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EU Code

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Subcategory

Prohibited Supply To

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Document

Notes

• Control units specially designed for any of the ‘robots’ or ‘end-effectors’ specified in Item 1.A.3.a.Note: Item 1.A.3. does not control ‘robots’ specially designed for non-nuclear industrial applications such as automobile paint-spraying booths.Technical Notes:1. ‘Robots’ In Item 1.A.3. ‘robot’ means a manipulation mechanism, which may be of the continuous path or of the point-to-point variety, may use “sensors”, and has all of the following characteristics: (a) is multifunctional; (b) is capable of positioning or orienting material, parts, tools, or special devices through variable movements in three-dimensional space; (c) incorporates three or more closed or open loop servo-devices which may include stepping motors; and (d) has “user-accessible programmability” by means of teach/playback method or by means of an electronic computer which may be a programmable logic controller, i.e., without mechanical intervention.N.B.1: In the above definition “sensors” means detectors of a physical phenomenon, the output of which (after conversion into a signal that can be interpreted by a control unit) is able to generate “programs” or modify programmed instructions or numerical “program” data. This includes “sensors” with machine vision, infrared imaging, acoustical imaging, tactile feel, inertial position measuring, optical or acoustic ranging or force or torque measuring capabilities.N.B.2: In the above definition “user-accessible programmability” means the facility allowing a user to insert, modify or replace “programs” by means other than:(a) a physical change in wiring or interconnections; or(b) the setting of function controls including entry of parameters.N.B.3: The above definition does not include the following devices:(a) Manipulation mechanisms which are only manually/teleoperator controllable;(b) Fixed sequence manipulation mechanisms which are automated moving devices operating according to mechanically fixed programmed motions. The “program” is mechanically limited by fixed stops, such as pins or cams. The sequence of motions and the selection of paths or angles are not variable or changeable by mechanical, electronic, or electrical means;(c) Mechanically controlled variable sequence manipulation mechanisms which are automated moving devices operating according to mechanically fixed programmed motions. The “program” is mechanically limited by fixed, but adjustable, stops such as pins or cams. The sequence of motions and the selection of paths or angles are variable within the fixed “program” pattern. Variations or modifications of the “program” pattern (e.g., changes of pins or exchanges of cams) in one or more motion axes are accomplished only through mechanical operations;(d) Non-servo-controlled variable sequence manipulation mechanisms which are automated moving devices, operating according to mechanically fixed programmed motions. The “program” is variable but the sequence proceeds only by the binary signal from mechanically fixed electrical binary devices or adjustable stops;(e) Stacker cranes defined as Cartesian coordinate manipulator systems manufactured as an integral part of a vertical array of storage bins and designed to access the contents of those bins for storage or retrieval. 2. ‘End-effectors’ In Item 1.A.3. ‘end-effectors’ are grippers, ‘active tooling units’, and any other tooling that is attached to the baseplate on the end of a ‘robot’ manipulator arm.N.B.: In the above definition ‘active tooling units’ is a device for applying motive power, process energy or sensing to the workpiece.
• ‘Robots’, ‘end-effectors’ and control units as follows: a. ‘Robots’ or ‘end-effectors’ having either of the following characteristics: 1. Specially designed to comply with national safety standards applicable to handling high explosives (for example, meeting electrical code ratings for high explosives);