 (300) 254 (10) 254 (10)
177 – 253 (350 – 500) 305 (12) 305 (12)
304 – 355 (600 – 700) 356 (14) 406 (16)
380 – 456 (750 – 900) 457 (18) 483 (19)
NOTE – If provision for three or more wires per terminal exists, the minimum wire-bending space shall be in accordance with
the National Electric Code, ANSI/NFPA 70.
30.5 Any supplementary terminal supplied with the controller shall be of a type identified by the
manufacturer for use with the product, and shall not reduce the minimum wire-bending space.
31 Separation of Circuits
31.1 Insulated conductors shall be segregated or separated by barriers from:
a) Each other if used in different internal wiring circuits; and
Exception: Conductors provided with insulation acceptable for the highest voltage involved need
not be separated or segregated.
b) Uninsulated live parts connected to different circuits.
31.2 Segregation of insulated conductors may be accomplished by clamping, routing, or equivalent

means if permanent separation from insulated or uninsulated live parts of a different circuit is provided.
31.3 Field-installed conductors of any circuit shall be segregated or separated by barriers from:
a) Field-installed and factory-installed conductors connected to any other circuit, unless the
conductors of both circuits are insulated for the maximum voltage of either circuit.
b) Uninsulated live parts of any other circuit of the equipment,and from any uninsulated live
parts the short-circuiting of which may result in a risk of fire or electric shock.
31.4 In accordance with 31.3(a), if the intended uses of the equipment are such that in some applications
a barrier is required while in some other applications no barrier is required, a removable barrier or one
having openings for the passage of conductors may be employed. Instructions for the use of such a
barrier shall be a permanent part of the equipment. Complete instructions in conjunction with a wiring
diagram may be acceptable in place of a barrier if, upon investigation, the combination is found to be
acceptable.
31.5 Field-installed conductors may be segregated from each other and from uninsulated live parts of the
device connected to different circuits by arranging the location of openings in an enclosure for the various
conductors – with respect to the terminals or other uninsulated live parts – so that there is no likelihood
that intermingling of the conductors or parts of different circuits can occur.
31.6 With reference to 31.5, if the number of openings in the enclosure does not exceed the minimum
required for the intended wiring of the robotic equipment, and if each opening is located opposite a set of
terminals, it is to be assumed that a conductor entering an opening will be connected to the terminal
opposite that opening. If more than the minimum number of openings are provided, the possibility of a
conductor entering an opening other than the one opposite the terminal to which it is intended to be
connected and the likelihood of it contacting insulated conductors or uninsulated current-carrying parts
connected to a different circuit is to be investigated.
31.7 To determine if the robotic equipment complies with 31.3, it is to be wired as intended for service
with a reasonable amount of slack left in each conductor within the enclosure and not more than average
care is to be exercised in stowing the slack into the wiring compartment.
32 Use with Lasers, X-Radiation
32.1 Equipment which employs laser- or x-radiation (such as cathode-ray tube monitors or other
x-radiation sources) shall be provided with documentation of compliance, as applicable, with the Federal
requirements 21 CFR Part 1040 (Lasers); or 21 CFR 1020 (Ionizing Radiation) of the Department of
Health and Human Services (DHHS). In addition to these Federal requirements, it may be necessary to
subject the end use equipment/system to supplemental evaluations to determine acceptability of risks in
accordance with Sections 82 and 83 that cover Component Analysis Test and Safety-Related Software
Analysis, respectively.
PROTECTION AGAINST INJURY TO PERSONS
33 General
33.1 The requirements in Sections 34 – 40 apply to the normal operation of robotic equipment which may
involve a risk of injury to persons.
33.2 There are risks of injury to persons inherent in some robotic equipment that, if completely eliminated,
would defeat the utility of the equipment. The requirements in this Section are intended to reduce such
risks, while retaining the intended function of the equipment.
34 Sharp Corners and Edges
34.1 An enclosure, a frame, a guard, a handle, or the like, shall not be sufficiently sharp to constitute a
risk of injury to persons in normal maintenance and use.
Exception: A part or portion of a part needed to perform a working function need not comply if a warning
statement is located in proximity to the affected part.
35 Moving Parts – Other Than the Robot Arm
35.1 A hinged or pivoted panel or cover shall be positioned or arranged such that it is not subject to falling
or swinging due to gravity or normal vibration that can cause injury to persons by the panel or cover, by
other moving parts capable of causing injury to persons, or by uninsulated live parts.
35.2 The rotor of a motor, a pulley, a belt, gears, a chain, a fan, or other moving part that could cause
injury to persons shall be enclosed or guarded to reduce the risk of unintentional contact with the moving
part.
35.3 A moving part within an integral enclosure that may involve a risk of injury to persons shall comply
with the requirements specified in Table 11.1, and shall be considered with respect to the:
a) Degree of exposure;
b) Sharpness of the moving part;
c) Likelihood of unintentional contact with it;
d) Speed of the moving part; and
e) Likelihood that fingers, arms, or clothing would be endangered by the moving part.
36 Moving Parts – Robot Arm
36.1 When drive power is available to the robot arm, a yellow or amber visual indicator shall be provided
on the manipulator to let others know that the robot is operating or motion is possible. A lamp that is used
as the visual indicator shall comply with the following:
a) The lamp mounting means shall not be a screw-in type, which may loosen as a result of the
effects of robot arm vibration; and
b) The lamp shall not be a filament-type due to the likely effects of robot arm vibration that may
cause premature filament failure.
Exception No. 1: If the robot is integrated into a system workcell, the indicator may be located – other than
on the manipulator – where it would be visible from various likely approaches or entry points to the system
workcell.
Exception No. 2: A lamp located other than on the manipulator need not comply with (a) and (b).
Exception No. 3: When a robot is intended to be used in areas that are subject to high levels of process
contaminants that could substantially reduce the visibility of the lamp, or if a supplemental covering is
applied to protect the lamp against process contaminants, the lamp may be mounted outside the workcell.
See also 92.6. In all cases, a lamp must be provided with the robot.
36.1 effective December 7, 2009
36.2 A means, such as mechanical, electrical, or the like, shall be provided to limit the motion of the robot
arm. When mechanical stops are provided, they shall be capable of stopping the motion of the robot under
rated load, maximum speed conditions and at maximum extension. See Endurance Test, Section 58, and
Component Analysis Test, Section 82, for the evaluation of electronic components.
36.3 The robot control system shall be provided with user-connected inputs, outputs, or both, that reliably
function to automatically stop the robot when safety gates, guards or the like are activated during robot
operation.
36.4 The robot control system shall be provided with a reliable means to prevent hazards associated with
dropping payloads, uncontrolled movement and the like caused by:
a) Activation of the emergency stop;
b) Loss of drive power (hydraulic, electrical, pneumatic, and the like). Unless it can be
demonstrated that a risk of fire, electric shock and injury to persons is unlikely, the control
system shall also be provided with a means not to restart (automatically) the robot when power
is restored; or
c) Failure to complete an intended motion.
36.5 Compliance with 36.4 shall be verified by the tests specified in Power Loss and Power Restoration
Test, Section 59, and Emergency Stop Operation Test, Section 60, and Abnormal Operation Test, 55.6.
36.6 The robot shall be designed and constructed so that each axis is capable of being moved
individually without using drive power. See Emergency Movement of Robot Arm Without Drive Power
Test, Section 62, and 92.2. Manual release of power actuated brakes, solenoids, and the like, without
drive power for emergency movement of robot axes, may be employed where weight counter-balancing,
mechanical stops (such as blocks, chocks, securement pins, supports), or equivalent means exist.
36.7 A brake release shall be protected against unintentional actuation. The brake release means shall
be readily accessible without the use of a key or special tools. Symbols shall identify each axis and
warnings shall be provided concerning hazards of dropping the robot arm.
36.8 Robot arms with rated payloads and end-effectors (if provided) which exert a force of greater than
156 N (35 lbf) during emergency movement without drive power, shall be provided with weight
counter-balancing, mechanical stops or equivalent means. The risk of injury to persons associated with
the payload and end-effectors (if provided) due to sharp edges, crush points, puncture points, and the like,
are to be considered.
37 Temperature
37.1 During the normal Temperature Test, Section 46, the maximum temperature of an enclosure
surface, handle, lever, button, or knob that is contacted by a user during normal operation shall not
exceed the temperatures specified in Table 46.1.
38 Mounting Devices
38.1 Equipment having a mass of more than 2.3 kg (5 lb) and relying on a mounting means other than
its own enclosure, if malfunction of the mounting means will result in a risk of injury to persons, shall be
subjected to the test described in Mounting Devices Test, Section 73.
39 Parts Subject to Pressure
39.1 A pressure vessel having an inside diameter more than 152 mm (6 inches), subjected to a pressure
more than 102 kPa (15 psig), and eligible to be covered by the National Board of Boiler and Pressure
Vessel Inspectors shall be marked in accordance with the appropriate boiler and pressure vessel code
symbol of the American Society of Mechanical Engineers (ASME) for a working pressure not less than the
pressure determined in accordance with 39.3.
39.2 A pressure vessel, because of its application, not covered by the scope of the inspection procedure
of the ASME code shall be constructed so that it complies with requirements in 39.3.
39.3 A part or an assembly that is subject to air or vapor pressure, including the vapor pressure in a
vessel containing only a superheated fluid, during normal or abnormal operation, shall be tested as
applicable, per Parts Subject to Pressure Tests, Section 74.
39.4 A vessel having an inside diameter of more than 76 mm (3 inches) and subject to air or steam
pressure generated or stored within the robotic equipment shall be protected by a pressure-relief device.
40 Pressure-Relief Devices
40.1 A means for safely relieving pressure shall be provided for a part in which pressure might be
generated by an external source of heat.
40.2 A pressure-relief device, a fusible plug, a soldered joint, nonmetallic tubing, or other equivalent
pressure-relief means may be employed to comply with the requirements in 40.1.
40.3 A pressure-relief device is considered to be a pressure-actuated valve or rupture member designed

