IEC 61496-3:2018
(Main)Safety of machinery - Electro-sensitive protective equipment - Part 3: Particular requirements for active opto-electronic protective devices responsive to diffuse Reflection (AOPDDR)
Safety of machinery - Electro-sensitive protective equipment - Part 3: Particular requirements for active opto-electronic protective devices responsive to diffuse Reflection (AOPDDR)
IEC 61496-3:2018 specifies additional requirements for the design, construction and testing of electro-sensitive protective equipment (ESPE) designed specifically to detect persons or parts of persons as part of a safety-related system, employing active opto-electronic protective devices responsive to diffuse reflection (AOPDDRs) for the sensing function. Special attention is directed to requirements which ensure that an appropriate safety-related performance is achieved. An ESPE can include optional safety-related functions, the requirements for which are given both in Annex A of this document and in Annex A of IEC 61496-1:2012. IEC 61496-3:2018 not specify the dimensions or configurations of the detection zone and its disposition in relation to hazardous parts for any particular application, nor what constitutes a hazardous state of any machine. It is restricted to the functioning of the ESPE and how it interfaces with the machine. AOPDDRs are devices that have either
– one or more detection zone(s) specified in two dimensions (AOPDDR-2D), or
– one or more detection zone(s) specified in three dimensions (AOPDDR-3D)
wherein radiation in the near infrared range is emitted by an emitting element(s). When the emitted radiation impinges on an object (for example, a person or part of a person), a portion of the emitted radiation is reflected to a receiving element(s) by diffuse reflection. This reflection is used to determine the position of the object. Opto-electronic devices that perform only a single one-dimensional spot-like distance measurement, for example, optical proximity switches, are not covered by this document. IEC 61496-3:2018 does not address those aspects required for complex classification or differentiation of the object detected. IEC 61496-3:2018 does not address requirements and tests for outdoor application. Excluded from IEC 61496-3:2018 are AOPDDRs employing radiation with the peak of wavelength outside the range 820 nm to 950 nm, and those employing radiation other than that generated by the AOPDDR itself. For sensing devices that employ radiation of wavelengths outside this range, this document can be used as a guide. IEC 61496-3:2018 is relevant for AOPDDRs having a minimum detectable object size in the range from 30 mm to 200 mm. IEC 61496-3:2018 can be relevant to applications other than those for the protection of persons, for example, for the protection of machinery or products from mechanical damage. In those applications, different requirements can be appropiate, for example when the materials that have to be recognized by the sensing function have different properties from those of persons and their clothing. IEC 61496-3:2018 does not deal with electromagnetic compatibility (EMC) emission requirements. IEC 61496-3:2018 cancels and replaces the second edition published in 2008. This edition constitutes a technical revision. IEC 61496-3:2018 includes the following significant technical changes with respect to the previous edition:
a) extension of the scope from AOPDDR-2D to AOPDDR-3D;
b) extension of the scope from Type 3 ESPE to Type 2 ESPE;
c) implementation of requirements and test procedures for AOPDDR-3D and Type 2 ESPE;
d) listing of reference boundary monitoring as an optional function of the ESPE;
e) implementation of instructions for positioning of AOPDDR-3D in respect of parts of the human body;
f) revised requirement for combinations of single faults with conditions for no failure to danger, see for example 4.2.2.4, last paragraph.
IEC 61496-3:2018 is to be used in conjunction with IEC 61496-1:2012.
