1. B&CMA 91 st Technical Conference – Atlanta, GA Can the new technology advances in collaborative robotics be applied, safely, practically and profitably to biscuit and cracker manufacturers?

2. Risk Rewards and Results Risks Rewards Poor choice for a robot system Fund and perform a proof of concept test Look for ways to reduce risk Good choice for a robot system Very Good choice for a robot system Good choice for a robot system Very Good choice for a robot system Excellent choice for a robot system

3. Risk Questions 1) How is the product presented? 2) Who will do the integration? 3) Are you a first time users of robotics? 4) Is vision necessary on the application? 5) Is any type of special sensor needed? 6) How complicated is the End Of Arm Tooling (EOAT)? 7) How will the EOAT be controlled? 8) How complex is the interface to other machines? 9) What is the complexity level of the I/O? 10) How many families of product are involved?

4. Risk Questions 11) Is there an interface to a factory ERP needed? 12) Does System needs to compensate for product tolerance? 13) Are detailed specifications and prints of the process and machines to interface are available? 14) Has the application been done before by integrator or end user? 15) What are the environmental conditions of the application? 16) Do you have involvement with engineers, production, maintenance and operators? 17) Are there application that could be done that are less complex?

5. Rewards 18) Do you have quality problems? 19) D you have difficulty finding employees to do the work? 20) Does your business need or deal with lots of government regulation? 21) Do you have issues with labor rules? 22) Will you use the system on more then one shift? 23) Does having Advanced Technology impresses your customers/investors? 24) Can the system run with little to no human attendence? 25) Do you face global competition? 26) Do you use robots currently? 27) Do you have issues providing benefits to your employees? 28) The system can run multiple products? 29) Will the system give you more production capacity? 30) Is your current process causing worker injuries? 31) Will the new system will reduce scrap?

6. Where can robots be used in an automated bakery? Palletizing Case Packing / Secondary Packaging Cutting Quality Control or Assembly Primary Packaging or Case forming

7. Robots working together

8. Simulate your application

9. Cracker Packer

14. ISO/TS 15066:2016 Technical Specifications are: o Information intended to be included in an International Standard (IS) o Not considered mature enough yet for inclusion in an IS o Needed to get information out to standards users and get feedback returned to the drafting committee Ultimate goal: Replace Clause 5.11 in ISO 10218-2 with contents of the ISO/TS 15066

15. ANSI/RIA R15.06-2012 ANS fully incorporating o ISO 10218-1 o ISO 10218-2 Introduces and allows Collaborative robot operation ISO/TS 15066 provides supplemental guidance to the ISO 10218-2 Carole Franklin Safety Director Robotic Industries Association 900 Victors Way, Suite 140 Ann Arbor, Michigan, USA 48108 T: (734) 994-6088 http://www.robotics.org/robotic-content.cfm/Robotics/Safety-Compliance/id/23 https://www.ansi.org/

16. Collaborative Robot Operations Collaboration is a special kind of operation between a person and a robot sharing a common workspace Collaborative operations can only: o Be used for pre-determined tasks o Possible when all required protective measures are active o For robots with features specifically designed for collaborative operation complying with Part 1

17. Enabling Technologies Safety-rated soft axis and space limiting o Software defined limits to robot motion o Space limiting used to define any geometric shape Inclusionary or exclusionary zones Limiting robot motion within a defined space or preventing robot from entering a defined space Safety-rated reduced speed control o Meets requirement of ISO 13849-1 Performance Level = d Structure Category 3 o Speed of the Tool Center Point does not exceed the limit set for reduced speed o Protective stop issued when fault occurs

18. Optional Speed Controls Safety-rated monitored speed Provides monitoring meeting PL=d structure category 3 Speed of TCP or of an axis shall be monitored Protective stop issued if the selected speed is exceeded Safety-rated monitored stop Speed = 0

19. Risk Assessment Key element of robot safety Each robot system is unique Special considerations for Power and Force limited robots o Non-hazardous processes only o No sharp edges o Gripper design o Direction of robot movement vs human location and possible movement

20. Risk Assessment Comprehensive task-based risk assessment o Layout design o Limits of the robot system o Hazard identification o Task identification o Hazard elimination and risk reduction Task and Hazard methodologies o Technical Report R15.306 o Revised but similar to method in 1999 edition

21. Workspace Requirements The collaborative workspace shall be clearly defined o Where the operator can interact directly with the robot Safeguarded by combination of protective devices and compliance with robot performance features Design of workspace shall be such that the operator can easily perform all tasks Minimum clearance of 500 mm from any trapping or pinch point Change point between autonomous and collaborative operation shall be designed so as not to endanger personnel

22. Collaborative Robot Operations One or more of the safety features shall be appropriately selected to ensure a safe work environment for all personnel exposed to potential hazards Any detected failure of the selected safety features shall result in a protective stop Autonomous operation requires a deliberate restart outside the collaborative workspace

23. Collaborative Robot Operations

24. Function Block Diagram of a Collaborative Robot

25. ItemDetailsRemarks STOThe function to electrically block the driving energy to the motor of the robot arm Corresponds to stop category 0 of IEC 60204-1 SS1The function to control the motor speed of the robot to decelerate Corresponds to stop category 1 of IEC 60204-1 SLSThe function to monitor whether the TCP speed does not exceed the monitoring speed EN61800-5-2 compliant SLPThe function to monitor whether a fixed monitoring position does not exceed the position monitoring plane EN61800-5-2 compliant STRThe function to monitor whether the torque feedback does not exceed the allowable torque width EN61800-5-2 compliant Safety Functions

26. Safety rated monitoring and control of robot: –Speed –Position –Torque –Servo Off Compatible with new and legacy F-Series Robots Allows cell space to be reduced Physical guarding can be removed* Virtual boundaries can be customized for each application Reduces cost of robotic installation Collaborative work cells can be created Robot Safety Monitoring & Control

27. Zone 1 <250mm/secZone 2 Stop Condition Less than 250mm/s Speed Control: Category 3 SIL 2 Entering Safety Input Basic operation Zoned operation Robot Safety Monitoring & Control

28. Position Control: Category 3 SIL 2 Robot runs within limited range based on safety input Robot normal work area Limited work area (based on application) Overview Robot Safety Monitoring & Control

29. Position Control: Category 3 SIL 2 NG workpiece Door EMG STOP! If worker opens a door… High speed Before After NG Part Limited Range Control Detailed Robot Safety Monitoring & Control

30. Page 30 Robot Safety Monitoring & Control

31. Logistics & Distribution

32. Robots Robot Look at the Total Safety System

33. Sensors can make your work area Safe https://www.youtube.com/watch?v=s2ips1R5Mb4

34. Torque

35. Sensors