Risk Assessment

ANSI/ITSDF B56.
5-2019
(Revision of ANSI/ITSDF B56.5-2012)
SAFETY STANDARD FOR

DRIVERLESS, AUTOMATIC
GUIDED INDUSTRIAL
VEHICLES AND
AUTOMATED FUNCTIONS
OF MANNED INDUSTRIAL
VEHICLES
AN AMERICAN NATIONAL STANDARD
INDUSTRIAL TRUCK STANDARDS DEVELOPMENT FOUNDATION

Each B56 Standard is available free of charge from ITSDF. Each standard is copyrighted by ITSDF and may not be
published, reproduced, distributed or otherwise made publicly available without the prior written consent of ITSDF.
Please visit www.ITSDF.org to ensure that you have the most recent version.
Date of Issuance: August 12, 2019
ITSDF issues written replies to inquiries concerning interpretations of technical aspects of this Standard.
Interpretations are published on the ITSDF Web site at http://www.itsdf.org as they are issued, and will also be
published within the next edition of the Standard.
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This code or standard was developed under procedures accredited as meeting the criteria for American
National Standards. The Standards Committee that approved the code or standard was balanced to assure that
individuals from competent and concerned interests have had an opportunity to participate. The proposed code
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Copyright © 2019 by
INDUSTRIAL TRUCK STANDARDS DEVELOPMENT FOUNDATION
All rights reserved
i
CONTENTS
Foreword ........................................................................................................................... iii

Committee Roster ............................................................................................................. iv
Summary of Changes ........................................................................................................v
B56 Series Introduction .................................................................................................... vi
Part I Introduction ................................................................................................... 1

1 Scope .............................................................................................................. 1
2 Purpose ........................................................................................................... 1
3 Interpretation ................................................................................................... 1
Part II For the User ................................................................................................... 3

4 General Safety Practices ................................................................................ 3
5 Installation ....................................................................................................... 5
6 Operation ........................................................................................................ 6
7 Maintenance .................................................................................................... 7
Part III For the System Supplier and Manufacturer ................................................ 9

8 Design and Construction Standards ............................................................... 9
Part IV Automated Functions of Manned Industrial Vehicles.............................. 20

9 Manufacturer and User Practices .................................................................. 20
Mandatory Appendices
I References .................................................................................................... 22
II Glossary of Commonly Used Words and Phrases ........................................ 23
ii
FOREWORD
(This foreword is not part of ANSI/ITSDF B56.5-2019)
On September 8, 1972, the B56.5 Subcommittee started work on this standard at the direction of the B56
Committee and the Sponsor, The American Society of Mechanical Engineers (ASME). Following a number of
work sessions and ballots within the Subcommittee and the B56 Standards Committee, it was submitted to ASME
B56 Committee ballot, public review, and Secretariat approval. After obtaining such approval, the Standard was
submitted to the American National Standards Institute, Inc. (ANSI). ANSI approval to issue the Standard as
American National Standard B56.5 was granted on August 30, 1978.
On October 18, 1984, the B56.5 Subcommittee held a meeting to begin work on the revision of ANSI B56.5-
1978. After a number of additional subcommittee meetings, the Subcommittee came to consensus agreement on
a proposed revision. The proposed revision was submitted for B56 Committee ballot and public review. After
consideration of comments received, the proposed revision was submitted to the Sponsor for its approval. After
obtaining approval, the proposed revision was submitted to ANSI and was approved and designated as an
American National Standard on May 17, 1988.
Subsequently, addenda to the 1988 edition were approved and published in 1989, 1990, 1991, and 1992.
Proposed revisions for inclusion in the 1993 edition were approved by the B56 Committee and the Sponsor, and
were submitted for public review. The 1993 edition, which incorporated the revisions contained in the four
addenda to the 1988 edition plus those revisions approved for the 1993 edition, was approved and designated as
an American National Standard by ANSI on August 30, 1993.
The 2004 edition incorporates changes made in the ASME B56.5a-1994 supplement, as well as additional
revisions. It was approved for issuance as an American National Standard on February 23, 2004.
On September 1, 2005, management of the B56 Standards Committee and its Subcommittees was transferred
from ASME to the Industrial Truck Standards Development Foundation. This Standard was reaffirmed by the B56
Standards Committee after references to ASME were changed to ITSDF.
The 2012 edition of B56.5 was approved by the American National Standards Institute on March 1, 2012.
ANSI/ITSDF B56.5-2019 was approved as a revision by the American National Standards Institute on August
6, 2019.
This Standard shall become effective 1 year after its respective Date of Issuance. Part III applies only to
trucks manufactured after the effective date.
Safety codes and standards are intended to enhance public health and safety. Revisions result from
committee consideration of factors such as technological advances, new data, and changing environmental and
industry needs. Revisions do not imply that previous editions were inadequate.
iii
ITSDF STANDARDS COMMITTEE ROSTER B56
Powered and Nonpowered Industrial Trucks
(The following is the roster of the Committee at the time of approval of this Standard.)
OFFICERS
D. Graham, Chair
J. E. Johnson, Vice Chair
C.F. Merther, Secretary
COMMITTEE PERSONNEL
Jimmy Eavenson, Eavenson Consulting, LLC Steve McDermitt, Crown Equipment

Rudy Fiers, U.S. Department of Labor - OSHA David Norton, The Raymond Corporation
Dennis Graham, Rite-Hite Jeff Rhinehart, KION
Ron Graunstadt, U.A.W. Rolland Riley, U.S. Army TACOM
Mats Herrstromer, AGVE Richard Ward, MHIA/Round Prairie
John Johnson, Johnson Engineering Services, Inc.
Donald Labelle, Betsie Bay Consulting
SUBCOMMITTEE B56.5 – SAFETY STANDARD FOR GUIDED INDUSTRIAL VEHICLES AND AUTOMATED
FUNCTIONS OF MANNED INDUSTRIAL VEHICLES
Mats Herrstromer, Chair, AGVE

Joe Bencel, JBT Corporation
Roger Bostelman, National Institute of Standards & Technology
Jerry Chilson, Jervis B. Webb Company
David Emanuel, Amerden AGVS
James Hemmes, Egemin Automation, Inc.
Michael Jordon, Ford Motor Company
Jeff Kuss, The Raymond Corporation
Marco Majoli, Elettric 80
Steve McDermitt, Crown Equipment
Kevin McGoldrick, Hyster-Yale
David Norton (Alt. to Kuss),The Raymond Corp.
Matthias Otto, Navitec Systems
Jӧrn Soukup, Jungheinrich
Richard Ward, Material Handling Industry of America/Round Prairie Engineering Assoc.
Mitchell Weiss, Piaggio Fast Forward
iv
ANSI/ITSDF B56.5-2019
SUMMARY OF CHANGES
Following approval by the ITSDF B56 Committee and after public review, ANSI/ITSDF B56.5-2019 was approved
as a revision by ANSI on August 6, 2019. The revision consists of updating the wording and provisions of the
scope, Part II for the user, Part III for the manufacturer, and the glossary of commonly used words and phrases.
Changes are indicated by the margin note (19).
v
POWERED AND NONPOWERED INDUSTRIAL TRUCKS
B56 SERIES INTRODUCTION

GENERAL
This Standard is one of a series that have been formulated with the Industrial Truck Standards
Development Foundation as Sponsor in accordance with the Accredited Organization method, the procedures
accredited by the American National Standards Institute, Inc., and the following scope:
Establishment of the safety requirements relating to the elements of design, operation, and
maintenance; standardization relating to principal dimensions to facilitate interchangeability, test
methods, and test procedures of powered and nonpowered industrial trucks (not including vehicles
intended primarily for earth moving or over-the-road hauling); and maintenance of liaison with the
International Organization for Standardization (ISO) in all matters pertaining to powered and
nonpowered industrial trucks.
One purpose of the Standard is to serve as a guide to governmental authorities having jurisdiction over
subjects within the scope of the Standard. It is expected, however, that the Standard will find a major application
in industry, serving as a guide to manufacturers, purchasers, and users of the equipment.
For convenience, Standards of Powered and Nonpowered Industrial Trucks have been divided into
separate volumes:
Safety Standards
B56.1 Low Lift and High Lift Trucks

B56.5 Guided Industrial Vehicles and Automated Functions of Manned Industrial Vehicles
B56.6 Rough Terrain Forklift Trucks
B56.8 Personnel and Burden Carriers
B56.9 Operator Controlled Industrial Tow Tractors
B56.10 Manually Propelled High Lift Industrial Trucks
B56.14 Safety Standard for Vehicle Mounted Trucks
Standardization Standards
B56.11.1 Double Race or Bi-Level Swivel and Rigid Industrial Casters

B56.11.4 Hook-Type Forks and Fork Carriers for Powered Industrial Forklift Trucks
B56.11.5 Measurement of Sound Emitted by Low Lift, High Lift, and Rough Terrain Powered Industrial Trucks
B56.11.6 Evaluation of Visibility from Powered Industrial Trucks
B56.11.7 Liquefied Petroleum Gas (LPG) Fuel Cylinders (Horizontal or Vertical) Mounting – Liquid Withdrawal –
for Powered Industrial Trucks
B56.11.8 Safety Standard for Seat Belt (Lap-Type) Anchorage Systems for Powered Industrial Trucks
Safety standards that were previously listed as B56 volumes but now have different identification due to a
change in standards development assignments are as follows:
NFPA 505 Fire Safety Standard for Powered Industrial Trucks – Type Designations, Areas of Use, Maintenance
and Operation (formerly B56.2)
UL 583 Standard for Safety for Electric-Battery-Powered Industrial Trucks (formerly B56.3)
UL 558 Standard for Safety for Internal Combustion Engine-Powered Industrial Trucks (formerly B56.4)
vi
If adopted for governmental use, the references to other national codes and standards in the specific
volumes may be changed to refer to the corresponding governmental regulations.
The use of powered and nonpowered industrial trucks is subject to certain hazards that cannot be
completely eliminated by mechanical means, but the risks can be minimized by the exercise of intelligence, care,
and common sense. It is therefore essential to have competent and careful operators, physically and mentally fit,
and thoroughly trained in the safe operation of the equipment and the handling of the loads. Serious hazards are
overloading, instability of the load, obstruction to the free passage of the load, collision with objects or
pedestrians, poor maintenance, and use of equipment for a purpose for which it was not intended or designed.
Suggestions for improvement of these Standards, especially those based on actual experience in their
application, shall be submitted to the Secretary of the B56 Committee, ITSDF, 1750 K Street NW, Suite 460,
Washington DC 20006.
Comments shall be written in accordance with the following format:
(a) specify paragraph designation of the pertinent volume;

