50
50
60
120
0
100
150
Z
F
B
F
[mm]
[mm]
Figure 29: Minimum supplement for lack of ground clearance
B
F
ground clearance in mm
Z
F
supplement for lack of ground clearance in mm
Calculation example for the protective field length S
L
S
L
= S
A
+ TZ + Z
R
+ Z
F
+ Z
B
where:
•
S
L
= protective field length in millimeters (mm)
•
S
A
= stopping distance in millimeters (mm)
•
TZ = tolerance range of the safety laser scanner,
•
Z
R
= supplement for reflection-based measurement errors in millimeters (mm)
•
Z
F
= supplement for lack of ground clearance of the vehicle in millimeters (mm)
•
Z
B
= supplement for the decreasing braking force of the vehicle, from the vehicle
documentation, in millimeters (mm)
Stopping distance S
A
The stopping distance comprises the vehicle’s braking distance and the distance cov‐
ered during the safety laser scanner’s response time and the vehicle control’s response
time (including signal propagation time).
NOTE
A vehicle’s braking distance does not increase linearly with increasing speed, but rather
in a squared relationship.
PROJECT PLANNING
4
8017784/1ELL/2022-01-21 | SICK
O P E R A T I N G I N S T R U C T I O N S | microScan3 Core I/O AIDA
43
Subject to change without notice