Panasonic ST4-A1-J02V, ST4-C11 User guide
SAFETY BEAM SENSOR
ST4
Instruction Manual
BEFORE BEGINNING
The printed English and Japanese versions of this instruction manual are the original versions.
The English, French, German, Italian and Spanish versions published in the Internet are
copies of the original documentation and were produced by Panasonic Electric Works Europe
AG.
Liability and Copyright for the Hardware
This manual and everything described in it are copyrighted. You may not copy this manual, in
whole or part, without written consent of Panasonic Electric Works Europe AG (PEWEU).
PEWEU pursues a policy of continuous improvement of the design and performance of its
products. Therefore we reserve the right to change the manual/product without notice. In no
event will PEWEU be liable for direct, special, incidental, or consequential damage resulting
from any defect in the product or its documentation, even if advised of the possibility of such
damages.
We invite your comments on this manual. Please e-mail us at:
tech-doc@eu.pewg.panasonic.com.
Please direct support matters and technical questions to your local Panasonic representative.
LIMITED WARRANTY
If physical defects caused by distribution are found, PEWEU will replace/repair the product
free of charge. Exceptions include:
• When physical defects are due to different usage/treatment of the product other than
described in the manual.
• When physical defects are due to defective equipment other than the distributed
product.
• When physical defects are due to modifications/repairs by someone other than
PEWEU.
• When physical defects are due to natural disasters.
Important Symbols
One or more of the following symbols may be used in this documentation:
DANGER!
1.
2.
3.
!
CAUTION
Indicates that you should proceed with caution. Failure to do so may result in
injury or significant damage to instruments or their contents, e.g. data.
NOTE
Contains important additional information.
EXAMPLE
Contains an illustrative example of the previous text section.
Procedure
The warning triangle indicates especially important safety
instructions. If they are not adhered to, the results could be fatal
or critical injury.
Indicates that a step-by-step procedure follows.
REFERENCE
Indicates where you can find additional information on the subject at hand.
KEY POINTS
Summarizes key points in a concise manner.
SHORTCUTS
Provides helpful keyboard shortcuts.
EXPLANATION
Provides a brief explanation of a function, e.g. why or when you should use it.
next page
Indicates that the text will be continued on the next page.
Panasonic ST4 Instruction Manual
Table of Contents
Table of Contents
1. Introduction ............................................................................1
1.1 Target Group ............................................................................................. 2
1.2 Safety Instructions..................................................................................... 3
1.3 Applicable Standards/Regulations............................................................. 6
2. Before Using this Device .......................................................7
2.1 Features..................................................................................................... 8
2.2 Part Description......................................................................................... 9
2.2.1 Elements of the Controller ST4-C11 ........................................................10
2.2.2 Elements of the Multifunctional Controller ST4-C12EX ...........................11
2.2.3 Elements of the Sensor ST4-A.................................................................14
2.3 Protection Area........................................................................................ 15
2.3.1 Sensing Range......................................................................................... 15
2.3.2 Safety Distance ........................................................................................ 16
2.3.2.1 Calculation Example for Europe .....................................................17
2.3.2.2 Calculation Example for the US ...................................................... 18
2.3.3 Influence of Reflective Surfaces............................................................... 20
2.3.4 Placement of Emitter and Receiver .........................................................21
2.3.5 Connecting Multiple Sensors Heads........................................................ 23
2.3.6 Address Allocations of the Sensor ST4-A.............................................. 25
2.4 Mounting and Removing.......................................................................... 29
2.4.1 Mounting and Removing the Controller ...................................................29
2.4.2 Mounting the Sensor ST4-A...................................................................30
2.4.3 Connecting Controller and Sensor ST4-A .............................................31
2.4.4 Series Connection of the Sensor ST4-A................................................32
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Table of Contents
Panasonic ST4 Instruction Manual
2.5 Wiring .......................................................................................................36
2.5.1 Power Supply Unit....................................................................................36
2.5.2 I/O Circuit Diagrams ................................................................................. 37
2.5.2.1 Circuit of Controller ST4-C11 .......................................................... 37
2.5.2.2 Circuit of Multifunctional Controller ST4-C12EX ............................. 38
2.5.2.3 Manual and automatic reset............................................................39
2.5.2.4 Emission Halt Input Terminals ........................................................40
2.5.3 Connecting to the Terminal Block ............................................................41
2.5.4 Terminal Arrangement Diagram...............................................................41