to relieve excessive pressure automatically.
40.4 There shall be no shut-off valve between the pressure-relief means and the parts that it is intended
to protect.
40.5 The start-to-discharge pressure setting of a pressure-relief device shall not be higher than the
working pressure marked on the vessel. The discharge rate of the device shall be adequate to relieve the
pressure.
40.6 A pressure relief device shall:
a) Be connected as close as possible to the pressure vessel or part of the system that it is
intended to protect;
b) Be installed so that it is readily accessible for inspection and repair, and cannot be readily
rendered inoperative so that it will not perform its intended function; and
c) Have its discharge opening located and directed so that:
1) Operation of the device will not deposit moisture on bare live parts or on insulation
or components detrimentally affected by moisture, and
2) The likelihood of scalding persons is reduced.
40.7 A pressure-relief device having an adjustable setting is judged on the basis of the maximum setting
unless the adjusting means is reliably sealed at a lower setting.
40.8 A control that limits the pressure in a vessel required to have a pressure-relief device shall be
subjected to the test described in Pressure-Relief Devices Test, Section 75.
41 Protection of Users and Service Personnel
41.1 General
41.1.1 The requirements in this section do not apply to live parts in low-voltage circuits as defined in 2.12.
41.1.2 Live parts shall be arranged and covers located so that persons are not likely to be exposed to a
risk of electric shock while removing and replacing a cover.
41.1.3 Live parts shall be:
a) Recessed at least 3.2 mm (1/8 inch) from the plane of the front of the fixed portion of an
enclosure;
b) Recessed at least 3.2 mm (1/8 inch) from the front edge of a wiring compartment, in the
case of equipment mounted to the face of a wiring compartment; or
c) Provided with equivalent protection by projections or guards.
41.1.4 To determine whether live parts that are recessed or protected in accordance with 41.1.3 comply
with the requirement in 41.1.2, the cover is to be removed and replaced to determine if live parts can be
contacted.
41.1.5 Unless a cover complies with the requirements for hinged covers in 7.4.2 – 7.4.5, and unless all
live parts are protected as specified in 41.1.6, a handle, knob, or other manual operating means shall be
arranged so that it can be operated from outside the enclosure. The position of such an operating means
shall be marked, if necessary, as a guide for proper operation. See 88.13.
Exception: Robotic equipment that involves manual operations that may be performed by a user only at
the time of installation, during a servicing procedure, or seasonally, need not comply if it complies with the
requirements in 41.1.6, 41.2.2, 41.4.2, and 41.5.4. The requirements in Current-Carrying Parts, Section
19, apply in any case.
41.1.6 An uninsulated live part or a moving part capable of causing injury to persons shall be located,
guarded, or enclosed so as to reduce the likelihood of contact with such part by a person while changing
a lamp or fuse, lubricating a motor, adjusting a control, or during other normal operations, including those
performed only at the time of installation, during a servicing procedure, or seasonally.
41.1.7 A live heat sink for a solid-state component, a live relay frame, and the like, shall comply with
41.1.6 and unless the robotic equipment is marked in accordance with 91.9, shall also be guarded to
reduce the likelihood of contact by persons, regardless of the location of the parts.
Exception: As provided in 41.1.9 and 41.1.10.
41.1.8 With reference to the requirement in 41.1.7, the size, shape, material, and color give a heat sink
or relay frame the appearance of a dead metal part. Other live parts that can be mistaken as being dead
parts are to be judged similarly.
41.1.9 A guard, baffle, or cover that can be removed without a tool is to be removed when determining
whether a part is exposed to contact by a user. A part that can be contacted by a 9.5 mm (3/8 inch)
diameter rod having a hemispherical end inserted through an opening in a permanently attached guard or
baffle for a distance of 102 mm (4 inches) is considered to be accessible for the purpose of protecting
persons. Also see Exception No. 2 to 11.1.
41.1.10 A part on the back side of a component mounting panel or located so that major disassembly by
using a tool is necessary to expose it is not considered to be exposed to a service person unless it is likely
that servicing will be performed while the part is energized after disassembly.
41.1.11 If a marking or an operating instruction refers a user to a hole or opening in an enclosure through
which a tool is to be inserted for adjustment or a similar purpose, it shall not be possible to contact an
uninsulated live part through the hole or opening with a 1.6 mm (1/16 inch) diameter rod.
41.2 Robot control
41.2.1 General
41.2.1.1 A switch shall be located or guarded so that unintentional robot arm movement is unlikely.
41.2.2 Emergency stop
41.2.2.1 An emergency stop button shall be provided on the control panel and shall be readily visible.
Proper space shall be provided around the control panel so that the operator can easily activate the
emergency stop button.
41.2.2.2 The emergency stop button shall be red in color with a yellow background; palm or mushroom
head type; unguarded; and of the latched type or equivalent so that it is not possible to restart the robot
until the emergency stop button is manually reset. Restarting of the robot shall only be possible by
operating the start control after the emergency stop switch has been reset.
41.2.2.2 effective December 7, 2009
41.2.2.3 If there is more than one normal working or control location, each location shall be provided with
an emergency stop button.
41.2.2.4 Every robot shall have an emergency stop circuit using hardware-based components. The
emergency stop shall override all other robot controls, remove drive power from the robot actuators, and
cause all moving parts to stop.
41.2.2.5 Maximum stopping distance and time of the manipulator arm operating with highest rated
payload at maximum speed shall be identified in the manufacturer’s instructions under normal conditions
after the emergency stop has been pressed. See Emergency stop, 61.2, and 92.2.
41.2.2.6 Each operator control station, including pendants, capable of initiating robot motion, shall have
an emergency stop device.
41.2.2.7 Provision shall be made within the emergency stop circuit to include additional emergency stop
devices.
41.2.2.8 Provision shall be made within the emergency stop circuit to include hardware based output
signals.
41.3 Actuating controls
41.3.1 Actuating controls shall include an indication of the operating status.
41.3.2 A robot that can be controlled from a remote location shall have means that, when used, shall
prevent the initiation of robot motion from a remote location.
41.4 Robot teach mode
41.4.1 When in the teach mode, it may be necessary for the teacher to approach the robot. The maximum
speed of the robot arm in teach mode shall be automatically and reliably restricted to 250 mm/sec (10
inch/sec) at the end of arm tooling point (mounting flange surface) or end-effector, if provided. See 64.1.
41.4.2 When in the teach mode, a robotic system shall be designed and constructed so that in the event
of any single reasonably foreseeable malfunction, robot speed shall not exceed the slow speed velocity
limits. See Teach Mode Slow Speed Measurement, 82.1.1.
41.4.3 The teach mode shall be interlocked so that other modes of operation, such as automatic
operation, cannot be activated.
41.4.4 When in the teach mode, the robot controller shall detect a singularity during coordinated motion
initiated from the teach pendant and shall either:
a) Stop robot motion and alert the teacher prior to motion of any part of the robot that exceeds
250 mm/s (10 inch/sec); or
b) Further reduce (or correct) the speed of the robot motion during the singularity so that no
part of the robot exceeds a speed of 250 mm/s (10 inch/sec).
41.4.4 effective December 7, 2009
41.5 Teach pendant
41.5.1 It shall not be possible to place the robot into automatic mode using the pendant exclusively.
41.5.2 An emergency stop button shall be provided on the teach control pendant as described in 41.2.2.
41.5.3 During teach or programming each control button on the teach pendant shall stop robot motion
when the operator releases the control button.
41.5.4 An enabling device shall be provided on the teach pendant. During manual motion control,
including teach mode, robot motion shall stop when the operator releases or compresses the enabling
device from its normal operating position.
41.5.5 Maximum stopping distance and time of the manipulator arm operating with highest rated payload
at maximum teach speed shall be identified in the manufacturer’s instructions under normal conditions
after the emergency stop has been pressed. See Teach mode, 61.1, and 92.2.
41.5.6 The teach control pendant shall be provided with a length of flexible cord that permits teaching
outside the work envelope.
41.5.7 Single point of control – When the robot is placed under pendant control, initiation of robot motion
shall be prevented from any source except the one pendant.
41.6 Robot system workcell protection
41.6.1 General
41.6.1.1 The robot or robotic system shall be provided with safeguards. The means and degree of
safeguarding, including the reliability of the safeguarding shall correspond directly to the assessed risk,
consistent with the robot application. Safeguarding may include, but not be limited to presence-sensing
safeguarding devices, barriers, awareness barriers, awareness signals, designated procedures and
training.
41.6.1.2 Presence-sensing safeguarding devices: If presence-sensing safeguarding devices are used,

they shall comply with the following requirements:
a) Presence-sensing safeguarding devices shall be designed, constructed and applied such

that any single component failure, including output devices, shall result in a stop or not prevent
the normal stopping action of the robot and associated equipment that could cause injury to
persons, and shall prevent robot automatic operation until the component failure has been
corrected.
b) Presence-sensing safeguarding devices shall be interfaced with the robot control system
such that the detection of an intrusion shall cause immediate stopping action of hazardous
motion within the work envelope and shall prevent automatic operation.
c) The sensing field of the presence-sensing safeguarding device shall be located at a distance
from the safeguarded hazard so that the hazard cannot be reached before motion stops.
41.6.1.3 Presence-sensing safeguarding devices shall be designed, constructed and installed so that
intended operation is not adversely affected by ambient factors.
41.6.1.4 Resumption of robot motion after a sensing-field violation shall require:
a) Removal of the sensing-field violation; and
b) The deliberate activation of the controls when entry into work envelope does not cause a
continuous violation of the sensing field.
41.6.1.5 A barrier shall prevent personnel from reaching the work envelope. Should access be required
through the barrier into the work envelope, it shall be only through an interlocked access or other means
which provides the equivalent level of safety and reliability. Opening of the interlocked access shall either:
a) Stop the robot and remove drive power to the robot actuators; or
b) Stop automatic operation of the robot and any other associated equipment that may cause
injury to persons.
To restore automatic operation the following shall be required:
c) Exiting the restricted envelope;
d) Restoration of safeguards required for automatic operation; and
e) Initiation of deliberate start-up procedure.
The interlock mechanism shall be designed, constructed and installed such that any single component
failure shall result in a stop or not prevent the normal stopping action of the robot, and shall prevent
automatic operation until the component failure has been corrected. The interlocked portion of the barrier
shall be installed, applied, and maintained so that it has the capability of being easily unlocked by a single
motion without the use of tools from the inside of the safeguarded space, with or without power available,
when the possibility of full body access exists.
41.6.2 Provisions for redundancy
41.6.2.1 By providing partial or complete redundancy it is possible to minimize the probability that one
single failure in the electrical circuit can give rise to a hazard. Redundancy can be effective in normal
operation (i.e., on-line redundancy) or designed as special circuits which take over the protective function
(i.e. off-line redundancy) only where the operating function fails.
41.6.2.2 Where off-line redundancy (which is not active during normal operation) is used, suitable
measures shall make these control circuits available when required.
41.6.3 Use of diversity
41.6.3.1 The use of control circuits having different principles of operation or differing types of devices
may reduce the probability of faults and failures giving rise to hazards. Examples include:
a) the combination of normally open and normally closed contacts operated by interlocking
guards;
b) the use of different types of control circuit components in the circuit;
c) the combination of electromechanical and electronic circuits in redundant configurations; and
d) the combination of electrical and non-electrical systems (e.g., mechanical, hydraulic,

pneumatic) may perform the redundant function and provide the diversity.
41.6.4 Workcell emergency stop
41.6.4.1 An emergency stop button shall be provided at each workcell operating station that, when
depressed, stops all hazardous motion within the protected area. The emergency stop button shall comply
with 41.2.2.1 – 41.2.2.8.
Exception: Where pheripheral non-robotic motions are present within the protected area of the robotic
workcell, more than one emergency stop button can be provided when all of the following are met:
a) A single emergency stop button stops all robot motion in accordance with 41.2.2;
b) One or more additional emergency stop buttons that comply with 41.2.2.1 – 41.2.2.3 are
provided to stop hazardous motion from specified peripheral non-robotic equipment within the
workcell; and
c) Each emergency stop button shall be marked to indicate the specific equipment controlled by
the stop button.
41.7 Servicing of robotic equipment – General
41.7.1 With hydraulic or pneumatic systems, there shall be a mechanism to dump pressure from the
accumulator prior to performing any servicing of the robot. Similarly, a means shall be provided to
dissipate stored energy in systems powered by other sources prior to robot servicing. The robot control
panel(s) shall be provided with indication that the robot is being serviced.
41.7.2 If, during maintenance or repair, it becomes necessary to bypass any safeguards, alternative
safeguarding shall be provided; and the bypass method shall be identified. The bypass safeguards shall
be returned to their original effectiveness when the maintenance task is complete.
41.8 Mechanical servicing
41.8.1 The requirements in 41.1.6 are intended to provide a reasonable degree of protection to a service
person performing a mechanical function on energized equipment. Such a service function does not in
itself cause exposure to live parts or moving parts capable of causing injury to persons, but it is commonly
necessary to perform the function with the equipment energized.
41.8.2 An uninsulated live part or a moving part capable of causing injury to persons shall be located,
guarded, or enclosed so as to reduce the risk of unintentional contact by a service person adjusting or
resetting a control, or performing a mechanical service function that may have to be performed with
equipment energized.
41.8.3 Mechanical service functions that may have to be performed with equipment energized include
operating a valve or connecting a fitting that may be necessary during charging or adjusting a pneumatic
system, adjusting the setting, resetting a control trip mechanism, operating a manual switch, or lubricating
a motor. A control that has the set point sealed at the factory and that does not have marking or
instructions for adjustment is not considered to be adjustable.
41.8.4 The requirements in 41.8.2 do not apply to a mechanical service function that is not normally
performed with equipment energized.
41.8.5 An adjustable or resettable electric control or manual switching device may be located or oriented
with respect to uninsulated live parts so that manipulation of the mechanism for adjustment, resetting, or
operation can be accomplished in the normal direction of access if uninsulated live parts are:
a) Not located in front – in the direction of access – of the mechanism; and
b) Are not located near any side or behind the mechanism, unless guarded.
41.9 Electrical servicing
41.9.1 Clearance, Section 9, 41.1.6 and 41.8.1 require that certain electrical components within an overall
assembly be so located that adequate space is provided for working on the components while the
equipment is energized.
41.9.2 An electrical component that may need to be examined, adjusted, serviced, or maintained while
the equipment is energized shall be located and mounted with respect to other components and with
respect to grounded metal parts so that it is accessible for electrical servicing without subjecting a service
person to a risk of electric shock or to a risk of injury to persons by adjacent moving parts. Access to a
component shall not be impeded by other components or by wiring.
41.9.3 Compliance with 41.9.2 may be obtained by mounting control components in an assembly so that
unimpeded access to each component is provided through an access cover or panel in the outer cabinet,
if provided, and the cover of the control assembly enclosure.
41.9.4 Electrical components to which 41.9.2 and 41.9.3 apply include fuses, adjustable or resettable
overload relays, manual or magnetic motor controllers, magnetically operated relays, adjustable or
resettable pressure or temperature controllers, manual switching devices and clock timers. Such
components in a limited-energy circuit of 42.4 V peak or less shall comply with the requirements in 41.9.2
in their relation to bare live parts in a circuit of greater energy level and to moving parts capable of causing
injury to persons.
41.9.5 The following are not considered to be uninsulated live parts:
a) Coils of controllers, relays and solenoids, and transformer windings, if the coils and windings
are provided with acceptable insulating overwraps at least 0.8 mm (1/32 inch) thick, or the
equivalent;
b) Enclosed motor windings;
c) Terminals and splices with acceptable insulation; and
d) Insulated wire.
42 Batteries and Battery Circuits
42.1 General
42.1.1 A battery, batteries and battery packs, shall comply with the requirements in this Section, and the
Battery and Battery Circuit Tests – Electrical, Section 52.
42.2 Battery terminals
42.2.1 The terminals of a battery shall be protected or located so they cannot be inadvertently short
circuited during installation, replacement, or while in service.
42.3 Lithium battery circuits
42.3.1 A lithium battery circuit, a primary or secondary circuit that obtains power from lithium batteries,
shall comply with the:
a) Requirements in the Standard for Lithium Batteries, UL 1642; and
b) Primary-circuit requirements in this Standard or secondary circuit requirements in 52.1 and

52.2.
42.4 Nonlithium battery circuits
42.4.1 A nonlithium battery circuit (a primary or secondary circuit that obtains power from rechargeable
or nonrechargeable) nonlithium batteries, shall comply with the:
a) Primary nonrechargeable or secondary rechargeable/nonrechargeable requirements in

