Rockwell Automation 442L-SFZNMN SafeZone Mini Safety Laser Scanner User Manual - Manual (Page 32)

30 Rockwell Automation Publication 10000337275 Ver 01—October 2014
Chapter 5 Mounting
Note The reach/approach speed is already included in the formula.
 If the result S is
 500 mm (19.7 in.), then use the determined value as the minimum distance.
 If the result S is > 500 mm (19.7 in.), you may be able to reduce the minimum distance using the following
calculation:
S = 1600 × (T
M
+ T
S
) + 8 × (d – 14) [mm]
 If the new value S is > 500 mm (19.7 in.), then use the newly calculated value as the minimum distance.
 If the new value S is
 500 mm (19.7 in.) then use 500 mm (19.7 in.) as the minimum distance.
Response time T
S
of the SafeZone Mini
The response time T
S
of the SafeZone Mini depends on …
• The basic response time of the SafeZone Mini.
• The multiple sampling set.
See Chapter 12, “OSSD response times” on page 55.
Mobile applications If the dangerous state is produced by a vehicle (e.g. AGV or fork lift), the hazardous area that is produced by the movement
of the vehicle is protected by the SafeZone Mini.
Notes • The SafeZone Mini may only be used to protect vehicles powered by electric motor.
• In the following calculations only take into account the velocity of the vehicle, not the speed of the person walking.
This is based on the assumption that the person will recognize the danger and stand still.
• For vehicle protection, observe EN 1525 “Safety of industrial trucks. Driverless trucks and their systems.”
• If the application is to protect vehicles from collisions, then you may need to use different assumptions.
For a horizontally mounted mobile application, determine:
•
Protective field length
• Protective field width
• Height of the scan plane
• Restart behavior
• Methods of preventing unprotected areas
Protective field length
You must configure the protective field such that a minimum distance to the vehicle is maintained. This ensures that a
vehicle monitored by the SafeZone Mini comes to a stop before a person or object is reached.
How to calculate the protective field length S
L
(see EN ISO 13855):
 Calculate the necessary protective field length S
L
using the formula:
S
L
= S
A
+ Z
G
+ Z
R
+ Z
F
+ Z
B
Where …
S
A
= Stopping distance
Z
G
= General safety supplement of the SafeZone Mini = 100 mm (3.94 in.)
Z
R
= Supplement for any reflection related measurement error of the SafeZone Mini
Z
F
= Supplement for any lack of ground clearance of the vehicle
Z
B
= Supplement for the reduction in the braking performance of the vehicle to be found in the related
vehicle documentation
Stopping distance S
A
The stopping distance comprises the braking distance for the vehicle, the distance covered during the response time of the
safety laser scanner and the response time of the vehicle controller.