27
1
2 3
4
5 6
7
8 9
ESPE response time t
1
= 10 ms
ESPE resolution d
= 30 mm
Machine overtravel time t
2
= 250 ms
Danger zone height a
= 800 mm
Step 1:
Calculate safety clearance for crawling under.
S
RT
= 2000 mm/s × (t
1
+ t
2
) + C
RT
S
RT
= 2000 mm/s × (0.25 s + 0.01 s) + 8 (30 mm – 14 mm)
S
RT
= 648 mm
S
RT
> 500 mm, and thus new calculation with K = 1600 mm/s
S
RT
= 1600 mm/s × (0.25 s + 0.01 s) + 8 (30 mm – 14 mm)
S
RT
= 544 mm
Step 2:
Determine additional clearance C
RO
.
S = (K × T) + C
Equating S
R0
= S
RT
results in C
RO
= C
RT
= 128 mm
Find a = 800 mm in the table titled “Prevent Reaching Over the Safety Field” and take the next smaller value
of C
RO
= 0 mm.
Step 3:
Determine the height of the top edge of the ESPE safety field b.
Take the corresponding value from the table: b = 1600 mm.
S
H
Danger Zone Boundary
Summary of Contents for SEMG412
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