Battery and Battery Circuit Tests – Electrical, Section 52; and
b) Primary circuit requirements in this Standard or with the secondary circuit requirements in
this section.
43 Accessories and Attachments
43.1 Operation of the robot with an accessory or an attachment recommended by the manufacturer shall
not increase the risk of injury to persons, fire or electrical shock.
PERFORMANCE
44 General
44.1 The performance of a robot and/or robotic equipment shall be investigated by subjecting a
representative sample or samples to the tests described in Sections 45 – 83, as applicable. Consideration
shall be given to heat-sink construction, solid-state-device ratings, and other construction criteria in
selecting samples for testing that are representative of a line of similarly constructed equipment.
44.2 Unless otherwise noted, tests shall be conducted at rated frequency and at the test potential
Table 44.1
Values of voltage for tests
Test Voltage rating of equipment and corresponding test potential, voltsa Standard
Clause
110 – 120 220 – 240 254 – 277 440 – 480 550 – 600 number
Power Input 120 240 277 480 600 45
Temperature 120 240 277 480 600 46
Overvoltage, ac or dc 132 264 305 528 660 47
Undervoltage, ac 102 204 235 408 510 47
Undervoltage, dc 96 192 222 384 480 47
Leakage Current 120 240 277 480 600 48
Use with Water 120 240 277 480 600 49
Maximum Low Voltage Measurement 120 240 277 480 600 51
Battery (Overcharge, Low Voltage) 120 240 277 480 600 52
Interconnecting Cords and Cables 120 240 277 480 600 54
Abnormal Operation 132 264 305 528 600 55
Component Breakdown 132 264 305 528 660 56
Overload 132 264 305 528 660 57
Endurance 120 240 277 480 600 58
Power Loss and Restoration 120 240 277 480 600 59
Emergency Stop 120 240 277 480 600 60
Gripper 120 240 277 480 600 63
Teach Mode Slow Speed 120 240 277 480 600 64
Measurement
Effect of Voltage Transient 120 240 277 480 600 65
Burnout 132 264 305 528 660 67
Flexing 120 240 277 480 600 70
Component Analysis 132 264 305 528 660 82
aIf the rating of the equipment does not fall within any of the indicated voltage ranges, the equipment is to be tested at its rated
voltage except for the overvoltage and undervoltage tests. See 47.2.
45 Power Input Test
45.1 The power input to the robotic equipment shall not exceed the marked rating by more than 10
percent when it is operated under the conditions of normal use while connected to a supply circuit as
45.2 The robot is to be operated through the work envelope with its rated load capacity.
45.3 The robot is to be operated at 125 percent of rated load capacity to determine ampacity of
conductors [see 20.1.1(d)], or be prevented from operation by overload protection means (see Overload
Test, Section 57).
46 Temperature Test
46.1 When tested as described in this section, the robotic equipment shall not attain a temperature at any
point sufficiently high to:
a) Constitute a risk of fire;
b) To damage any materials employed in the equipment; or
c) To exceed the temperatures specified in Table 46.1.
Table 46.1
Maximum temperature limits
Materials and components °C (°F)

A. INSULATION SYSTEMS
1. Insulation system on coil windings of an a-c motor having a frame diametera of 178 mm
(7 inches) or less, but not including a universal motor; and on vibrator coils:b,c
a) Class 105(A) insulation systems
In an open motor:
Thermocouple or resistance method 100 (212)
In a totally enclosed motor:
b) Class 130(B) insulation systems
In an open motor and on vibrator coils
2. Insulation systems on coil windings of an a-c motor having a frame diametera of more
than 178 mm (7 inches), of a d-c motor, and of a universal motorb
a) Class 105(A) insulation system
In an open motor:
Thermocouple method 90 (194)
Resistance method 100 (212)
b) Class 130(B) insulation system
In an open motor:
DISTRIBUTION

B. COMPONENTS
1. Capacitors:
a) Electrolyticd 65 (149)
b) Other typesd 90 (194)
2. Field-wiring terminale 75 (167)
3. Solid contacts, busses, and connecting barsl 90 (194)
4. Fuse clip 90 (194)
5. Printed-wiring boardf – –
6. Power-switching semiconductor (triac, SCR, or the like)g – –
7. Rectifier:
a) Seleniumh 75 (167)
b) Siliconh 100 (212)
8. Windings of a relay, solenoid, and coil (except motor coil windings and transformers)
with:
a) Class 105(A) insulation systems
b) Class 130(B) insulation systems:b,c
9. Sealing compoundi – –
10. Epoxyh 90 (194)
11. Transformer:
a) Class 105(A) insulation systems:
Resistance method
b) Class 130(B) insulation systems:c
12. Rubber- or thermoplastic-insulated wire and flexible cordh,j 60 (140)
C. ELECTRICAL INSULATION – GENERAL
1. Fiber employed as electrical insulation 90 (194)
2. Phenolic composition employed as electrical insulation or as a part the deterioration of
which could result in a risk of fire or electric shock:
a) Laminatedh 125 (257)
b) Moldedh 150 (302)
3. Varnished-cloth insulation 85 (185)
4. Other insulating materialsk – –
D. SURFACES
1. A surface upon which a unit may be placed or mounted in service, and surfaces that 90 (194)
may be adjacent to the unit when it is so placed or mounted
2. Any point on or within a terminal box or wiring compartment of permanently connected 90 (194)
equipment in which power-supply conductors are to be connected, including such
conductors themselves, unless the equipment is marked in accordance with 90.2
3. A handle, lever, button or knob that is contacted by the user during normal operationm:
Metallic surface 60 (140)
DISTRIBUTION

Nonmetallic surface 85 (185)
a This is the diameter, measured in the plane of the laminations of the circle circumscribing the stator frame, excluding lugs,
boxes, and the like, used solely for motor mounting, assembly, or connection.
b At a point on the surface of a coil where the temperature is affected by an external source of heat, the temperature
measured by means of a thermocouple may be 15°C (27°F) higher than that specified, provided that the temperature limit by
the resistance method is not more than that specified.
c Insulation systems operating at a temperature greater than their limits shall comply with the thermal aging requirements for
such insulation systems.

d A capacitor that operates at a temperature limit of more than 65°C (149°F) for an electrolytic type and more than 90°C
(194°F) for other types may be judged on the basis of its marked temperature limit. However, the measured temperature shall
not exceed the temperature rating of the capacitor based on a 25°C (77°F) ambient temperature.
e The temperature on a wiring terminal or lug is measured at the point most likely to be contacted by the insulation of a
conductor installed as in actual service.

fFor a printed-wiring board, the maximum acceptable temperature limit is the specified limit of the board minus an assumed
ambient of 25°C (77°F).
g For a power-switching semiconductor and the like, the maximum acceptable temperature limit on the case is the maximum
case temperature recommended by the semiconductor manufacturer.

h These limitations do not apply to compounds and components that have been investigated and found acceptable for a
higher temperature.
iThe maximum sealing-compound temperature, when corrected to a 25°C (77°F) ambient temperature, shall be 15°C (27°F)
less than the softening point of the compound as determined in accordance with the Test for Softening Point by the Ball-and
Ring Apparatus, ASTM E28.
jRubber-insulated conductors within a motor having a Class 105(A) system, rubber-insulated motor leads, and a rubber-
insulated flexible cord entering a motor may be subjected to a temperature limit of more than 60°C (140°F) if an acceptable
braid is employed on each individual conductor. This does not apply to thermoplastic-insulated wires or cords.
k The acceptability of insulating materials other than those covered in Table 46.1 is to be determined with respect to
properties, such as flammability, arc-resistance, and the like, based on the operating temperature.
lIf contacts of any metal and their supporting blades, busses, and connecting bars attain a temperature greater than 90°C
(194°F) where a high ambient temperature or other external temperature prevails, or where affected by a bimetal heater or
other heat source in the assembly, the control shall perform acceptably when subjected to overload and endurance tests
conducted at the high temperatures involved.
Exception: Contacts of silver of a silver alloy that do not attain a temperature higher than 100°C (212°F) need not be subjected
to Overload and Endurance Tests conducted at the high temperature.
m The maximum temperatures specified do not apply to equipment intended specifically for use in an ambient temperature
exceeding 85°C (185°F).

n A nonmetallic handle, lever, button, knob, or the like, that is plated or clad with metal 0.13 mm (0.005 inch) thick or less is to
be judged as a nonmetallic part.
46.2 To determine if the robotic equipment complies with the Temperature Test requirements, it is to be
operated through the work envelope with rated load capacity continuously at the test potential specified in
Table 44.1 until temperatures are constant.
46.3 A protective device shall not trip during the Temperature Test.
46.4 Permanently connected robotic equipment is to be tested with 1.22 m (4 ft) of wire attached to each
field-wiring terminal. The wire is to be of the smallest size having an ampacity of at least 125 percent of
the test current for motor loads, continuous duty loads, and combination loads, and at least 100 percent
for other loads. Wire size is to be determined in accordance with the National Electrical Code, ANSI/NFPA
70. The size is to be based upon wire that is acceptable for a temperature of 60°C (140°F) for a rating of
100 A or less, and upon wire that is acceptable for 75°C (167°F) for a rating greater than 100 A. The type
of insulation is not specified.
46.5 Permanently connected robotic equipment is to be installed so that it is located as close to the wall
or corner as the construction will permit. Cord-connected equipment is to be placed on a horizontal
supporting surface and spaced 25 mm (1 inch) from a vertical wall surface of wood or comparable
material, unless the arrangement of ventilation and similar cooling factors is such that operation against
a wall, as compared with operation in the open, will not increase operating temperatures, or unless the
construction of the equipment is such that a spacing greater than 25.4 mm (1 inch) is maintained. Doors
and covers that may be closed during operation of the equipment are to be closed during the test.
46.6 All values in Table 46.1 are based on an assumed ambient temperature of 25°C (77°F), but a test
may be conducted at any ambient temperature within the range of 10 – 40°C (50 – 104°F). However, if
the operation of an automatic thermal control during the test limits the temperatures under observation,
no temperature shall exceed the specified temperature limit.
46.7 A short length of rubber- or thermoplastic-insulated flexible cord exposed to a temperature higher
than that for which it is rated, such as at terminals, is acceptable if supplementary heat-resistant insulation
having the necessary dielectric strength is employed on the individual conductors of the cord to reduce
the likelihood of deterioration of the conductor insulation.
46.8 Robotic equipment intended specifically for use with a prevailing ambient temperature constantly
more than 25°C (77°F) is to be tested at such higher ambient temperature, and the allowable temperature
limits specified in Table 46.1 are to be reduced by the amount of the difference between the higher
ambient temperature and 25°C.
46.9 If the robotic equipment is obviously not intended for continuous operation, the Temperature Test
may be conducted so that the probable intermittent or short-time operation is considered.
46.10 Other than at coils, temperatures are to be measured by thermocouples consisting of wires not
larger than 0.21 mm2 (24 AWG). See 46.15.
46.11 When thermocouples are used to determine temperatures in electrical equipment, it is common
practice to employ thermocouples consisting of 0.05 mm2 (30 AWG) iron and constantan wires and a
potentiometer-type instrument. Such equipment is to be used whenever referee temperature
measurements by thermocouples are necessary.
46.12 The thermocouples and related instruments are to be accurate and calibrated in accordance with
good laboratory practice. The thermocouple wire is to comply with the requirements for special tolerance
thermocouples specified in the Initial Calibration Tolerances for Thermocouples table in Temperature
Measurement Thermocouples, ANSI/ISA MC96.1.
46.13 A temperature is considered to be constant when three successive readings, taken at intervals of
10 percent of the previously elapsed duration of the test, but not less than 5-minute intervals, indicate no
change.
46.14 A thermocouple junction and adjacent thermocouple lead wire are to be securely held in good
thermal contact with the surface of the material under test. In most cases, good thermal contact results
from securely taping or cementing the thermocouple in place but, if a metal surface is involved, brazing
or soldering the thermocouple to the metal may be necessary.
46.15 The preferred method of measuring temperatures on coils is the resistance method, but
temperature measurements by either the thermocouple or resistance method are acceptable, except that
the thermocouple method is not to be used for a temperature at a point where supplementary heat
insulation is employed.
46.16 The thermocouple method consists of the determination of temperature by the application of
thermocouples to the hottest accessible parts.
46.17 The resistance method used in the determination of the temperature of a winding is to be
calculated by the following formula:
in which:
R is the resistance of the coil at the end of the test in ohms,
r is the resistance of the coil at the beginning of the test,
t1 is the room temperature in °C at the beginning of the test,
t2 is the room temperature in °C at the end of the test, and
k is 234.5 for copper, 225.0 for electrical conductor grade (EC) aluminum; values of the
constant for other conductors are to be determined.
46.18 As it is generally necessary to de-energize the winding before measuring R, the value of R at
shutdown may be determined by taking several resistance measurements at short intervals, beginning as
quickly as possible after the instant of shutdown. A curve of the resistance values and the time may be
plotted and extrapolated to give the value of R at shutdown. Instruments capable of measuring the winding
resistance while the equipment is energized may be used.
47 Overvoltage and Undervoltage Tests
47.1 The robotic equipment shall operate as intended when tested as described in 47.2 at the overvoltage
and undervoltage test voltages specified in Table 44.1.
Exception: If limits of operating voltage that may be marked on the unit nameplate in addition to the rated
voltage extend beyond the overvoltage and undervoltage values of Table 44.1, the test potential for the
overvoltage and undervoltage test is to be the marked value.
47.2 The robotic equipment is to be connected to a supply source maintained at the overvoltage until
constant temperatures are reached. The potential is then to be reduced to the normal test voltage. The
potential is to be maintained at the normal test voltage until the robotic equipment reaches constant
temperatures. The potential is then to be reduced to the undervoltage condition and the robot operated as
intended under this test condition.
48 Leakage Current Test
48.1 The leakage current of cord-and-plug-connected robotic equipment rated for a nominal 120-, 208-,
or 240 V supply when tested in accordance with 48.3 – 48.8 shall not be more than 3.5 mA for grounded,
3-wire, portable and stationary equipment employing a standard attachment plug rated 20 A, or less.
48.2 Leakage current refers to all currents, including capacitively coupled currents, that may be conveyed
between exposed conductive surfaces of the robotic equipment and ground or other exposed surfaces of
the equipment.
48.3 All exposed conductive surfaces are to be tested for leakage currents. Leakage currents from these
surfaces are to be measured to the grounded supply conductor individually as well as collectively if
simultaneously accessible, and from one surface to another if simultaneously accessible. Parts are
considered to be exposed surfaces unless they are guarded by an enclosure considered acceptable for
protection against the risk of electric shock. Surfaces are considered to be simultaneously accessible if
they can be readily contacted by one or both hands of a person at the same time. These measurements
do not apply to terminals operating at voltages that are not considered to involve a risk of electric shock.
If all accessible surfaces are bonded together and connected to the grounding conductor of the
power-supply cord, the leakage current can be measured between the grounding conductor and the
grounded supply conductor. If exposed dead metal parts of the equipment are connected to the neutral
supply conductor, this connection is to be open during the test.
48.4 If a conductive surface other than metal is used for the enclosure or part of the enclosure, the
leakage current is to be measured using a metal foil with an area of 10 by 20 cm (4 by 8 inches) in contact
with the surface. If the surface is less than 10 by 20 cm (4 by 8 inches), the metal foil is to be the same
size as the surface. The metal foil is not to remain in place long enough to affect the temperature of the
equipment.
48.5 The measurement circuit for leakage current for single phase equipment is to be as illustrated in
Figure 48.1. For 3-phase equipment, the leakage current shall be the sum of measurements from each
phase to neutral. The measurement instrument is defined in (a) – (c). The meter that is actually used for
a measurement need only indicate the same numerical value for a particular measurement as would the
defined instrument; it need not have all the attributes of the defined instrument.
a) The meter is to have an input impedance of 1500 ohms resistive shunted by a capacitance
of 0.15 microfarad.
b) The meter is to indicate 1.11 times the average of the full-wave rectified composite
waveform of voltage across the resistor or current through the resistor.
c) Over a frequency range of 0 – 100 kHz, the measurement circuitry is to have a frequency
response – ratio of indicated to actual value of current – that is equal to the ratio of the
impedance of a 1500-ohm resistor shunted by a 0.15-microfarad capacitor to 1500 ohms. At an
indication of 3.5 mA, the measurement is to have an error of not more than 5 percent at 60 Hz.
Figure 48.1
Leakage-current measurement circuits
48.6 Unless the meter is being used to measure leakage from one part of the equipment to another, the
meter is to be connected between the accessible parts and the grounded supply conductor.
48.7 A sample of the robotic equipment is to be tested for leakage current starting with the as-received
condition – as-received being without prior energization except as may occur as part of the production-line
testing. The grounding conductor, if any, is to be open at the attachment plug. The supply voltage is to be
in accordance with Table 44.1. The test sequence, with reference to the measuring circuit, Figure 48.1, is
to be as follows:
a) With switch S1 open, the equipment is to be connected to the measuring circuit. Leakage
current is to be measured using both positions of switch S2, and with the equipment switching
devices in all their normal operating positions.
b) Switch S1 is then to be closed energizing the appliance and within 5 seconds the leakage
current is to be measured using both positions of switch S2, and with the equipment switching
devices in all their normal operating positions.
c) The leakage current is to be monitored until thermal stabilization. Both positions of switch S2
are to be used in determining this measurement. Thermal stabilization is considered to be
obtained by operation as in the normal temperature test.
48.8 Normally a sample will be carried through the complete leakage-current-test programs described in
48.7, without interruption for other tests. With the concurrence of those concerned, the Leakage Current
Tests may be interrupted for the purpose of conducting other nondestructive tests.
49 Robots Intended for Use in Water Environments
49.1 Cord-and-plug connected equipment rated for a nominal 120, 208, or 240 V supply that is intended
for use in an environment that involves the presence of water, such as water jet cutting, glass beveling,
and polishing, shall comply with the requirements for Leakage Current Test, Section 48, following
exposure to 7 hours of water under the most severe intended mode of operating conditions, as stated in
the manufacturer’s user manual. At the conclusion of the leakage current measurement, a visual
inspection is to be performed if water entry may involve a risk of fire, electric shock, or injury to persons.
49.2 Permanently connected equipment shall be exposed to 7 hours of water under intended operating
conditions. At the conclusion, a visual inspection is to be performed if water entry may involve a risk of
fire, electric shock, or injury to persons.
50 Outdoor-Use Tests
50.1 A robot or robotic system intended to be used outdoors shall be evaluated to determine the effects
of anticipated environmental conditions to which they will be exposed. These include, but are not limited
to: Ultra-Violet Exposure and Rain Tests described in the Standard for Enclosures for Electrical
Equipment, UL 50.
51 Maximum Low Voltage Measurement
51.1 The maximum voltage on electrolytic capacitors in hazardous energy circuitry is to be determined to
judge operation within the marked rating under all of the following conditions of operation:
a) Any combination of fuses can be removed.
b) An automatic voltage-regulating device, assembly, or circuit is to be rendered inoperative.
Exception: This requirement does not apply when the device, assembly, or circuit, upon
investigation, is found to guard against any unacceptable increases in voltage. The investigation
is to take into consideration any likely malfunction or breakdown in either the regulating device or
the equipment, and the possibility of the device being disconnected if it is not permanently
connected in the circuit.
c) A connector or comparable part that is likely to be disconnected during equipment operation