Sécurité des machines - Équipements de protection électro-sensibles - Partie 3: Exigences particulières pour les équipements utilisant des dispositifs protecteurs optoélectroniques actifs sensibles aux réflexions diffuses (AOPDDR)
L'IEC 61496-3:2018 définit les exigences complémentaires de conception, de construction et d'essai d'équipements de protection électrosensibles (ESPE) conçus spécialement pour détecter des personnes ou des parties de personnes, comme partie d'un système relatif à la sécurité, utilisant pour la fonction de détection des dispositifs protecteurs optoélectroniques actifs sensibles aux réflexions diffuses (AOPDDR). Une attention particulière est portée aux exigences assurant qu'une performance appropriée relative à la sécurité est atteinte. Un ESPE peut comprendre des fonctions relatives à la sécurité facultatives, leurs exigences étant indiquées dans l'Annexe A du présent document et dans l'Annexe A de l'IEC 61496-1:2012. L'IEC 61496-3:2018 ne définit ni les dimensions, ni la configuration de la zone de détection, ni son emplacement par rapport aux parties dangereuses dans une application quelconque, ni, enfin, ce qui constitue un état dangereux pour une machine donnée. Elle se limite au fonctionnement de l'ESPE, et à son interface avec la machine. Les AOPDDR sont des dispositifs qui comportent soit
– une ou plusieurs zones de détection bidimensionnelles (AOPDDR-2D), ou
– une ou plusieurs zones de détection tridimensionnelles (AOPDDR-3D)
dans laquelle ou lesquelles le rayonnement dans le champ proche infrarouge est émis par un ou des émetteurs. Lorsque le rayonnement émis rencontre un objet (une personne par exemple ou une partie de son corps), une partie du rayonnement émis est réfléchi par réflexion diffuse sur un ou des récepteurs. Cette réflexion permet de déterminer la position de l'objet. Les équipements optoélectroniques qui réalisent un seul mesurage de distances unidimensionnelles ponctuelles, par exemple, les détecteurs de proximité optiques, ne sont pas couverts par le présent document. L'IEC 61496-3:2018 ne traite pas des aspects exigés pour une classification complexe ou une différenciation de l'objet détecté. L'IEC 61496-3:2018 ne traite pas des exigences et des essais pour une application extérieure. Les AOPDDR utilisant des longueurs d'onde de crête de rayonnement hors de la plage de 820 nm à 950 nm ainsi que ceux dont les longueurs d'onde de rayonnement sont différentes de celles générées par l'AOPDDR lui-même sont exclus du présent document. Ce dernier peut servir de guide pour les dispositifs de détection qui utilisent des longueurs d'onde de rayonnement hors de cette plage. L'IEC 61496-3:2018 est approprié pour les AOPDDR disposant d'une taille minimale de l’objet détectable dans la plage comprise entre 30 mm et 200 mm. L'IEC 61496-3:2018 peut se révéler approprié pour des applications autres que la protection des personnes, par exemple la protection des machines ou des produits contre des dommages mécaniques. Dans ces applications, des exigences différentes peuvent être appropriées, par exemple lorsque les matières qui doivent être reconnues par la fonction de détection possèdent des propriétés différentes de celles des personnes et de leurs vêtements. L'IEC 61496-3:2018 ne traite pas des exigences d'émission concernant la compatibilité électromagnétique (CEM). L'IEC 61496-3:2018 annule et remplace la deuxième édition parue en 2008. Cette édition constitue une révision technique. L'IEC 61496-3:2018 inclut les modifications techniques majeures suivantes par rapport à l'édition précédente:
a) extension du domaine d'application de l'AOPDDR-2D à l'AOPDDR-3D;
b) extension du domaine d'application de l'ESPE de type 3 à l'ESPE de type 2;
c) mise en œuvre des exigences et des procédures d'essai pour l'AOPDDR-3D et l'ESPE de type 2;
d) énumération de la surveillance des limites de référence comme fonction facultative de l'ESPE;
e) mise en œuvre des instructions pour le positionnement de l'AOPDDR-3D par rapport aux parties du corps;
f) revue des exigences pour la combinaison des défauts uniques avec les conditions concernant l'absence de défaillance dangereuse, voir par exemple le dernier alinéa de 4.2.2.4.
L'
General Information
Relations
Buy Standard
Standards Content (Sample)
IEC 61496-3 ®
Edition 3.0 2018-12
REDLINE VERSION
INTERNATIONAL
STANDARD
colour
inside
Safety of machinery – Electro-sensitive protective equipment –
Part 3: Particular requirements for active opto-electronic protective devices
responsive to diffuse reflection (AOPDDR)
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form
or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from
either IEC or IEC's member National Committee in the country of the requester. If you have any questions about IEC
copyright or have an enquiry about obtaining additional rights to this publication, please contact the address below or
your local IEC member National Committee for further information.
IEC Central Office Tel.: +41 22 919 02 11
3, rue de Varembé info@iec.ch
CH-1211 Geneva 20 www.iec.ch
Switzerland
About the IEC
The International Electrotechnical Commission (IEC) is the leading global organization that prepares and publishes
International Standards for all electrical, electronic and related technologies.
About IEC publications
The technical content of IEC publications is kept under constant review by the IEC. Please make sure that you have the
latest edition, a corrigenda or an amendment might have been published.