2.6 Adjustment and Operation........................................................................44
2.6.1 Beam-Axis Alignment...............................................................................44
2.6.2 Operation Test..........................................................................................46
2.6.3 Operation..................................................................................................47
3. Functions.............................................................................. 49
3.1 Self-Diagnosis Function ...........................................................................50
3.2 Reset Operation .......................................................................................51
3.2.1 Manual Reset ...........................................................................................51
3.2.2 Auto Reset................................................................................................52
3.3 Emission Halt Function.............................................................................53
3.4 Interference Prevention Function .............................................................54
3.4.1 Interference Prevention With One Controller ...........................................54
3.4.2 Interference Prevention Function When Using Two or More Controllers 54
3.5 Auxiliary Output ........................................................................................56
3.5.1 Auxiliary Output Operation of Controller ST4-C11...................................56
3.5.2 Auxiliary Output Operation of Controller ST4-C12EX .............................. 56
3.5.3 Emission Amount Adjustment Function ...................................................57
3.6 Muting Function (Only for ST4-C12EX)....................................................59
vi
3.6.1 What Is a Muting Sensor..........................................................................60
3.6.2 Installation of the Muting Sensor..............................................................60
Panasonic ST4 Instruction Manual
Table of Contents
3.7 Override Function (Only ST4-C12EX) .....................................................63
3.8 Muting Pattern Selection Function (Only ST4-C12EX)............................ 67
3.8.1 Control Condition of Muting Pattern No. 1 ............................................... 68
3.8.2 Control Condition of Muting Pattern No. 2 ............................................... 69
3.8.3 Control Condition of Muting Pattern No. 3 ............................................... 70
3.9 Sensor Diagnosis Function (Only ST4-C12EX)....................................... 71
3.10 Muting Lamp Diagnosis Function (Only ST4-C12EX) ............................. 74
4. Maintenance..........................................................................75
4.1 Daily Inspection ....................................................................................... 76
4.2 Periodic Inspection Checklist (Every Six Months) ................................... 77
4.3 Inspection After Maintenance .................................................................. 78
5. Troubleshooting ...................................................................79
5.1 Troubleshooting of Controller ST4-C11 ................................................... 80
5.2 Troubleshooting of Controller ST4-C12EX .............................................. 83
5.3 Troubleshooting of the Sensor ST4-A ................................................... 86
6. Specifications .......................................................................87
6.1 Specifications, Controller ST4-C11.......................................................... 88
6.2 Specifications, Controller ST4-C12EX..................................................... 90
6.3 Specifications, Sensor ST4-A ................................................................ 92
6.4 Options .................................................................................................... 93
6.4.1 Extension Cable .......................................................................................93
6.4.2 Branch Cable............................................................................................93
6.4.3 Foot Angled Mounting Bracket................................................................. 93
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Table of Contents
6.4.4 Back Angled Mounting Bracket ................................................................ 94
6.4.5 Foot Biangled Protective Mounting Bracket.............................................94
6.4.6 Slit Masks .................................................................................................94
Panasonic ST4 Instruction Manual
7. Dimensions........................................................................... 95
7.1 Controller ST4-C11 ..................................................................................96
7.2 Multifunctional Controller ST4-C12EX......................................................97
7.3 Single-beam Sensor ST4-A ...................................................................98
7.4 Branch Cable ST4-CCJ05-WY.................................................................99
7.5 Foot Angled Mounting Bracket MS-CX-1 ...............................................100
7.6 Back Angled Mounting Bracket MS-ST4-3.............................................101
7.7 Foot Biangled Protective Mounting Bracket MS-ST4-6..........................102
8. Glossary of Terms.............................................................. 103
9. Index.................................................................................... 105
viii
Chapter 1
Introduction
Introduction
Panasonic ST4 Instruction Manual
1.1 Target Group
Thank you for purchasing the PanasonicSafety Beam Sensor ST4 series (hereafter called 'this
device'). Please read this instruction manual carefully and thoroughly for the correct and
optimum use of this product. Kindly keep this manual in a convenient place for quick reference.
This device is a safety beam sensor for protecting a person from dangerous parts of a machine
which can cause injury or accident.
