RIA TR R15.206 : 2008

Foreword
0 Introduction
1 Scope
2 Normative references
3 Definitions and terms
  3.1 New definitions
  3.2 New terms
4 General requirements
  4.1 Risk Assessment
  4.2 Safety control circuit performance
  4.3 Safety-rated software and firmware
  4.4 Means for limiting motion
  4.5 Multiple robots
      4.5.1 Control of simultaneous motion
      4.5.2 Control using multiple pendants
  4.6 Pendants
  4.7 Collaborative robots
Annex A - Cross Reference List
  Table A.1 - R15.06 to 10218-1
  Table A.2 - 10218-1 to R15.06
Annex B - Risk Assessment Table
  Modified R15.06 Table 3 for use with 10218-1
Annex C - Bibliography

Specifies industry best practices for the integration and use of new robot features introduced by ANSI/RIA/ISO 10218-1 - 2007 standard for robot safety.