Safety Requirements

of Automated Guided Vehicles

and Autonomous Mobile Robots

www.tuv.com
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Standards Requirements and Outlook for Industrial

Mobile Robot Platforms
As the cost of warehousing operations has risen over the past decade, many supply chain leaders across
logistics and manufacturing have been turning toward automated solutions, including mobile platforms for
transporting and delivering goods. Forecasts published at the beginning of 2020 projected that the global
autonomous mobile robot market was expected to reach $58.9 billion by 2026.1

The COVID-19 coronavirus pandemic has only accelerated this phenomenon as companies around the
world have made efforts to increase the safety of their employees by re-examining their current manu-
facturing and processing practices, even as the demand for certain products and services has increased.
This may mean automating as many tasks as possible so that humans can work on safer, less interactive
tasks.

While there have been several safety standards and regulations published for industrial mobile robot
platforms, the upcoming release of UL 3100 and ANSI/RIA R15.08 has mirrored the projected industry
growth specific for these kinds of robotic applications.

This whitepaper will outline the current standards landscape for industrial mobile robot platforms.

1. https://www.businesswire.com/news/home/20200122005673/en/Global-Autonomous-Mobile-Robot-Market-Expected-Grow
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Defining Industrial Mobile Robot Platforms:

In North America, a technical distinction is being made between “Automated Guided Vehicles” (AGVs), and “Autonomous
Mobile Robots” (AMRs).

W H AT I S A N A U T O M AT E D G U I D E D V E H I C L E ( A G V ) ? W H AT I S A N A U T O N O M O U S M O B I L E R O B O T ( A M R ) ?
An Automated Guided Vehicle is a powered Industrial Truck An AMR is very similar to an AGV in application and use
that is not mechanically restrained (e.g. rails, guides, etc.), un- environment. These devices are also unmanned (without the
manned and designed to operate automatically for load lifting, possibility to be manned) but operate autonomously, mainly
carrying, picking, towing and the like. Examples of AGVs can using wireless radio communication technology to navigate.
also be known as: “driverless industrial trucks,” “automated AMRs are also sometimes referred to as Autonomous Mobile
guided carts,” “tunnel/tuggers,” “under carts,” etc. Platforms (AMPs).
AGVs are not intended to operate in areas open to persons
unaware of the hazards (e.g. public zones).

W H AT A R E T H E D I F F E R E N C E S B E T W E E N A N A G V A N D A N A M R ?
These products often look very similar and are used for the same applications and environments. Historically manufacturers
of AGV’s produce forklift trucks and similar products. AMR manufacturers have their roots in robotic systems.

The Robotics Industry Association (RIA) is developing requirements for AMRs and AGVs with robotic arms (RIA R15.08).
They currently define these products as follows:

Mobile platforms that cannot navigate around an unplanned obstacle and must stop until
the obstruction is removed are defined as AGVs.

Mobile platforms that can autonomously navigate around obstacles are defined as AMRs.

Additionally, AMRs are segregated into Type A, Type B, and Type C.

·
Type A AMRs: Only an AMR mobile platform.
·
Type B AMRs: An AMR with a passive attachment such as shelving or bins.
·
Type C AMRs: An AMR with a robotic manipulator.

AGVs that include a robotic manipulator are defined as AMRs.

Autonomous Mobile Robot (AMR) Automated Guided Vehicle (AGV)

MANIPULATOR MANIPULATOR
NONE Attachment (3+ axes) (3+ axes) Attachment NONE
Type? Type?

OTHER OTHER

Type A Type B Mobile Manipulator

AMR AMR w/Attachment Type C

Industrial Mobile Robot Automated Guided Vehicle

[See R15.08] (AGV) [See B56.5]
 A U T O M AT E D G U I D E D V E H I C L E S V S . A U T O N O M O U S M O B I L E R O B O T S 4

In addition to the RIA definitions, a set of testing requirements has been developed (UL 3100) for Autonomous Mobile
Platforms (AMPs) that is intended to be the testing requirements to accompany RIA R15.08.

UL 3100 is intended to be used on mobile platforms that are not marked in accordance with NFPA 505 (Fire Safety for
Powered Industrial Trucks).

