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5.7.9.3 Sample calculation of the depth of a detection zone
This example is based on the following typical application data (without access against
the direction of travel and without retro-reflectors):
Largest width of the danger zone
from the axis of the rotating mirror = G
Maximum speed
Response time SIMATIC FS600
Laser Scanner (selectable)
Response time of AGV control
Braking distance
Factor for wear and tear on the brakes= L
Measurement error
Distance between AGV and floor
The formula
S =
results in a safety distance of:
S =
The formula
S
T
results in the following required depth of the detection zone in the direction of travel:
S
= 2414 mm + 83 mm + 0 mm + 50 mm + 0 mm = 2547 mm
T
5.7.9.4 Sample calculation of a maximum range of a detection zone
The formula
=
S MAX
yields, under consideration of the width of the danger zone results in the maximum
distance to be monitored:
=
S
MAX
S
= 1400 mm + 83 mm = 1483 mm
BDIFF
S
= 2947 mm
MAX
V
MAXAGV
1800 mm/s * (0.08 s + 0.1 s) + (1900 mm * 1.1) = 2414 mm
=
=
22
2222222
+
S
S
T
BDIFF
S
= G
BDIFF
BDIFF
2
2547mm
+
1483mm
1400 mm
BDIFF
= V
1800 mm/s
MAXAGV
0.08 s
= T
SCAN
= T
0.1 s
AGV
= S
1900 mm
STOP
1.1 (fixed addition to account for
STOP
wear and tear on the brakes)
= Z
83 mm
SM
= Z
90 mm (results in an addition of
AFLR
50 mm according to Fig. 18 5.7-3
for calculating the addition for
inadequate floor clearance)
x (T
+ T
) + (S
SCAN
FTS
2414 mm
S + Z
+ Z
SM
+ Z
S
2
x L
)
STOP
STOP
+ Z
+ Z
REFL
AFLR
AU
59
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