This manual has been written for the personnel who:
• have undergone suitable training and have knowledge of safety beam sensors as well
as safety systems and standards.
• are responsible for this device
• design systems using this device
• install and connect this device
• manage and operate a plant using this device
Machine designer, installer, employer and operator
The machine designer, installer, employer and operator are solely responsible for ensuring that
all applicable legal requirements relating to the installation and the use in any application are
satisfied and all instructions for installation and maintenance contained in the instruction manual
are followed.
Whether this device functions as intended and systems including this device comply with safety
regulations depend on the appropriateness of the application, installation, maintenance and
operation. The machine designer, installer, employer and operator are solely responsible for
these items.
Engineer
The engineer must be a person who is appropriately trained, has widespread knowledge and
experience, and can solve various problems which may arise in his field of work, e.g. as a
machine designer or a person in charge of installation or operation, etc.
Operator
The operator should read this instruction manual thoroughly, understand its contents, and
perform operations following the procedures described in this manual for the correct operation
of this device.
In case this device does not perform properly, the operator should report this to the person in
charge and stop machine operation immediately. The machine must not be used until correct
performance of this device has been confirmed.
2
Panasonic ST4 Instruction Manual
1.2 Safety Instructions
DANGER!
1.2 Safety Instructions
!
• Use this device as per its specifications. Do not modify the safety beam
sensor since its functions and capabilities may not be maintained and it may
malfunction.
• The safety beam sensor has been developed/produced for industrial use
only.
• Do not use the safety beam sensor under conditions or in environments not
described in this manual. Please consult us if there is no other choice but to
use this device in such an environment.
• Do not use the safety beam sensor in fields such as nuclear power control,
railroad, aircraft, automobiles, combustion facilities, medical systems,
aerospace development, e.g. in applications where failure could result in
large-scale damage to society or people.
• When the safety beam sensor is to be used for enforcing protection of a
person from any danger occurring around an operating machine, the user
must satisfy the regulations established by national or regional security
committees.
• No matter what kind of equipment you use the device with, follow the safety
regulations in regard to appropriate usage, mounting (installation), operation
and maintenance.
Please adhere to the following safety instructions when
you install and operate this device. Failure to do so can
result in fatal or critical injury during unprotected use of
hazardous machinery.
• Use the safety beam sensor by installing suitable protective equipment as a
countermeasure for failure, damage, or malfunction of this device.
• Before using this sensor, check whether the device performs properly and
has the functions and capabilities as stated in the design specifications.
• Dispose of the safety beam sensor as industrial waste.
Environment
• Do not use a mobile phone or a radio phone near this device.
• If the sensor is installed in a place where there are reflective surfaces, make
sure to install this device so that reflected light from the reflective surfaces
does not affect the receiver. Alternatively, take countermeasures such as
painting, masking, roughening, or changing the material of the reflective
surfaces, etc. Failure to do so may cause the sensor not to detect properly,
which may result in death or serious injury.
• Do not install the safety beam sensor in the following environments:
3
Introduction
Installation
• Always keep the correctly calculated safety distance between the safety
• Install an extra protective structure around the machine so that the operator
• Install the beam sensor in a manner that some part of the operator's body
Panasonic ST4 Instruction Manual
- Areas exposed to intense interference light such as direct sunlight
- Areas with high humidity where condensation is likely to occur
- Areas exposed to corrosive or explosive gases
- Areas exposed to vibration or shock at levels higher than those specified
- Areas exposed to contact with water
- Areas exposed to excessive steam or dust
- Areas where the beam-receiving part of this device is directly exposed to
light from a high-frequency fluorescent lamp (inverter type) or
rapid-starter fluorescent lamp.
beam sensor and the dangerous parts of the machine.
must pass through the sensing area of the safety beam sensor to reach the
dangerous parts of the machine.
always remains in the sensing area until the operator has finished working
with the dangerous parts of the machine.
• Do not install the beam sensor at a location where it can be affected by wall
reflection.
• When installing multiple sets of the safety beam sensor, connect the sets
and, if necessary, install some barriers so that mutual interference does not
occur.
• Do not use any reflection type or recursive reflection type arrangement.
Equipment in which this device is installed
• When the safety beam sensor is used in the PSDI mode, an appropriate
control circuit must be configured between this device and the machinery.
