Mobile
Vehicle
Z
F
H
F
H
F
Z
F
20
40
60
80
100
120
20
0
0
40 60 80 100 120 140 160
Figure 29. Diagram to determine the additional distance Z
F
with lack of floor clearance H
F
Z
A
Application-Specific Additions— Z
A
is the additional distance needed to account for factors that can otherwise affect the
safe application of the SX5. Examples include:
• Approach speed of an individual who is unaware of the vehicle's movement. ISO 13855 (Positioning of Safeguard
with Respect to Approach Speed) defines walking speed as 1600 mm/s (63 in/s), thus Z
A
= 1600 mm/s × (T
S
+ T
R
)
• Additional clearance to avoid crushing, Z
A
= 500 mm (20 in) per ISO 13854 (EN349)
• The effect of turning with long vehicles or trailers, resulting in large lateral travel
Multiple factors may or may not result in a cumulative effect: Z
A
= Z
A1
+ Z
A2
+ … Z
An
. Evaluate each factor to determine its
effect on all Additional Distance Factors (Z).
Additional Side Distance Z (Safety Zone Width)— The width of the Safety Zone is determined by the width of the mobile
vehicle and the Additional Distance Factors (Z) as described. The distance Z may be different for the two sides and the
leading edge. The width of the Safety Zone must be greater than the width of the mobile vehicle.
Z = Z
SM
+ Z
amb
+ Z
F
+ Z
A
It is important that the factor Z
A
include the effect of turning with long vehicles or trailers, resulting in large lateral travel.
3.10 Mounting Your Scanner for Mobile Applications
The mounting of the SX5 should take into account:
• the surface contour of the path of the vehicle including holes, bumps, inclines, ramps, and other variations in the
surface
• deflection of springs or other vibration dampeners that could cause the plane of the Safety Zone to vary
• unmonitored areas created by the installation of the SX5
The point of mounting is typically in the center of the leading edge of the vehicle and is aligned horizontally to achieve a
consistent scanning height over the entire Safety Zone.
Mounting Height— Mount the SX5 as low as possible to prevent people from passing beneath the sensing field by lying on
the floor. BS/DIN EN 1525 and IEC 61496-3 recommend that the Safety Zone with a resolution of 70 mm be as near as
possible to the floor, but no greater than 200 mm (7.9 in) above the floor. In general, a height of 150 mm (5.9 in) has been
recognized by industry to be the most advantageous height above the floor.
AGV
~188 mm
150 mm
~36 mm
Figure 30. Diagram to determine the additional distance with lack of floor clearance
Unmonitored Areas—Mounting the SX5 on the mobile vehicle must not create unmonitored areas between the Safety Zone
and the vehicle, such that the SX5 cannot respond to an object with a cross-section of 70 mm or more. Unmonitored areas
on a mobile vehicle can be prevented by:
• Design/contour of the mobile vehicle
• Position of the Scanner
SX5 Safety Laser Scanner
36
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