UL 583 has been modified to handle unmanned industrial trucks and shall be applied when the product is marked
in accordance with NFPA 505.

The industry is developing quickly and it is possible that current standards editions may be changed in the near future as
technologies develop and merge together.

Basic safety standards for AGVs

1. EU R O PE / C E / G LO BA L

REQUIREMENTS TITLE REMARKS

· Not harmonized with 2006/42/EC yet. However there are only administrative
problems with the CE consultancy. On a technical point of view the standard is
Industrial trucks – Safety
correct and build is state of the art.
ISO 3691-4
requirements and verification
– Part 4: Driverless industrial · EN 1525:1997 is still valid, but shall be not used anymore. State of the art is
not given with this standard.
trucks and their systems
· EN/ISO Version is under preparation. However the final decision will take a few
months longer.

· Is state of the art and shall be used instead of EN 1175-1, -2 and -3

· Replaces EN 1175- 1, -2 and -3.
Safety of Industrial Trucks (all from 1998 + A1).
prEN 1175 – Electrical/Electronic
Requirements) · EN 1175- 1, -2 and -3 are still harmonized, but this will be changed
· ISO 20898:2008 will not be supported by Europe anymore.
in the future.

2006/42/EC, Annex I Machinery Directive · Checklist Annex I is required.

Safety of machinery –
Electrical equipment of · Describes electrical requirements.
IEC/EN 60204-1
machines – Part 1: General
requirements
· Describes testing.
RoHS Directive (EU)
2015/863 amending Annex
· Includes 11 categories of electrical and electronic equipment.
IEC/EN 62321
II to Directive 2011/65/EU
on Restriction of Hazardous · AMRs and AGVs are not considered fixed installations, nor are they considered
Large Scale Industrial Tools (LSIT), so RoHS will apply.
Substances in Electrical and
Electronic Equipment.

Registration, Evaluation,
· Currently 209 SVHCs (Substances of Very High Concern) are on
the Candidate List.
1907/2006/EC REACH Authorization and Restriction · Annex XVII Restriction List
of Chemicals · REACH applies to almost everything entering the EU, with the exception of
cosmetics and natural resources.

WEEE Directive marking · Product and company are registered in each EU Country of sale
standard EN 50419 on the · Product‘s Recycling & Recovery Rates fall within the scope of the directive
2012/19/EU WEEE
marking of electrical and
electronic equipment
· Documentation exists to show how to disassemble parts into
recyclable materials
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Basic safety standards for AGVs

2 . U SA /CA N A DA

REQUIREMENTS TITLE REMARKS

Safety Standard For

ANSI/ITSDF B56.5
Driverless, Automatic
Guided Industrial Vehicles · ANSI/ITSDF B56.5 R.14 is still valid, but ANSI B56.5-2019 version will beco-
me effective on August 12, 2020.
And Automated Functions of
Manned Industrial Vehicles

UL 583 R3.18
Standard for Electric-
Battery-Powered Industrial · Isandused when mobile platforms are marked (Type E, CGH, E or CGH, EE, ES,
EX) in accordance with NFPA 505.
Trucks

· Not intended to be applied to the product directly.

CSA B335 Safety standard for lift trucks · Specifies key elements of a lift truck safety program and recommends qualifi-
cations for lift truck trainers, maintenance technicians, and other personnel.

· Isof under
2020.
development and has an expected publication at the end
Safety Standard For
· Current draft is not available.
ANSI/CAN/UL 3100 Autonomous Mobile
· IsIs aintended
Bi-National document.
Platforms (AMPs)
· E or CGH, EE,to beES,used when mobile platforms are not marked (Type E, CGH,
and EX) in accordance with NFPA 505 (instead of UL 583).
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Basic safety standards for AMRs

Currently the same standards for AGVs can be used for AMRs.
As an alternative, the following robot standards can be considered:

1. EU R O PE / C E / G LO BA L

REQUIREMENTS TITLE REMARKS

Robots and robotic devices

· Harmonized with the Machinery Directive 2006/42/EC.
ISO 10218-1
– Safety requirements for
· Traditionally used for industrial robots.
industrial robots
– Part 1: Robots · Same document as ANSI/RIA R15.06 and CAN/CSA Z434.
Safety of machinery -
IEC/EN 60204-1
Electrical equipment of
machines - Part 1: General · EN 60204-1:2018
requirements

2006/42/EC, Annex I Machinery Directive · Checklist Annex I is required.