For details, be sure to refer to the standards or regulations applicable in each
region or country.
• In Japan, do not use the safety beam sensor as safety equipment for a press
machine.
• Do not install the safety beam sensor with a machine whose operation
cannot be stopped immediately in the middle of an operation cycle by an
emergency stop.
• This sensor provides safety 2 seconds after the power has been switched
ON. Make sure that the control system takes the time delay into
consideration.
Wiring
• Switch off the power before wiring the safety beam sensor.
4
Panasonic ST4 Instruction Manual
• All electrical wiring should conform to the regional electrical regulations and
laws. The wiring should be done by skilled personnel with the required
electrical knowledge.
• Do not run the sensor cable together with high-voltage lines or power lines
or put them together in the same raceway.
• In case you need to extend the cable of the ST4-A□, you can use the
dedicated extension cable. The cable can be extended up to 50m (emitter and
receiver, respectively).
• Do not control the device at only one control output (OSSD 1, OSSD 2).
• To ensure that the output is not turned ON due to an earth fault of the control
output (OSSD 1, OSSD 2), ground the device on the 0V side (for PNP output)
or +24V side (for NPN output).
Maintenance
• When you need to replace parts, always use only genuine replacement parts
from the supplier. If you use substitute parts from another manufacturer, the
sensor may fail to detect properly, which may result in death or serious body
injury.
• The device must be inspected periodically by an engineer with the required
knowledge.
1.2 Safety Instructions
Others
• When you have adjusted or maintained the device, test the device following
the procedure specified in the maintenance chapter before you switch the
system back on.
• Clean this device with a clean cloth. Do not use thinner-based cleaners.
• Never modify this device. If you modify the device, the sensor may fail to
detect properly, which may result in death or serious injury.
• Do not use this device to detect objects flying over the sensing area.
• Do not use this device to detect transparent objects, translucent objects or
objects smaller than the specified minimum sensing size.
5
Introduction
Panasonic ST4 Instruction Manual
1.3 Applicable Standards/Regulations
This device complies with the following standards and regulations.
• EU Machinery Directive 98/37/EC, EMC Directive 2004/108/EC
• EN 61496-1 (Type 4), EN 55011, EN 50178,
EN ISO 13849 (Category 4, PLe), EN 61508-1 to 7 (SIL3)
• IEC 61496-1/2 (Type 4), ISO 13849-1 (Category 4, PLe),
IEC 61508-1 to 7 (SIL3), IEC 62061 (SIL3)
• JIS B 9704-1/2 (Type 4), JIS B 9705-1 (ISO 13849-1) (Category 4), JIS C 0508-1 to 7
(SIL3)
• UL 61496-1/2 (Type 4), UL 1998, CSA C22.2 No.14, CSA C22.2 No.0.8
• OSHA 1910.212, OSHA 19 10.217(C), ANSI B11.1 to B11.19, ANSI/RIA 15.06,
ANSI/ISA S84.01 (SIL3)
NOTE
• Conformity to JIS, OSHA and ANSI for this device has been evaluated by us.
•
directive. The CE-mark indicates that this product conforms to the EMC
directive.
•
•
Canadian and U.S. requirements.
• If you want to use this device in a location other than already described (see
page
regulations applicable in your region or country.
: This device conforms to the EMC directive and the Machinery
: This device is certified by TÜV Süd.
: The C-CL US Listing Mark indicates compliance with both
3), confirm first that the intended use complies with the standards or
6
Chapter 2
Before Using this Device
Before Using this Device
Panasonic ST4 Instruction Manual
2.1 Features
This device is a safety beam sensor with the following features.
• The controller ST4-C11 or the multifunctional controller ST4-C12EX is used in
combination with the single-beam sensor ST4-A.
• The type ST4-AV comes with an emission amount adjuster to reduce the emission
amount.
• Up to six units of the ST4-A can be connected per controller. The controller has an
automatic interference prevention function.
• Wiring can be easily done by using the extension cable ST4-CCJ (optional) and the
branch cable ST4-CCJ05-WY (optional), since the cables are connector types
• The control output (OSSD 1/2) is a PNP/NPN output switching type. The output type
can be switched with the output polarity selection switch on the controller.
• Replacing the relay is not necessary since a semiconductor output is used.
