ABB IRB 14000 - Design of Work Pieces and End Effectors

Design of work pieces and end effectors
Particular care must be taken to select and design work pieces and end effectors
(servo fingers, suction tools) for the application. If the risk assessment of the
completed system concludes that there are risks relating to work pieces or end
effectors, then the speed limits must be lowered, or the application must be
redesigned. See ISO 10218-2.
Product manual - IRB 14000 21
3HAC052983-001 Revision: D
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1 Safety
1.2.3 Safety in collaborative operation
Continued