IEC Catalogue - webstore.iec.ch/catalogue Electropedia - www.electropedia.org
The stand-alone application for consulting the entire The world's leading online dictionary of electronic and
bibliographical information on IEC International Standards, electrical terms containing 21 000 terms and definitions in
Technical Specifications, Technical Reports and other English and French, with equivalent terms in 16 additional
documents. Available for PC, Mac OS, Android Tablets and languages. Also known as the International Electrotechnical
iPad. Vocabulary (IEV) online.
IEC publications search - webstore.iec.ch/advsearchform IEC Glossary - std.iec.ch/glossary
The advanced search enables to find IEC publications by a 67 000 electrotechnical terminology entries in English and
variety of criteria (reference number, text, technical French extracted from the Terms and Definitions clause of
committee,…). It also gives information on projects, replaced IEC publications issued since 2002. Some entries have been
and withdrawn publications. collected from earlier publications of IEC TC 37, 77, 86 and
CISPR.
IEC Just Published - webstore.iec.ch/justpublished
Stay up to date on all new IEC publications. Just Published IEC Customer Service Centre - webstore.iec.ch/csc
details all new publications released. Available online and If you wish to give us your feedback on this publication or
also once a month by email. need further assistance, please contact the Customer Service
Centre: sales@iec.ch.
IEC 61496-3 ®
Edition 3.0 2018-12
REDLINE VERSION
INTERNATIONAL
STANDARD
colour
inside
Safety of machinery – Electro-sensitive protective equipment –
Part 3: Particular requirements for active opto-electronic protective devices
responsive to diffuse reflection (AOPDDR)
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
ICS 13.110; 31.260 ISBN 978-2-8322-6347-1
– 2 – IEC 61496-3:2018 RLV IEC 2018
CONTENTS
FOREWORD . 5
INTRODUCTION . 7
1 Scope . 8
2 Normative references . 9
3 Terms and definitions . 10
4 Functional, design and environmental requirements . 12
4.1 Functional requirements . 12
4.2 Design requirements . 13
4.3 Environmental requirements . 26
5 Testing . 29
5.1 General . 29
5.2 Functional tests . 30
5.3 Performance testing under fault conditions . 49
5.4 Environmental tests . 50
6 Marking for identification and for safe use . 75
6.1 General . 75
7 Accompanying documents . 76
Annex A (normative) Optional functions of the ESPE . 78
Annex B (normative) Catalogue of single faults affecting the electrical equipment of
the ESPE, to be applied as specified in 5.3 . 90
Annex AA (informative) Examples of the use of an AOPDDR in different applications . 91
AA.1 General . 91
AA.2 Example of the use of an AOPDDR-2D on machinery. 91
AA.3 Example of the use of an AOPDDR-2D on an automatic guided vehicle (AGV)
............................................................................................................................. 93
AA.4 Positioning of AOPDDR-3D in respect of parts of the human body . 95
AA.5 Examples of the use of an AOPDDR . 104
AA.6 Detection zone angled to the direction of approach – orthogonal approach . 107
AA.7 Example for the calculation of the response time of an AOPDDR-2D. 109
Annex BB (informative) Relationship between ranging position accuracy and
probability of detection . 110
Bibliography . 118
Figure – Detection zone of an AOPDDR – Example 1 .
Figure – Detection zone of an AOPDDR – Example 2 .
Figure – Influence on detection capability by stroboscopic light – Example 1 .
Figure – Influence on detection capability by stroboscopic light – Example 2 .
Figure – Light interference test .
Figure – Interference between two AOPDDRs of identical design .
Figure – Test of homogeneous pollution – Examples of different designs of AOPDDR
housings and optical windows without foil for simulation of homogeneous pollution .
Figure – Test of homogeneous pollution – Examples of different designs of AOPDDR
housings and optical windows – Examples of correct positions of the foil .
Figure – Test of homogeneous pollution – Examples of different designs of AOPDDR
housings and optical windows – Examples of incorrect positions of the foil .
Figure – Use of an AOPDDR as a whole-body trip device – Example 1 .
Figure – Use of an AOPDDR as a whole-body trip device – Example 2 .
Figure – Use of an AOPDDR as parts of a body trip device – Example 1 .
Figure – Use of an AOPDDR as parts of a body trip device – Example 2 .