(b) indicate suggested change (addition, deletion, revision, etc.);
(c) briefly state reason and/or evidence for suggested change;
(d) submit suggested changes to more than one paragraph in the order in which they appear in the
volume.
The appropriate B56 Subcommittee will consider each suggested revision at its first meeting after receipt
of the suggested revision(s).
vii
ANSI/ITSDF B56.5-2019 SAFETY STANDARD FOR DRIVERLESS, AUTOMATIC GUIDED INDUSTRIAL VEHICLES
AND AUTOMATED FUNCTIONS OF MANNED INDUSTRIAL VEHICLES
SAFETY STANDARD FOR DRIVERLESS, AUTOMATIC GUIDED

INDUSTRIAL VEHICLES AND AUTOMATED FUNCTIONS OF
MANNED INDUSTRIAL VEHICLES
Part I
Introduction
1 SCOPE
This Standard defines the safety requirements relating to the elements of design, operation, and maintenance
of powered, not mechanically restrained, unmanned automatic guided industrial vehicles and the system of which
the vehicles are a part. It also applies to vehicles originally designed to operate exclusively in a manned mode
but which are subsequently modified to operate in an unmanned, automatic mode, or in a semiautomatic, manual,
or maintenance mode.
(19) This Standard applies to automatic guided industrial vehicles in automatic mode of operation in non-restricted
areas. Portions of this Standard, when designated, also apply to semiautomatic, manual, and maintenance
modes and restricted areas of vehicle operation. It is recognized that restricted areas may exist, and require the
user and system supplier to determine appropriate safeguard measures. This standard does not apply to vehicles
operating in closed areas where personnel are not allowed and appropriate interlocking systems, safeguards, and
procedures are in place.
Portions of this Standard, when designated, also apply to automated functions of manned vehicles.
This Standard does not apply to passenger-carrying vehicles.
2 PURPOSE
The purpose of this Standard is to promote safety through the design, construction, application, operation, and
maintenance of unmanned guided industrial vehicles and automated functions of manned industrial vehicles.
This Standard may be used as a guide by governmental authorities desiring to formulate safety rules and
regulations. The Standard is also intended for voluntary use by others associated with manufacturing or use of
unmanned guided industrial vehicles and automated functions of manned industrial vehicles.
3 INTERPRETATION
3.1 Mandatory and Advisory Rules
To carry out the provisions of this Standard, the word shall is to be understood as mandatory and the word
should as recommended.
3.2 Classification of Approved Automatic Guided Industrial Vehicles
The word approved means the classification or listing of automatic guided industrial vehicles as to fire,
explosion, and electric shock hazard by a nationally recognized testing laboratory.
3.3 Requests for Interpretation
The B56 Committee will render an interpretation of any requirement of this Standard. Interpretations will be
rendered only in response to a written request sent to the Secretary of the B56 Committee, ITSDF. The request
for interpretation shall be in the following format.
Subject: Cite the applicable paragraph number(s) and provide a concise description.
Edition: Cite the applicable edition of the pertinent standard for which the interpretation is being
requested.
1
Question: Phrase the question as a request for an interpretation of a specific requirement suitable for
general understanding and use, not as a request for approval of a proprietary design or situation.
The inquirer may also include any plans or drawings, which are necessary to explain the
question; however, they should not contain proprietary names or information.
ITSDF procedures provide for reconsideration of any interpretation when or if additional information, which
might affect an interpretation is available. Further, persons aggrieved by an interpretation may appeal to the
cognizant ITSDF Committee or Subcommittee. ITSDF does not “approve,” “certify,” “rate,” or “endorse” any item,
construction, proprietary device, or activity.
3.4 Metric Conversions
The values stated in metric units are to be regarded as the standard. U.S. Customary units are maintained in
the Users Section (in parenthesis) as information for those not familiar with metric units. The conversion to U.S.
Customary is a direct (hard) conversion from SI units.
2
Part II
For the User
4 GENERAL SAFETY PRACTICES
4.1 Introduction
4.1.1 Before putting an automatic guided industrial vehicle system into service, the user shall be responsible
for all factors affecting the operation and maintenance, as referenced in Part II of this Standard.
4.1.2 Automatic guided industrial vehicles can cause injury or damage if improperly used or maintained and if
the potential risks specified in user training associated with hazard zones and restricted areas are not respected
by persons within or adjacent to these areas.
4.1.3 Part II contains safety standards applicable to vehicle operations. Unusual operating conditions may
require additional safety precautions and/or safeguard measures. Automatic guided industrial vehicles which can
be operated by manual control may have restricted operational characteristics.
4.1.4 Part IV contains safety standards applicable to automated functions of manned industrial vehicles.
4.2 Modifications, Nameplates, Markings, and Capacity
4.2.1 Except as provided in para. 4.2.2, no modifications or alterations to an automatic guided industrial
vehicle that may affect the capacity, stability, or safe operation of the vehicle shall be made without the prior
written approval of the system supplier or its successor thereof. When the system supplier or its successor
approves a modification or alteration, appropriate changes shall be made to capacity plates, decals, tags, and
operation and maintenance manuals.
4.2.2 In the event that the system supplier is no longer in business and there is no successor to the business,
the user may arrange for a modification or alteration to an automatic guided industrial vehicle provided however,
the user
(a) arranges for modification or alteration to be designed, tested, and implemented by an engineer(s) expert in
Automatic Guided Industrial Vehicles and their safety
(b) maintains a permanent record of the design test(s), and implementation of the modification or alteration
(c) makes appropriate changes to the capacity plate(s), decals, tags, and operation and maintenance manuals
(d) affixes a permanent and readily visible label on the truck stating the manner in which the truck has been
modified or altered together with the date of the modification or alteration, and the name of the organization that
accomplished the tasks
4.2.3 The user shall see that all nameplates and caution and instruction markings are in place and legible.
4.2.4 When utilizing lifting equipment such as elevators, cranes, ship hoisting gear, etc., to relocate a guided
industrial vehicle, the user shall assure that the capacity of the hoisting equipment being used is not exceeded.
4.2.5 The user shall consider the changes in load(s), load position(s), or dimension(s), coupling types(s), or
position(s), and floor surface condition(s) or battery weights may affect rated capacities and safe operation. Only
stable or safely arranged loads shall be handled.
4.2.6 The user shall be responsible for the load stability and retention. When deemed necessary by the user,
verification shall be required.
3
4.2.7 Some users may decide to establish, for their own use, stability requirements that will vary from those in
para. 8.7.4. However, the requirements in para. 8.7.4 should serve as a guide for the user, working with the
manufacturer, in establishing its own more stringent requirements.
4.3 Stopping Distance
4.3.1 The determination of the vehicle’s stopping distance (whether used as a load carrying vehicle or a tow
vehicle) depends on many factors, such as other vehicle and pedestrian traffic, clearances, condition of the floor,
and the stability and retention requirements of load(s). The prime consideration is that the braking system in
conjunction with the object detection system and the response time of the safety control system shall cause the
vehicle to stop prior to impact between the vehicle structure and other mounted equipment, including its intended
load, and an obstruction being sensed in advance of the moving vehicle in the main direction of travel. (see
Sections III, para. 8.7.1 (c) (2) and para 8.11).
(19) 4.3.2 Should an object suddenly appear in the path of the vehicle between the leading edge of the sensing
field and the vehicle (i.e. an object falling from overhead or a pedestrian stepping into the path of a vehicle at the
last instant), the vehicle shall initiate braking in accordance with brake system (see para. 8.8.1), but may not be
expected to stop in time to prevent contact with object.
(19) 4.3.3 Caution should be exercised with changed environments. Changes in weather, surface conditions, or
applications may affect the vehicle stopping distance; speeds, loads, brake settings, and/or operation should be
adjusted accordingly.
4.4 Sensors
If a load exceeds the width and/or length of the vehicle, the user should require that sensors in the direction of
travel covering the maximum moving width and/or length be provided to prevent contact between the load and
any obstruction.
4.5 Charging and Changing of Batteries
The user shall make battery changing and charging provisions in accordance with ANSI/NFPA 505. Battery
types and charging systems supplied or specified by the vehicle manufacturer (e.g., opportunity charging) but not
referenced in ANSI/NFPA 505 shall be safely operated and charged per the instructions supplied by the vehicle
manufacturer.
4.6 Hazardous Locations
4.6.1 Other than hazard zones as specified in PART III, para. 8.11.2, it shall be the responsibility of the user to
determine the hazard classification of any particular atmosphere or location according to ANSI/NFPA 505.
4.6.2 Vehicles operated in hazardous locations as determined by ANSI/NFPA 505 shall be of the type required
by ANSI/NFPA 505 and shall be so identified.
4.7 Aisles and Doors
4.7.1 Restricted areas of vehicle operation require identification and/or marking.
4.7.2 In non-restricted areas, the floor space boundary required for the vehicle and its intended load and/or
train shall be clearly marked, including the clearance necessary for turns and maneuvering.
4.7.3 Doors subject to automatic actuation and blind corners shall have suitable audible and/or visual alarms
to anticipate the approach of the automatic vehicle or door actuation. Passive devices such as mirrors are
recommended also.
4
(19) 4.7.4 A minimum guidepath clearance (see glossary) of 0.5 m (19.7 inches) shall be maintained on both sides
of the guidepath or on one side of the guidepath if the guidepath clearance on the other side is 0.1m (3.94 inches)
or less to a continuous closed fixed structure (e.g. a wall). All other areas shall be considered hazard zones or
restricted areas and be clearly marked by signs, stripes, lights, or other designations. (see Part III, para 8.11.2)
4.7.4.1 Hazard zones and/or restricted areas shall be designated as such by the user and system supplier
during the design, installation, and start up phases, and it shall then be the responsibility of the user to cause
these areas to be clearly marked by stripes, lights, or other designations. It is also the responsibility of the user to
maintain system documentation with regard to new hazard zones and/or restricted areas that may be created by
the user following system acceptance and to likewise cause these new areas to be clearly marked in a similar
fashion.
4.7.4.2 All hazard zones or restricted areas shall be the subject of verifiable training of user personnel 1)
conducted by the system supplier prior to the initial start up of operations; and 2) then by the user on an ongoing
basis following system acceptance. (see para. 6.3 and Section III, para. 8.11.2.1.2)
4.7.5 Doors
(a) Automatic vehicle guide paths should not be routed through doorways frequented by personnel unless
the opening is wide enough for personnel to remain outside the guidepath clearance aisle. Also, opening and
closing of powered or non-powered doors shall be accomplished in a manner that alerts or restricts personnel
near the doorway.
(b) In order to minimize the possibility of blocking the complete closing of a fire door, the vehicle will respond
to a signal such as an input from a limit switch and/or heat sensor and stop prior to the fire door.
(c) System design should not have a normal stop location where a vehicle or its load would block a fire door
closure.
4.8 Ambient Lighting
There are no ambient lighting requirements for automatic vehicle systems.
4.9 Safety Devices (Systems)
4.9.1 Vehicle
(a) Warning Devices. The user and system supplier should agree upon the time interval(s) for warning
device actuation. See para. 8.9
(b) Emergency Devices. See para. 8.10.
(c) Nonemergency Devices. See para. 8.11.
(d) Turn Signals. These are not mandatory but should be made available by the manufacturer, if requested.
4.9.2 Facility. Signs, warning devices, and other safety devices should be used as required to alert and to
protect the personnel from contact with the vehicle or items actuated by the vehicle. This includes equipment that
is designed to interact with the vehicle system.
4.9.3 Safety Devices. Vehicle safety devices shall not be manually overridden in automatic or semiautomatic
modes of operation.
4.10 Vehicle Emergency and Nonemergency Controls and Devices
Requirements in addition to those specified in para. 8.10 and 8.11 may be specified by the user, but shall not
negate the provisions of para. 8.10.
5 INSTALLATION
5.1 General Guidelines
(a) All hazardous locations shall be marked in accordance with ANSI/NFPA 505.
5
(b) Permanent aisles, roadways, and passageways shall be marked by the user as a warning to personnel of
existing or impending automatic guided industrial vehicle traffic and to indicate that these vehicles have the right
of way.
(c) Restricted areas shall be clearly marked.
(d) Central battery changing and charging facilities and procedures shall be in accordance with Section 5-3 of
ANSI/NFPA 505.
(e) Vehicle nameplate ratings are based on level, dry surfaces having a minimum coefficient of friction with
the driven and brake tire of 0.6. Other surface conditions may impact vehicle safety and require appropriate
vehicle derating.
5.2 Operating Environment
5.2.1 Travel Surface. The surfaces over which the vehicle system operates shall be maintained to ensure
that the traction required for travel, steering, and braking performance can be met under the environmental
conditions which may be expected on that surface.
5.2.2 Physical Environment. The physical environment, including temperature, humidity, ambient weather
(e.g., exposed dock), air quality (e.g., explosive particulates, and/or gaseous constituents) shall be a part of the
vehicle design criteria. Changes to the environment shall be evaluated to verify there is not adverse effect on the
vehicle’s safety systems.
5.2.3 Radiated Emissions. Many types of devices may emit energy, such as electromagnetic, electrostatic,
or optical, that could affect the operation of the vehicle system. Likewise, vehicle systems may emit energy that
could affect other systems and/or personnel. Users should seek guidance from the system supplier if interference
is suspected. The conditions acceptable for the vehicle system installation shall be defined by user and system
supplier agreement.
6 OPERATION
6.1 User Responsibility
The user is responsible for the safe operation of the vehicle system.
6.2 Manual Functions
Only personnel trained in accordance with para. 6.3 shall manually operate an automatic guided industrial
vehicle. Operators shall be qualified as to their ability to safely operate the equipment.
6.3 General Training
A training program for operators and other user personnel likely to be exposed to the system in operation,
including visitors, shall include the system supplier’s documented operating instructions and procedures and the
user’s local applicable requirements if any. The initial training shall be presented by the system supplier to all
operators and other user personnel and not condensed or eliminated for those claiming previous experience.
Oral, written, or operational performance tests and evaluations should be given during and at the completion of all
training. Periodic, ongoing training or refresher training sessions shall then be conducted by the user for the
benefit of existing users as well as for new user personnel and visitors. Refresher training sessions, which may
be condensed versions of the initial training sessions, and periodic on-the-job evaluation, are as important as
initial training, especially when new personnel are hired or otherwise introduced to the system following initial
deployment
For areas designated by the user and system supplier, or subsequently by the user, as hazard zones or
restricted areas due to inadequate clearances, or the potential for inadequate clearances with no escape route,
user personnel and any person likely to come into contact with the vehicle system shall be the subject of verifiable
training concerning the risk and how to avoid risk.
6
6.4 User Personnel Responsibility
The user personnel shall abide by all applicable safety rules and practices.
6.5 General Instructions
Safety and operating instructions shall be provided to the operators and other user personnel as applicable,
these include the following:
(a) safeguarding of personnel
(b) passenger riding restrictions
(c) loading of vehicles and trailers
(d) maintaining a safe distance from the edge of ramps, platforms, and other objects
(e) use on trailer(s) or railcar(s)
(f) using vehicles in hazardous locations
(g) reporting of vehicle incidents
(h) keeping vehicles clear of fire aisles, doors, access to stairways, and fire equipment
(i) sequence of operation with interfacing equipment
(j) use of braking system(s)
6.6 Manual Operation
6.6.1 Manual operation of fork-type guided industrial vehicles shall also comply with applicable sections of
ANSI/ITSDF B56.1 not addressed in this Standard.
6.6.2 Manual operation of burden carrier-type guided industrial vehicles shall also comply with applicable
sections of ANSI/ITSDF B56.8 not addressed in this Standard.
6.6.3 Manual operation of towing-type guided industrial vehicles shall also comply with applicable sections of
6.6.4 Other type vehicles may require additional considerations.
7 MAINTENANCE
7.1 Warning
Vehicles may become hazardous if maintenance is neglected. Therefore, maintenance facilities, trained
personnel, and procedures shall be provided.
7.2 Maintenance
Maintenance and inspection of all vehicle systems shall conform to the manufacturer’s recommendations.
7.2.1 Preventive
(a) All manufacturer’s supplied plates, tags, and decals shall be maintained in legible condition.
(b) All components, including object detection devices shall be inspected at regular intervals and maintained
in accordance with the vehicle component manufacturer’s or vehicle manufacturer’s recommendations.
(c) Vehicle systems shall be kept in clean condition to minimize fire hazards and facilitate detection of loose
or defective parts.
(d) Safety and warning systems shall be maintained in operational readiness.
(e) The volume of audible warning devices as required in Section III, para. 8.9.2 shall be checked on a
regular basis and the volume levels discussed and agreed upon between the user and the system supplier taking
into consideration the ambient noise levels existing throughout the areas where vehicles will be operating.
7.2.2 Diagnosis and Repair