• The muting function complying with ISO 12643 (safety requirements for graphic
technology equipment and systems) is available on the ST4-C12EX. For details, refer to
the Muting Function (see page
59).
.
8
Panasonic ST4 Instruction Manual
2.2 Part Description
2.2 Part Description
The ST4 system can be built up from the following parts. Which controller type you choose
depends on your requirements and applications.
Part name Part
Controller ST4-C11
Multifunctional Controller
ST4-C12EX
Emitter ST4-A and
Receiver ST4-A
Emitter Receiver
Back angled mounting
bracket (optional)
Foot angled mounting
bracket (optional)
Foot biangled protective
mounting bracket
(optional)
Extension cable ST4-CCJ
9
Before Using this Device
Part name Part
(optional)
Branch cable
ST4-CCJ-WY (optional)
Slit mask (optional)
Panasonic ST4 Instruction Manual
2.2.1 Elements of the Controller ST4-C11
3
2
1
456 7 8
Identifier Function
Emitter connector Connects the emitter of the ST4-A.
1
Receiver connector Connects the receiver of the ST4-A.
2
Output polarity selection switch Switches the control output to PNP output or NPN output.
3
Power indicator (Green) Lights up while power is ON.
4
Control output indicator (Green) Lights up while the control output (OSSD 1/2) is ON.
5
Interlock indicator (Yellow) Lights up while the interlock is ON.
6
Emission halt indicator (Orange) Lights up while the emission halt function is valid.
7
Fault indicator Lights up or blinks when an error occurs.
8
Terminal block See the following table.
9
Turns OFF when an error occurs or the control output (OSSD
1/2) is ON.
For details, refer to "Troubleshooting (see page
9
79)".
Terminal block
Terminal name Description
IL+
IL-
IU+
IU-
10
Interference prevention terminals (downstream)
For details, refer to "Interference Prevention Function see "
Function" on page
Interference prevention terminals (upstream)
For details, refer to Interference Prevention Function see "
Function" on page
54".
Interference Prevention
Interference Prevention
54.
Panasonic ST4 Instruction Manual
Terminal name Description
X1
X2
X3
T1
T2
AUX
OSSD 1
OSSD 2
A1
A2 0V
Reset input terminals (When X1 and X2 are connected: manual reset, and when X1 and
X3 are connected: auto reset)
Emission halt input terminals
(Open: emission halt, Short-circuit: emission)
Control output (OSSD 1/2)
2.2.2 Elements of the Multifunctional Controller ST4-C12EX
2.2 Part Description
w
q
}
{
t
r
e
2
1
3
4
9
0
5
6
Identifier Function
1
Emitter connector Connects the emitter of the ST4-A.
Receiver connector Connects the receiver of the ST4-A.
2
3
Power indicator (Green) Lights up while power is ON.
4
Fault display (Red)
8
7
7-segment lights up when an error occurs.
For details, refer to Troubleshooting (see page
y
u
79).
5
Interlock indicator (Yellow)
Emission halt indicator
6
(Orange)
7
Control output indicator
Lights up while the interlock is ON.
Turns OFF when an error occurs or the control output (OSSD 1/2) is ON.
Lights up while the emission halt function is valid.
Lights up while the control output (OSSD 1/2) is ON.
11
Before Using this Device
Identifier Function
(Green)
Auxiliary output 1 indicator
8
(Orange)
Auxiliary output 2 indicator
9
(Orange)
Auxiliary output 3 indicator
10
(Orange)
Muting input S-A indicator
11
(Orange)
Muting input S-B indicator
12
(Orange)
Muting input S-C indicator
13
(Orange)
Muting input S-D indicator
14
(Orange)
Muting input S-E indicator
15
(Orange)
Muting input S-F indicator
16
(Orange)
Output polarity selection
17
switch
Panasonic ST4 Instruction Manual
Turns OFF while the muting function is valid.
Lights up while the muting function is invalid.
Turns OFF while the override function is valid.
Lights up while the override function is invalid.
Lights up when the muting lamp is in normal operation.
Turns OFF when the muting lamp is in error.
Lights up when the sensor input connected to the muting input terminal
(S-A) is ON
.
Lights up when the sensor input connected to the muting input terminal
(S-B) is ON.
Lights up when the sensor input connected to the muting input terminal
(S-C) is ON.
