This document applies to the recommended design@ integration@ installation@ and use of industrial welding robotic and automatic systems. This document is intended for the gas metal arc welding (GMAW) and flux cored arc welding (FCAW) processes. Pertinent parts may address additional welding processes. Robotic and automatic arc welding systems consist of a manipulator@ power source@ arc welding torch and accessories@ electrode feed system@ dereeling system@ shielding gas delivery system@ welding circuit@ shielding and communication control@ and grounding system. There may be other accessories that are outside the scope of this document@ such as safety devices and monitoring@ joint-tracking@ and vision systems. A typical system is illustrated in Figure 1. This standard makes use of both the International System of Units (SI) and U.S. Customary Units. The measurements may not be exact equivalents; therefore@ each system must be used independently of the other without combining in any way. The standard with the designation D16.2M:2006 uses SI Units. The standard designation D16.2:2006 uses U.S. Customary Units. The latter are shown within brackets [ ] or in appropriate columns in tables and figures. Safety and health issues and concerns are beyond the scope of this standard and therefore are not fully addressed herein. Safety and health information is available from other sources@ including@ but not limited to@ ANSI Z49.1@ Safety in Welding@ Cutting@ and Allied Processes@ and applicable federal and state regulations. Other safety documents are listed in Annex B.