Scope and Objectives.The requirements of this standard apply to industrial robots that are used to perform the gas metal arc welding (GMAW) and flux cored arc welding (FCAW) processes. The purpose of this standard is to establish minimum safety requirements with respect to the design@ manufacture@ maintenance@ and operation of arc welding robot systems and ancillary equipment. It is also designed to help identify and minimize hazards involved in maintaining@ operating@ and setting up of arc welding robot systems.A robotic arc welding system consists of a manipulator@ power source@ arc welding torch and accessories; electrode feed system@ dereeling system@ welding circuit@ shielding and communication control@ and grounding system. There may be other accessories that are outside the scope of this document. A typical system is illustrated in Figure 1.This specification makes use of both U.S. Customary Units and the International System of Units (SI). These measurements may not be exact equivalents; therefore each system must be used independently of the other without combining in any way. The specification D16.1M uses SI units. The specification with the designation D16.1 uses U.S. Customary Units. The latter are shown in appropriate columns in tables or within parentheses ( ) when used in the text.