Lights up when the sensor connected to the muting input terminal (S-D)
is input ON.
Lights up when the sensor input connected to the muting input terminal
(S-E) is ON.
Lights up when the sensor input connected to the muting input terminal
(S-F) is ON.
Switches the control output to PNP output or NPN output.
18
DIP switches
1ON 23456 87
See the table "DIP switches".
Terminal block See table "Terminal block".
19
DIP Switches
No. Description
1 to 4
5
6
7
8 Deactivates the muting lamp diagnosis function (see page 74).
Sets the ST4-A into the muting state.
Sets effective time for muting/override (see page
59).
Checks the states "beam received" and "beam interrupted" of the connected ST4-A, or a sensor
error (see "
Sensor Diagnosis Function (Only ST4-C12EX)" on page 71).
Unused
12
Panasonic ST4 Instruction Manual
Terminal block
Terminal Name Description
S+ Muting input power supply (24V)
S-A Muting input S-A (for PNP type)
S-B Muting input S-B (for NPN type)
S- Muting input power supply (0V)
S+ Muting input power supply (24V)
S-C Muting input S-C (for PNP type)
S-D Muting input S-D (for NPN type)
S- Muting input power supply (0V)
S+ Muting input power supply (24V)
S-E Muting input S-E (for PNP type)
S-F Muting input S-F (for NPN type)
S- Muting input power supply (0V)
AUX1 Auxiliary output 1 (muting function)
AUX2 Auxiliary output 2 (override function)
AUX3 Auxiliary output 3 (lamp shutoff)
AUX4 Negative logic of the control output (OSSD 1/2)
OSSD 1
OSSD 2
L1
L2
A
A2
IL+
IL-
IU+
IU-
O1
O2
X1
X2
X3
T1
T2
Control output (OSSD 1/2)
Muting lamp connecting terminals
Interference prevention terminals (downstream)
For details, refer to Interference Prevention Function see "
Function" on page
Interference prevention terminals (upstream)
For details, refer to Interference Prevention Function see "
Function" on page
Override input terminals
Reset input terminals:
When X1 and X2 are connected: manual reset
When X1 and X3 are connected: auto-reset
Emission halt input terminals (open: emission halt, short-circuit: emission)
54.
54.
2.2 Part Description
Interference Prevention
Interference Prevention
13
Before Using this Device
2.2.3 Elements of the Sensor ST4-A
Emitter Receiver
1
Panasonic ST4 Instruction Manual
2
3
1
2
3
4
Identifier Function
Beam
emission
indicator
(Green)
Beam
interruption
indicator
(Red)
Emission
amount
adjuster
(Note 1)
Stable
incident
beam
indicator
(Green)
2
4
Lights up during beam emission of the sensor.
Turns off during emission halt of the sensor.
Lights up during beam interruption of the sensor.
Lights up during lock out.
Turns off during beam reception of the sensor.
Adjusts the emission amount.
For details, refer to Operation Test (see page
Function (see page
Lights up when incident beam intensity is over 150%. (Note 2)
Turns off when incident beam intensity is 150% or less. (Note 2)
57).
46) or Emission Amount Adjustment
14
NOTE
1. Only available with the ST4-A□V type.
2. The incident beam intensity that turns the control output (OSSD 1/2) to ON is
regarded as 100%.
Panasonic ST4 Instruction Manual
2.3 Protection Area
2.3.1 Sensing Range
DANGER!
2.3 Protection Area
!
that the operator must pass through the sensing area of the
single beam sensor to reach the dangerous parts of the machine.
Failure to do so can result in death or serious injury.
Do not use any reflection type or recursive reflection type
arrangement.
Installing multiple sets of this device produces a non-sensing
area or causes mutual interference, which may result in death or
Be sure to install a protective structure around the machine so
serious injury.
This example shows what a protective structure could be, where the dangerous part of a
machine should be situated and how the emitter and receiver can be arranged.
EXAMPLE
Installing four units of the ST4-A□
Protective structure
Receiver of the
Dangerous
part
ST4-A□
300mm
300mm
300mm
Emitter of the
ST4-A□
300mm
15
Before Using this Device
Panasonic ST4 Instruction Manual
Top view
From the top view the safety distance between the sensing area and the dangerous part is
clearly visible.