or user servicing is to be both connected and disconnected.
d) The equipment is to be connected to a supply-circuit voltage per Table 44.1.
e) If a complex voltage is present, the peak value of the voltage is to be measured.
52 Battery and Battery Circuit Tests – Electrical
52.1 Battery overcharge
52.1.1 A fully charged rechargeable battery is to be overcharged:
a) With the charging circuit adjusted for the maximum charging rate; and again
b) With any single junction or part of an electronic device or electrolytic capacitor in the
charging circuit either short-circuited or open-circuited.
52.1.2 The robotic equipment incorporating the battery is to be connected to a rated supply circuit and
fused appropriately. A single layer of cheesecloth, of the type described in 56.1, is to be draped loosely
over the battery enclosure and a 3 A nontime-delay fuse is to be connected from accessible conductive
parts to earth ground.
52.1.3 In addition to any of the unacceptable conditions described in 52.4.1 there shall not be any
indication of fire or rupturing of the 3 A fuse.
52.2 Battery discharge
52.2.1 Short-circuiting of unreliable components – such as microprocessor memory devices,

semiconductors – (one at a time) connected to the terminals of a fully charged (rechargeable) battery shall
not result in any of the unacceptable conditions described in 52.1.3 and 52.4.1.
52.3 Battery drop
52.3.1 Each of three samples of a fully charged user replaceable rechargeable battery is to be dropped
three times from a height of 915 mm (3 ft) onto a concrete floor in the position most likely to produce
adverse results without producing any of the unacceptable conditions described in 52.4.1.
52.4 Battery test results
52.4.1 The results of the tests shall be considered unacceptable if one or more of the following occur:
a) The battery case cracks.
b) Battery electrolyte leaks from the case.
c) The battery explodes.
52.5 Battery low voltage – program memory loss
52.5.1 To determine that no hazard exists should the memory backup battery(ies) deplete to an
unfunctional level and not be replaced or recharged, primary power is to be shutdown and the
microprocessor allowed to lose all memory previously retained by battery backup. This may cause the
robot to be unaware of its position and job function. Then the system is to be reenergized with primary
power and not result in risk of injury to persons when normal functions are attempted without battery
memory backup.
53 Teach Pendant Tests: Drop, Handle and Mounting Means
53.1 General
53.1.1 A teach pendant is to be dropped three times from a height of 915 mm (3 ft) onto a concrete floor
in the position most likely to produce adverse results without producing any of the unacceptable conditions
described in 53.1.2.
53.1.2 The Teach Pendant Drop Test results shall be considered unacceptable if one or more of the
following occurs:
a) Access to shock hazard voltage and current, exceeding 42.4 V peak and 3.5 mA, using the
Finger Probe described in Figure 11.1.
b) Any breakage of parts that could cause lacerating injuries.
c) Loss of emergency stop function, either through mechanical or electrical damage.
d) Hazardous motion of the manipulator arm.
53.2 Teach pendant handle and mounting means
53.2.1 The teach pendant handle and wrist strap, if provided, are to be loaded uniformly over a 83.2 mm
(3 inch) width at the center, without clamping. The controller panel mounting means, on the controller or
other mounting surfaces, are to be mounted in accordance with manufacturer’s instructions. Each is to be
subjected to a force equal to three times the pendant weight but not less than 89 N (20 lbf) applied through
the approximate center of gravity. The force is to be increased gradually to reach the required value in 5
– 10 seconds and is to be maintained at that value for 1 minute. There shall not be unacceptable damage
of the securing means, handle, strap, or enclosure to which these are attached.
53.3 Teach pendant: enabling device
53.3.1 Human reaction to an emergency condition may be release or compression of the enabling device.
During manual motion control including teach mode, robot motion shall stop when the operator releases
or compresses the enabling device from its normal operating position. See Maximum Stopping Time and
Distance Verification, Section 61.
54 Interconnecting Cords and Cables Test
54.1 To determine compliance with 20.2.5, electrical connectors that are not provided with a means to
prevent unintended separation are to be evaluated to determine if contact with exposed accessible
terminals could result in a hazard.
54.2 When disconnected, all exposed terminals of external interconnecting cables shall be evaluated to
determine that
a) A risk of electric shock does not exist per 2.27; and
b) Live parts are not accessible to contact as determined by use of the Articulated Probe
shown in Figure 11.1.
55 Abnormal Operation Test – General
55.1 While operating at stabilized temperatures as in the Temperature Test, there shall be no:
a) Emission of flame or molten metal;
b) Opening of a printed wiring board conductor or an individual wire;
c) Risk of electric shock as determined by Dielectric Voltage-Withstand Test, Section 66; or
d) Risk of personal injury
when the abnormal conditions described in 55.3 – 55.7 are imposed and maintained until ultimate results
are obtained. Temperature- or current-sensitive devices or systems that cause termination of the test shall
comply with the requirements for such devices. Opening or shorting of one or more output-power
semiconductor devices is an acceptable result.
55.2 With reference to 55.1, the investigation of electronic current-limiting circuits will involve conducting
a component analysis as described in Component Analysis Test, Section 82.
55.3 Three-phase robotic equipment is to be operated with one line disconnected at the input. The line
disconnected is to be the one determined to be the one to which any protective devices are the least
responsive. The test is to be conducted by disconnecting one line with the equipment operating at
maximum normal load and is to be repeated by energizing the equipment after one lead is disconnected.
55.4 Robotic equipment having forced ventilation is to be operated with the rotor of a blower motor or
motors locked until temperatures stabilize.
55.5 Enclosed robotic equipment having filtered ventilation openings is to be operated with the openings
blocked to represent clogged filters. The test is to be conducted initially with the ventilation openings
blocked approximately 50 percent, which is intended to represent the most severe blockage; the test is
then to be repeated under full-blocked condition.
55.6 Each drive motor shall be operated in a locked-rotor condition until a stop is initiated and an
awareness signal is generated or ultimate results are obtained.
55.7 If a motor brake is provided, each drive motor shall be operated with its brake applied for 4 hours
or until ultimate results are obtained.
56 Component Breakdown Test
56.1 As a result of the tests in this section, there shall be no ignition of a single layer of cheesecloth,
loosely placed over all openings of ventilated robotic equipment or totally around open equipment when
power circuit components, such as capacitors, diodes, or other solid-state components are short- or
open-circuited, one at a time. The cheesecloth is to be untreated cotton cloth running 26 – 28 m2/kg (14
– 15 yards per pound) and for any square inch, a count of 32 threads in one direction and 28 in the other
direction.
56.2 With reference to 56.1, the test is not required:
a) If circuit analysis indicates that no other component or portion of the circuit will be seriously
overloaded as a result of the assumed open- or short-circuiting of another component.
b) For components in Class 2 circuits, or other circuits that need not be investigated in
accordance with this standard.
c) On power semiconductor devices, if equivalent testing is accomplished during other tests.
d) On devices that have been subjected to the component evaluation specified in Component
Analysis Test, Section 82.
e) If the circuit components are contained in a complete enclosure without ventilating openings.
57 Overload Test
57.1 The robot shall operate without a risk of fire, electric shock or injury to persons when the arm is
loaded to 125 percent of its rated load capacity and operated for at maximum speed for 7 hours, or until
thermal equilibrium is reached, through the work envelope, or be prevented from operation by overload
protection means at any time during this period. See 57.3 for explanation of thermal equilibrium.
57.2 For a robot that is obviously not intended for continuous operation, the probable intermittent or
short-time operation of the robot is to be taken into consideration when conducting the temperature test.
57.3 Thermal equilibrium is considered attained when three successive readings taken at 15 minute
intervals indicate that there is no temperature change of the part(s).
58 Endurance Test
58.1 The means (at least one: programmed commands, electromechanical switches, mechanical stops or
the like) that limit the sweep of the robot arm shall be subjected to 100,000 cycles of operation with the
arm carrying rated load capacity. At the conclusion of 100,000 cycles, a mechanical function check – by
robot arm movement into electromechanical switches, and the like, if provided, and the end of travel
mechanical stop for each axis – and a visual inspection, shall be performed. Mechanical stops shall be
capable of stopping robot motion under rated load, maximum speed conditions and at maximum
extension. There shall be no evidence of loss of mechanical integrity or function. This test may be
performed concurrently with the Flexing Test, Section 70.
59 Power Loss and Power Restoration Test
59.1 During a loss of drive power (due to power line interruption or power shutdown) the robot shall not
introduce a risk of injury to persons that may be caused by dropping a payload, or uncontrolled movement.
To determine this, power is to be removed while the robot is operating in each mode (such as auto, teach,
and the like) and carrying rated load capacity. Power is then to be restored to determine the effect.
60 Emergency Stop Operation Test
60.1 While operating and carrying maximum load capacity, the emergency stop is to be actuated and the
time and distance to stop is to be evaluated to determine if a risk of injury to persons is introduced.
61 Maximum Stopping Time and Distance Verification
61.1 Teach mode
61.1.1 At maximum teach speed, stopping time and distance of the manipulator arm with highest rated
payload shall be identified in the manufacturer’s instructions under normal conditions when the enabling
device has been:
a) Compressed beyond its normal operating position; and
b) Released from its normal operating position.
61.2 Emergency stop
61.2.1 At maximum speed, stopping time and distance of the manipulator arm with highest rated payload
shall be identified in the manufacturer’s instructions under normal conditions when the enabling device
has been:
a) Compressed beyond its normal operating position; and
b) Released from its normal operating position.
62 Emergency Movement of Robot Arm Without Drive Power Test
62.1 Each axis of a robot arm shall be tested to determine if it is capable of emergency movement without
drive power.
63 Gripper (End Effector) Test
63.1 If provided or recommended (specific accessory), the gripper assembly, or similar end effector, shall
be subjected to 10,000 cycles of grasping and releasing (with jaws to be fully opened) 125 percent of its
rated payload through the full envelope in all axes of operation. The gripper shall perform its intended
function without unintentional release of gripper payload which may become a projectile and introduce a
risk of injury to persons. This test may be performed concurrently during any portion of the Endurance
Test, Section 58 and Flexing Test, Section 70.
64 Teach Mode Slow Speed Measurement
64.1 In teach mode, the speed of any part of the robot arm shall be limited:
a) When operating with the arm fully extended – each axis moved one at a time – the speed of
the tool center point (TCP) shall not exceed 250 mm/sec (10 inch/sec); and
b) When operating in joint mode, any combination of axis motion, the maximum speed of each
joint shall be reduced so that the speed of any part of the robot shall not exceed 250 mm/sec
(10 inch/sec).
65 Effect of Voltage Transient Test
65.1 The robotic equipment shall be subjected to the test specified in 65.2 – 65.4. There shall be no risk
of fire, electric shock, or personal injury following operation in the Automatic, Teach and Off modes to
determine the effects of the transient on robotic equipment operation.
65.2 A surge-controlled circuit as specified in 29.1.2 and 29.1.3 is to be subjected to the voltage surge
tests outlined in the Standard for Surge Protective Devices, UL 1449.
65.3 The maximum peak let-through voltage shall not exceed 300 percent of the peak working voltage,
or 300 V, whichever is greater, and the equipment shall be operative after conclusion of the test.
65.4 The equipment is to be connected to the source of supply operating at rated voltage with the impulse
generator connected across the equipment. For equipment operating at 3-phase, the surge is to be
applied from phase to phase in all combinations and from each phase to neutral, if applicable. For
single-phase equipment, the surge is to be applied from line to line and from each line to neutral.
66 Dielectric Voltage-Withstand Test
66.1 General
66.1.1 The equipment shall withstand for 1 minute without breakdown the application of an alternating
potential of 1000 V plus twice maximum rated voltage:
a) Between line-voltage live parts and grounded or exposed metal parts of the enclosure with
the contacts open and closed;
b) Between line-voltage live parts of opposite polarity with the contacts closed;
c) Between live parts of line- and low-voltage circuits, line-voltage and isolated-limited-energy
secondary circuits, and different line-voltage circuits; and
d) Between live parts of different secondary circuits.
66.1.2 Robotic equipment employing a low-voltage circuit shall withstand for 1 minute without breakdown
the application of an alternating potential of 500 V applied;
a) Between low-voltage live parts of opposite polarity with contacts, if any, closed; and
b) Between low-voltage live parts and the enclosure and grounded dead metal parts.
66.1.3 The opposite polarity dielectric voltage-withstand test may be omitted for a portion of a
low-voltage, nonsafety circuit that is beyond any fixed impedance.
66.1.4 To determine whether the robotic equipment complies with the requirements in 66.1.1 – 66.1.3, it
is to be tested using a 500 VA or larger capacity transformer the output voltage of which is essentially
sinusoidal and can be varied. The applied potential is to be increased from zero until the required test level
is reached, and is to be held at that level for 1 minute. The increase in the applied potential is to be at a
substantially uniform rate and as rapid as is consistent with its value being correctly indicated by a
voltmeter.
66.1.5 If the charging current through a capacitor or capacitor-type filter connected across the line, or
from line to earth ground, is large enough to make it impossible to maintain the required
alternating-current test potential, the capacitors and capacitor-type filters may be tested as described in
66.1.6.
66.1.6 The capacitors and capacitor-type filters mentioned in 66.1.5 are to be subjected to a direct-current
test potential of 1414 V for equipment rated 250 V or less or 1414 V plus 2.828 times the rated circuit
voltage for equipment rated at more than 250 V. The direct-current test potential is to be maintained for
1 minute without breakdown.
66.1.7 The test potential may be obtained from any convenient source of sufficient capacity to maintain
the required potential. The output voltage of the test apparatus is to be monitored. Starting at zero, the
applied potential is to be increased at a rate of approximately 200 volts per second until the required test
value is reached and is to be held at that value for 1 minute. A direct-current source is to be used for
testing a direct-current circuit.
66.1.8 Printed-wiring assemblies and other electronic-circuit components that can be damaged by
application of the test potential or that would short-circuit the test potential are to be removed,
disconnected, or otherwise rendered inoperative before the dielectric voltage-withstand tests are
conducted. A representative subassembly may be tested instead of an entire unit. Rectifier diodes in the
power supply may be individually shunted before the test is made to protect them in the case of a fault
elsewhere in the secondary circuits.
66.2 Secondary circuits (controlled environment)
66.2.1 Secondary circuits other than those with a voltage of 42.4 V peak (30 V rms) or less shall
withstand for 1 minute the test potential specified in Table 66.1 applied:
a) Between primary and secondary circuits; and
b) Successively between secondary circuits and earth ground with all chassis-connected
components (earth-grounded) disconnected at the chassis-to-earth-ground connection.
Table 66.1
Magnitude of test potential
Maximum voltage (rms) in the circuita Test potential