(a) Only authorized personnel shall be permitted to maintain, repair, adjust, and inspect vehicle systems.
7
(b) Modifications and/or additions to hardware or software which affect rated capacity, safe operation, or any
emergency control or device shall not be performed without the system supplier’s verifiable approval. Where
such authorization is granted, capacity, operation, and maintenance instruction plates, tags, or decals shall be
changed accordingly.
(c) Care shall be taken to ensure that all replacement parts are interchangeable with the original parts and of
a quality and performance at least equal to that provided in the original equipment.
7.2.3 Batteries and Chargers
The user shall maintain batteries and changing and charging systems in accordance with ANSI/NFPA 505.
Battery types and charging systems supplied or specified by the vehicle manufacturer (e.g., opportunity charging)
but not referenced in ANSI/NFPA 505 shall be maintained in accordance with instructions supplied by the vehicle
manufacturer.
7.3 Maintenance Training
7.3.1 Only authorized persons shall be permitted to control or maintain a vehicle system.
7.3.2 Maintenance and support personnel of the system shall be trained by qualified persons. Training may
include the following:
(a) operations
(b) electrical maintenance
(c) mechanical/fluidic maintenance
(d) systems level (where applicable)
7.3.3 It is the user’s responsibility to follow all procedures for the operation and maintenance of equipment.
7.4 Documentation of Maintenance Activities
Records of maintenance activities performed should be kept.
8
Part III
For the System Supplier and Manufacturer
8 DESIGN AND CONSTRUCTION STANDARDS
8.1 Introduction
Part III contains safety standards for the design and construction of unmanned, automatic guided industrial
vehicles and the system of which the vehicles are a part. Part IV contains safety standards applicable to
automated functions of manned industrial vehicles.
As used herein, the term manufacturer refers to the original vehicle manufacturer (see glossary,
manufacturer). The term system supplier refers to the entity with responsibility for the system design, the design
requirements, the installation and integration of the vehicle(s) and the overall performance of the system and
vehicle(s) according to the provisions of this standard (see glossary, system supplier). Although the manufacturer
and system supplier may be one and the same entity, it is also common for the system supplier to be a third party
entity separate from the manufacturer.
8.2 Rated Capacity of Towing Vehicles
8.2.1 Guided tow vehicles shall have an established maximum drawbar pull and normal rated drawbar pull.
These ratings are based on level, dry surfaces having a minimum coefficient of friction with the driving and
braking tire of 0.6. The battery weight and size used shall be within limits stated on the vehicle nameplate.
8.2.2 Maximum drawbar pull in pounds (Newtons) shall be defined by the manufacturer at the specified
coupler height under the conditions of para. 8.2.1 When traveling at a minimum of 0.22 m/s and for a minimum of
30 sec.
8.2.3 Normal rated drawbar pull is the greatest continuous towing force in pounds (Newtons) which can be
sustained under the conditions of para. 8.2.1 including rated speed or duty cycle.
8.2.4 If the vehicle has load-carrying capacity in addition to towing capabilities,

load testing is also required. See para. 8.3.
8.2.5 Drawbar pull rating tests shall be performed as follows:

(a) Test Conditions
Course surface to be as defined in para. 8.2.1
(b) Test Methods
The test cycle is made up of the following
(1) one 61 m run with trailer load as per para. 8.2.2
(2) one 61 m run with trailer load as per para. 8.2.3
(3) vehicle shall accelerate to rated speed during each run and loads shall be cycled at least 6 times per
hour
(4) continuous test until a stable temperature has been reached for a minimum of 1 hr on components
(5) In addition to the test in para. 8.2.5(b), alternate rated drawbar pull is the sustained towing force in
pounds (Newtons) using special test conditions and test methods to suit the user’s operation.
8.3 Rated Capacity of Load-Carrying Vehicles
8.3.1 Automatic guided industrial vehicles shall have an established load-carrying capacity. This rating is
based on level, dry surfaces having a minimum coefficient of friction with the driving and braking tire of 0.6. The
battery weight and size used shall be within limits stated on the vehicle nameplate.
8.3.2 If the vehicle has towing capacity in addition to load-carrying capabilities, towing testing is also required.
See para. 8.2.
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8.3.3 Load-carrying capacity tests shall be performed as follows:
(a) Test Conditions

(1) as defined in para. 8.3.1
(2) vehicle with rated load
(3) unloaded vehicle
(b) Test Methods
The test cycle is made up of the following:
(1) one 61 m run carrying full rated load
(2) one 61 m run with no load condition
(3) vehicle shall accelerate to rated speed during each run and loads shall be cycled at least 6 times per
hour
(4) continuous test until a stable temperature has been reached for minimum of 1 hr on components
8.4 Additional Automatic Guided Industrial Vehicle Requirements
8.4.1 Fork-type guided industrial vehicles shall also comply with applicable sections of ANSI/ITSDF B56.1 not
addressed in this Standard.
8.4.2 Burden carrier-type guided industrial vehicles should also comply with applicable sections of
8.4.3 Towing-type automatic guided industrial vehicles should also comply with applicable sections of
8.4.4 Other type vehicles may require additional considerations.
8.5 Vehicle Nameplate and Marking
8.5.1 On every vehicle, the manufacturer shall install a durable, corrosion-resistant nameplate(s) legibly
inscribed with the following:
(a) vehicle model or vehicle serial number or both.
(b) weight of unloaded vehicle without battery or fuel (empty weight).
(c) designation of compliance with the mandatory requirements for Part III of this Standard.
(d) indication of type if in conformance with or rated per ANSI/UL 583 or ANSI/UL 558.
(e) maximum and normal or alternate rated drawbar pull for towing vehicles (see Section III, para. 8.2.5).
(f) rated load (weight, envelope, and center of gravity) and lift height, if applicable.
(g) identification of battery classification, if applicable, minimum and maximum weight and dimensions of
battery(s), rated ampere-hour capacity, and nominal voltage.
(h) for towing applications, the coupling height at which capacities were determined.
(i) rated speed (speed of vehicle for purpose of rating).
(j) if non battery-powered, identification of fuel requirements.
(k) maximum grade capability at rated load.
8.5.2 The vehicle serial number shall be stamped on the frame of the vehicle.
8.6 Guidance
8.6.1 Deviation of travel from the intended path shall require an emergency stop unless otherwise dictated by
the application and an assessment of the attendant risk.
8.6.2 Loss of guidance reference shall require an emergency stop.
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8.7 Travel Performance
8.7.1 Control
(a) Factors Affecting Vehicle Speed. Vehicle speed may be affected by dynamic operating characteristics of
the vehicle system operating area including but not limited to the following:
(1) floor conditions
(2) load stability and retention
(3) personnel access
(4) environmental conditions
(5) emergency devices
(6) intended path
(b) Acceleration. The maximum acceleration rate should be commensurate with requirements for load
stability during normal operation.
(c) Deceleration
(1) For normal operation, including for a safety stop, the deceleration rate should be commensurate with
requirements for load stability.
(2) For emergency operation, the maximum deceleration rate shall be commensurate with emergency stop
dynamic criteria including the requirements for load stability and retention. (see Section II, para. 4.3.1).
(d) Monitoring. Loss of speed control shall require an emergency stop.
8.7.2 Steering
Steering characteristics shall not degrade vehicle dynamic stability.
8.7.3 Ramps
(a) Definition. A variation in floor grade in excess of 3% and of a length where rating data variance is
required shall constitute a ramp. See para. 8.18.1(a).
(b) Speed Control. Means shall be provided to control vehicle speed on ramps. Vehicle travel speed on
ramps shall be agreed to by the system supplier and user as part of system parameters. Vehicles rated for ramp
operation shall have provisions for starting and stopping on ramps.
(c) Braking. Controlled braking means shall be provided on vehicles which are designated for automatic
ramp operation. Emergency braking performance shall be the same as for level horizontal operation. See para.
8.8.1.
8.7.4 Stability
(a) For vehicles with lift more than 300 mm, the applicable stability requirements of ANSI/ITSDF B56.1 shall
apply. Design stability is the measure of a vehicle's resistance to overturning under rigidly controlled static
conditions that include consideration for dynamic factors encountered in normal application and operation.
Factors that may influence stability include weight, weight distribution, wheelbase, wheel tread, method of
suspension, truck speed and turning radius, and tire and mast deflection under load.
(b) For vehicles with lift of 300 mm or less, the stability requirements of ANSI B56.8 shall apply.
8.8 Braking System and Functions
8.8.1 Braking System. The vehicle shall be equipped with a braking system which:
(a) operates on interruption of power supply;