Safety distance S (Ds)
Receiver of the
ST4-A□
Dangerous
part
Emitter of the
ST4-A□
2.3.2 Safety Distance
DANGER!
!
Calculate the safety distance correctly, and always
maintain a distance equal to or greater than the safety
distance, between the sensing area of this device and the
dangerous parts of the machine. If the safety distance is
miscalculated or if sufficient distance is not maintained,
the machine will not stop quickly before reaching to the
dangerous parts, which can result in death or serious
injury.
The safety distance is the minimum distance that must be maintained between the ST4-A and
the dangerous parts of the machine so that the machine can be stopped before a human body
or an object can reach the dangerous parts.
The safety distance is calculated based on the equation (see page
17) when a person moves
perpendicular to the sensing area of the area sensor.
CAUTION
• Before designing the system, refer to the relevant standards of the region
where the single beam sensor is to be used.
• The equation should only be used when the intrusion direction is
perpendicular to the sensing area. If the intrusion direction is not
perpendicular to the sensing area, be sure to refer to the relevant standard
(regional standard, specification of the machine, etc.) for details of the
calculation.
16
• The max. response time of the machine is from the point when the machine
receives the halt signal from this device to the point when the dangerous
part of the machine stops. The max. response time of the machine should be
timed with the machine actually used.
Panasonic ST4 Instruction Manual
2.3 Protection Area
2.3.2.1 Calculation Example for Europe
The minimum safety distance S is calculated in accordance with EN 999 and ISO 13855 with
the following equation:
S:
K:
T:
C:
S = K x T + C
Safety distance (mm)
Minimum distance required between the sensing area surface and the dangerous
parts of the machine.
Intrusion velocity of operator's body or object (mm/s). The equation assumes an
intrusion direction perpendicular to the sensing area. The recommended value is
1600 mm/s.
+ T
Response time of total equipment (s). T = T
: Maximum halt time of the machine (s). To determine Tm, refer to the
T
m
m
ST4
machine documentation or take a measurement using a special device
called a "brake monitor".
T
: Response time of the safety beam sensor (s).
ST4
Additional distance (mm).
Depending on the height of the beam axis EN 999 recommends different additional
distances as shown in the following table.
Number of beam
axes
Height of beam axis
(e.g. height from the
floor)
Additional distance 1200mm 850mm 850mm 850mm
EXAMPLE
1 2 3 4
750 mm 400mm 300mm 300mm
900mm 700mm 600mm
1100mm 900mm
1200mm
Calculation of the safety distance (S) with the following values and four units of the
ST4-A installed.
K: 1600mm/s
T
: 0.1s
m
T
: 0.025s
ST4
C: 850mm
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Before Using this Device
S = K x T + C
Panasonic ST4 Instruction Manual
= 1600 × (T
m
+ T
) + 850
ST4
= 1600 × (0.1s + 0.025s) + 850
= 1600 × 0.1s
+ 1600 × 0.025 + 850
= 160 + 40 + 850
= 1050
Hence, as per the calculations S is 1050mm.
2.3.2.2 Calculation Example for the US
The safety distance Ds is calculated in accordance with ANSI/RIA 15.06 with the equation:
Ds:
Ds = K × T + D
Safety distance (mm)
Minimum required distance between the sensing area surface and the dangerous
parts of the machine
K:
Intrusion velocity of operator's body or object. The recommended value in OSHA is
63inch/s ( 1600mm/s).
ANSI/RIA 15.06 does not define the intrusion velocity "K." When determining K,
consider possible factors including the physical ability of the operators.
T:
Response time of total equipment (s). T = Ts + Tc + T
T
is the worst stopping time of the machine/equipment
s
T
is the worst stopping time of the control system
c
pf
ST4
18
T
is the response time of the safeguarding device (25ms)
ST4
Dpf:
Additional distance calculated from the size of the minimum sensing object of the
sensor (mm).
REFERENCE
Since the calculation is based on 1 inch = 25.4mm, there is a slight difference
between the representation in mm and that in inches. Refer to the relevant
standard for the details.