Industrial trucks – Safety
· Not harmonized with 2006/42/EC yet. However there are only administrative
problems with the CE consultancy. On a technical point of view the standard
requirements and is correct and build is state of the art.
ISO 3691-4 verification – Part 4:
Driverless industrial trucks
· EN 1525:1997 is still valid, but shall be not used anymore. State of the art is
not given with this standard.
and their systems · EN/ISO Version is under preparation. However the final decision will take a
few months longer.
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Basic safety standards for AMRs

2 . U SA /CA N A DA

REQUIREMENTS TITLE REMARKS

· Standard for robotic equipment.

· Not specific to stationary robotic equipment (can be applied
to mobile systems).
ANSI/UL 1740
Standard for Robots
· Intended to be paired with requirements of ANSI/RIA R15.06.
and Robotic Equipment
· Describes construction requirements.
· Describes electrical requirements.
· Describes testing.

Industrial Robots and

· Intended for industrial robot systems.
ANSI/RIA R15.06 Robot Systems – Safety
Requirements · Similar document to ISO 10218 and CAN/CSA Z434.
Industrial Robots
· Intended for industrial robot systems.
CAN/CSA Z434 and Robot Systems –
Safety Requirements · Similar document to ISO 10218 and ANSI/RIA R15.06.

Safety of machinery –
· Electrical requirements used for Canada when CAN/CSA Z434 is applied.
IEC/EN 60204-1
Electrical equipment
· Describes electrical requirements.
of machines – Part 1:
General requirements · Describes testing.

· Not yet published – Expected late 2020.

· Current draft is not available.
· IsIs aintended
Bi-National document.

ANSI/CAN/UL 3100
Safety Standard For
Autonomous Mobile
· E or CGH, EE,to beES,used when mobile platforms are not marked (Type E, CGH,
and EX) in accordance with NFPA 505 (instead of UL 583).
Platforms (AMPs) · Intended to be paired with requirements of ANSI/RIA R15.08.
· Describes construction requirements.
· Describes electrical requirements.
· Describes testing.

· Not yet published – Expected late 2020.

ANSI/RIA R15.08
Standard for Industrial
· Current draft is not available.
Mobile Robots
· Based on requirements from ANSI/RIA R15.06.
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The above-mentioned standards address the significant hazards, along with

hazardous situations and/or events throughout the life cycle of the mobile
platforms, as relevant to the application when it is used as intended or under
conditions of reasonably foreseeable misuse.

The standards then provide requirements to adequately reduce the risks associated
with these hazards.

There are also requirements for the persons responsible for integration of AGVs and
AMRs into the workplace. Some of these standards go on to specify requirements
for the preparation of the environment (clearance, zones, load transfer, load pick-up
and deposit stations, areas of restricted visibility, crossing and junctions, automated
battery charging, floor conditions, racking and other peripheral equipment).

The following parts are the major areas which are covered by the standards
referenced above:

1. Risk assessment
2. Modes of operation (automatic mode, manual mode, maintenance mode)
3. Safety related control system performance
4. Battery charging
5. Load handling
6. Speed controls
7. Braking, steering and stability requirements
8. Fitted conveyors (ISO 3691-4 only)
9. Object/person detection requirements
10. Static and dynamic load tests
11. Site application requirements
12. Documentation requirements
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Other compliance requirements for industrial mobile platforms

COMPLIANCE IN THE U.S.
In the United States, companies are required to comply with the federal Occupational Safety and Health
Administration (OSHA) requirements. Chiefly, this obligation is to OSHA’s general duty clause, but there
are many other requirements that might potentially affect organizations.

