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State Standards

There are twenty-eight OSHA-approved State Plans, operating state-wide occupational safety and health programs. State Plans are required to have standards and enforcement programs that are at least as effective as OSHA's and may have different or more stringent requirements.

This section highlights OSHA standards, directives (instructions for compliance officers), and national consensus standards related to robotics.


General Industry (29 CFR 1910)

Depending on the material being processed, these standards are also applicable:

  • 1910 Subpart O, Machinery and machine guarding
    • 1910.213, Woodworking machinery requirements [related topic page]
    • 1910.214, Cooperage machinery [Reserved]
    • 1910.215, Abrasive wheel machinery
    • 1910.216, Mills and calenders in the rubber and plastics industries
    • 1910.217, Mechanical power presses
      • Appendix A, Mandatory requirements for certification/validation of safety systems for presence sensing device initiation of mechanical power presses
      • Appendix B, Nonmandatory guidelines for certification/validation of safety systems for presence sensing device initiation of mechanical power presses
      • Appendix C, Mandatory requirements for OSHA recognition of third-party validation organizations for the PSDI standard
      • Appendix D, Nonmandatory supplementary information


  • Guidelines For Robotics Safety. STD 01-12-002 [PUB 8-1.3], (1987, September 21). Provides guidelines to OSHA compliance officers, employers, and employees for the safe operation and use of robots and robotic systems.
  • Search all available directives.
National Consensus

Note: These are NOT OSHA regulations. However, they do provide guidance from their originating organizations related to worker protection.

American National Standards Institute (ANSI)

  • R15.06-1999, Industrial Robots and Robot Systems - Safety Requirements. Provides requirements for industrial robot manufacture, remanufacture and rebuild; robot system integration/installation; and methods of safeguarding to enhance the safety of personnel associated with the use of robots and robot systems. This second review further limits the potential requirements for any retrofit of existing systems, revises the description of control reliable circuitry, and reorganizes several clauses to enhance understanding.
    • TR R15.106-2006, Technical Report on Teaching Multiple Robots. Robotics Industries Association (RIA). Provides additional safety information relative to teaching (programming) multiple industrial robots in a common safeguarded space in an industrial setting. It supplements the ANSI/RIA R15.06-1999 robot safety standard.
  • B11.TR3-2000, Risk Assessment and Risk Reduction - A Guide to Estimate, Evaluate and Reduce Risks Associated with Machine Tools. Provides a means to identify hazards associated with a particular machine or system when used as intended, and provides a procedure to estimate, evaluate, and reduce the risks of harm to individuals associated with these hazards under the various conditions of use of that machine or system.

International Organization for Standardization (ISO)

  • TC 184, Industrial automation systems and integration
  • ISO 10218-1:2006, Robots for industrial environments - Safety requirements - Part 1: Robot. Robotics Industries Association (RIA). Specifies requirements and guidelines for the inherent safe design, protective measures, and information for use of industrial robots. It describes basic hazards associated with robots, and provides requirements to eliminate or adequately reduce the risks associated with these hazards.
    • Note: ISO 10218-1:2006 does not apply to non-industrial robots although the safety principles established in ISO 10218 may be utilized for these other robots. Examples of non-industrial robot applications include, but are not limited to: undersea, military and space robots; tele-operated manipulators; prosthetics and other aids for the physically impaired; micro-robots (displacement <1 mm); surgery or healthcare; and service or consumer products.

Canadian Standards Association (CSA)

  • Z434-03, Industrial Robots and Robot Systems. Applies to the manufacture, remanufacture, rebuild, installation, safeguarding, maintenance and repair, testing and start-up, and personnel training requirements for industrial robots and robot systems.

American Welding Society (AWS)

  • D16.1M/D16.1, Specification For Robotic Arc Welding Safety. Identifies hazards involved in maintaining, operating, integrating, and setting up arc welding robot systems.
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