(b) stops the vehicle within the operating range of the supplied object detection device(s) (see para 8.11.1)
taking into account load, speed, friction, gradient and wear;
(c) maintains the vehicle and its maximum allowable load stationary on the maximum operational gradient
specified by the manufacturer;
(d) operates on loss of critical control functions (see para 8.10.2).
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8.8.2 Braking Functions
Vehicles shall have the following braking functions. Multiple functions may be provided by a single braking
means.
(a) Emergency Brake. Emergency braking shall be provided for all vehicles. The emergency brake shall be
mechanically set and require power or force from a source external to the brake to release. During automatic
operations, this brake may be automatically actuated and de-actuated (see Section II, para. 4.3.1).
(b) Parking Brake. A parking brake, which may be a part of or include the service brake or emergency brake,
shall be provided. When a vehicle is stopped, this brake shall be applied to prevent inadvertent movement of the
stationary vehicle.
(c) Service Brake. A service brake, which may be a part of or include the parking brake or emergency brake,
shall be provided. During manual operation, this brake is used for slowing or stopping the vehicle.
8.8.3 Controlled braking may be provided. Controlled braking is a means for an orderly slowing or stopping of
the vehicle. This may be accomplished by electrical or mechanical means.
8.9 Warning Devices
8.9.1 Prior to initiation of vehicle movement or remote reactivation from a sleep or inactive condition, a warning
device (on or off the vehicle) shall be activated, to be either audible, visual, or a combination thereof, indicating
the imminent movement of the vehicle under automatic control. The warning light(s), such as strobe or flashing,
shall be readily visible.
8.9.2 Vehicles shall provide a warning indication, either audible, visual, or a combination thereof, during all
vehicle motion (see Section II, para 7.2.1 (e).
8.9.3 Vehicles in motion shall provide a warning indication distinctive from the indication of para. 8.9.2 prior to
travel in reversing, traversing, or pivoting direction.
8.9.4 An indication shall be provided to alert personnel of vehicle malfunction or safety device activation
including the following:
(a) loss of path reference or deviation from the intended guidepath
(b) loss of speed control
(c) other control system malfunctions that require intervention by a qualified operator
8.9.5 An indication should be provided for all vehicles capable of automatic operation to identify low battery
condition when automatic routing to battery charging is not provided.
8.10 Vehicle Emergency Controls and Devices
8.10.1 Vehicle emergency controls and devices are those which automatically and rapidly stop propulsion,
prohibit automatic restart, stop moving components, and apply the emergency braking. After detection of an
emergency condition, emergency controls shall activate an emergency stop. Manual intervention by authorized
and trained personnel at the scene of the emergency stop is required to return to normal operating conditions
after verification that the vehicle can be restarted safely. The emergency stop function shall not be applied as a
substitute for safeguarding measures and other safety functions but should be designed for use as a
complementary protective measure. The emergency stop function shall not impair the effectiveness of protective
devices or of devices with other safety functions.
The emergency stop function shall be designed that, after actuation of the emergency stop actuator,
hazardous movements and operations of the machine are stopped in an appropriate manner, without creating
additional hazards and without any further intervention by any person. An appropriate manner can include:
(a) choice of an optimal deceleration rate;
(b) selection of the stop category (e.g., immediate removal of power to the machine actuators, or mechanical
disconnects (declutching) between the hazardous elements and their machine actuators and if necessary,
braking; and
(c) employment of a predetermined shutdown sequence.
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The emergency stop function shall be so designed that a decision to use the emergency stop device does not
require any person to consider the resultant effects.
8.10.2 Mandatory emergency control functions and devices shall include the following:
(a) emergency stop switches (e.g., red mushroom), located on or off the vehicle and accessible to personnel
(b) detection of loss of speed control
(c) detection of unplanned loss of guide path reference or intended path
(d) processor monitor (watchdog timer), if a processor is used
(e) motive power interrupt,
(f) failure detection of power supplies/sources that are critical to vehicle safety aspects
The failure of any of these devices or detection of these conditions shall bring the vehicle to an emergency
stop, taking into consideration the requirements for load stability and retention.
8.11 Object Detection Devices and Controls
8.11.1 Object Detection Devices. A sensing device or combination of devices shall be supplied to prevent
contact of the vehicle structure and installed equipment with people or objects appearing in the path of the vehicle
in the main direction of travel.
8.11.1.1 Bumpers. If used as an object sensing device, a bumper shall be fail-safe in its operation and
mounting and shall not exert a force greater than 134 N applied parallel to the floor and opposing the direction of
travel with respect to the bumper. Bumper activation shall cause a safety stop within the collapsible range of the
bumper (i.e., before vehicle structure contact).
8.11.1.2 Noncontact Sensing Devices. If used as the primary sensing device, such noncontact sensing
device(s) shall be fail-safe in their operation and mounting. In the main direction of travel at a distance no less
than the leading edge of the sensing field, actuation of the sensing devices shall cause the vehicle to stop prior to
contact between the vehicle structure and the people or objects. (see para. 4.3.1)
8.11.1.2.1 Test Pieces. Test pieces shall be detected at 0%, 50% and 100% of vehicle speed in the main
direction of travel and be positioned to be within the contour area of the vehicle (including onboard payload,
equipment, towed trailer and/or trailer payload) as depicted in Fig. 1. Test piece surfaces must be covered as
follows:
(19) If optical sensors are used as object or person detection devices, the cylindrical test pieces must have an
external surface reflectance of 6% or less and optical density of 1.22 (e.g., black) or less and the flat test piece
must be highly reflective, polished metal surface of at least 88% reflectivity. If ultrasonic (sonar) sensors are used
as object or person detection devices, flat test pieces must have a highly reflective surface. Note that the following
test pieces also apply:
(a) a test piece with a diameter of 200 mm and a length of 600 mm lying on and at 0º and 45º to the path of
the vehicle, at a range equivalent to the vehicle safe stopping distance and positioned at the left-most, right-most
and center of the vehicle path,
(b) a test piece with a diameter of 70 mm and a height of 400 mm set vertically at a range equivalent to the
vehicle safe stopping distance and positioned at the left-most, right-most and center of the vehicle path,
(c) a test piece with a flat surface measuring 500 mm square set vertically, and at test angles of 0º and 45º
perpendicular to the path of the vehicle, with closest point of the test piece at a range equivalent to the vehicle
safe stopping distance and positioned at the left-most, right-most and center of the vehicle path.
8.11.1.3 Additional Object Detection Devices. Additional person or object detection devices may be
provided at the request of the user and/or as required by the installation criteria.
8.11.1.4 Restricted areas and/or Manual Mode. Object detection devices are not required or may be
deactivated when a vehicle is working in a restricted area or in the manual mode of operation.
8.11.1.5 In directions of travel where vehicles are not able to comply with para 8.11.1 (e.g., vehicles with fork
arms, pivoting vehicles, or crabbing vehicles), the fastest moving part of the vehicle and it’s intended load shall
not exceed a speed of 0.3 m/s, and a distinctive acoustic and visual warning signal shall be generated.
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(19) 8.11.2 Hazard Zones and Restricted Areas. As stated in Paragraph 4.7.4, a minimum guidepath clearance
(see glossary) of 0.5 m (19.7 inches) shall be maintained on both sides of the guidepath or on one side of the
guidepath if the guidepath clearance on the other side is 0.1m (3.94 inches) or less to a continuous closed fixed
structure (e.g. a wall). Maximum permitted vehicle speed and the use of object detection shall be in accordance
with Table 1. All other areas shall be designated hazard zones or restricted areas by the user and system supplier
and marked accordingly by the user using suitable signs or floor markings. (See para 4.7.4.1) Confusion with
other markings and signs shall be avoided.
8.11.2.1 Before the vehicle enters such areas, speed shall be reduced and an audible warning shall be
activated.
(19) 8.11.2.1.1 In hazard zones (see glossary) the maximum travel speed shall be limited to 1.2 m/sec.
(19) 8.11.2.1.2 In restricted areas (see glossary) the maximum travel speed shall be limited to 0.3 m/sec. The
user and system supplier shall agree on appropriate protection measures for restricted areas. If an emergency
stop device can be fitted, it shall be located on the vehicle within a 600 mm reach of the operator. In cases where
the emergency stop device cannot be reached (e.g., a forked vehicle traveling in reverse for load deposit) user
personnel shall be subject to verifiable training (see Section II, para 4.7.4.2)
(19) 8.11.2.1.3 In VNA restricted areas (see glossary) the maximum travel speed shall be limited by sensing
device and stopping distance as defined in 8.11.1. The user and system supplier shall agree on appropriate
protection measures for VNA restricted areas. User personnel shall be subject to verifiable training (see Section
II, para 4.7.4.2). VNA restricted areas shall be designated by the user and system supplier and marked
accordingly by the user using suitable signs and/or floor markings (see para 4.7.4.1). Confusion with other
markings and signs shall be avoided.
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(19) Table 1 Summary of Operating Speeds and Requirements in Hazard Zones and Restricted Areas
Is there
Are there E- Is there an Max
an object Verifiable
Clearance 1 Clearance 2 stops within escape vehicle Resultant zone
Case detector training
per 4.7.4 1 per 4.7.4 2 600mm per route speed classification
per Req’d
8.11.2.1.2? available? 3 permitted
8.11.1?
A >0.5m >0.5m Yes N/A N/A No Full 3 Non-Restricted
B >0.5m <0.5, >0.1m Yes N/A N/A Yes 1.2m/s 5 Hazard
C >.5m <0.1m Yes N/A N/A No Full 4 Non-Restricted
D <0.5m <0.5m Yes N/A Yes Yes 1.2m/s 5 Hazard
E N/A N/A No N/A Yes Yes 0.3m/s Restricted
F N/A N/A No Yes No Yes 0.3m/s Restricted
G N/A N/A No No No Yes 0.3m/s Restricted
H <0.5m <0.5m Yes N/A No Yes 0.3m/s Restricted
I <0.5m <0.5m Yes N/A 7 No Yes Full 6 VNA Restricted
Notes:
1) Clearance 1: Clearance available between adjacent fixed structures along the path or objects intentionally positioned in a designated
location along one side of the path and the rigid parts of the truck, load and trailers if towed.
2) Clearance 2: Clearance available between adjacent fixed structures along the other side of the path or objects intentionally positioned in a
designated location along the path and the rigid parts of the truck, load and trailers if towed.
3) A clearance greater or equal to 0.5m wide by 2.1m high from the walking plane, provides an escape route. Where clearances are less than
0.5m wide by 2.1m high from the walking plane, escape routes are required. Escape route are routes as intended by building codes that have
unobstructed space of sufficient size (at least 0.5m wide by 2.1m high) for a person to exit. Examples are open ends of aisle or side corridor
or intersecting aisle.
4) In this case, full speed with a non-restricted classification is allowed since: a person cannot fit within the narrow space between the truck
and a continuous fixed closed structure without being detected and can escape via the 0.5 m clearance side.
5) Limited speed is defined in paragraph 8.11.2.1 as no more than 1.2 m/sec, (which is less than normal walking speed 1.56 m/s, per
ANSI/ITSDF B56.1a-2018 5.3.20(i)).
6) Full speed shall be defined with the requirements in 8.11.1.
7) Since a VNA AGV may travel faster than normal walking speed (1.56 m/s, per ANSI/ITSDF B56.1a-2018 5.3.20(i)), whether there is an
escape route or not, is not applicable.
N/A = Not applicable
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(19) Fig.1 Position of Test Pieces
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8.11.3 Object Detection Control
8.11.3.1 Control Actuation. When actuated, object detection devices cause a slowing or safety stop of the
vehicle. The vehicle action following a safety stop may be reinitiated automatically after a minimum delay of 2
seconds if and when the device or combination of devices no longer detect an object or obstruction to the vehicle
and its intended load in the main direction of travel.
8.11.3.1.1 Object Detection. Specific sizes, shapes and reflectivity of the detected object(s) and area of
coverage need to be defined and agreed upon between the system supplier and user if other than that specified
in para. 8.11.1.2.1
8.12 Vehicle Nonemergency Controls and Devices
8.12.1 Subsystem Monitor. Optional monitors may be provided, such as automatic battery condition, load
sensing, location of vehicle, belt failure, load interface locations, etc.
8.12.2 Controlled Stop Switch(es). A switch(es) that, when activated, will provide controlled stopping may
be provided on the vehicle in a readily accessible location.
8.12.3 Manual Operator Controls. When operator controls are in use during manual or semi-automatic
operation, automatic operation of functions under the operator’s control shall be deactivated. The operator shall
be responsible for the allowable functions when the vehicle is under his/her control. The operating speed,
direction, or heading of vehicles manually operated with a pendant or equivalent control shall require continuous
operator activation of the enabling device(s).
8.13 Control Disconnect
8.13.1 A manually operated switch (may be key-type) to disconnect all control circuits shall be provided.
8.13.2 In any mode of operation, a readily accessible means convenient to personnel shall be provided to
quickly disconnect the battery power circuit in the event of an emergency.
8.14 Operational Modes
8.14.1 Automatic. The case when no operator intervention is required and all the functions of the vehicle(s)
are directed by and under the control of programmed logic.
8.14.2 Semiautomatic (Optional). The case when, at a minimum, the intended path or direction of a vehicle
and its speed are actuated and controlled by a person, with all other functions (e.g., load handling) under
automatic control. Continuous operator activation of an enabling device(s) shall be required.
8.14.3 Manual. The case when complete vehicle operation is under control of a local operator either onboard
the vehicle or by way of an attached or remote means. Continuous operator activation of a vehicle enabling
device(s) shall be required. Safety devices required for automatic or semiautomatic operation may be overridden
in manual mode. In manual modes the operator is fully responsible for the safety of the vehicle and the immediate
surroundings.
8.14.4 Maintenance (Optional). A diagnostic or service mode where safety device overrides are permissible.
8.15 Manual Operation
8.15.1 Manual controls shall be provided in accordance with ANSI/ITSDF B56.1, ANSI/ITSDF B56.8,
ANSI/ITSDF B56.9, or other safety standards, as applicable.
8.15.2 Special manual controls (e.g. pendant) shall be designed and marked such that the authorized operator
can anticipate the resultant movement(s).
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8.16 Protection From Moving Parts
Protection shall be provided to reduce foreseeable risk of personnel injury from moving parts (including
wheels)
8.17 Load Handling Devices
8.17.1 Each vehicle-powered load handling device shall have emergency stop switch(es) on the vehicle
accessible to operators, which can be the same as the vehicle emergency stop switches.
8.17.2 When the load handling device is not in a position designated as safe for transport, the vehicle load
handling devices shall have an appropriate interlock to restrict vehicle movement to that required for safe
positioning.
8.17.3 Powered load handling devices shall have an interlock when used in conjunction with powered load
handling stands or devices external to the vehicle. Proper vehicle alignment and confirming signal shall be
required prior to activation of load transfer mechanism(s). This interlock shall be capable of inhibiting movement
of both the vehicle and the fixed equipment, when activated.
8.18 Signs
8.18.1 All vehicle signs shall be durable. An appropriate symbol may be used in lieu thereof.
(a) Vehicles designed for ramp operation shall be labeled MAXIMUM GRADE CAPABILITY = ___%, on the
vehicle in letters at least 38 mm high.
(b) Vehicles capable of fully automatic operation shall have a label clearly visible that states, CAUTION:
AUTOMATIC VEHICLE, in letters at least 38 mm high.
(c) Vehicles not designed with specific personnel compartments or platforms incorporating appropriate safety
protection shall be labeled NO RIDING. Vehicles with specific personnel compartments or platforms incorporating
appropriate safety protection shall be labeled UNAUTHORIZED RIDING PROHIBITED. The label shall be visible
from at least two opposing sides of the vehicle using letters at least 38 mm high.
(d) Vehicles with a nominal voltage of 48 V or more that are designed for opportunity charging (see para.
8.18.3) should contain a sign, CAUTION:___ VOLTS.
(e) Pendant controls should be labeled AUTHORIZED OPERATOR ONLY.
(f) Vehicles should be marked to indicate lift points, if applicable.
8.18.2 Vehicle base color and markings shall render the vehicle highly visible in the user’s specified
environment. Compliance with ANSI/NFPA 505 shall be required.
8.19 Changing and Charging of Batteries
8.19.1 Battery types and charging systems supplied or specified by the vehicle manufacturer (e.g., opportunity
charging) but not referenced in ANSI/NFPA 505 shall have safe operating and charging instructions supplied by
the vehicle manufacturer.
8.19.2 The battery compartment shall be designed in accordance with ANSI/UL 583. Battery arrangement
shall allow venting to prevent accumulation of fumes.
8.19.3 Batteries for use in electric vehicles shall have the battery weight legibly stamped on the battery tray
near the lifting means as follows: SERVICE WEIGHT ___ lb (kg). Where multiple batteries are used in a liftout
tray with total combined service weight of batteries and tray exceeding 45 kg, the maximum combined weight of
the batteries and tray shall be legibly stamped on the battery tray near the lifting means with the following
information: SERVICE WEIGHT ___ lb (kg).
8.19.4 When opportunity or automatic charging is specified, the following shall also apply:
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(a) a recommended preventative maintenance program outlining routine service checks and appropriate
procedures.
(b) diagnostic check procedures. This shall be in the form of a troubleshooting guide that follows check
procedures to provide recommended repair instructions.
(c) procedures for repair of the equipment.
(d) other pertinent information to operate and maintain reliability of all the system equipment.
(e) the sequence of operations for all equipment and electronics.
8.20 Documentation
A manufacturer supplied vehicle maintenance manual shall be provided to the user which will describe at least
the following:
(a) a recommended preventative maintenance program outlining routine service checks and appropriate
procedures,
(b) diagnostic check procedures. This shall be in the form of a troubleshooting guide that follows check
procedures to provide recommended repair instructions,
(c) procedures for repair of the equipment,
(d) other pertinent information to operate and maintain reliability of all the system equipment,
(e) the sequence of operations for all equipment and electronics.
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Part IV
Automated Functions of Manned Industrial Vehicles
9 SYSTEM SUPPLIER, MANUFACTURER, AND USER PRACTICES
9.1 Introduction
9.1.1 Part IV contains safety standards applicable to manufacturer and user practices. The user shall
understand that when functions on manned industrial vehicles are automated, the operation of the vehicle is
changed and it may result in modified performance characteristics, maintenance procedures, and additional
safety precautions.
9.1.2 Before putting an industrial vehicle system into service, the user shall be responsible for all factors
affecting the operation and maintenance, as referenced in Part II of this Standard.
9.1.3 Industrial vehicles can cause injury or damage if improperly used or maintained.
9.1.4 The addition of any automatic function to a manned industrial vehicle requires the evaluation of the
impact of the automation on all other functions. It may be necessary to automate other functions to some degree.
The basic functions covered by this Standard are:
(a) steering (guidance)
(b) travel
(c) control and sensing
(d) lifting/load manipulation
9.1.5 Automated functions shall comply with Part IV of this Standard. Manual functions shall comply with the
applicable vehicle standard.
9.2 General Safety Practices
9.2.1 Operator Responsibility. Safe operation is the responsibility of the operator. When operator controls
are in use, automatic operation of functions under the operator’s control shall be deactivated. All operating
speeds or motions of manually operated functions shall be such that manual control can be maintained.
9.2.2 Modification, Nameplates, Markings, and Capacity

