Electromechanical manipulator (EMM)

DOE-STD-6003-96

m. Multiple remote device coordination

Multiple remote-handling systems in the same or overlapping workspace(s) should have

coordinated motions to prevent their direct interaction. When two systems have an interaction

potential, one system will be designated as the lead and the other the follower.

n. Closed-circuit television (CCTV)

CCTV is generally used to monitor the remotely performed handling and operations activi-

ties. The CCTV equipment should meet the electrical performance standards for monochrome

television studio facilities EIA Standard RS-170-57 (Revision TR-135), 1957. CCTV electrical

wiring should be in accordance with NFPA 70, National Electric Code.

The radiation hardness of the required CCTV system is a function of the particular appli-

cation, with significant cost and complexity advantages to the nonradiation-hardened systems,

when they are applicable. Each application should define its realistic radiation-hardness needs.

o. Electromechanical manipulator (EMM)

Design, fabrication, inspection, and testing of EMM should comply with the requirements

of following codes and standards:

Controls

NEMA ICS-6

Electrical

NFPA 70

For additional guidance, see ANS 1985 and NASA 1991.

p. Cranes

The following codes and standards should be considered in the design, fabrication,

inspection, and testing of cranes:

Cranes and Hoists

CMAA 70 and /or ASME NOG-1

Seismic Analysis

CMAA 70 and /or ASME NOG-1

Overhead and Gantry Cranes

ANSI B30.2

Hooks

ANSI B30.10

Electrical

NFPA 70, Art 610

IPCEA S-61-402

NEMA MG1, NEMA ICS-1, NEMA WC-3

ANSI C2

Fire Protection

NFPA 12A

NFPA 72E

FM-Approval Guide

UL-Fire Protection Equipment

132