30 or less (42.4 peak) No test
More than 30 (42.4 peak) but not more than 333.3 (471.3 Ten times maximum voltage in circuit (maximum of 1,000V
peak) rms)
More than 333.3 (471.3 peak) but not more than 1,000 Three times maximum voltage in circuit
(1,414 peak)
More than 1,000 (1,414 peak) 1,750 V plus 1.25 times voltage in circuit
aWhere the peak voltage is greater than 120 percent of 1.414 times the rms voltage, the circuit shall be tested as if the
voltage were peak voltage divided by 1.414.
66.2.2 See 66.1.8 for the Dielectric Voltage Withstand tests on printed-wiring assemblies and other
electronic circuit components.
66.3 Power transformers
66.3.1 Each power transformer shall operate without breakdown while the potential specified in Table
66.1 is induced for 1 minute in each secondary winding that furnishes power at a higher potential than the
primary windings. Windings of transformers that do not serve a prime power-supply function, such as the
resonant winding of a constant-voltage transformer, are excluded from this requirement.
66.3.2 A power transformer shall withstand for 1 minute without breakdown the application of an
alternating potential of 1000 V plus twice the maximum rated primary or secondary voltage, at rated
frequency, between primary and secondary windings, and shall withstand under the same conditions the
application of an alternating potential of 1000 V plus twice the rated voltage of each winding, at rated
frequency, between each winding and the core or enclosure, except that the test between primary and
secondary windings is omitted for an autotransformer. A dc potential of 1.4 times the rated voltage plus
1000 V for 1 minute may be employed instead of the ac potential.
66.3.3 Primary- and secondary-circuit wiring connected to a transformer is to be disconnected for the test
mentioned in 66.3.1. An essentially sinusoidal source is to be used, and the frequency of the source may
be in the range of 180 – 1000 Hz if necessary to prevent saturation of the core.
67 Burnout Test (Transformer Overload)
67.1 When a power transformer, other than a transformer supplying a low-voltage, electronic, or
isolated-limited-secondary circuit is operated as described in 67.2, there shall be no damage to the
enclosure or emission of flame or molten metal, or risk of electric shock. Refer to 66.3.2 to determine the
risk of electric shock.
67.2 The transformer is to be operated continuously with end-product protective devices in the circuit at
the rated frequency and voltage specified in Table 44.1 and 44.1 with its enclosure grounded. The open
circuit voltage of each secondary winding is to be measured. Then the maximum current shall be
monitored in each transformer secondary winding under maximum payload/normal manipulator arm
operation. Each secondary winding is to be simultaneously adjusted to 50 percent load (actual
manipulator arm load or external adjustable ″bench″ load), power transformer core temperature is to be
monitored until thermal equilibrium is reached. Load(s) to be readjusted and operated at 200 percent for
30 minutes. Load(s) to be reduced to 50 percent and transformer core temperature monitored until thermal
equilibrium or final temperature, is reached. Original (50 percent load) temperature shall be within 5°C of
final (50 percent load after 200 percent load) temperature, and original open circuit voltage shall be within
2 percent of final open circuit voltage.
Exception: Operation of end-product protective devices or related sensing circuitry which interrupts
power without a risk of fire, electric shock or injury to persons, is considered an acceptable termination of
this test.
67.3 A transformer supplying a low-voltage circuit is to be tested in the same manner as a Class 2
transformer, with low-voltage wiring terminals short-circuited, and wiring not complying with 20.1.3
short-circuited. A transformer supplying an isolated-limited-energy secondary circuit or an electronic circuit
is to be tested in accordance with 66.1.2, 66.1.3 and 66.3.2, except all secondary windings are to be
directly short-circuited. If a portion of an isolated-limited-energy secondary or electronic circuit is
connected to low-voltage field-wiring terminals, separate samples are to be subjected to the standard
Class 2 test and the shorted-secondary test.
68 Grounding Resistance Test
68.1 The grounding path resistance shall not exceed 0.1 ohm when measured from the grounding means
of the equipment to the conductive part that is required to be grounded.
68.2 With reference to 68.1, if a grounding-path resistance of more than 0.1 ohm is measured, the
resistance shall be determined by measuring the voltage when a current of 20 A, derived from a dc source
with a no-load voltage not exceeding 12 V, is passed between the equipment grounding means (point on
the equipment where the grounding conductor is attached) and the grounded conductive part. The
resistance in ohms shall be calculated by dividing the drop in potential in volts by the current in Amperes
between the two points. External conductors, field wired and power-supply cord, as applicable, shall be
excluded when this measurement is made.
69 Strain Relief Test
69.1 A strain-relief device shall withstand without damage to the cord or conductors and without
displacement a direct pull of 156 N (35 lbf) applied to the cord for 1 minute. Supply connections within the
equipment are to be disconnected from terminals or splices during the test.
69.2 A pigtail lead intended for field-wiring connection shall withstand without damage or displacement a
direct pull of:
a) 89 N (20 lbf) for 1 minute applied to a lead extending from the enclosure such as through a
hub or nipple; and
b) 44.5 N (10 lbf) for 1 minute applied to a lead within a wiring compartment.
70 Flexing Test
70.1 With reference to 20.1.5, wiring that is subjected to movement at times other than installation and
servicing is to be tested by cycling the mechanism in such a way to flex the wiring harness through its
maximum length of travel permitted by the design. The duration of the test is to be 100,000 cycles.
Following this, all safety-related functions – including Emergency stop, slow speed in teach mode, single
point of control, and the like – shall operate normally. The equipment is to be subjected to the Dielectric
Voltage-Withstand Test, Section 66 from each motor power conductor in the cable assembly to all other
motor power conductors; all other conductors; and to accessible metal parts of the manipulator arm. The
wiring is to be examined for damage and to determine if any conductors are broken or if individual strands
have penetrated the insulation.
71 Physical Stability Test
71.1 Under all conditions of servicing and intended use after installation, a fully assembled robot shall not
become physically unstable to the degree that it can injure operators or service personnel.
71.2 Robotic equipment shall not tip over when tilted 10 degrees from its intended, upright position.
71.3 The requirements in 71.2 apply to all free standing robotic equipment. Free standing robotic
equipment is defined as floor standing and not intended to be secured to other units or to the floor or other
parts of the building.
72 Lifting/Transportation Means Loading Test
72.1 Lifting or transportation eyebolts and similar means are to be subjected to 2 times their maximum
load for 5 minutes when provided on a controller and robot manipulator arm. There shall not be
deformation or damage of the lifting or securing means or enclosure to which these are attached.
73 Mounting Devices Test
73.1 Equipment having a mass of more than 2.3 kg (5 lbf), and relying on a mounting means other than
its own enclosure, if malfunction of the mounting means will result in a risk of injury to persons, shall
withstand for 1 minute, without dislocation of the mounting means or evidence of damage, a force as
described in 73.2.
73.2 With the equipment mounted in accordance with the manufacturer’s instructions, a force equal to
three times the weight of the equipment but not less than 89 N (20 lb) is to be applied through the
approximate center of gravity of equipment. The force is to be increased gradually to reach the required
value in 5 – 10 seconds and is to be maintained at that value for 1 minute.
Exception: For a robot, the force shall be 1.5 times the weight of the robot, plus the maximum load
capacity while the arm is fully extended.
74 Parts Subject to Pressure Tests
74.1 A part or an assembly that is subject to air or vapor pressure, including the vapor pressure in a
vessel containing only a superheated fluid, during normal or abnormal operation shall withstand a
pressure equal to the highest of the following that is applicable.
a) Five times the pressure corresponding to the maximum setting of a pressure-reducing valve
provided as part of the assembly, but not more than five times the marked maximum supply
pressure from an external source and not more than five times the pressure setting of a
pressure-relief device provided as a part of the assembly.
b) Five times the marked maximum supply pressure from an external source, unless the
pressure is limited by a pressure-relief device in accordance with (a).
c) Five times the pressure setting of a required pressure-relief device.
d) Five times the maximum pressure that can be developed by an air compressor that is part of
the assembly unless the pressure is limited by a pressure-relief device in accordance with (a).
e) Five times the working pressure marked on the part.
Exception No. 1: A section of a pressure system constructed of continuous tubing or of lengths of tubing
connected by hard-soldered, brazed, or welded joints provided the wall thickness of tubing is not less than
the value specified in Table 74.1.
Exception No. 2: A pressure vessel bearing the ASME code inspection symbol – other than the UM
symbol – provided the vessel is marked with a value of working pressure not less than that to which it is
subjected during normal or abnormal operation.
Exception No. 3: A flexible non-metallic part or assembly that is subject to air pressure, such as an air
hose, contained entirely within an enclosure, or reliably secured along its entire length, is not required to
be tested if it can be determined that leakage or rupture does not result in a hazard.
Table 74.1
Wall thickness for copper and steel tubing
Outside diameter Thickness Maximum gauge pressure to which tubing is subjected