(a) Modifications and/or additions of hardware or software which affect rated capacity, safe operation, or any
emergency control or device shall not be performed by the user without the system supplier’s verifiable approval.
Where such authorization is granted, capacity, operation, and maintenance instruction (plates, tags, or decals)
shall be changed accordingly.
(b) A nameplate shall be provided to designate compliance with the mandatory requirements of Part IV of this
Standard.
(c) When an automated function is provided, all affected nameplate data (para. 8.5) shall be inscribed on a
nameplate.
(d) The user shall see that all required nameplates and caution and instruction markings are in place and
legible.
(e) The user shall consider that changes in load(s), load position(s) or dimension(s), coupling type(s) or
position(s), and floor surface condition(s) or battery weights may affect rated capacities and safe operation. Only
stable or safely arranged loads shall be handled.
(f) The user shall define and be responsible for load stability and retention.
9.2.3 Warnings. Vehicles shall be equipped with an automatic device(s), either audible, visible, or a
combination thereof, which shall function during all vehicle motion not under control of the operator.
9.2.4 Safety Device Activation. An indication, either audible, visual, or a combination thereof, shall be
provided to alert personnel of safety device activation for automated functions. (See paras. 8.10 and 8.11.)
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9.2.5 Protection From Moving Parts. The addition of an automatic function(s) shall provide the same
protection from moving parts as specified by the applicable vehicle standard.
9.2.6 Special Manual Controls. Special manual controls for automated functions (e.g., pendant) shall be
such that the authorized operator can anticipate the resultant movement(s).
9.2.7 Multivehicle Systems. The manufacturer of the fully automated vehicles and the user shall consider
the potential hazards of mixed vehicle traffic, where fully automated vehicles interface in a system where manned
and/or partially automated manned vehicles are also operating. Some examples of these areas are, but not
limited to, aisles, passageways, intersections, and doorways.
9.3 Control and Sensing
Additional control and sensing devices may be provided. When provided, the control and sensing devices
shall conform to paras. 8.10 and 8.11, where applicable.
9.4 Steering (Guidance)
Automatic steering functions may be provided. When provided, there shall be no combining of automatic and
manual steering modes. Where both modes are provided, there shall be means for the operator to select one
mode or the other (see paras. 8.6 and 8.7.2).
9.5 Travel
Automatic travel function(s) may be provided. When provided, they shall not be shared but may be overridden
by the operator or limited by the automatic mode (see paras. 8.7.1, 8.7.3, and 8.8).
9.6 Lifting/Load Manipulation
Automatic lifting/load manipulation functions may be provided. When automated, they shall conform to para.
8.16. Characteristics of the automated function may require additional sensing.
9.7 Documentation
A manufacturer supplied maintenance manual shall be provided to the user which will describe at least the
following:
(a) the sequence of operations.
(b) a recommended preventive maintenance program outlining routine service checks and appropriate
procedures.
(c) diagnostic check procedures. This shall be in the form of a troubleshooting guide that follows check
procedures to provide recommended repair instructions.
(d) procedures for repair of equipment.
(e) other pertinent information to operate and maintain reliability of all the system equipment.
21
MANDATORY APPENDIX I
REFERENCES
The following are safety standards and codes (unless otherwise noted) referenced within this Standard. It is
the intent of this Standard to refer to the standards and codes listed below in their latest edition when they are
referenced within the Standard.
ANSI/ITSDF B56.1a-2018, Low Lift and High Lift Trucks