In the U.S., laws such as 29 CFR Ch: 1910 govern all types of electrical products and machinery. These
are enforced by OSHA and local inspectors, also called Authorities Having Jurisdiction (AHJs). Complian-
ce with these laws is demonstrated by adhering to safety standards related in response to “recognized
hazards.” It is important to understand that in the United States, it is the responsibility of the employer to
ensure workplace safety. This is why it is vital that each employer is only bringing in AGVs and AMRs that
have been evaluated and found to meet relevant safety standards.

COM PLIAN C E IN CANA DA

The requirements in Canada are very similar to the U.S., with different agencies handling enforcement.

Provincial and Territorial Authorities are independent of the Standards Council of Canada (SCC), responsib-
le for their own province/territory, but they do recognize the SCC. In short, the Canadian Electrical Code
(CEC) requires products to be approved by a certification organization that has a proper SCC accreditation
(like TÜV Rheinland). In addition, Provincial/local acceptance is also required (15 Separate approvals inclu-
ding Ontario, Quebec, Yukon, Northwest Territories, etc.)

CATEGORY LAW OR REGULATION RESPONSIBLE AGENCY CERTIFICATION PRODUCTS AFFECTED

OSHA, Electronics/Electric Tools/

29 CFR
Workplace Electrical Authorities Having Third Party Appliances, Fire Safety
U.S.

Ch: 1910,
and Fire Safety Jurisdiction (NRTL) Equip., Wiring Materials,
NEC-NFPA 70
(AHJ‘s) Machinery, etc.

Electronics/Electric Tools/
SCC.
Workplace Electrical SOR/86-304, Third Party Appliances, Fire Safety
Provincial and Territorial
and Fire Safety CEC-C22.2 No. 0 (CO) Equip., Wiring Materials,
Authorities
Machinery, etc.
CANADA

Consumer and Health Canada,

Provincial and Territorial Third Party IT, Audio Visual, Home
Commercial Electronic Provincial and Territorial
Electrial Codes (CO) Appliances, etc.
Products Authorities
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COMPLIANCE IN THE EU
For mobile platforms in the European Union, it is the responsibility of the manu-
facturer to ensure compliance with regulations, not the employer. Products sold
in Europe are governed by legislation called directives. The European Parliament
adopts safety directives that have been developed by committees (the Commission
and member states) and working groups (committees and European stakeholders).
These directives then become national laws in the member states. Manufacturers
who want to sell their products in the EU and are governed by one or more direc-
tives must fully comply with all applicable directives. The following directives are
most common:

· Machinery Directive (2006/42/EC)

· EMC Directive (2014/30/EU)
· Battery Directive (2006/66/EC)
Other directives may also be applicable such as:

· RoHS Directive (2015/863)

· WEEE Directive (2012/19/EU)
· REACH Regulation (EC) No. 1907/2006
· Radio Equipment Directive (RED) 2014/53/EU
Once a product is found to fully comply with applicable directives, such as the
RoHS Directive, the CE mark is used to indicate that status. If you place “CE” on
your product, that means you fully comply with EU directives, if your product falls
within the scope. A CE mark is a self-declaration, and unlike marks such as cTUVus,
it is not obtained through TÜV Rheinland. To show compliance with the directives
applicable to the product, harmonized safety standards are used. Mobile platform
manufacturers need to demonstrate that they meet all the requirements of directi-
ves by having a testing agency perform pertinent assessments.

C O M P L I A N C E I N O T H E R PA R T S O F T H E W O R L D
In some parts of the world, the EU method of CE marking the product may be
acceptable and required. In other parts of the world, they may only have very high
level workplace safety requirements, in which case the utilization of the proper
standards for AGVs would serve as the best method to ensure worker safety.
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TÜV Rheinland’s Services for AGVs and AMRs

NRTL COMPLIANCE
To ensure product quality, OSHA has clearly defined regulations which industrial trucks
including AGVs must satisfy before they can be approved for sale or for use in the
workplace. With constrained budgets and tight development timelines, your Nationally
Recognized Testing Laboratory (NRTL) choice is critical. TÜV Rheinland is accredited
as an NRTL by OSHA (The Occupational Safety and Health Administration). This means
that TÜV Rheinland can assess your product and issue certification marks and field
labels as appropriate to tell both consumers and business partners that your products
have been thoroughly tested and specifically certified to comply with electrical and fire
safety regulations. TÜV Rheinland is becoming the leading North American certification
organization because of our superior cost savings, recognized worldwide acceptance,
and responsive customer service.