Seamless copper Butt-welded steel Seamless steel
mm (inch) mm (inch) MPa (psi) MPa (psi) MPa (psi)
9.5 (3/8 or 0.41 (0.016) 3.45 (500) 4.14 (600) 6.90 (1000)
smaller)
12.7 (1/2) 0.41 (0.016) 2.76 (400) 3.31 (480) 5.52 (800)
15.9 (5/8) 0.41 (0.016) 2.21 (320) 2.65 (384) 4.42 (640)
15.9 (5/8) 0.53 (0.021) 2.90 (420) 3.48 (504) 5.80 (840)
19.0 (3/4) 0.53 (0.021) 2.48 (360) 2.98 (432) 4.97 (720)
19.0 (3/4) 0.64 (0.025) 2.90 (420) 3.48 (504) 5.80 (840)
25.4 (1) 0.53 (0.021) 1.79 (260) 2.15 (312) 3.59 (520)
25.4 (1) 0.64 (0.025) 2.21 (320) 2.65 (384) 4.42 (640)
74.2 If a test is necessary to determine that a part complies with requirements in 39.3, two samples of
the part are to be subjected to a hydrostatic pressure test. Each sample is to be filled with water so as to
exclude air, and is to be connected to a hydraulic pump. The pressure is to be raised gradually to the
specified test value, and is to be held at that value for 1 minute. The results are not acceptable if either
sample bursts or leaks.
Exception: Leakage or rupture of a nonmetallic fluid transfer line and its connections, or at a gasket is
acceptable if repeated tests conducted with a media they are intended to contain show no evidence of
presenting risk of injury to persons or an electric shock.
74.3 A part supported or actuated hydraulically that could result in a risk of injury to persons due to
pressure loss shall comply with the requirement in 74.2 when tested at a pressure equal to five times the
maximum pressure capable of being developed in the system.
75 Pressure-Relief Devices Test
75.1 The control that limits the pressure in a vessel required to have a pressure-relief device shall
perform under rated load for 100,000 cycles of operation, and shall prevent the pressure from exceeding
90 percent of the relief device setting under any condition of normal operation.
76 Enclosure Test
76.1 The performance requirements of an enclosure are determined by the specific environmental type
designation and other features such as gasketing or use of materials thinner than required by Table 7.1
or 7.2.
76.2 An enclosure is to be subjected to the tests specified in the Standard for Enclosures for Electrical
Equipment, UL 50 applicable to an enclosure of the type number or numbers with which it is marked.
76.3 An external operating means – such as those for a disconnect, a pilot device, or a resetting
operation – mounted on or through an enclosure shall withstand the tests specified for the enclosure in
accordance with the Standard for Enclosures for Electrical Equipment, UL 50, unless otherwise indicated.
77 Horizontal Surface Loading Test
77.1 An electric equipment enclosure with a horizontal surface having an area of 930 cm2 (144 inches2)
or larger, the minor dimension of the area is not less than 153 mm (6 inches) at any point and, if
free-standing, located not more than 915 mm (3 feet) above the floor or supporting surface, shall comply
with 77.2-77.3.
Exception: Wall mounting electrical equipment enclosures that are greater than 915 (3 feet) in height are
not required to comply.
77.2 A force of 90.0 kgf (200 lbf) shall be applied for 1 minute using a 305 mm (12 inch) square applicator
to the point or points on the surface that have the least provisions for support.
77.3 During or following the application of the test force in 77.2, the electrical equipment enclosure shall
not result in any of the following:
a) Reduction of spacings below the minimum acceptable values in Section 27.
b) Making bare live parts or internal wiring accessible to contact in accordance with Section 11.
c) Producing any other condition that would increase the likelihood of electric shock or fire, or
both, during use of the equipment.
78 Gasket Tests
78.1 If required, specific gasket tests are to be performed in accordance with the Standard for Enclosures
for Electrical Equipment, UL 50.
79 Glass Window Impact Test
79.1 With reference to 7.8.2, glass used to cover an area larger than 929 cm2 (144 inch2) shall withstand
the impact specified in 79.2 without cracking or breaking to the extent that a piece is released or dropped
from its normal position.
79.2 The impact mentioned in 79.1 is to be 3.39 J (2.5 lbf·ft), produced from a 50.8 mm (2 inch) diameter
sphere weighing 535 g (1.18 lbf).
80 Securement of Snap-On Cover Test
80.1 A snap-on cover providing part of the overall enclosure that gives access to uninsulated live parts
and does not have a separate tool-operated fastener shall have no apparent means for removal such as
an extending tab, and is to comply with the following:
a) A cover that could be disengaged from the enclosure by a squeezing force applied with one
hand shall not be released when a squeezing force of 62 N (14 lbf), or less, is applied at any
two locations not more than 127 mm (5 inches) apart. The distance is to be measured by a
tape stretched tightly over that portion of the surface of the cover that would be encompassed
by the palm of the hand.
b) A cover shall not disengage from the enclosure when a direct pull force of 62 N (14 lbf) is
applied by gripping the cover at any two convenient locations, and
c) A cover shall not be disengaged from the enclosure by an impact force of 1.4 J (1 lbf·ft)
applied to the accessible surfaces of the cover – one impact per surface. The impact is to be
applied by a steel ball having a diameter of not less than 51 mm (2 inches).
80.2 The tests described in 80.1 (a) and (b) are to be conducted in the as-received condition and after
the cover has been removed and replaced 10 times.
81 Wheel or Caster Securement
81.1 A wheel or caster shall be capable of withstanding a pull of 22 N (5 lbf) as described in 81.2 without
being damaged or pulled free from its securing means.
81.2 The pull force is to be applied by a weight, or a steady pull, for a period of 1 minute in any direction
made possible by the construction.
82 Component Analysis Test
82.1 General
82.1.1 A component analysis study shall consist of the requirements specified in this section when
investigating robotic equipment incorporating safety circuits – such as, speed reduction circuitry for teach
mode, interlocking circuits that automatically stop the robot when activated by safety guards, presence
detectors and the like (to prevent unauthorized entry into the work envelope), limit detecting circuitry that
limits the sweep of the robot arm, controls for end effectors (such as grippers), and the like, or where
single-mode component faults result in adverse overheating, or a risk of fire, electric shock, or injury to
persons at the controlled equipment.
82.1.2 Additional considerations for end-effectors, if provided or specifically recommended, include a loss
or change of electrical, hydraulic, pneumatic or vacuum power.
82.1.3 If safety circuits are being investigated, consideration shall be given, depending on the circuit
construction and the intended function, to the need for additional redundancy and diversity testing per
41.6.2 and 41.6.3. See Section 83, Safety-Related Software Analysis.
82.2 Evaluation program
82.2.1 General
82.2.1.1 There are two parts, Test A and Test B, required to evaluate the electronic components or
circuits.
82.2.2 Test A
82.2.2.1 A fault analysis and failure-mode table of all components shall be provided to identify the critical
components; that is, those components the malfunction of which may result in a risk of fire, electric shock,
or injury to persons. If the fault in a component or circuit results in an acceptable shutdown, or in no
appreciable effect on performance as confirmed by test, Test B may be omitted.
82.2.2.2 The failure-mode information to be furnished by the manufacturer may be made up as shown in
Table 82.1.
Table 82.1
Failure-mode information
Manufacturer’s name, Cat. No., and ratingsb End product or end system
Parta name Manufacturer’s Thermal & Schematic Functiond Failure Failure Thermal &
Name and Cat. electrical referencec modee effectf electricalg
No.
a Part Name – Include each electronic component in the circuit to be investigated.
b To be provided for each component.
c Schematic Reference – Each component is to be identified as Q1, C1, and the like.
d Function – Describe the function of each component.
eFailure Mode – Include open- and short-circuit catastrophic faults for each critical component. All terminals are to be included
on multiple-terminal devices.
fFailure Effect – The system effect caused by the fault is to be stated.
g The thermal and electrical stress levels are to be expressed as a percentage of their nominal rated values as specified by
the manufacturer. Node voltage for all normal modes of operation are to be indicated on the schematic diagram. This assists in
verification of the individual component stress levels.
82.2.3 Test B
82.2.3.1 The component analysis shall also include the stress tests as described in the Standard for
Tests for Safety-Related Controls Employing Solid-State Devices, UL 991, on the circuit or circuits. It may
be necessary to revise the test values based on the specific application. Robotic equipment shall operate
normally after the stress tests.
83 Safety-Related Software Analysis
83.1 A risk analysis of the hierarchy of system controls shall be performed to determine whether a single
error in safety function programming or execution could result in a risk of fire, electric shock or injury to
persons. Hierarchy of control information, such as single point of control, reduced robot arm speed in
teach mode, safety sensing circuitry, intrusion sensing circuitry and the like shall be provided for purposes
of single fault safety analysis. Safety-related functions controlled by software, which under a software error
could result in risk of fire, electric shock or injury to persons, shall be evaluated. Concepts found in the
Standard for Software in Programmable Components, UL 1998, may be used as a guide.
MANUFACTURING AND PRODUCTION TESTS
84 Production-Line Dielectric Voltage-Withstand Test – General
84.1 Each robot or robotic equipment intended for connection to a nominal 120 V or higher voltage circuit
shall withstand without electrical breakdown, as a routine production-line test, the application of an
alternating-current potential at a frequency within the range of 40 – 70 Hz or a direct-current potential
between the primary wiring, including connected components, and accessible dead metal parts that are
likely to become energized.
84.2 The production-line test shall be in accordance with either Condition A or B of Table 84.1.
Table 84.1
Production-line test conditions
Equipment Condition A Condition B

rating, volts Potential, Potential, Time, Potential, Potential, Time,
volts ac volts dc seconds volts ac volts dc seconds
250 or less 100+2Va 1400 60 1200+2Va 1700 1
More than 250 1000+2Va 1400+2.8Va 60 1200+2.4Va 1700+3.4Va 1
a Maximum marked voltage.
84.3 The test potential may be gradually increased to the required value but the full value is to be applied
for 1 second or 1 minute as required.
84.4 The robotic equipment may be at normal operating temperature, at room temperature, or at any
intermediate temperature for the test.
84.5 The test shall be conducted when the robotic equipment is fully assembled. It is not intended that
the robotic equipment be unwired, modified, or disassembled for the test.
Exception No. 1: A part, such as a snap cover or friction-fit knob, that would interfere with performance of
the test need not be in place.
Exception No. 2: The test may be performed before final assembly if the test represents that for the
completed robotic equipment. Any component not included shall not affect the results with respect to
determination of possible risk of electric shock resulting from miswiring, defective component, insufficient
spacings, and the like.
84.6 Solid-state and similar components that might be damaged by a secondary effect (induced voltage
surge, excessive heating, and the like) of the test may be short-circuited by means of a temporary
electrical jumper or the test may be conducted without the component electrically connected, providing the
wiring and terminal spacings are maintained.
84.7 The test equipment shall have a means of indicating the test potential, an audible or visual indicator
of electrical breakdown, and, for automated or station-type operations, either a manually reset device to
restore the equipment after electrical breakdown or an automatic-reject feature for any unacceptable unit.
If an alternating-current test potential is applied, the test equipment shall include a transformer having an
essentially sinusoidal output.
84.8 When the test equipment is adjusted to produce the specified voltage, and a resistance of 120,000
ohms is connected across the output, the test equipment is to indicate an unacceptable performance
within 0.5 second. A resistance of more than 120,000 ohms may be used to produce an indication of
unacceptable performance if the manufacturer elects to use a tester having higher sensitivity.
84.9 If the rated output of the test equipment is less than 500 VA, the equipment shall include a voltmeter
in the output circuit to directly indicate the applied test potential.
84.10 If the rated output of the test equipment is 500 VA or more, the test potential may be indicated by:
a) A voltmeter in the primary circuit or in a tertiary winding circuit;
b) By a selector switch marked to indicate the test potential; or
c) In the case of equipment having a single test-potential output, by a marking in a readily