Figure – Reference boundary monitoring – Distribution of measurement values –
Example 1.
Figure – Reference boundary monitoring – Distribution of measurement values –
Example 2.
Figure 1 – Detection zone of an AOPDDR-2D . 19
Figure 2 – Detection zone of an AOPDDR-3D . 20
Figure 3 – AOPDDR used as a trip device with orthogonal approach (200 mm minimum
detectable object size) . 22
Figure 4 – AOPDDR used as a trip device with orthogonal approach (150 mm minimum
detectable object size) . 23
Figure 5 – Minimum diffuse reflectivity of materials . 25
Figure 6 – Test piece intrusion into the detection zone for test . 32
Figure 7 – Influence on detection capability by incandescent light – Example 1 . 38
Figure 8 – Influence on detection capability by incandescent light – Example 2 . 40
Figure 9 – Influence on detection capability by light reflected by the background . 42
Figure 10 – Configuration for the endurance test – Example 1 . 46
Figure 11 – Configuration for the endurance test – Example 2 . 48
Figure 12 – Interference between two AOPDDR-3D of identical design (opposite
arrangement) . 64
Figure 13 – Interference between two AOPDDR-3D of identical design (parallel
arrangement) . 65
Figure 14 – Example of an emitting element of an AOPDDR . 67
Figure 15 – Example of a receiver of an AOPDDR . 67
Figure 16 – Influence on detection capability by background . 71
Figure 17 – Multi-path reflection test (top view) . 72
Figure 18 – Multi-path reflection test (side view) . 72
Figure A.1 – Reference boundary monitoring – Distribution of measurement values . 87
Figure A.2 – Use of an AOPDDR with reference boundary monitoring . 88
Figure A.3 – Use of an AOPDDR as parts of a body trip device . 88
Figure AA.1 – Example of the use of an AOPDDR-2D on machinery . 92
Figure AA.2 – Example of the use of an AOPDDR-2D on an AGV . 94
Figure AA.3 – Minimum distance S – Example 1 . 97
Figure AA.4 – Overall minimum distance S without tolerance zone – Example 1 . 98
o
Figure AA.5 – Overall minimum distance S including tolerance zone – Example 1 . 99
o
Figure AA.6 – Minimum distance S – Example 2 . 100
Figure AA.7 – Overall minimum distance S without tolerance zone – Example 2 . 101
o
Figure AA.8 – Overall minimum distance S including tolerance zone – Example 2 . 101
o
Figure AA.9 – Application example for body detection of an AOPDDR-3D . 103
Figure AA.10 – Limited distance . 105
Figure AA.11 – Overlap. 106
Figure AA.12 – Reference boundary monitoring – Distribution of measurement values . 107
– 4 – IEC 61496-3:2018 RLV IEC 2018
Figure AA.13 – AOPDDR-2D detection zone angled to the direction of approach –
Orthogonal approach . 108
Figure AA.14 – AOPDDR-3D detection zone angled to the direction of approach –
Orthogonal approach . 108
Figure BB.1 – Relationship between ranging position accuracy and detection zone . 110
Figure BB.2 – Relationship between ranging position accuracy, detection zone and the
probabilistic part of the tolerance zone – Example 1 . 111
Figure BB.3 – Relationship between ranging position accuracy, detection zone and the
probabilistic part of the tolerance zone – Example 2 .
...
IEC 61496-3 ®
Edition 3.0 2018-12
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Safety of machinery – Electro-sensitive protective equipment –
Part 3: Particular requirements for active opto-electronic protective devices
responsive to diffuse reflection (AOPDDR)
Sécurité des machines – Équipements de protection électro-sensibles –
Partie 3: Exigences particulières pour les équipements utilisant des dispositifs
protecteurs optoélectroniques actifs sensibles aux réflexions diffuses
(AOPDDR)
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form
or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from
either IEC or IEC's member National Committee in the country of the requester. If you have any questions about IEC
copyright or have an enquiry about obtaining additional rights to this publication, please contact the address below or
your local IEC member National Committee for further information.
Droits de reproduction réservés. Sauf indication contraire, aucune partie de cette publication ne peut être reproduite
ni utilisée sous quelque forme que ce soit et par aucun procédé, électronique ou mécanique, y compris la photocopie
et les microfilms, sans l'accord écrit de l'IEC ou du Comité national de l'IEC du pays du demandeur. Si vous avez des
questions sur le copyright de l'IEC ou si vous désirez obtenir des droits supplémentaires sur cette publication, utilisez
les coordonnées ci-après ou contactez le Comité national de l'IEC de votre pays de résidence.
