SICK nanoScan3 I/O

Z Supplements
S
L
Protective field length for the relevant range of speeds
S
A
= S
Br
+ S
AnF
+ S
AnS
wher
e:
•
S
A
= stopping distance in millimeters (mm)
•
S
Br
= braking distance, from the vehicle documentation, in millimeters (mm)
•
S
AnF
= distance covered during the vehicle control’s response time (including sig‐
nal propagation time), from the vehicle documentation, in millimeters (mm)
•
S
AnS
= distance covered during the safety laser scanner’s response time in mil‐
limeters (mm)
The distance S
AnS
depends on t
he safety laser scanner’s response time and the
vehicle’s speed. The distance S
AnS
is calculated using the following formula:
S
AnS
= t
R
× V
ma
x
where:
°
t
R
= s
afety laser scanner’s response time in seconds (s)
°
V
max
= maximum speed of the vehicle, from the vehicle documentation, in mil‐
limeters per second (mm/s) (If you define a number of monitoring cases with
different protective fields: V
max
= maximum speed of the vehicle in the cur‐
rent monitoring case)
Further topics
•
"R
esponse times", page 116
4.3.10.4 Calculation example for the protective field length
Calculation example for the protective field length S
L
S
L
= S
A
+ T
Z + Z
R
+ Z
F
+ Z
B
where:
•
S
L
= protective field length in millimeters (mm)
•
S
A
= stopping distance in millimeters (mm)
•
TZ = tolerance range of the safety laser scanner, see "Data sheet", page 111
•
Z
R
= supplement for reflection-based measurement errors in millimeters (mm)
•
Z
F
= supplement for lack of ground clearance of the vehicle in millimeters (mm)
•
Z
B
= supplement for the decreasing braking force of the vehicle, from the vehicle
documentation, in millimeters (mm)
4.3.10.5 Calculation example for the protective field width
Calculation example for the protective field width S
B
S
B
= F
B
+2 × (
TZ + Z
R
+ Z
F
)
where:
•
S
B
= protective field width in millimeters (mm)
•
F
B
= vehicle width in millimeters (mm)
•
TZ = tolerance range of the safety laser scanner, see "Data sheet", page 111
•
Z
R
= supplement for reflection-based measurement errors in millimeters (mm)
•
Z
F
= supplement for lack of ground clearance of the vehicle in millimeters (mm)
4.3.10.6 Height of the scan plane
The scan plane must be at a maximum height of 200 mm everywhere. Otherwise, per‐
sons l
ying horizontally may not be detected.
PROJECT PLANNING 4
8024596/15VP/2019-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | nanoScan3 I/O
35
Subject to change without notice