GB/T 5226.7-2020Electrical safety of machinery - Electrical equipment of machines - Part 7: Requirements of industrial robot (English PDF)

4.1 Basic principles

4.1.1 General

This section applies to electrical equipment/systems and equipment/system components of various industrial robots.

As part of the overall technical requirements for risk assessment of mechanical equipment, hazards related to electrical equipment/system hazards shall be hazard-specific analysis, hazard identification and evaluation, fully reduce the identified risks, and take necessary protective measures for persons and property that may be endangered,

And the performance of industrial robots and their electrical equipment is required to be maintained at a reasonable level.

Hazardous situations can be caused by the following, but not limited to.

--- Failure or malfunction of electrical equipment, resulting in the occurrence of electric shock or electric fire;

--- Control circuit (or its related components) failure or failure, resulting in mechanical malfunction;

--- Disturbance or interruption of power supply, and mechanical malfunction caused by failure or failure of power circuit;

--- Failure of safety functions due to loss of circuit continuity of sliding or rolling contacts;

--- Electrical disturbances (such as electromagnetic, static electricity) generated from the outside or inside of electrical equipment, resulting in mechanical malfunction;

--- Released by stored energy (electrical or mechanical), resulting in unintended actions such as electric shock, which could cause injury;

--- the noise reaches a level that endangers the health of persons;

--- Surface temperature that can cause injury.

Carry out a risk assessment of the hazards identified in the hazard identification, with particular attention to.

--- Routine operations including teaching, setting, maintenance and cleaning;

--- unexpected startup;

--- Reasonably foreseeable misoperation of the industrial robot;

--- Effects of control system failures;

--- Hazards associated with specific industrial robot applications.

Safety measures include the design phase and complex facilities requiring user configuration.

In the design and development process, the hazards and risks originating from industrial robots and electrical equipment should be identified first. If the intrinsically safe designer

Where the law cannot eliminate the danger and/or adequately reduce the risk, protective measures to reduce the risk (for example, safety protection) shall be provided. in need

Where further risk reduction and/or residual hazards are present, other measures should be used to provide additional means (such as the use of information to mark and warn of actions) operator, train the operator to use it safely). In addition, risk-reducing work procedures are required.

4.1.2 Basic safety of electrical equipment/systems

4.1.2.1 Emergency stop safety

Each electrical control station (console/control panel) in the electrical equipment/system that can independently start the operation of the industrial robot shall be equipped with a

If a manual emergency stop device is installed, see 5.5.2 in GB 11291.1-2011 for specific requirements.

4.1.2.2 Protective stop safety

Electrical equipment/systems shall have one or more safety settings for protective stop circuits. See GB 11291.1- 5.5.3 in.2011.

4.1.2.3 Limit Safety

Electrical equipment/systems shall have the following limit safety measures.

a) In the case where a multi-turn absolute encoder is not used as a position sensor, set the electromechanical positive and negative for each single axis (joint or linear axis)

Limit stop (device), see 5.12.2 in GB 11291.1-2011 for specific requirements;

b) The safety software limit of the axis and space determined by the software, as a means of determining and reducing the limited space provided, its specific

See 5.12.3 in GB 11291.1-2011 for requirements;

c) If necessary, set the dynamic limit device for automatic controlled change in the limited space of the robot during the cycle of the industrial robot system.

Set the ability to stop the motion of the industrial robot under the rated load, see 5.12.4 in GB 11291.1-2011 for specific requirements.

4.1.2.4 Deceleration control/limited speed operation safety

The electrical equipment/system should have the ability to limit the speed of the industrial robot to <=250mm/s, so that the personnel have time to avoid the danger of the industrial robot.

For safety measures to escape or stop the movement of industrial robots during movement, see 5.6 in GB 11291.1-2011 for specific requirements.

4.1.2.5 Safe operation

The electrical equipment/system shall have safety measures selected by different operation modes (such as automatic mode, manual deceleration mode and manual high-speed mode).

For specific requirements, see 5.7 in GB 11291.1-2011.

4.1.2.6 Teaching Control Safety

The electrical equipment/system shall have safety measures controlled by the teaching box (or other control device), see GB 11291.1- 5.8 in.2011.

Note. No teaching box is not required.

4.1.2.7 Origin setting and fault diagnosis safety

The electrical equipment/system should have the ability to prohibit other movements of the robot except manual operation before the calibration of the origin position to prevent the occurrence of danger security measures. At the same time, it should also have the ability to diagnose faults and maintain corresponding industrial robots through various measures (including information, etc.).

safety measures.

4.1.2.8 Simultaneous motion control and collaborative operation safety

When necessary, the electrical equipment/system shall have safety measures for simultaneous control of multiple industrial robots, see GB 11291.1- 5.9 in.2011.

When there is cooperative operation, the electrical equipment/system shall have safety measures for cooperative operation, see GB 11291.1-2011 for specific requirements.

5.10.

4.1.2.9 Singularity Protection Security

When necessary, the electrical equipment/system shall have safety measures for singularity protection, see the specific requirements in GB 11291.1-2011

5.11.

4.1.2.10 Collision Detection and Handling Security

When required, electrical equipment/systems shall have collision detection and handling safety measures, i.e. when the tool or industrial robot body is in contact with surrounding equipment

When the equipment collides, it can detect and stop the industrial robot in an instant without any external sensor, so as to reduce the damage caused by the collision.

When a collision is detected in the teaching mode and the reproduction mode, the industrial robot should be able to stop in an emergency.

4.1.2.11 Joint self-locking safety after power failure

For the situation that the joint may fall after power failure due to the self-weight of the joint and the self-weight of the tool in different postures, the electrical equipment/system shall have internal

Brakes or external braking measures are used to ensure that the joints of the industrial robot can self-lock and maintain the position and attitude.

