Pilz PSEN sc ME 5.5 08-17 - Page 43

Project configuration
Operating Manual PSEN sc ME 5.5 08-17
1005388-EN-01
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The determined speed is ≤-10cm/s or ≥10cm/s: For the duration of max. 0.4s dif-
ferent directions of rotation of the encoders are tolerated.
– Use of the highest measured value of the two encoders
When the two encoders measure different speeds, the highest value is used for this
calculation.
} Number of measured values of the encoders 1 and 2 per centimetres of rotation
The minimum value is 50 (preset value), the maximum value is 1000.
– Example to determine the number of measured values
For this example, it is assumed that the safety laser scanner is installed on a vehicle.
The vehicle’s wheel has a diameter of 50cm and therefore a perimeter of
50π=157.08.
The shaft to which the encoder is fixed has a diameter of 5 cm
The used encoder provides 1000 pulses per rotation (see Technical details of the en-
coder).
Anz
ImpFZWeg
= Diameter
FZRad
/ Diameter
Welle *
Anz
ImpEnc /
Umfang
FZRad
Anz
ImpFZWeg
= Number of pulses per centimetre of the path that the vehicle has trav-
elled
Diameter
FZRad
= Diameter of the vehicle’s wheel
Diameter
Welle
= Diameter of the shaft to which the encoder is fixed
Anz
ImpEnc
= Number of pulses of the used encoders per rotation
In the example there is Anz
ImpFZWeg
to 50/5*1000/157.08 = 63.66.
} Speed maximum and minimum
– Formula for the max. permitted speed
V
max
= F
max
/Anz
ImpFZWeg
F
max
= 100,000 and it corresponds to the max. frequency that PSEN sc ME 5.5 08-17
can read.
In the example, 100,000/63.66 = 1,570.845.
– Formula for the min. permitted speed
V
max
= -F
max
/Anz
ImpFZWeg
F
max
= 100,000 and it corresponds to the max. frequency that PSEN sc ME 5.5 08-17
can read.
In the example there is -100,000/63.66 = -1,570.845.
} Speed range in cm/s
The minimum value is -2000, the maximum value is 2000
The values must therefore be integers divisible by 10.