EU MACHINERY DIRECTIVE
As technologies continue to evolve, machinery and equipment are being subjected to
increasing regulatory scrutiny. EU member states require that any product falling under
Machinery Directive 2006/42/EC that is placed on the market or put into operation must
be CE-marked. This proves compliance to essential health and safety requirements and
industry standards to regulatory bodies. TÜV Rheinland can assist with everything from
determining the proper product standards and directives to fully assessing the product
for you.

R I S K A S S E S S M E N T A S S I S TA N C E
Unsure of how to conduct a risk assessment? TÜV Rheinland can facilitate a risk
assessment review and guide you through the process as dictated in ISO 12100
to provide you with a risk assessment that is the framework for your safe product
and the product assessment.

FUNCTIONAL SAFETY
The reduction of potential safety risks in industrial mobile platforms and safety-
related applications has to be considered by the manufacturers, end users, and
system integrators. A high degree of safety, reliability, and quality is demanded as
the application of the AMR and AGV systems. TÜV Rheinland offers functional safety
services for mobile platforms according to worldwide relevant standards IEC 61508,
IEC 62061, ISO 13489-1, and others.

CYBERSECURIT Y
The connectivity required by AGVs and AMRs poses a safety concern as these mobile
platforms are rarely, if ever, developed with cybersecurity in mind. Industrial sabotage
as well as accidental infection of robot fleets are increasing, so testing systems to make
sure they are secure is important.

According to IEC 61508: “If the hazard analysis identifies that malevolent or unautho-
rized action, constituting a security threat, as being reasonably foreseeable, then a
security threats analysis should be carried out. If security threats are identified, then a
vulnerability analysis should be undertaken in order to specify security requirements.”
The standard also recommends using the guidance given in the IEC 62443 series.
 A U T O M AT E D G U I D E D V E H I C L E S V S . A U T O N O M O U S M O B I L E R O B O T S 12

EMC
For many electrical devices and products bound for the global marketplace, electroma-
gnetic compatibility (EMC) testing has become more daunting than ever. Any manu-
facturer wanting to bring such products onto the market has to comply with the EMC
Directive 2014/30/EU. In addition, specific EMC testing can be required for functional
safety purposes, by a standard such as EN 12895 or by a specific country. As an autho-
rized body and international service provider, we offer a flexible, competent service to
help you meet the requirements of this directive.

Our conveniently located, state-of-the-art EMC testing facilities can meet any of your
EMC testing needs.

WIRELESS TESTING
TÜV Rheinland offers comprehensive services for wireless testing and certification.
Leveraging local service and a global network, TÜV Rheinland provides an end-to-end
wireless and IoT test solution. Our service portfolio includes regulatory, interoperability,
performance, safety, and security. We test with industry alliances for both long and
short-range devices across various industries including Automotive, Medical, Industrial
IoT, Smart Home and Consumer Products.

H A Z A R D O U S S U B S TA N C E T E S T I N G
TÜV Rheinland‘s chemical labs currently test products for RoHS, REACH, California
Proposition 65, WEEE, POP regulation, Canada Health, US/CAN/EU Packaging and
many other requirements. With an ISO 17025 approved laboratory and accreditation to
RoHS IEC/EN 62321 set of standards, you can be assured that your products will meet
the latest requirements.

About TÜV Rheinland

TÜV Rheinland is a global leader in independent inspection services, founded more than 145 years ago.
Based in Cologne, Germany, we maintain a worldwide presence of more than 20,000 employees working
to ensure quality and safety. Our network of experts participate in the entire process of getting robots
and robot cells to market, from development to deployment. Not only does our team understand the key
industry standards for robotics, we help create them. TÜV Rheinland has participated in or contributed
to multiple prominent industry committees, including ISO/TC 299, and is a member of the Robotic
Industries Association (RIA) and participates on the ANSI/RIA R15.06 committees, among others.
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