visible location to indicate the test potential.
If an indicating voltmeter is not used, the test equipment shall include a visual means, such as an indicator
lamp, to indicate that the test voltage is present at the test-equipment output.
84.11 Test equipment other than that described by 84.7 – 84.10 may be used if found to accomplish the
intended factory control.
84.12 For the test, either a sufficient number of control devices are to be closed or separate applications
of the test potential made so that all parts of the primary circuit are tested.
85 Production-Line Grounding-Continuity Test
85.1 Each robot or piece of robotic equipment that has a power-supply cord shall be tested, as a routine
production-line test, to determine that grounding continuity is provided between the grounding blade or pin
of the attachment plug and the accessible dead metal parts that are likely to become energized.
85.2 Only a single test need be conducted if the accessible metal selected is conductively connected to
all other accessible metal.
85.3 Any indicating device (an ohmmeter, a battery and buzzer combination, or the like) may be used to
determine compliance with the grounding continuity requirement.
86 Production-Line Polarization-Continuity Test
86.1 Robotic equipment provided with an attachment plug shall maintain electrical continuity between the
grounding blade of the attachment plug and all accessible parts and shall be verified as a routine
production-line test. The continuity shall be determined either visually or through the use of an electrical
test.
RATING
87 Details
87.1 Robotic equipment shall be rated in volts, phase, frequency, full-load current (maximum ampere
rating of the short-circuit and ground protective devices) ampere rating of largest motor or load and
short-circuit interrupting capacity of the machine overcurrent protective device if furnished.
87.2 The full-load current shown on the nameplate shall not be less than the sum of the full-load currents
required for all motors and other equipment that may be in operation at the same time under normal
conditions of use. Where unusual type loads, duty cycles, and the like, require oversized conductors, the
required ampacity shall be included in the marked ″full load current.″
87.3 Where more than one incoming supply circuit is to be provided, the nameplate shall state the above
information for each circuit. All user-connected outputs shall also be rated as specified in 87.1.
MARKING
88 General
88.1 Robotic equipment shall be legibly and permanently marked with:
a) The manufacturer’s name, trademark, or other descriptive marking by which the organization
responsible for the robotic equipment may be identified;
b) The date or other dating period of manufacture not exceeding any three consecutive months;
c) A distinctive model number or the equivalent; and
d) The electrical rating.
Exception No. 1: For equipment which does not employ laser- or x-radiation (such as cathode-ray tube
monitors or other x-radiation sources), the manufacturer’s identification may be in a traceable code if the
robotic equipment is identified by the brand or trademark owned by a private labeler.
Exception No. 2: The date of manufacture may be abbreviated or in a nationally accepted conventional
code or in a code affirmed by the manufacturer, provided the date code:
a) Does not repeat in less than 20 years; and
b) Does not require reference to the production records of the manufacturer to determine when
the robotic equipment was manufactured.
The code may be traceable by or included as part of the serial number of the robotic equipment.
88.2 Information necessary for the proper operation of the robotic equipment, identification of safety
circuits – including external user Emergency stop and safety sensor terminations, identification of the
robot system mode of operation, the setting of controls, a definite mounting position that is required but
not obvious, and the like, shall be permanently marked on the equipment.
Exception: Robotic equipment that must be mounted in a definitive position in order to function properly
may have the directions for mounting either marked on the equipment or on an instruction sheet supplied
with the equipment.
88.3 If multiple indicator lights are supplied for a workcell, on an optional basis, to serve as a form of
identification for robotic safety-system modes of operation, separate colors shall be used and a brief
explanation of the mode pertaining to each color and condition, such as continuous or flashing, shall be
provided where visible to the operator.
88.4 If a manufacturer produces or assembles robotic equipment at more than one factory, each finished
item of equipment shall have a distinctive marking by which it may be identified as the product of a
particular factory.
88.5 All required markings shall be permanently attached to the robotic equipment and shall be legible
and prominent and, except as noted in 88.6 and 88.7, shall be located so that they will be visible after
installation of the equipment. Markings shall be visible during the phase of installation, use, or inspection
for which they are intended to apply. Markings of a cautionary nature or reflecting some specific use or
restriction shall be prominent and visible.
88.6 A marking – other than a cautionary marking – is not required to be located on the outside of an
enclosure, provided it is readily visible by opening a door or removing a cover after installation. A marking
that is not visible unless the cover is removed is acceptable only if the installation wiring will not be
disturbed by removing the cover and if the marking is visible at the time it is needed.
88.7 Unless otherwise noted, a marking shall be molded, die-stamped, paint-stenciled, stamped or
etched metal that is permanently secured, or indelibly stamped or pressure-sensitive labels secured by an
adhesive that complies with the Standard for Marking and Labeling Systems, UL 969. Ordinary usage,
handling, and storage of the robotic equipment are to be considered in the determination of the
permanence of the marking.
88.8 If the robotic equipment is acceptable for use only with a specific remote control or another specific
part of a control or equipment, each shall be marked accordingly. The marking location shall be in
accordance with 88.5, 88.6, and 88.7.
88.9 Each control station device – such as pushbutton, indicating light, selector switch, and the like –
shall be identified as to its function on or adjacent to the device.
88.10 With reference to Exception No. 1 to 28.1, a controller shall be marked with the maximum
control-circuit protective-device current rating corresponding to the size of control-circuit wire used within
equipment as indicated in Table 28.1.
88.11 With reference to the requirements in 28.1 and 28.2, there shall be a marking near a
supplementary fuseholder specifying the voltage and current rating of the replacement fuse; the marking
shall also indicate the designation of the fuse but may include ″or equivalent″. There shall be a marking
specifying the maximum size fuse to be used near a fuseholder for other than a supplementary fuse that
will accept a fuse having a current rating higher than that specified in Table 28.1.
88.12 With reference to the requirements in 28.3, a controller shall be marked with the maximum voltage
and current rating of the branch-circuit overcurrent-protective device corresponding to the size of the
internal wire.
88.13 A marking is required for a hinged cover if it does not meet the requirements of 7.4.2 – 7.4.5 and
all live parts are not protected in accordance with 41.1.5. A handle, knob or other manual operating means
shall be provided with an adjacent marking as a guide for proper operation.
89 Wiring
89.1 Wiring terminals shall be marked to indicate the proper connections for the power supply, load,
control circuit, and the like, or a wiring diagram coded to the terminal marking shall be securely attached
to the robotic equipment.
Exception No. 1: The terminals need not be marked if the wire connections are plainly evident, as for a
two-terminal switching device.
Exception No. 2: A wiring diagram with multiple circuit arrangements may be provided loose or in an
envelope if the nameplate or similar permanent attachment visible after installation references the wiring
diagram, for example by number. For open-type equipment, the wiring diagram may be furnished loose
with the equipment.
89.2 A terminal for the connection of a grounded conductor shall be identified by means of a metallic
plated coating substantially white in color and shall be readily distinguishable from the other terminals, or
proper identification of the terminal for the connection of the grounded conductor shall be clearly shown
in some other manner, such as on an attached wiring diagram. If wire leads are provided, the lead
intended to be grounded shall have a white or gray color and shall be readily distinguishable from other
leads.
89.3 A single white terminal – in other than a single-pole device – for the connection of an ungrounded
conductor is not acceptable, but two or more terminals may be white if:
a) It does not make any difference how line connections are made;
b) It is obvious which terminal is intended for the connection of the grounded conductor; or
c) The line connections are plainly indicated on a wiring diagram.
89.4 If low-voltage robotic equipment or a low-voltage part of robotic equipment is intended to be wired
in the field to become only part of a Class 1 circuit or a Class 2 circuit wired with Class 1 wire, the
terminals of the robotic equipment or part of the robotic equipment shall be marked accordingly.
89.5 Low-voltage switching or power-consuming robotic equipment or a part of robotic equipment that is
intended to be wired in the field to become part of a Class 2 circuit only shall be marked accordingly, but
a low-voltage power-supply device that includes a transformer is not required to be marked to indicate that
it is acceptable for use in a Class 2 circuit only.
Exception: Low-voltage robotic equipment or a part of robotic equipment that is acceptable for
connection to either a Class 1 or a Class 2 circuit is not required to be so marked.
89.6 Robotic equipment having two or more Class 2 circuits shall be marked in accordance with 91.11.
89.7 Robotic equipment incorporating two or more separate circuits that are capable of being connected
to separate power supplies but that are intended to be connected to a common power supply shall be
marked ″All circuits must have a common disconnect and be connected to the same pole of the
disconnect″, or with an equivalent wording. The wiring diagram of the equipment shall illustrate a typical
connection of the various circuits connected to the common power supply.
89.8 Robotic equipment employing a special fitting for connection to a specific wiring system shall be
marked to indicate that it must be installed with such a wiring system.
89.9 Robotic equipment that is acceptable for installation in a nonmetal-enclosed wiring system only shall
be marked to indicate that it must be installed with such a wiring system.
89.10 Robotic equipment having field-wiring terminals shall be marked:
a) ″Use Aluminum Conductors Only″ if the terminal is acceptable only for connection to
aluminum wire;
b) ″Use Copper or Aluminum Conductors;″ or ″Use Copper, Copper-Clad Aluminum, or

Aluminum Conductors″ if the terminal is acceptable for connection to either copper or aluminum
wire; or
c) ″Use Copper or Copper Clad Aluminum Conductors″ if the terminal is acceptable for
connection to copper and copper-clad aluminum wire.
89.11 The markings required by 89.10 may be abbreviated for robotic equipment intended for mounting
on a 100 x 100 mm (4 x 4 inch) outlet box, or of equivalent or smaller dimensions, as follows:
a) For a terminal intended only for use with aluminum wire, the box shall be plainly marked with
the letters ″AL″;
b) For a terminal intended for use with aluminum or copper-clad aluminum and copper wire, the
box shall be plainly marked ″AL-CU″; or ″CU-AL″; or
c) For a terminal intended for use with copper-clad aluminum and copper wire, the box shall be
plainly marked ″CC-CU″ or ″CU-CC″.
89.12 Robotic equipment provided with a wire connector for field-installed wiring as covered in 14.1.7
Exception No. 2(c), shall be marked to specify that the connector provided is to be used in making the
field connection.
89.13 A wiring terminal that is not intended to receive a conductor one size larger than that specified in
14.2.2 shall be marked to restrict its use to the smaller size conductor.
89.14 A pressure wire connector intended for connection of an equipment-grounding conductor shall be
identified by:
a) Being marked ″G,″ ″GR,″ ″GND,″ ″Ground,″ ″Grounding,″ or the like;
b) A marking on a wiring diagram provided on the product; or
c) The symbol (IEC Publication 417, Symbol No. 5019) on or adjacent to the connector or
on a wiring diagram provided on the robotic equipment. See 89.15.
89.15 If the symbol is used in accordance with 89.14(c), the installation instructions provided with the
robotic equipment shall define the symbol.
Exception: If the symbol is used with one of the other means of identification specified in 89.14 (a)
and (b), the definition need not be provided.
89.16 A controller may be marked for interconnection to other equipment provided it complies with the
requirements in Separation of Circuits, Section 31.
90 Elevated Ambient Temperature
90.1 Robotic equipment rated for use in an elevated ambient temperature in accordance with 46.8 and
Part A of Table 46.1 shall be marked to indicate the maximum allowable ambient air temperature.
90.2 If, in accordance with Table 46.1, the temperature within a terminal box or compartment of certain
controls or the wires intended for supply connections attain a temperature higher than 60°C (140°F), the
robotic equipment shall be marked with the following statement or the equivalent ″For supply connections,
use _____ AWG or larger wires rated for at least _____°C (_____°F)″. The AWG size specified in the
marking shall be the size of the conductors used in conducting the Temperature Test, and the temperature
value shall be in accordance with Table 90.1. The wire size need not be specified if 2.1 mm2 (14 AWG)
wire was used for the test. The statement shall be legible and located so that it will be clearly visible during
installation and examination of the supply-wiring connections.
Exception: If the supply-connection area is located so that it is obvious that the supply wiring can be
properly located and maintained away from parts of the robotic equipment operating at temperatures
higher than 60°C (140°F), a marking, clearly visible during installation and examination of the
supply-wiring connections, may be used to indicate the area in which the supply wiring and splices should
be located after the splice is made.
Table 90.1
Terminal box marking
Temperature attained during test at points within Temperature

terminal box or compartment, or on wires intended for marking
supply connections
60 -75°C (140 - 167°F) 75°C (167°F)
76 - 90°C (168 - 194°F) 90°C (194°F)
91 Cautionary Markings
91.1 A cautionary marking shall be located on a part that cannot be removed without impairing the
operation or appearance of the equipment.
91.2 A cautionary marking shall be prefixed with the word ″CAUTION″ or ″WARNING″, as applicable, in
letters not less than 3.2 mm (1/8 inch) high. The remaining letters of such marking, unless specified
otherwise in individual marking requirements, shall not be less than 1.6 mm (1/16 inch) high.
91.3 If a molded or stamped marking is not in a color contrasting with the background color, the
precautionary signal word ″CAUTION″ or ″WARNING″, as applicable, shall be in letters not less than 3.2
mm (1/8 inch) high; the other words that form the text of the supplemental marking shall be in letters not
less than 1.6 mm (1/16 inch) high. The letters of the signal word against their surrounding background
surface, and the letters of the text against their background, shall have a depth or raised height of at least
0.51 mm (0.020 inch). If the signal-word letters are raised with respect to their background, the text letters
shall be lowered with respect to their background. If the signal-word letters are lowered with respect to
their background, the text letters shall be raised with respect to their background. The plane of the surface
in which the supplemental marking is stamped or molded may serve as one of the raised or lowered
reference planes required to generate this marking.
91.4 A cautionary marking intended to instruct the operator shall be legible and visible by the operator
during the normal operation of the robotic equipment. A marking giving servicing instructions shall be
legible and visible when such servicing is being performed.
91.5 If the enclosure of a product provides the user protection against the risk of an electric shock, the
graphical symbol (a lightning flash with arrowpoint within an equilateral triangle) depicted in Figure 91.1
shall be provided on at least one surface of the product enclosure through which the user might gain
access to the interior.
Figure 91.1
Graphical symbol
Lightning flash with arrowpoint within an equilateral triangle – IEC Publication 417 Symbol 5036 (″Dangerous Voltage″)
91.6 A required graphical symbol shall be permanent and comply with the applicable specifications
contained in this Section. It shall either:
a) Be printed directly on the product; or
b) Be molded or stamped in the enclosure surface to which it is required to be applied.
The color of a graphical symbol that is printed on the product shall contrast with the color of the
surrounding surface. The provision of color contrast is preferred, but not required, for a graphical symbol
that is molded or stamped in a material. Portions of a molded or stamped graphical symbol that are not
in a color contrasting with the background color shall have a depth or raised height of at least 0.50 mm
(0.020 inch) to provide contrast and definition. The equilateral triangle of the graphical symbol shall have
a height of no less than 9.5 mm (3/8 inch). The exact dimensions of the symbols within the triangles are
not specified, but they shall be similar to that shown in Figure 91.1 and in proportion to the height of the
triangles.
91.7 If more than one disconnect switch may be required to disconnect all power within a control
assembly or compartment, the assembly or compartment shall be marked with the word ″WARNING″ and
the following or the equivalent: ″Risk of Electric Shock – More than one disconnect switch may be required
to de-energize the equipment before servicing.″
91.8 The marking required by 91.7 shall be in a permanent location on the outside of the robotic
equipment or on a stationary fixed, nonremovable part inside the robotic equipment. The warning marking
placed inside the cover or on the connection diagram attached to the inside of a cover is not acceptable.
91.9 A live heat sink or other part likely to be mistaken as dead metal and exposed to persons as
specified in 41.1.7 and 41.1.8 shall be marked with the word ″WARNING″ and the following or the
equivalent: ″Risk of Electric Shock – Plates (or other word describing the type of part) are live –
Disconnect power supply before servicing.″ The marking shall be located on the live part so as to make
the risk known before the part is likely to be touched. If space does not permit the marking on the live part,
the suitability of another location shall be determined.
91.10 Marking required by 7.6.1 shall:
a) Be located where visible during installation, such as inside of the cover; and
b) Consist of the word ″CAUTION″ and the following or the equivalent: ″Bonding between
conduit connections is not automatic and must be provided as a part of the installation″; or the
word ″CAUTION ″ and the following or equivalent: ″Nonmetallic enclosure does not provide
grounding between conduit connections, use grounding bushings and jumper wires.″
91.11 A device as described in 89.6 shall be marked with the word ″WARNING″ and the following or the
equivalent: ″To Reduce the Risk of Fire or Electric Shock, Do Not Interconnect The Outputs of Different
Class 2 Circuits.″
91.12 Robotic equipment complying with the controlled-environment requirements in 29.5 – 29.8 shall be
marked with the word ″WARNING″ and the following or the equivalent: ″To reduce the risk of fire or
electric shock, install in a controlled environment relatively free of contaminants.″
Exception: Equipment that has been determined to provide the same degree of protection against
environmental contamination by utilizing either a tight-fitting enclosure or a filter system need not be so
marked.
91.13 A cautionary marking shall be provided adjacent to the disconnect operating handle(s) if the
disconnect(s) that are interlocked with the enclosure door do not de-energize all exposed live parts when
the disconnect(s) are in the ″off″ position.
91.14 If an attachment plug is used as the disconnecting means, a cautionary marking shall be attached
to the control enclosure door or cover indicating that power is to be disconnected from the equipment
before the enclosure is opened.
91.15 Parts subjected to pressure shall be marked in accordance with 39.1.
INSTRUCTIONS
92 Manufacturer’s Instructions
92.1 Installation [lifting procedures and precautions, mounting, routing of interconnecting

hydraulic/pneumatic lines and electric cable, power requirements, electrical connections, special
environmental requirements including Electromagnetic Interference (EMI), Radio Frequency Interference
(RFI) and Electro-Static Discharge (ESD); and the like], function and location of controls, operation, safety
precautions, programming and maintenance instructions including a maintenance manual for the robotic
equipment shall be provided. Information contained in the maintenance manual should include:
a) Procedures and methods of routine maintenance.
b) Each precaution to be followed during servicing including OSHA’s Lockout/Tagout

