Banner AG4 Series Safety Laser Scanner
WARNING . . . DETERMINE CORRECT STOP TIME
Stop time (T
S
) must include the response time of all relevant devices or controls that react to stop the mobile vehicle. If all devices are
not included, the calculated Minimum Distance (D) will be too short. This can lead to serious bodily injury or death.
WARNING . . . PROPER SEPARATION DISTANCE
The Protective Field must be located far enough from the nearest hazard such that an individual cannot reach the hazard before
cessation of hazardous motion or situation. Failure to establish and maintain the Minimum Distance D could result in serious bodily
injury or death.
Minimum Distance D (Protective Field Length)
The following calculations do not specifically take into account the speed of an individual since it can be assumed that an
individual will recognize and will avoid the hazard or at a minimum stop their movement. If this cannot be reasonably
expected, such as if the Warning Field is not used to signal the approach of the vehicle, the factor Z
A
should incorporate
the expected speed of an individual (see below).
When all factors that influence a mobile vehicle stopping performance are considered, the formula is:
D = D
SD
+ Z
SM
+ Z
refl
+ Z
F
+ Z
A
where:
D = Minimum distance from the vehicle surface to
the edge of the Protective Field in mm
D
SD
= Stopping distance in mm
Z
SM
= the additional distance needed to account for
distance measurement error.
Z
refl
= the additional distance needed to account for error due to
reflections from retro reflective surfaces.
Z
F
= the additional distance needed to account for AGV ground
clearance
Z
A
= application specific additions
Note: In the following figure, Z
LEAD
= Z
SM
+ Z
refl
+ Z
F
+ Z
A
Figure 3-13. Calculating minimum distance in a mobile vehicle application
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