ANSI/ITSDF B56.8-2011, Personnel and Burden Carriers
ANSI/ITSDF B56.9-2011, Operator Controlled Industrial Tow Tractors
Publisher:
The Industrial Truck Standards Development Foundation (ITSDF),
1750 K St NW, Suite 460
Washington, DC 20006
ANSI/NFPA 505-2013, Fire Safety Standard for Powered Industrial Trucks Including Type Designations, Areas of
Use, Maintenance, and Operation
Publisher:
National Fire Protection Association (NFPA),
1 Batterymarch Park, Quincy, MA 02169-7471
ANSI/UL 558-2008 Standard for Safety for Internal Combustion-Engine-Powered Industrial Trucks
ANSI/UL 583-2007 Standard for Safety for Electric-Battery-Powered Industrial Trucks
Publisher:
Underwriters Laboratories, Inc. (UL),
333 Pfingsten Road Northbrook, IL 60062-2096
The following are related documents:
ANSI/IES RP7-1990, Practice for Industrial Lighting (not a safety standard)

ANSI Z535.1-2006, Safety Color Code
ANSI Z535.2-2007, Environmental and Facility Safety Signs
ANSI Z535.3-2007, Criteria for Safety Symbols
ANSI Z535.4-2007, Product Safety Signs and Labels
Publisher:
American National Standards Institute, Inc. (ANSI),
25 West 43rd Street, New York, NY 10036
ANSI/NFPA 30-2007, Flammable and Combustible Liquids Code

ANSI/NFPA 58-2008, Storage and Handling of Liquefied Petroleum Gases
Publisher:
National Fire Protection Association (NFPA),
1 Batterymarch Park, Quincy, MA 02169-7471
22
MANDATORY APPENDIX II
Glossary of Commonly Used Words and Phrases
aisle, guidepath clearance: the envelope of space required for the vehicle, including mounted equipment,
and its intended load to move automatically without contacting fixed obstructions.
alteration: any change to equipment, including its parts, components, and/or subsystems, other than
maintenance, repair or replacement.
ampere-hour capacity: the ampere-hours that a storage battery can deliver under specified conditions
such as temperature, rate of discharge, and final voltage.
authorized person: a trained person who has been given responsibility to work within a defined area
and/or to operate or maintain the vehicle system.
automatic operation: the case when no operator intervention is required and all the functions of the
vehicle(s) are directed by and under the control of programmed logic.
sleep (optional): a condition, in automatic operation, in which all vehicle power is shut off except for the
ability to receive a “wake-up” signal.
battery charging, automatic: charging achieved through the automatic connection of the charging
equipment to the battery while the battery is in the vehicle.
battery charging, central: battery charging in a designated area while the vehicle is not in service.
battery charging, opportunity: charging the battery while the vehicle is in service.
brake, emergency: a device(s) to stop the vehicle (from rated speed with a rated load) between the object
sensed and contact with the vehicle frame or load.
brake, parking: a device(s) to prevent inadvertent moving of the stationary vehicle.
brake, service: a device(s) for slowing or stopping the vehicle during manned operation.
braking: any controlled or emergency means to slow or stop the vehicle.

braking, controlled a means for slowing or stopping the vehicle.
bumper: a mechanically actuated device which, when depressed, causes the vehicle to stop.
(19) designated area: an area along the vehicle guidepath meant for placement of objects (e.g. loads).
deviation: a measurement derived from the vehicle control logic and guidance reference information that
enables the vehicle to know whether it is wandering off the current intended path such that when
specified deviation tolerances are exceeded appropriate action can be taken. (See intended path and
guidance reference)
drawbar pull, breakaway: the maximum pull in pounds (Newtons) a vehicle will develop statically on a
level floor having the prescribed coefficient of friction, when moving a load at a uniform rate.
drawbar pull, maximum: the maximum pull in pounds (Newtons) a tractor or tow vehicle will develop on a
level floor having the prescribed coefficient of friction, when moving a load at a uniform rate.
23
emergency stop: (also known as E-stop) one that occurs for unprogrammed events detected through
sensors or an emergency button on the vehicle.
fail-safe: a design in which no single failure can cause an unsafe condition.

guided industrial vehicle system: see vehicle system, guided industrial.
guided tow vehicle: see vehicle, guided tow.
guidepath: an intended path for guided industrial vehicle use with automatic guidance.
(19) guidepath clearance: a ground area up to a height of 2.1 m between adjacent fixed structures along the
vehicle guidepath or objects intentionally positioned in a designated area along the vehicle guidepath and
the rigid parts of the vehicle, the load, and trailers if towed.
guidepath clearance aisle: see aisle, guidepath clearance.
(19) hazard zone: an area of inadequate guidepath clearance
(19) hazardous location: an area as described in NFPA 505 and NFPA 70 which presents a potential hazard
due to the presence of combustible or flammable materials, gases, or vapors.
intended path: the heading of a vehicle at a given instant in time dictated by the control logic, recognizing
that the heading is a dynamic property and can change at any instant in time depending on conditions in
the operating environment (e.g., the decision to allow a vehicle to pass another vehicle or to navigate
around an obstacle). (See deviation, guidance reference, external and guidance reference, internal)
local operator: an operator within reach of the vehicle, its control, or safety devices.
main direction of travel: the forward movement of the vehicle, including turns, unless otherwise specified
and agreed to by the user and system supplier.
manned industrial vehicle: a vehicle with an operator and/or other person on board associated with
vehicle function.
manual operation: the case when complete vehicle operation is under control of a local operator either
onboard the vehicle or by way of an attached or remote means. Continuous operator activation of a
vehicle enabling device(s) shall be required. Safety devices required for automatic or semiautomatic
operation may be overridden in manual mode.
manufacturer: A company or organization that provides the design of a vehicle(s) and related controls
and causes the vehicle(s) to be produced from raw materials and/or other components. The
manufacturer may also serve as the system supplier for a given application and therefore be responsible
for the vehicle system to be installed and integrated into the environment where it will be operating (see
also system supplier)
modification: see alteration.
non-contact sensing device: An acoustic device (e.g., sonar) or an optic device (e.g., photo eye or laser),
configured with a properly defined forward, rear or side looking detection fields that cause the vehicle to
slow down or stop when the leading edge of the detection field detects an obstacle in its path or when the
detection field itself is infringed upon by an obstacle at any point within the detection field.
non-restricted area: area in which the guidepath is installed which is shared with personnel.
24
operating modes: the means provided that permit a vehicle to move and its functions to be controlled
(See automatic operation, semi-automatic operation, and manual operation)
passenger: a person who rides the vehicle or a unit towed by the vehicle for transportation purposes. A
passenger has no responsibilities or duties associated with any function of the vehicle in any mode of
operation.
pendant control: a hand-held device for vehicle control.
processor monitor: a hardware device that ensures that the software program in the computer is being
executed.
qualified person: a person who, by possession of a recognized degree or certificate of professional

standing or by extensive knowledge, training, and experience, has successfully demonstrated the ability
to solve or resolve problems relating to the subject matter and work.
rated capacity: the load, its position, and the vehicle speed, as established by the manufacturer, at which
design performance can be expected.
rated load: the weight, envelope, and center of gravity, as established by the manufacturer, at which
design performance can be expected.
rated speed: the speed, as established by the manufacturer, at which design performance can be
expected.
(19) restricted area: an area of inadequate guidepath clearance with no escape route or an area of guidepath
clearance which cannot be protected by object detection devices.
risk assessment: A comprehensive evaluation of the possible injury or damage to health in a hazardous
situation in order to select appropriate safeguards.
safeguard: A barrier guard, device or safety procedure designed for the protection of personnel.
safeguarding: The act of providing personnel with protection from a hazard.
safety stop: A type of interruption of operation that allows an orderly cessation of motion for safeguarding
purposes. This stop retains the program logic for troubleshooting purposes and to facilitate a restart.
semi-automatic operation: the case when, at a minimum, the intended path or direction of a vehicle and
its speed are actuated and controlled by a person, with all other functions (e.g., load handling) under
automatic control. Continuous operator activation of an enabling device(s) shall be required.
sleep (optional): a condition, in automatic operation, in which all vehicle power is shut off except for the
ability to receive a “wake-up” signal
supplier: A company or organization that provides components used in the production of the vehicle or
vehicle system.
system supplier: The term System Supplier refers to the entity with whom the user has contracted to
provide a fully functioning system in accordance with the system design requirements and the standards
contained herein. The System Supplier has the ultimate responsibility for documenting the system design
requirements, providing the final system design, the installation and integration of the vehicle(s), and the
overall performance of the system and vehicle(s) according to the provisions of this standard. The
25
System Supplier is also responsible for providing all system documentation, including all operation,
training and maintenance manuals, as well as seeing that all vehicle name plate information is provided
as specified in this standard. The System Supplier may or may not be a Manufacturer.
training, verifiable: planned training with a method statement jointly developed and conducted by the
supplier and user acting as a team, including a means of documenting that specified learning objectives
have been met and how the inevitable future change in user personnel shall be handled.
vehicle, guided tow: a vehicle which tows wheeled containers connected to, but separate from, the
vehicle itself.
vehicle system, automatic guided: driverless, vehicle(s) and all components of an installation related to
the vehicle(s) (e.g., guidepaths, controls, vehicle trailers, loads when on the vehicle or trailers, and other
equipment when interfacing with these items) being capable of automatic operation.
verifiable approval: documentation from the vehicle manufacturer indicating approval of the proposed
change to the vehicle.
(19) Very Narrow Aisle (VNA) restricted area: an area defined by fixed continuous racking and clearances of
less than 0.5 m on both sides. Unauthorized personnel are prohibited from entering the area.
watchdog timer: see processor monitor.
26
ANSI/ITSDF B56.5 INTERPRETATIONS
Replies to Technical Inquires

