Mounting
Leuze electronic
MLD 300, MLD 500
31
6.1.3 Calculating the safety distance
General formula for calculating the safety distance S of an Optoelectronic Protective Device acc. to
EN ISO 13855 or EN 13855:
S
[mm]
= Safety distance
K
[mm/s]
= 1600 mm/s (approach speed for access guarding)
T
[s]
= Total time of the delay
C
[mm]
= 850 mm (default value for arm length)
Calculate the safety distance S for access guarding using the formula acc. to EN ISO 13855 or
EN 13855:
S
[mm]
= Safety distance
t
a
[s]
= Response time of the protective device
t
i
[s]
= Response time of the safety interface device
t
m
[s]
= Stopping time of the machine
Calculation example
A robot with a stopping time of 250 ms is to be safeguarded with a safety sensor. The response time is
10 ms and an additional interface does not need to be used.
K
[mm/s]
= 1600 mm/s
T
[ms]
= (10 ms + 250 ms)
C
[mm]
= 850 mm
S
[mm]
= 1600 mm/s × 0.26 s + 850 mm
S
[mm]
= 1266 mm
6.1.4 Calculation of the safety distance for vertical protective fields with reaching over
If it is possible to reach over or under a vertical protective field, additional distance C
RO
must be observed
in addition to the safety distance corresponding to EN ISO 13855.
2 / 500
400, 900
0.5 to 50 / 20 to 70
0.5 to 8
3 / 400
300, 700, 1100
0.5 to 50 / 20 to 70
0.5 to 6
4 / 300
300, 600, 900, 1200
0.5 to 50 / 20 to 70
-
Beams / beam dis
-
tance [mm]
Recommendation of
beam heights in ac
-
cordance with
EN ISO 13855 [mm]
Transmitter/receiver range [m]
Transceiver
range [m]
When using AS-i safety sensors, the bus system reaction time of maximum 40 ms additionally
required by the AS-Interface and the AS-i Safety Monitor must be added to the total time of the
delay (T) (when completely equipped with 31 slaves).
If longer stopping times are determined during regular inspections, an appropriate additional time
must be added to t
m
.
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