Changes to the application and calculations
Changes to the application
The protective field PF1 is made smaller. This has the following effects:
•
When the protective field PF2 is interrupted, it can no longer be assumed that the
robot has already definitely activated the safety-rated monitored speed.
•
Protective field PF2 must be designed to be larger.
•
The robot stops earlier when the hazardous area is approached.
Table 7: Changes to the calculations for the minimum distances to the hazardous area
Dimension
Changes in calculating
Explanation
S
PF2
Calculating the minimum distance to
the hazardous area of the protective
field PF2
Take the maximum speed of the
robot into account when selecting
the response time of the robot. Use
this time to calculate the minimum
distance to the hazardous area.
Safety-rated monitored speed is not
definitely activated.
S
Diff
Determining the difference between
the minimum distances to the haz‐
ardous area
Instead of the calculation, use the
following value:
500 mm
This value is a compromise between
small footprint and robot availability.
In extreme cases, you can reduce the
value down to 160 mm. In practice, a
value < 500 mm significantly impairs
the availability of the robot.
S
PF1
Calculating the minimum distance to
the hazardous area of the protective
field PF1
No change to the formula
–
Further topics
•
see "Minimum distances of protective fields PF1 and PF2 to the hazardous area",
page 24
4.3.3.5
Minimum distance to the hazardous area for protective field PF3
Minimum distance to hazardous area
The protective field PF3 must be large enough that a person cannot step over the pro‐
tective field without interrupting it when doing so. SICK recommends a minimum size of
750 mm.
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
29
Subject to change without notice