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SE1L
Safety Laser Scanner
Calculation
S = (K × (T
+ T
) + C + Z
m
s
s
S = Safety distance (mm)
K = Human approach speed 1,600 (mm/s)
T
= Maximum stop speed of machine or system (s)
m
T
= Response time of SE1L (s)
s
C = 1200 − 0.4 × H ≥ 850
H = height from the floor to the sensing plane (mm)
1000 ≥ H ≥ 15 × (d − 50)
d = Minimum sensing width of object (mm)
Z
= Additional safety distance of SE1L (mm)
s
x Install the SE1L so that the distance between the
end of the hazardous area and the origin of the
protection zone "a" is shorter than the minimum
sensing width. If the distance of "a" is longer
than the minimum sensing width, additional
protection measures must be taken so that
objects cannot enter the unprotected area.
x Do not install the SE1L higher than 300 mm
to prevent obstacles entering beneath the
sensing plane. If there is a need to install the
SE1L higher than 300 mm, take measures to
prevent obstacles entering beneath the detecting
surface.
x To install the SE1L in a public area, make sure
that the height from the floor to the sensing plane
is within 200 mm or install according to local
height regulations.
x To use the SE1L for presence detection (when
an object enters the protection area horizontally),
make sure to set the minimum sensing width to
less than 70 mm.
Note:
x It is recommend that markings are placed on the floor so that the
protection zone is clearly defined.
x To configure the safety distance, the additional safety distance must be
taken into consideration.
x When operating the SE1L in a high reflective background environment,
additional distance must be added.
x Make sure that protective measures or background are not detected in the
protection zone. If they are detected as an object, the OSSD remains OFF.
Hazardous Area Protection (Movable)
The SE1L can be used for movable applications. In an
application using an AGV, the SE1L on the AGV detects
humans or objects while traveling on the fixed route.
The warning zone signal is used to slow down the AGV
and the OSSD signal can be used to stop the AGV when
required. By using the area switching function of the SE1L,
the AGV can use 16 different area patterns based on its
traveling route. When using the SE1L on an AGV, take
into consideration the time needed for the AGV to stop
completely when configuring protection zones and warning
zones.
Application Example
14
Safety distance (top view)
AGV
Protection
zone
Zs
Zs
AGV
h
Calculation
S = V × (T
+T
) + Z
× L + Z
m
s
b
S = Safety distance (mm)
V = Maximum approach speed of the AGV (mm/s)
T
= Maximum stopping time of the machine or system (s)
m
T
= Response time of SE1L (s)
s
Z
= Distance required for the AGV to stop (mm)
b
L = Brake friction coefficient
Z
= Additional safety distance of SE1L (mm)
s
Z
= Additional safety distance due to insufficient ground
g
clearance
h = ground clearance (mm)
To prevent damages to fingers, provide sufficient ground
clearance.
The graph below shows the relation between h and Z
120
110
100
90
80
70
60
50
40
30
20
0
20
40
60
Additional distance for insuf cient ground clearance (mm
x Install the SE1L so that the distance between the
x Install the SE1L so that the distance between the
end of the hazardous area and the origin of the
end of the hazardous area and the origin of the
protection zone "a" is shorter than the minimum
protection zone "a" is shorter than the minimum
sensing width. If the distance of "a" is longer
sensing width. If the distance of "a" is longer
than the minimum sensing width, additional
than the minimum sensing width, additional
protection measures must be taken so that
protection measures must be taken so that
objects cannot enter the unprotected area.
objects cannot enter the unprotected area.
x Do not install the SE1L higher than 200 mm to
x Do not install the SE1L higher than 200 mm to
prevent objects entering beneath the sensing
prevent objects entering beneath the sensing
plane.
plane.
Note: Make sure that protective measures or background are not detected
Note: Make sure that protective measures or background are not detected
in the protection zone. If they are detected as an object, the OSSD
in the protection zone. If they are detected as an object, the OSSD
remains OFF.
remains OFF.
Non-protected
area
a
S
Zg
Non-protected
area
a
H
Ground
clearance
+ Z
s
g
80
100
120
140
)
(14/04/28)
.
g
160
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