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F3S-B
4.
Using ANSI/RIA R15.06 Formula
#
Safety distance is calculated based on the following equation when a person moves perpendicular to the
detection zone of a light curtain.
S = K x ( Ts + Tc + Tr ) + Dpf
S : Safety Distance (mm)
K : Speed constant of 1,600 mm/s (63 inches/s) minimum based on the movement being the
hand/arm only and the body being stationary.
A greater value may be required in specific applications and when body motion must also be
considered.
Ts : Worst stopping time of machine/equipment
Tc : Worst stopping time of the control system.
Tr : Maximum response time of the light curtain (see Note 5)
Dpf : Depth penetration factor.
Additional distance calculated or defined based on the optical resolution of the light curtain
Calculation for intrusion perpendicular to the detection zone
1)
30 mm and 55 mm optical resolution type
Substitute K = 1,600 mm/s and Dpf = 3.4 x ( Os – 6.875 mm ) in equation (4) and calculate as shown be-
low.
S = 1,600 mm/s x ( Ts + Tc + Tr ) + 3.4 x ( Os – 6.875 mm )
where:
S = safety distance (mm)
Os = object sensitivity ( =optical resolution) of light curtain (mm) (see Note 6)
e.g.:
Ts + Tc = 0.06 s, F3S-B542P (Tr = 0.037 s, Os = 30 mm )
S = 1,600 mm/s x ( 0.06 s + 0.037 s ) + 3.4 x ( 30 mm – 6.875 mm )
= 234 mm
2)
Flashing when receiving light in start/restart interlock.80 mm optical resolution type
Substitute K =1,600 mm/s and Dpf = 900 mm in equation (4) and calculate as shown below:
S =1,600 mm/s x ( Ts + Tc + Tr ) + 900 mm
Note:
4. ANSI/RIA R15.06 1999 : American National Standard for Industrial Robots and Robot Systems Safety
5. The light curtain response time (Tr) refers to the time required for output changing from ON to OFF.
6. When the optional blanking function is used, the entire (from emitter to receiver) blanked area should be
physically filled. Otherwise, d must be calculated as follows:
Os = (Size of the largest blanked area ) + (Original optical resolution)
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(See Note 4)
Requirements
(4)
(5)
(6)
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