4.1.2.12 Delayed de-enable safety of non-self-locking joints

For some joints of industrial robots that do not have self-locking function, when the speed is non-zero, the moment of abnormal shutdown, if the joint cannot

To maintain the position and attitude at that time, the electrical equipment/system should have safety measures to enable it to ensure that the speed is zero and then disable it.

4.1.2.13 Operation authority and control software security

The electrical equipment/system shall have security measures to limit the authority of different users such as function use, parameter setting and password setting.

The basic condition of safety assurance measures is that no software intervention is allowed in important parts. For example, the main power switch does not allow

Pass. The task of the emergency stop circuit is to cut off the power source and is the last resort to deal with the fault. Therefore, the emergency stop circuit should be directly connected to the power source

Connect with wiring to ensure that the power source can be cut off reliably when a fault occurs.

If bus control is used, it should be ensured that the I/O connected to the bus is restored to a safe level when the bus connection is disconnected or the bus fails.

state, or consider using a redundant system.

4.2 Selection of electrical equipment

Electrical equipment/systems and devices shall.

--- adapted to their intended use;

--- comply with the relevant standards;

---Use according to the requirements of the supplier's manual.

4.3 Power

4.3.1

The electrical equipment/system shall be designed to operate normally under the power supply conditions specified in 4.3.2.

4.3.2 Voltage

The steady-state voltage of the AC power supply is (0.85~1.1) times the nominal voltage.

Frequency. 0.99~1.01 times the nominal frequency (continuous).

0.98~1.02 times the nominal frequency (short-time operation).

Harmonics. The sum of the 2nd to 5th order distortion harmonics does not exceed 10% of the rms value of the line voltage; for the sum of the 6th to 30th order distortion harmonics

A maximum of 2% of the rms value of the additional line voltage is allowed.

Unbalanced voltage. The negative sequence and zero sequence components of the three-phase power supply voltage should not exceed 2% of the positive sequence component.

Voltage interruption. At any time in the power cycle, the power interruption or zero voltage duration does not exceed 3ms, and the interval between successive interruptions should be greater than 1s.

Voltage drop. The voltage drop should not exceed 20% of the peak voltage of the power supply for more than 1 cycle, and the interval between successive drops should be greater than 1s.

4.4 Actual environment and operating conditions

4.4.1 Overview

Electrical equipment/systems should be adapted to the environmental and operating conditions in which they are intended to be used.

4.4.2 Electromagnetic Compatibility (EMC)

The electromagnetic disturbance generated by the electrical equipment/system should not exceed the allowable level of its intended use, and at the same time, there should be sufficient electromagnetic disturbance.

Immunity level to ensure that the electrical equipment/system can operate normally in the intended use environment.

Immunity and/or emission tests (see Appendix A) are required for electrical equipment/systems, with the following exceptions.

--- The devices or components used have met the EMC requirements of relevant product standards or general standards (when there is no product standard);

---Electrical installation and wiring have met the requirements of the equipment and component suppliers (cables, shielding, grounding, etc.) or have taken measures to reduce electromagnetic effects

Effective measures (see Appendix H in GB/T 5226.1-2019).

Note. See GB 23313-2009 (emission limit) and GB/T 21067-2007 (immunity limit) for general standards of EMC of industrial machinery.

4.4.3 Ambient air temperature

The electrical equipment/system should be able to work normally in the expected ambient air temperature, the requirement is that the external environment of the enclosure (cabinet, box or box) is empty.

The air temperature can work normally in the range of 5°C~40°C.

The manufacturer may specify the minimum or maximum ambient air temperature for use depending on the environment in which the specific electrical equipment/system will be used.

4.4.4 Humidity

When the maximum temperature is 40°C and the relative humidity does not exceed 50%, the electrical equipment/system should be able to work normally. Low temperature allows high

Relative humidity, such as 90% relative humidity at 20°C.

Requires proper electrical equipment/system design to prevent the harmful effects of accidental condensation, with appropriate additional facilities where necessary (such as built-in heaters, air conditioners, drain holes, etc.).

4.4.5 Altitude

The electrical equipment/system should be able to work normally below.2000m above sea level.

For electrical equipment/systems to be used at high altitudes, it is necessary to reduce the following factors.

---Dielectric strength;

--- the switching capacity of the device;

--- Cooling effect of air.

The manufacturer should be consulted about correction factors to be used that are not specified in the product data.

4.4.6 Contamination

The pollution protection of electrical equipment/system shall comply with the provisions of 4.4.6 in GB/T 5226.1-2019.

4.4.7 Ionizing and non-ionizing radiation

When electrical equipment/system is exposed to radiation (such as microwave, ultraviolet, laser, X-ray), additional measures should be taken to avoid malfunction and increase

Rapid insulation aging.

4.4.8 Vibration, shock and impact

By choosing appropriate equipment, installing them away from vibration sources or taking additional measures to prevent (by mechanical equipment and its related equipment)

The adverse effects of vibration, shock and collision caused by or caused by the actual environment.

4.5 Transport and storage

Electrical equipment/systems should be designed or taken appropriate precautions to ensure that they can withstand temperatures in the range of -25°C to 55°C.

Transport and storage, and can withstand short-term transport and storage at temperatures up to 70°C for no more than 24 hours. Anti-moisture, anti-vibration and anti-shock

Strike measures to avoid damage to electrical equipment.

Note. Electrical equipment vulnerable to damage at low temperatures includes PVC insulated cables.

5.1 Introducing Power Line Termination

Electrical equipment/systems should be connected to a single power source. If other power sources are required to power certain parts of electrical equipment/systems […]