Procedures 1910.147.
c) Identification of each component that is likely to be replaced in the field and that is deemed
by the manufacturer to be critical with respect to the risk of fire, electric shock, or injury to
persons associated with the robotic equipment. Each critical component may be described, or
may be identified on the schematic diagram by color, shading, cross-hatching, symbols (such as
the IEC symbol ), or the like.
d) Installation instructions to indicate that the robot system be installed to avoid interference
with buildings, structures, utilities, other machines and equipment that may create trapping or
pinch points.
e) A statement that any person who programs, teaches, operates, maintains or repairs robots
or robot systems is trained and demonstrates competence to safely perform the assigned task.
f) A statement that if a supplementary audible means of robot operation is provided, it shall

exceed the ambient noise at the end-use application.
g) A statement that the robot control panel shall not be located inside the robot work envelope.
h) A statement that if more than one emergency stop button is provided, each button shall be
marked to indicated its designated safety function if it does not stop all robot workcell motion.
92.2 Operating specifications, such as rated load capacity, maximum payload, maximum speed,
maximum stopping distance and time (see 41.2.2.5 and 41.5.5), robot work envelope, method of
movement for each robot axis without drive power (see 36.6 – 36.8), and the like, shall be included within
the manufacturer’s instructions. The operating instructions shall indicate that each robot axis be capable
of being moved without using drive power, and if required, a means to release brakes, solenoids, and the
like, shall be provided.
92.3 The need to consider safeguards, perimeter guarding, presence sensors, identification of the robot
work envelope (yellow safety stripes or the like) to prevent unauthorized entry into the robot work
envelope and other specialized safety precautions, shall be included in the instructions.
92.4 User connected outputs that are intended to be wired to interlocks, presence sensors and the like
that function to automatically stop robot motion shall be specified in the instructions.
92.5 When the robot or robotic equipment is not investigated in conjunction with a system workcell, the
instructions shall call attention to the following: the interlocked portion of barrier shall be installed, applied,
and maintained so that it has the capability of being easily unlocked from the inside of the safeguarded
space, with or without power available, when the possibility of full body access exists.
92.6 The user instructions shall include information regarding locating the indicator lamp outside of the
workcell, in accordance with Exception 3 of 36.1, if the robot is intended for use in areas with high levels
of process contaminants or if a supplemental covering is applied to protect the lamp against process
contaminants.
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DECEMBER 7, 2007 ROBOTS AND ROBOTIC EQUIPMENT - UL 1740 A1
Appendix A
Standards for Components
Standards under which components of the products covered by this standard are evaluated include the
following:
Title of Standard − UL Standard Designation
Air Filter Units – UL 900

Batteries, Lithium – UL 1642
Capacitors – UL 810
Capacitors and Suppressors for Radio- and Television-Type Appliances – UL 1414
Cathode Ray Tubes, Mechanical Safety for – UL 61965
Circuit Breakers, Molded Case, Molded-Case Switches, and Circuit-Breaker Enclosures – UL 489
Electromagnetic Interference Filters – UL 1283
Enclosures for Electrical Equipment – UL 50
Fittings, Conduit, Tubing, and Cable – UL 514B
Flexible Cords and Cables – UL 62
Fuseholders – UL 512
Fuses, Low Voltage, Part 1: General Requirements – UL 248-1
Fuses, Low Voltage, Part 4: Class CC – UL 248-4
Fuses, Low Voltage, Part 8: Class J – UL 248-8
Fuses, Low Voltage, Part 9: Class K – UL 248-9
Fuses, Low Voltage, Part 10: Class L – UL 248-10
Fuses, Low Voltage, Part 12: Class R – UL 248-12
Fuses, Low Voltage, Part 13: Semiconductor Fuses – UL 248-13
Fuses, Low Voltage, Part 14: Supplemental Fuses – UL 248-14
Fuses, Low Voltage, Part 15: Class T – UL 248-15
Industrial Control Equipment – UL 508
Marking and Labeling Systems – UL 969
Overheating Protection for Motors – UL 2111
Plastic Materials for Parts in Devices and Appliances, Tests for Flammability of – UL 94
Polymeric Materials – Long Term Property Evaluations – UL 746B
Polymeric Materials – Short Term Property Evaluations – UL 746A
Polymeric Materials – Use in Electrical Equipment Evaluations – UL 746C
Power Units Other Than Class 2 – UL 1012
Printed-Wiring Boards – UL 796
Protectors, for Use in Electrical Equipment, Supplementary – UL 1077
Software in Programmable Components – UL 1998
Service Equipment, Reference Standard for – UL 869A
Switches, Enclosed and Dead-Front – UL 98
Systems of Insulating Materials – General – UL 1446
Temperature-Indicating and -Regulating Equipment – UL 873
Terminal Blocks – UL 1059
Terminals, Electrical Quick-Connect – UL 310
Tests for Safety-Related Controls Employing Solid-State Devices – UL 991
Transformers, Low Voltage – Part 1: General Requirements – UL 5085-1
Transformers, Low Voltage – Part 2: General Purpose Transformers – UL 5085-2
Transformers, Low Voltage – Part 3: Class 2 and Class 3 Transformers – UL 5085-3
Surge Protective Devices – UL 1449
A2 ROBOTS AND ROBOTIC EQUIPMENT - UL 1740 DECEMBER 7, 2007
Wire Connectors – UL 486A-486B

Wires and Cables, Machine Tool – UL 1063
Wires and Cables, Thermoplastic-Insulated – UL 83
Wires, Electrical, Cables, and Flexible Cords, Reference Standard for – UL 1581
Wiring Terminals for Use With Aluminum and/or Copper Conductors, Equipment – UL 486E
DECEMBER 7, 2007 − UL 1740 sr1
Superseded requirements for

the Standard for
Standard for Robots and Robotic Equipment
UL 1740, Third Edition
The requirements shown are the current requirements that have been superseded by requirements in this
edition. The numbers in parentheses refer to the new requirements with future effective dates that have
superseded these requirements. To retain the current requirements, do not discard the following
requirements until the future effective dates are reached.
36.1 (36.1) When drive power is available to the robot arm, a yellow or amber visual indicator shall be
provided on the manipulator to let others know that the robot is operating or motion is possible. A lamp
that is used as the visual indicator shall comply with the following:
a) The lamp mounting means shall not be a screw-in type, which may loosen as a result of the
effects of robot arm vibration; and
b) The lamp shall not be a filament-type due to the likely effects of robot arm vibration that may
cause premature filament failure.
Exception No. 1: If the robot is integrated into a system workcell, the indicator may be located – other than
on the manipulator – where it would be visible from various likely approaches or entry points to the system
workcell.
Exception No. 2: A lamp located other than on the manipulator need not comply with (a) and (b).
36.7 (36.7) A brake release shall be protected against unintentional actuation. Symbols shall identify each
axis and warnings shall be provided concerning hazards of dropping the robot arm.
41.2.2.2 (41.2.2.2) The emergency stop button shall be red; palm or mushroom head type; and of the
latched type or equivalent so that it is not possible to restart the robot until the emergency stop button is
manually reset. Restarting of the robot shall only be possible by operating the start control after the
emergency stop switch has been reset.
41.4.4 (41.4.4) It shall not be possible to place the robot into automatic mode using the pendant
exclusively.
90.1 (92.1) Installation (lifting procedures and precautions, mounting, routing of interconnecting
hydraulic/pneumatic lines and electric cable, power requirements, electrical connections, special
environmental requirements including Electromagnetic Interference (EMI), Radio Frequency Interference
(RFI) and Electro-Static Discharge (ESD); and the like), function and location of controls, operation, safety
precautions, programming and maintenance instructions including a maintenance manual for the robotic
equipment shall be provided. Information contained in the maintenance manual should include:
a) Procedures and methods of routine maintenance.
b) Each precaution to be followed during servicing.
sr2 DECEMBER 7, 2007 − UL 1740
c) Identification of each component that is likely to be replaced in the field and that is deemed
by the manufacturer to be critical with respect to the risk of fire, electric shock, or injury to
persons associated with the robotic equipment. Each critical component may be described, or
may be identified on the schematic diagram by color, shading, cross-hatching, symbols (such as
the IEC symbol ), or the like.
d) Installation instructions to indicate that the robot system be installed to avoid interference
with buildings, structures, utilities, other machines and equipment that may create trapping or
pinch points.
e) A statement that any person who programs, teaches, operates, maintains or repairs robots
or robot systems is trained and demonstrates competence to safely perform the assigned task.
f) A statement that if a supplementary audible means of robot operation is provided, it shall

exceed the ambient noise at the end-use application.
g) A statement that the robot control panel shall not be located inside the robot work envelope.

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UL 1740

Robots and Robotic Equipment

Underwriters Laboratories Inc. (UL)

UL Standard for Safety for Robots and Robotic Equipment, UL 1740

Third Edition, Dated December 7, 2007

The New Edition of ANSI/UL 1740 includes the following changes:

Requirements for operation upon failure to complete intended motion/Locked rotor

Provision of easily unlocked means to exit workcell from within.

Requirement that manufacturers provide Lockout/Tagout procedures in the Service and

Addition of horizontal-surface loading test.

Updated requirements for identification of emergency control (E-stop) button.

Clarification of marking requirements (identification) of multi-colored status-indicating

Clarification of requirement that individual E-stop buttons be marked to indicate their

Added Flammability rating exemption for small parts.

Substitute term ″Polymeric Materials″ for ″Insulating Materials

Clarify term ″shock hazard″ in teach pendant drop test.

Clarify requirements for use in water environment.

Future Effective Dates References

Copyright © 2007 Underwriters Laboratories Inc.

This Standard consists of pages dated as shown in the following checklist:

1-112 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . December 7, 2007

Standard for Robots and Robotic Equipment

First Edition – February, 1995

The most recent designation of ANSI/UL 1740 as an American National Standard

This ANSI/UL Standard for Safety consists of the Third Edition.

Comments or proposals for revisions on any part of the Standard may be

COPYRIGHT © 2007 UNDERWRITERS LABORATORIES INC.

No Text on This Page

PROTECTION AGAINST INJURY TO PERSONS

42.4 Nonlithium battery circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73

79 Glass Window Impact Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .97

MANUFACTURING AND PRODUCTION TESTS

84 Production-Line Dielectric Voltage-Withstand Test – General . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99

92 Manufacturer’s Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110

Standards for Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A1

b) Industrial Control Equipment for Use in Hazardous (Classified) Locations, UL 698;

c) Explosion-Proof and Dust-Ignition-Proof Electrical Equipment for Use in Hazardous

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

2.5 CONTROLLED ENVIRONMENT – An environment relatively free of contaminants. A controlled

2.10 FIELD-WIRING TERMINAL – A wiring terminal on permanently connected equipment to which

2.12 ISOLATED LIMITED-ENERGY LOW-VOLTAGE CIRCUIT – A circuit (also hereafter referred to as

a) An energy-limiting Class 2 transformer;

b) A nonenergy-limiting Class 2 transformer and an overcurrent protective device. The

1) Not to be of the automatic reclosing type,

2) To be trip-free from the reclosing mechanism, and

3) Not to be readily interchangeable with a device of a different rating;

c) A combination of an isolated transformer secondary winding and a fixed impedance that

2.13 ISOLATED LIMITED-ENERGY SECONDARY CIRCUIT – A circuit derived from an isolated

2.15 NONISOLATED LIMITED-ENERGY LOW-VOLTAGE CIRCUIT (POWER SOURCE) – A circuit

a) A sequence of instructions to be executed by the computer or robot controller to control a

b) To furnish (a computer) with a code of instructions.

2.27 RISK OF ELECTRIC SHOCK –

2.29 ROBOT – A controlled, reprogrammable, multi-purpose, manipulative machine with several

2.38 STATIONARY EQUIPMENT – Cord- and plug-connected equipment that is intended to be

a) The attachment of accessories by means of attachment plugs and receptacles or by means

e) Routine cleaning of data-handling media.

3.2 A component is not required to comply with a specific requirement that:

b) Is superseded by a requirement in this standard.

7 Frame and Enclosure

7.2 Cast metal

7.3 Sheet metal

a) A single sheet with single formed flanges – formed edges;

b) A single sheet that is corrugated or ribbed;