Approach
The value for
Stop Field radius
S
PF1
is composed of the minimum distance to the haz‐
PF1
and the radius of the robot hazardous area S
R
.
Calculate minimum distance to the hazardous area for protective field PF1 (S
PF1
).
b
Calculate the minimum distance to the hazardous area for protective field PF1.
The following calculation example according to ISO13855 can be used for this.
S
PF1
= K × (t
Safetysystem
+ t
Robot
) + TZ + ZR + C
Parameter
Description
K
Approach speed of a person. The approach speed is
1,600 mm/s according to EN ISO 10218-2.
t
Safetysystem
Response time of the safety system corresponds to the
response time of the safety laser scanner
70 ms
t
Robot
Robot stopping time
TZ (TT)
Tolerance range of the safety laser scanner
65 mm
1)
ZR
Supplement for reflection-related measurement errors
2)
350 mm
1)
C
Supplement to protect against reaching over in millimeters
(mm)
C = 1,200 mm – (0.4 × protective field height (mm))
At a protective field height of 300 mm:
1,080 mm
1)
Value in delivery state Check the actual value with operating instructions 8024594.
2)
Is not required in all applications
Calculating radius of the hazardous area of the robot S
R
b
Calculate the radius of the hazardous area of the robot S
R
. The radius is composed
of the scanning range of the robot arm, the size of the end effector and the
workpiece.
The radius is the maximum horizontal distance between the center of the robot
base and the outermost point of the transported workpiece. Every point that can
be reached by the robot arm is part of the hazardous area.
1
4
2
3
Figure 3: Composition of the radius of the hazardous area of the robot S
R
1
Robot arm
2
End effector
3
Workpiece
4
Radius of the hazardous area of the robot S
R
Calculating value for
Stop Field radius
b
Stop Field radius
= S
PF1
+ S
R
4
PROJECT PLANNING
10
O P E R A T I N G I N S T R U C T I O N S | nanoScan3 Tool - URCap
8025720/1A9R/2020-12-15 | SICK
Subject to change without notice