IEC Central Office Tel.: +41 22 919 02 11
3, rue de Varembé info@iec.ch
CH-1211 Geneva 20 www.iec.ch
Switzerland
About the IEC
The International Electrotechnical Commission (IEC) is the leading global organization that prepares and publishes
International Standards for all electrical, electronic and related technologies.
About IEC publications
The technical content of IEC publications is kept under constant review by the IEC. Please make sure that you have the
latest edition, a corrigenda or an amendment might have been published.
IEC Catalogue - webstore.iec.ch/catalogue Electropedia - www.electropedia.org
The stand-alone application for consulting the entire The world's leading online dictionary of electronic and
bibliographical information on IEC International Standards, electrical terms containing 21 000 terms and definitions in
Technical Specifications, Technical Reports and other English and French, with equivalent terms in 16 additional
documents. Available for PC, Mac OS, Android Tablets and languages. Also known as the International Electrotechnical
iPad. Vocabulary (IEV) online.
IEC publications search - webstore.iec.ch/advsearchform IEC Glossary - std.iec.ch/glossary
The advanced search enables to find IEC publications by a 67 000 electrotechnical terminology entries in English and
variety of criteria (reference number, text, technical French extracted from the Terms and Definitions clause of
committee,…). It also gives information on projects, replaced IEC publications issued since 2002. Some entries have been
and withdrawn publications. collected from earlier publications of IEC TC 37, 77, 86 and
CISPR.
IEC Just Published - webstore.iec.ch/justpublished
Stay up to date on all new IEC publications. Just Published IEC Customer Service Centre - webstore.iec.ch/csc
details all new publications released. Available online and If you wish to give us your feedback on this publication or
also once a month by email. need further assistance, please contact the Customer Service
Centre: sales@iec.ch.
A propos de l'IEC
La Commission Electrotechnique Internationale (IEC) est la première organisation mondiale qui élabore et publie des
Normes internationales pour tout ce qui a trait à l'électricité, à l'électronique et aux technologies apparentées.
A propos des publications IEC
Le contenu technique des publications IEC est constamment revu. Veuillez vous assurer que vous possédez l’édition la
plus récente, un corrigendum ou amendement peut avoir été publié.
Catalogue IEC - webstore.iec.ch/catalogue Electropedia - www.electropedia.org
Application autonome pour consulter tous les renseignements
Le premier dictionnaire en ligne de termes électroniques et
bibliographiques sur les Normes internationales,
électriques. Il contient 21 000 termes et définitions en anglais
Spécifications techniques, Rapports techniques et autres
et en français, ainsi que les termes équivalents dans 16
documents de l'IEC. Disponible pour PC, Mac OS, tablettes
langues additionnelles. Egalement appelé Vocabulaire
Android et iPad.
Electrotechnique International (IEV) en ligne.
Recherche de publications IEC -
.iec.ch/glossary
Glossaire IEC - std
webstore.iec.ch/advsearchform
67 000 entrées terminologiques électrotechniques, en anglais
La recherche avancée permet de trouver des publications IEC et en français, extraites des articles Termes et Définitions des
en utilisant différents critères (numéro de référence, texte, publications IEC parues depuis 2002. Plus certaines entrées
comité d’études,…). Elle donne aussi des informations sur les antérieures extraites des publications des CE 37, 77, 86 et
projets et les publications remplacées ou retirées. CISPR de l'IEC.
IEC Just Published - webstore.iec.ch/justpublished Service Clients - webstore.iec.ch/csc
Restez informé sur les nouvelles publications IEC. Just Si vous désirez nous donner des commentaires sur cette
Published détaille les nouvelles publications parues. publication ou si vous avez des questions contactez-nous:
Disponible en ligne et aussi une fois par mois par email. sales@iec.ch.