March 2012 through July 2019
FOREWARD
This publication includes all of the written replies issued between the indicated dates by the Secretary,
speaking for the ITSDF B56 Committee of Powered and Nonpowered Industrial Trucks, to inquiries concerning
interpretations of technical aspects of ANSI/ITSDF B56.5 Guided Industrial Vehicles and Automated Functions of
Manned Industrial Vehicles.
These replies are taken verbatim from the original letters except for a few typographical corrections and
some minor editorial corrections made for the purpose of improved clarity. In some few instances, a review of the
interpretation revealed a need for corrections of technical nature; in these cases a corrected interpretation follows
immediately after the original reply.
These interpretations were prepared in accordance with the accredited ITSDF procedures. ITSDF
procedures provide for reconsideration of these interpretations when and if additional information is available
which the inquirer believes might affect the interpretation. Further, persons aggrieved by this interpretation may
appeal to the cognizant ITSDF Committee or Subcommittee. ITSDF does not “approve,” “certify,” “rate,” or
“endorse” any item, construction, proprietary device, or activity.
I-1
Interpretation: 5-17
Subject: ANSI/ITSDF B56.5-2012. Sections 4.7.2 and 5.1 Floor Marking
Date Issued January 11, 2018
The following paragraphs in ANSI/ITSDF B56.5-2012 require floor space boundary markings.
4.7.2 In non-restricted areas, the floor space boundary required for the vehicle and its intended load
and/or train shall be clearly marked, including the clearance necessary for turns and maneuvering.
5.1 (b) Permanent aisles, roadways, and passageways shall be marked by the user as a warning to
personnel of existing or impending automatic guided industrial vehicle traffic and to indicate that these
vehicles have the right of way.
Some autonomous vehicles can automatically reroute around obstacles temporarily located in the normal travel
path. The new path opportunity includes the available space around the obstacle.
Question (1): Will signage posted in the facility stating that an automatic vehicle is in operation satisfy this
requirement for floor space marking since the entire facility is the operating area?
Answer (1): If the intended path of an AGV is the entire floor surface of a facility, signs posted around a facility
satisfy the requirements of 4.7.2 and 5.1 (b). Note that there are additional requirements that must be met
including training of personnel, safeguarding of personnel, and possible speed reductions of an AGV in areas with
inadequate clearances.
Question (2): Can a light projected forward on the floor in the direction of travel from the automatic guided
industrial vehicle satisfy this requirement?
Answer (2): The means of marking floor space boundaries is not specified by ANSI/ITSDF B56.5-2012. Note
that the boundaries to be marked are not just direction of travel, but also clearances on all sides of the vehicle and
load including clearances for turns and maneuvering.
Subject: ANSI/ITSDF B56.5-2012, Section 8.17.1 Load Handling Devices
Date Issued: January 4, 2018
The following paragraphs in ANSI/ITSDF B56.5-2012 refer to a load handling device.
8.17 Load Handling Devices
8.17.1 Each vehicle-powered load handling device shall have emergency stop switch(es) on the vehicle
accessible to operators, which can be the same as the vehicle emergency stop switches.
8.17.2 When the load handling device is not in a position designated as safe for transport, the vehicle
load handling devices shall have an appropriate interlock to restrict vehicle movement to that required for
safe positioning.
8.17.3 Powered load handling devices shall have an interlock when used in conjunction with powered
load handling stands or devices external to the vehicle. Proper vehicle alignment and confirming signal
shall be required prior to activation of load transfer mechanism(s). This interlock shall be capable of
inhibiting movement of both the vehicle and the fixed equipment, when activated.
I-2
Question (1): What is the definition of a “load handling device”?
Answer (1): ANSI/ITSDF B56.5-2012 does not provide a definition for “load handling device”. The intent of the
wording is to describe requirements for a mechanism that provides any lifting, lowering, load transfer, and load
manipulation (e.g. rotation, reach, tilting, clamping and towing).
Question (2): Do these paragraphs apply only to a “vehicle-powered load handling device” and, therefore, do
not apply to an unpowered load handling device?
Answer (2): 8.17.1 applies to vehicle-powered load handling devices only. 8.17.2 applies to all load handling
devices. 8.17.3 applies to all powered load handling devices.
Subject: ANSI/ITSDF B56.5-2012 Section 4.7.4, 8.11.2 Hazardous Zones
Date Issued January 7, 2019
Question (1): Considering the following wording in ANSI/ITSDF B56.5-2012:
4.7.4 A minimum clearance of 0.5 m (19.7 inches) shall be maintained between obstructions and vehicles
(including loads). All other areas having reduced clearance shall be considered hazard zones or
restricted areas and be clearly marked by signs, stripes, lights, or other designations. (see Part III, para
8.11.2)
8.11.2 Hazardous Zones. Areas which cannot be protected by an object detection device(s), as well as
areas of inadequate clearance in which vehicles operate, shall be designated hazard zones by the user
and system supplier and marked accordingly by the user using suitable signs or preferably floor
markings. (See para 4.7.4.1) Confusion with other markings and signs shall be avoided.
8.11.2.1 Areas of clearance of less than 0.5 m to a height of 2.1 m may be a risk to personnel. (see para
8.9.3) Before the vehicle enters such areas, speed shall be reduced and an audible warning shall be
activated.
8.11.2.1.1 If there is an escape route for a pedestrian the maximum travel speed shall be limited to 0.3
m/s and the vehicle path shall be considered a hazard zone.
Is an area considered a hazard zone if 0.5 m can only be maintained on one side of the aisle? If a vehicle is
heading down an aisle with walls on both sides where with one side up again a wall and the other side is
maintaining the 0.5m clearance, does the vehicle have to slow down to 0.3 m/s?
What if more than 0.5m clearance is maintained on one side of the vehicle? If the vehicle is traveling parallel to a
wall, and there is minimal clearance between the vehicle and the wall but a large amount of clearance on the
other side of the vehicle, does the vehicle need to slow down to 0.3 m/s?
Answer (1): As the standard is currently written, if a vehicle was traveling along a wall with less than 0.5m
clearance on any side and there is no escape route for a pedestrian in the vehicle path, it is considered a
restricted area and the user and system supplier shall agree on appropriate protection measures for this situation
(see 8.11.2.1.2). If there is an escape route for a pedestrian, it is considered a hazard zone and the speed shall
be limited to 0.3 m/s (see 8.11.2.1).
The same applies even if only one side of a vehicle has less than 0.5m clearance and the other side has more
than 0.5m clearance.
I-3

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ANSI/ITSDF B56.

SAFETY STANDARD FOR

AN AMERICAN NATIONAL STANDARD

INDUSTRIAL TRUCK STANDARDS DEVELOPMENT FOUNDATION

ITSDF is the registered trademark of Industrial Truck Standards Development Foundation.

Industrial Truck Standards Development Foundation

Foreword ........................................................................................................................... iii

Part I Introduction ................................................................................................... 1

Part II For the User ................................................................................................... 3

Part III For the System Supplier and Manufacturer ................................................ 9

Part IV Automated Functions of Manned Industrial Vehicles.............................. 20

Jimmy Eavenson, Eavenson Consulting, LLC Steve McDermitt, Crown Equipment

Mats Herrstromer, Chair, AGVE

B56 SERIES INTRODUCTION

B56.1 Low Lift and High Lift Trucks

B56.11.1 Double Race or Bi-Level Swivel and Rigid Industrial Casters

Comments shall be written in accordance with the following format:

(a) specify paragraph designation of the pertinent volume;

SAFETY STANDARD FOR DRIVERLESS, AUTOMATIC GUIDED

3.1 Mandatory and Advisory Rules

3.2 Classification of Approved Automatic Guided Industrial Vehicles

3.3 Requests for Interpretation

3.4 Metric Conversions

4.2 Modifications, Nameplates, Markings, and Capacity

4.3 Stopping Distance

4.5 Charging and Changing of Batteries

4.6 Hazardous Locations

4.7 Aisles and Doors

4.7.1 Restricted areas of vehicle operation require identification and/or marking.

4.8 Ambient Lighting

There are no ambient lighting requirements for automatic vehicle systems.

4.9 Safety Devices (Systems)

4.10 Vehicle Emergency and Nonemergency Controls and Devices

5.1 General Guidelines

5.2 Operating Environment

6.1 User Responsibility

6.2 Manual Functions

6.3 General Training

6.4 User Personnel Responsibility

6.5 General Instructions

6.6 Manual Operation

6.6.4 Other type vehicles may require additional considerations.

7.2.2 Diagnosis and Repair

7.2.3 Batteries and Chargers

7.3 Maintenance Training

7.4 Documentation of Maintenance Activities

Records of maintenance activities performed should be kept.

8.2 Rated Capacity of Towing Vehicles

8.2.4 If the vehicle has load-carrying capacity in addition to towing capabilities,

8.2.5 Drawbar pull rating tests shall be performed as follows:

8.3 Rated Capacity of Load-Carrying Vehicles

8.3.3 Load-carrying capacity tests shall be performed as follows:

(a) Test Conditions

8.4 Additional Automatic Guided Industrial Vehicle Requirements

8.4.4 Other type vehicles may require additional considerations.

8.5 Vehicle Nameplate and Marking

8.6.2 Loss of guidance reference shall require an emergency stop.

8.7 Travel Performance

Steering characteristics shall not degrade vehicle dynamic stability.