S = K × (t
PrimaryProtDev
+ t
SafetyController
+ t
Relay
+ t
Robot
) + C
Formula symbols
Meaning
S
Minimum distance to hazardous area
K
Approach speed of the body or parts of the body (2,000 mm/s
according to ISO 13855)
T
Stopping time of the entire machine
C
Entry distance, C is the larger value of C
RO
(reaching over) and C
RT
(reaching through)
t
SafetySystem
Response time of safety system
t
Robot
Robot stopping time
t
PrimaryProtDev
Response time of the primary protective device
t
SafetyController
Safety controller response time
t
Relay
Response time of the interface or the relay
NOTE
The stopping time of the robot depends on the inputs used on the robot controller and
corresponding stop category (stop category 0, 1 or 2).
C is the larger value of C
RT
(reaching through) or C
RO
(reaching over).
For the primary protective device deTem4 Core with a resolution d of 300 mm, the stan‐
dard sensing range of an arm is assumed for C
RT
:
C
RT
= 850 mm
C
RO
depends on the height of the protective field of the primary protective device and
on the height of the hazardous area. The values must be determined by means of
ISO 13855, Chapter 6.5.1, Table 1.
The height of the protective field of the primary protective device deTem4 Core is
900 mm. The upper edge of the protective field therefore depends on the mounting
height of the primary protective device.
900 mm
h
LowerEdge
b
Figure 8: Protective field of primary protective device
b = 900 mm + h
LowerEdge
Formula symbols
Meaning
b
Height of the upper edge of the protective field
h
LowerEdge
Height of the lower edge of the protective field
4
PROJECT PLANNING
30
O P E R A T I N G I N S T R U C T I O N S | sBot Stop
8023421/12KF/2019-01-22 | SICK
Subject to change without notice