IEC 61496-3 ®
Edition 3.0 2018-12
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Safety of machinery – Electro-sensitive protective equipment –
Part 3: Particular requirements for active opto-electronic protective devices
responsive to diffuse reflection (AOPDDR)
Sécurité des machines – Équipements de protection électro-sensibles –
Partie 3: Exigences particulières pour les équipements utilisant des dispositifs
protecteurs optoélectroniques actifs sensibles aux réflexions diffuses
(AOPDDR)
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
INTERNATIONALE
ICS 13.110; 31.260 ISBN 978-2-8322-6091-3
– 2 – IEC 61496-3:2018 IEC 2018
CONTENTS
FOREWORD . 5
INTRODUCTION . 7
1 Scope . 8
2 Normative references . 9
3 Terms and definitions . 9
4 Functional, design and environmental requirements . 11
4.1 Functional requirements . 11
4.2 Design requirements . 12
4.3 Environmental requirements . 22
5 Testing . 25
5.1 General . 25
5.2 Functional tests . 26
5.3 Performance testing under fault conditions . 36
5.4 Environmental tests . 37
6 Marking for identification and for safe use . 56
6.1 General . 56
7 Accompanying documents . 57
Annex A (normative) Optional functions of the ESPE . 59
Annex B (normative) Catalogue of single faults affecting the electrical equipment of
the ESPE, to be applied as specified in 5.3 . 65
Annex AA (informative) Examples of the use of an AOPDDR in different applications . 66
AA.1 General . 66
AA.2 Example of the use of an AOPDDR-2D on machinery. 66
AA.3 Example of the use of an AOPDDR-2D on an automatic guided vehicle (AGV)
............................................................................................................................. 67
AA.4 Positioning of AOPDDR-3D in respect of parts of the human body . 69
AA.5 Examples of the use of an AOPDDR . 78
AA.6 Detection zone angled to the direction of approach – orthogonal approach . 81
AA.7 Example for the calculation of the response time of an AOPDDR-2D. 83
Annex BB (informative) Relationship between position accuracy and probability of
detection . 84
Bibliography . 90
Figure 1 – Detection zone of an AOPDDR-2D . 16
Figure 2 – Detection zone of an AOPDDR-3D . 17
Figure 3 – AOPDDR used as a trip device with orthogonal approach (200 mm minimum
detectable object size) . 18
Figure 4 – AOPDDR used as a trip device with orthogonal approach (150 mm minimum
detectable object size) . 19
Figure 5 – Minimum diffuse reflectivity of materials . 21
Figure 6 – Test piece intrusion into the detection zone for test . 27
Figure 7 – Influence on detection capability by incandescent light – Example 1 . 31
Figure 8 – Influence on detection capability by incandescent light – Example 2 . 32
Figure 9 – Influence on detection capability by light reflected by the background . 33
Figure 10 – Configuration for the endurance test – Example 1 . 34
Figure 11 – Configuration for the endurance test – Example 2 . 35
Figure 12 – Interference between two AOPDDR-3D of identical design (opposite
arrangement) . 47
Figure 13 – Interference between two AOPDDR-3D of identical design (parallel
arrangement) . 48
Figure 14 – Example of an emitting element of an AOPDDR . 50
Figure 15 – Example of a receiver of an AOPDDR . 50
Figure 16 – Influence on detection capability by background . 52
Figure 17 – Multi-path reflection test (top view) . 53
Figure 18 – Multi-path reflection test (side view) . 53
Figure A.1 – Reference boundary monitoring – Distribution of measurement values . 62
Figure A.2 – Use of an AOPDDR with reference boundary monitoring . 63
Figure A.3 – Use of an AOPDDR as parts of a body trip device . 63
Figure AA.1 – Example of the use of an AOPDDR-2D on machinery . 66
Figure AA.2 – Example of the use of an AOPDDR-2D on an AGV . 68
Figure AA.3 – Minimum distance S – Example 1 . 71
Figure AA.4 – Overall minimum distance S without tolerance zone – Example 1 . 72
o
Figure AA.5 – Overall minimum distance S including tolerance zone – Example 1 . 73
o
Figure AA.6 – Minimum distance S – Example 2 . 74
Figure AA.7 – Overall minimum distance S without tolerance zone – Example 2 . 75
o
Figure AA.8 – Overall minimum distance S including tolerance zone – Example 2 . 75
o
Figure AA.9 – Application example for body detection of an AOPDDR-3D . 77
Figure AA.10 – Limited distance . 79
Figure AA.11 – Overlap. 80
Figure AA.12 – Reference boundary monitoring – Distributio
...
Questions, Comments and Discussion
Ask us and Technical Secretary will try to provide an answer. You can facilitate discussion about the standard in here.