PFTL 101A 1KN机器人模块
在干预期间。安全距离计算对于使用垫子系统作为组合跳闸和存在感测系统的应用，应根据EN999进行计算。图12的流程图显示了基本步骤。注：如果机器的设计符合该机器的现有协调欧洲“C”型标准，该标准给出了具体公式或最小距离，则应优先使用EN 999中给出的公式。传感器垫危险危险传感器垫传感器垫固定防护延伸固定防护箭头显示通道17图12流程图显示方法计算的最小距离是传感器垫检测区外缘到危险最近部分的最小水平距离。地面安装式安全垫的EN 999公式为S=（1600 x T）+1200mm S是最小安全距离，单位为毫米。系数1600是基于进场速度1600mm/S的标准假设。T是以秒为单位的总停止时间。增加的1200mm是EN 999中给出的参数C，并考虑了步幅长度和手臂伸展。否是否是否否否是C类标准中是否给出了具体公式或最小距离？根据C类标准确定最小距离使用此最小距离根据prEN 999中的公式计算最小距离是否可以达到此最小距离？最小距离是否允许人员在危险区域内而不被发现？使用此最小距离以及根据风险采取的补充措施使用该最小距离是否可以缩短总体响应时间，或者是否可以缩短参数C？减少总响应时间和/或减少参数C使用附加或替代保护设备18总停止时间T由两部分组成：T=t1+t2 t1是启动传感功能和输出信号开关设备处于关闭状态之间的最长时间。对于垫子系统，t1=35mS。t2是机器的响应时间，即在接收到来自垫系统的输出之后停止机器或消除风险所需的时间。计算中使用的机器的响应时间需要是最坏情况下的时间。有些机器的响应时间不一致，这取决于操作模式、工件的性质以及启动停止的操作周期点。如果制动器等的磨损会影响响应时间，则应考虑磨损。在某些情况下，可能需要考虑机器控制系统的进一步延迟。计算示例在本示例中，垫子系统与最坏情况下响应时间测量为0.485秒的机器一起使用。使用公式，T=t1+t2=35mS+485mS=520mS=0.520S S=（1600 x 0.520）+1200mm=832+1200mm=2032mm从2032mm到机器底板边缘，需要传感器垫。5.4.2用作存在感测.
during interventions. SAFETY DISTANCE CALCULATIONS For applications using the mat system as a combined trip and presence sensing system these should be done in accordance with EN999. The flow chart at fig. 12 shows the essential steps. NOTE: If the machine is designed in conformity with an existing harmonised European “C”: type standard for that machine which gives specific formulae or minimum distances, then these should be used in preference to those given in EN 999. SENSOR MATS HAZARD HAZARD HAZARD SENSOR MATS SENSOR MATS FIXED GUARD EXTENDED FIXED GUARD ARROWS SHOW ACCESS 17 Fig. 12 FLOW CHART SHOWING METHODOLOGY The minimum distance calculated is the minimum horizontal distance from the outer edge of the sensor mat detection zone to the nearest part of the hazard. The EN 999 formula for floor mounted safety mats is S = (1600 x T) + 1200mm S is the minimum safety distance in millimetres The factor of 1600 is based on the standard assumption of 1600mm/s as the approach speed. T is the overall stopping time in seconds The added 1200mm is parameter C given in EN 999 and takes into account stride length and arm reach. NO YES NO YES YES NO NO YES Are specific formulae or minimum distances given in Type-C standards ? Determine the minimum distance according to the Type-C standard Use this minimum distance Calculate minimum distance by the formulae in prEN 999 Can this minimum distance be achieved ? Does the minimum distance allow persons to be within the danger zone without being detected ? Use this minimum distance together with supplementary measures depending on the risk Use this minimum distance Can overall response time be reduced or can parameter C be reduced ? Reduce overall response time and/or reduce parameter C Use additional or alternative protective equipment 18 The overall stopping time T is made up of two parts: T = t1 + t2 t1 is the maximum time between actuation of the sensing function and the output signal switching devices being in the OFF state. For the mat system, t1 = 35mS. t2 is the response time of the machine i.e. the time required to stop the machine or remove the risks after receiving the output from the mat system. The response time of the machine used in the calculation needs to be the worst case time. Some machines have inconsistent response times which are dependent upon mode of operation, nature of the workpiece and point in the operating cycle at which stopping is initiated. An allowance should be made for wear in brakes etc if this can affect the response time. An allowance for further delays in the machine control system may be required in some circumstances. CALCULATION EXAMPLE In this example the mat system is being used with a machine whose worst case response time has been measured as 0.485 seconds. Using the formula, T = t1 + t2 = 35mS + 485mS = 520mS = 0.520S S = (1600 x 0.520) + 1200mm = 832 + 1200mm = 2032mm Sensor mats will be required from 2032mm right up to the edge of the machine baseplate. 5.4.2 FOR USE AS A PRESENCE SENSING
