Calculate the stopping distance S
A
using the following formula:
•
S
A
= S
Br
+ S
AnF
+ S
AnS
where
•
S
Br
= Braking distance, which is specified in the vehicle documentation
•
S
AnF
= Distance covered during the response time of the vehicle controller, which is
specified in the vehicle documentation
•
S
AnS
= Distance covered during the response time of the safety laser scanner
Distance covered during the response time of the safety laser scanner
The distance covered during the response time of the safety laser scanner depends on
the following factors:
•
Response time of the safety laser scanner
•
Maximum speed of the vehicle in the mobile application
S
of the safety laser scanner depends on the following factors:
•
Basic response time of the safety laser scanner
•
Set multiple sampling
Calculate the distance S
AnS
covered during the response time of the safety laser scan‐
ner using the following formula
•
S
AnS
= T
S
× V
max
where
•
T
S
= Response time of the safety laser scanner
•
V
max
= Maximum speed of the vehicle as specified in the relevant vehicle documen‐
tation
Supplement Z
R
for reflection-related measurement errors
For retro-reflectors in the background less than 1 m from the protective field boundary,
the supplement Z
R
is 200 mm.
Supplement Z
F
due to lack of ground clearance
This supplement is necessary, because, generally, a person is detected above the foot
and the braking process cannot take account of the length of the foot in front of the
point of detection. A person’s foot could be injured if a vehicle has no ground clearance.
Z
F
1
2
Figure 37: Supplement due to lack of ground clearance
1
Ground clearance
2
The lump supplement for ground clearance under 120 mm is 150 mm. This supple‐
ment may be reduced further in individual cases. The actual supplement required
based on the ground clearance of the vehicle can be read from the following graph:
PROJECT PLANNING
4
8013291/ZA19/2019-11-14 | SICK
O P E R A T I N G I N S T R U C T I O N S | S3000 PROFINET IO, S3000 PROFINET IO-OF
47
Subject to change without notice