Panasonic ST4 Instruction Manual
2.3 Protection Area
Example calculation of the safety distance for a "REACH OVER" application
Topmost beam axis
35.434 inch (≈ 900mm) or more
11.812 inch (≈ 300mm) or less
Undermost beam axis
The following default values of ANSI/RIA 15.06 are used for the example calculation:
Detectable minimum sensing
object
Undermost beam axis: 11.812inch ( 300mm) or less
Topmost beam axis 35.434inch ( 900mm) or more
T
D
pf
Ds
= K × T + Dpf
Min. 2.52inch ( 64mm) and max. 23.623inch ( 600mm)
0.5s
47.245inch ( 1200mm)
= 63 × T + 47.245
= 63 × 0.5 + 47.245
= 31.5 + 47.245
= 78.745inch
= 2000.123mm
2001mm
Hence Ds = 2001mm.
REFERENCE
Since the calculation is based on 1 inch = 25.4mm, there is a slight difference between the
representation in mm and that in inches. Refer to the relevant standard for the details.
Example calculation of the safety distance for a "REACH THRU" application
Topmost beam axis
47.245 inch
(
≈ 1200mm) or more
11.812 inch
(≈ 300mm) or less
Undermost
beam axis
The following default values of ANSI/RIA 15.06 are used for the example calculation:
19
Before Using this Device
Detectable minimum sensing object Min. 2.52inch ( 64mm) and max. 23.623inch ( 600mm)
Undermost beam axis 11.812inch ( 300mm) or less
Topmost beam axis 47.245inch ( 1200mm) or more
T
D
pf
Ds
= K × T + Dpf
0.5s
35.434inch ( 900mm)
Panasonic ST4 Instruction Manual
= 63 × T + 35.434
= 63 × 0.5 + 35.434
= 31.5 + 35.434
= 66.934inch
= 1700.1236mm
1701mm
Hence Ds = 1701mm.
REFERENCE
Since the calculation is based on 1 inch = 25.4mm, there is a slight difference between
the representation in mm and that in inches. Refer to the relevant standard for the
details.
2.3.3 Influence of Reflective Surfaces
DANGER!
!
If a reflective surface exists where this device is to be installed,
make sure to install this device so that reflected light from the
reflective surface does not enter the receiver. Alternatively, take
countermeasures such as painting, masking, roughening, or
changing the material of the reflective surface, etc. Failure to do so
may cause the device not to detect, resulting in serious injury or
death.
20
Panasonic ST4 Instruction Manual
2.3 Protection Area
Install this device at a distance of at least A m (provided as follows) away from reflective
surfaces such as metal walls, floors, ceilings, work pieces, covers, panels or glass surfaces.
Side view Top view
Reflective ceiling
Reflective surface
Emitter
A A
Sensing range
A
Reflective floor
Distance between emitter and receiver (sensing
Receiver
L
Emitter
∂°
∂°
Sensing range L
Allowable installation distance A
range L)
0.1 to 3m 0.16m
3 to 15 m L/2 x tan 2 = L x 0.053m ( = 3°)
NOTE
The effective aperture angle for this device is ±2.5° (when L > 3m) as required by
IEC 61496-2/UL 61496-2. However, install this device away from reflective
surfaces, taking into consideration an effective aperture angle of ±3° to account
for beam misalignment during installation.
Allowable distance from sensor beam axis to reflective surface
0.8
0.6
Install in this area
0.4
Do not install in this area
0.2
Allowable installation distance A (m)
0 5 10 15
Distance between emitter and receiver L (m)
2.3.4 Placement of Emitter and Receiver
You can install a system in which multiple sets of controllers and their respective sensors face
each other. Use this configuration if there is a problem in wiring or additional equipment has to
be protected. If you arrange multiple sets, perform an operation test (see page
46).
21
Before Using this Device
DANGER!
Panasonic ST4 Instruction Manual
!
understand them thoroughly before installation. Improper
placement could cause device malfunction, which can result in
serious injury or death.
If this device is used in multiple sets, avoid mutual interference.
If mutual interference occurs, it can result in serious injury or
death.
Refer to the examples of device placement as follows and
EXAMPLE
Arrangement of the emitter and receiver back to back:
ST4-A□ ST4-A□
EmitterReceiver
ST4-C11
ST4-C12EX
or
Emitter
Receiver
Arrangement of the emitter and receiver vertically on opposite sides:
22
ST4-A□
Emitter Receiver
Receiver
ST4-A□
Emitter
ST4-C11
or
ST4-C12EX
ST4-C11
or
ST4-C12EX
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