4.3.3.4.2
Determining the difference between the minimum distances to the hazardous area
Overview
The sequence for automated restart requires that protective field PF1 is interrupted
before protective field PF2 when the hazardous area is approached. The minimum dis‐
tance to the hazardous area must therefore be greater for protective field PF1 than for
protective field PF2.
PF1
PF2
1
Figure 20: Difference between the minimum distances to the hazardous area
1
Difference between the minimum distances to the hazardous area between protective
fields PF1 and PF2 (S
Diff
)
This difference is required for the following reasons:
•
Sequence for automated restart
•
Time window for activating the safety-rated monitored speed on the robot
Approach
1.
Calculate S
Diff
using the following formula:
S
Diff
= K × (t
Safety_system
+ t
Brake_time
)
Formula symbols
Description
S
Diff
Difference between the minimum distances of protective fields PF1
and PF2 to the hazardous area (mm)
K
Approach speed of a person
1,600 mm/s (EN ISO 10218-2)
t
Brake time
Delay time for activating the standstill monitoring on the robot (in
seconds).
t
Safetysystem
Response time of safety system (in seconds)
Further topics
•
"Response time of safety system", page 59
PROJECT PLANNING
4
8024758/2020-02-20 | SICK
O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU
27
Subject to change without notice