Siemens SIMATIC FS400 Anleitung Seite 149

Calculation formula for safety distance S in accordance with EN 999:
The safety distance "S" for access and perimeter guarding is calculated in accordance
with EN999/ISO 13855 using the formula:
S [mm] = K [mm/s] x T [s] + C [mm]
S = Safety distance in mm
K = Approach speed of 1600 in mm/s
T = Total time of the delay in seconds
Total of,
– protective device response time t
– safety interface, if any, t
– and the machine's stopping time, t
C = 850 mm (arm's length)
S [mm] = 1600 [mm/s] x (t
Access and perimeter guarding calculation example
A robot with a stopping
SIMATIC FS400 3RG7845 3-beam light grid with transistor output. The beam heights
are determined at 300, 700 and 1,100 mm.
In accordance with the table the AOPD's response time in the SingleScan mode
(factory setting H = 1) is 5 ms. An additional interface is not required as
SIMATIC FS400 3RG7845 3-beam light grid is already operated with RES function and
contactor monitoring.
T = 5 + 250
C = 850 mm
S = 1600 x 0.255 + 850
AOPD
Interface
+ t + t
AOPD Interface Machine
time of 250
See Chapter 12
Interface technical data
. Tech. data of the
Machine
machine or stopping
time measurement
) [s] + 850 [mm]
ms is to be guarded
= 255 ms
= 850 mm
= 1,258 mm
with a
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