Further topics
•
"Calculating value for Reduced Field radius", page 11
4.1.2.2
Calculating value for
Reduced Field radius
Overview
The
Reduced Field radius
value determines the maximum extension of protective field
PF2. A detection in protective field PF2 triggers the safety-rated monitored speed
(Reduced Mode). Protective field PF2 must be larger than protective field PF1.
All other settings for the protective field (e.g. surrounding walls) are made during
commissioning.
1
2
PF1
PF2
Figure 4: Difference between the minimum distances to the hazardous area
1
Difference between safety distances S
Diff
2
Reduced Field radius
Prerequisites
•
Safety system uses 2 protective fields
Influence of S
Diff
on the minimum distance to hazardous area S
PF1
The difference between safety distances S
Diff
must be > 0 mm. In principle, you can
freely design S
Diff
. However, S
Diff
has a retroactive effect on the minimum distance to
PF1
•
S
Diff
≤ 912 mm: To calculate the minimum distance to hazardous area S
PF1
, use
the robot stopping time at maximum speed (Normal Mode).
•
S
Diff
> 912 mm: To calculate the minimum distance to hazardous area S
PF1
, use
the robot stopping time at safety-related monitored speed (Reduced Mode).
The value of 912 mm results from the following fact.
Object detection in protective field PF2 triggers the safety-rated monitored speed
(Reduced Mode). If the robot monitors the reduced speed before an approaching
person is detected in protective field PF1, the values for the reduced speed can be
used to calculate the minimum distance to hazardous area S
PF1
. This leads to a smaller
minimum distance to hazardous area S
PF1
.
PROJECT PLANNING
4
8025720/1A9R/2020-12-15 | SICK
O P E R A T I N G I N S T R U C T I O N S | nanoScan3 Tool - URCap
11
Subject to change without notice
