4.3.10.2.4 Width of the collision protection field
Overview
T
he collision protection field must be designed in such a way that 2 industrial trucks
moving towards each other head-on are braked in good time. The collision protection
field must be wide enough to reliably detect the reference target on any oncoming
industrial truck. The minimum width of the collision protection field must be selected so
that the collision protection field covers the reference target of the oncoming industrial
truck, even if both industrial trucks make yawing movements.
A distance is required between the collision protection field and the front of the rack
because of the angular error of the industrial truck and because of the measurement
accuracy of the safety laser scanner. This distance should be as small as possible. A
distance equal to the TZ value plus supplement for the guide tolerance of the industrial
truck is recommended for high availability and sufficient protection. (TZ = tolerance
zone of the safety laser scanner, see "Data sheet", page 165.)
Minimum width of the collision protection field
W
CP
F
= W
RT
+ (2 × L
CPF
× tan α)
•
W
CPF
= minimum width of the collision protection field
•
W
RT
= width of the reference target In the case of several reference targets: Width
across all reference targets, i.e. from the left edge of the left reference target to
the right edge of the right reference target
10)
.
•
L
CPF
= length of the collision protection field
11)
•
α = maximum yaw angle of the industrial truck including angular resolution of the
safety laser scanner
Example
•
W
R
T
= 1400 mm
12)
.
•
L
CPF
= 10400 mm
•
α = 0.3°
W
CPF
= 1400 mm + (2× 10400 mm × tan(0,3°)) = 1400 mm + 110 mm = 1510 mm
4.4 Integrating the equipment into the electrical control
This chapter contains important information about integration in the electrical control.
Inf
ormation about the individual steps for electrical installation of the device: see
"Electrical installation", page 81.
Information about pin assignment: see "Pin assignment", page 82.
Requirements for use
The protective device delivers safety-related shut-off signals via the network. Reliable
evaluation and switch-off of the machine must be realized in the machine controller.
10)
T
he maximum value of all industrial trucks under all occurring conditions always applies
11)
The maximum value of all industrial trucks under all occurring conditions always applies.
12)
2 reference targets, each 100 mm wide, spaced 1200 mm apart
4 P
ROJECT PLANNING
60
O P E R A T I N G I N S T R U C T I O N S | microScan3 – PROFINET 8021219/1ELL/2022-01-21 | SICK
Subject to change without notice
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