4
Project planning
4.1
Design
4.1.1
Position of the safety laser scanner
Requirements for the position of the safety laser scanner
Position the safety laser scanner so that it meets all of the following criteria:
•
If the robot is mounted on a moving table, the safety laser scanner must be
mounted on the same table.
•
The scan plane runs horizontally.
•
The scan plane runs 300 mm above the floor.
•
The safety laser scanner must be mounted with the optics cover facing upwards.
•
The safety laser scanner can monitor the entire point of access to the hazardous
area. There are no areas that are not monitored where are person can be present.
4.1.2
4.1.2.1
Calculating value for
Stop Field radius
Overview
The
Stop Field radius
value determines the maximum extension of protective field PF1.
The value is calculated from the radius of the robot hazardous area and the minimum
distance to the hazardous area. Detection in protective field PF1 activates the “Trigger
protective stop” function. You must calculate
Stop Field radius
so that the robot comes to
a standstill in the event of a protective field interruption before the person reaches the
hazardous area.
All other settings for the protective field (e.g. surrounding walls) are made during
commissioning.
1
2
3
PF1
Figure 2: Stop Field radius
1
Radius of the robot hazardous area (S
R
)
2
Minimum distance to the hazardous area for protective field PF1 (S
PF1
)
3
Stop Field radius
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
9
Subject to change without notice
