Response time
The response time of the safety system (t
SafetySystem
) comprises the following times:
•
Response time of the primary protective device (t
PrimaryProtDev
)
•
Response time of the safety controller (t
SafetyController
)
•
Response time of the interface or relays (t
Relay
)
t
SafetySystem
= t
PrimaryProtDev
+ t
SafetyController
+ t
Relay
The robot stopping time (t
Robot
) comprises the following times:
•
Robot controller response time
•
Stopping/run-down time of robot arm including tool and work piece
Further topics
•
"Minimum distance with deTec4 Core", page 28
•
"Minimum distance with deTem4 Core", page 29
•
4.4.3.1
Minimum distance with deTec4 Core
If the primary protective device deTec4 Core is used in the safety system, the minimum
distance is calculated in accordance with the following formula:
S = K × T + C
S = K × (t
SafetySystem
+ t
Robot
) + C
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 in seconds
T = t
SafetySystem
+ t
Robot
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
If the value for S exceeds 500 mm, K = 1,600 mm/s can be used (see ISO 13855). In
this case, the value of S must be at least 500 mm.
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).
C
RT
= 8 × (d - 14)
→
but not less than 0
4
PROJECT PLANNING
28
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
