安全方案建议书
Wilding line robot cell 焊装线机器人单元
1. Equipment Description 设备说明
The object of this analysis is the welding line robot cell restart prevention.
本方案的对象是用于焊装线机器人单元的安全重启防护。
Equipment overview 设备总体布置
( When welding line stop the Y axis motion fixture may stop in two different position
焊装线停止时Y轴方向运动的工装可能停在两个不同的位置 )
It is required to detect if there are personnel present in the dangerous area before the equipment restarts to provide the safety function of Restart Prevention. The customer clearly requests that there is no need for full coverage, only areas that are difficult to directly observe between robots and conveying equipment need to be monitored.
要求设备启动前检测危险区域是否有人员存在，提供重启防护的安全功能。客户明确要求无需全覆盖，只需监控机器人和输送设备间难以直接观察到的区域。
Due to limited drawings and process information, all optional solutions need to be adjusted and confirmed during on-site testing.
因图纸和工艺信息有限，所有备选方案都需到现场测试时调整确认。
2. Suggested Solution 建议的解决方案
In this section, a possible solution is presented. Fit: IEC 62061 SIL2，EN ISO 13849 PLd，Cat 3
本节介绍了一种可能的解决方案。符合安全标准: IEC 62061 SIL2，EN ISO 13849 PLd，Cat 3
A 3D layout has been used to simulate the possible position of the radar sensors.
3D布置图用于模拟雷达传感器的可能安装位置。
INXPECT: 全球唯一的工业安全级别雷达(SIL 2, PL d, Cat 3)，安全认证的功能用于人员存在检测。
有竞争力的技术解决现存问题:
● 体积区域检测 原生 3D
● 不受恶劣环境条件的影响
● 独有的重启防护功能检测人员存在
2.1 Solution 1 方案 1 (S201A radar sensor)
The solution includes 10pcs S201A safety radar sensors and 2pcs C201A or C202A or C203A control units that all have digital I/O. C203A has only a local USB interface. C202A config with Ethernet(MODBUS) interface for remote access and config, C201A has the PROFIsafe or FSoE interface to connect with the user's safe PLC.
该解决方案包括10个S201A安全雷达传感器和2个C201A 或 C202A 或 C203A控制器，都标配有数字量 I/O 。
C203A只配有本地USB接口，C202A配有以太网(MODBUS)接口用于远程访问和配置，C201A配有PROFIsafe或
FSoE接口和用户的安全PLC连接。
Software settings 软件设置
Electrical connection example 电气连接示例
Restart Prevention of confirm that no personnel are present in FOV:
启动前确认检测区域内无人员存在的重启防护：
By adjusting the safety radar sensor installation height, detection area angle, and distance appropriately, the detection area covers all the required 3D space, allowing for the detection of standing, crouching personnel. Only when there are no personnel in the hazardous area can the equipment be started.
通过对安全雷达传感器的安装高度，检测区域角度和距离调整，使检测区域覆盖所需要的全部立体空间，可以检测站立，蹲伏的人员存在，保证危险区域内没有人员的情况下才允许设备启动。
Control unit #1 connects with 4 sensors on the backward side.
控制单元#1连接后侧的4个传感器
Sensors #2 & #3 mount on the roller bed to make sure both monitor the most dangerous area between the central bed and mobile fixture. As for more coverage, it also monitors the internal area close to the fence (To avoid false alarms caused by hanging plastic cloth covering welding slag splashing on site, the tilt angle is set to 10 degrees downwards). #1 & #4 monitors the area between fixture and robot.
传感器#2和#3安装在辊床侧面上，以确保两者都能监测中心辊床和滑动夹具之间最危险的区域。作为更多的覆盖范围，它还监控靠近围栏的内部区域 (为避免现场遮蔽焊渣飞溅的悬吊塑料布引起的误报警，设定仰角为向下10度）。
#1和#4监控滑动夹具和机器人之间的区域。
Control unit #2 connects with 6 sensors on the forward side.
控制单元#2连接前侧的6个传感器
Sensors #3 & #4 mount on the roller bed to make sure both monitor the most dangerous area between the central bed and mobile fixture. As for more coverage, it also monitors the roller bed above and some areas of another side. #2 & #5 monitors the area between fixture and robot, and also monitors the internal fixture through the gap of the fixture to be the third sensor. #1 & # 6 mainly for the corners' fixed fixture area and also the internal area close to the fence.
传感器#3和#4安装在辊床侧面上，以确保两者都能监测中心辊床和滑动夹具之间最危险的区域。作为更多的覆盖范围，它还监控中心辊床的上面和另一侧的一些区域。#2和#5监控滑动夹具和机器人之间的区域，同时也通过夹具的间隙成为监控滑动夹具内侧的第三传感器。#1和#6主要用于监控角落的固定工装区域，同时也监控靠近围栏的内部区域。
Due to the radar sensor not covering all areas within the fence, the “Safe Manual” restart function must be used. After the radar system detects the presence of no personnel, it provides a restart feedback signal to remind the operator that it’s validated for him to press the reset button. After the operator manually confirms again and then pressing the reset button, the radar system safely outputs a normal signal. At the same time, it can send a mute signal to the radar system. The state of the mute signal is switched between the running or stopping state of the equipment.
因雷达传感器未覆盖围栏内全部区域，所以必须采用安全手动重启方式。雷达系统检测到无人员存在后给出重启反馈信号提示操作人员现在按复位按钮有效，操作人员人工二次确认并按下复位按钮，雷达系统安全输出正常信号，同时可以给雷达系统发出静音信号。静音信号的状态由设备运行或停止状态切换。
3. Safety distance according to ISO 13855:201
符合ISO 13855:2010的安全距离
It is good to remember that the Inxpect radar System is suitable for protecting the entire body.
提请注意，Inxpect智能安全雷达系统适用于人身整体防护。
To calculate the safety distance, refer to the following formula:
要计算安全距离，请参考以下公式：
� = � * � + 850 ��
Where 说明:
S: safety distance 安全距离
K: 1600 mm/s
T: total stop time (included 100ms of system) 总停止时间（包括系统的100ms响应时间）
4. Final Considerations 最终考虑
The correct position of each sensor and the validity of the suggested solution must be evaluated and tested on the field.
必须在现场评估和测试每个传感器的正确位置以及建议解决方案的有效性。
Further considerations must be given based on the risk assessment made by the machine manufacturer.
必须根据机器制造商进行的风险评估给出进一步的考虑。
NOTE: All images in the document are for illustrative purposes and do not represent construction details.
注：本文件中的所有图像仅供说明，不代表施工细节。
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