Original instructions – Rockwell Automation 442L SafeZone Singlezone & Multizone Safety Laser Scanner User Manual
Page 30
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SafeZone™ Safety Laser Scanner User Manual
28 10000073050, July 2011
Original instructions
Figure 38: Advancement for the switch timing
• If the input conditions are present at the control inputs within 10 or 20
ms (cf.
), the timing for the switching (tUF) does not need to be
advanced.
• If an input delay for the control inputs needs to be taken into account
(cf.
), the timing for the switching
(tUFVz2)
must be advanced by the
input delay.
• If external OSSDs are used, the timing for the switching
(tUFVz4)
must
be further advanced by 20 ms (cf. (
).
The following figure shows an example for a gantry robot that is
protected using two monitoring cases.
Figure 39: Example of advancing the timing for the switching
The gantry robot
moves to the right . On the left hand side the
dangerous movement is monitored by a monitoring case
. When the
gantry robot arrives at the point
tUv,
switching must have already been
performed due to the advancing of the switching necessary so that at time
t
U
the right monitoring case
is active.
Note: For the movement to the left, that is for the switching to the
monitoring case
, the same applies.
How far you must advance the timing for the switching
depends on
• The input delay your switching method requires to provide the input
condition for case switching (see “Input delay” on page 17).
ATTENTION
Define the timing for the switching
such that the SafeZone safety laser
scanner already detects a person in the
protective safety field before the
dangerous state occurs.
At the time of the switching there may
be personnel in the protective safety
field. Only by means of switching in the
correct time frame (i.e. before the
hazard occurs at this point for the
person) is protection provided.
IMPORTANT
In the phases before and after the
switching, the safety distances
calculated for the individual
monitoring cases apply on their own.
The considerations above serve only
for the selection of the optimal timing
of the switching.
If the timing for the switching cannot be
exactly defined, e.g. due to the variable
processing speed of the machine, or if
advancing of the timing results in
premature termination of the
monitoring of the initial area, you must
→
→
Have both hazardous areas
monitored temporarily using
simultaneous monitoring.
t
t
t
t
UFVz4
t
F
U
2
z
V
F
U
3
z
V
F
U
tUv
tU
t