Master Thesis - Hochschule Bonn-Rhein-Sieg

6. Evaluating the safety Master Thesis Björn Ostermann page 105 of 126
- 1600 mm/s if S is equal to or greater than 500 mm
T is the calculated time in Equation 14
C is a constant for the protective equipment, derived from its detection capability:
- C 8� �d�14mm� � , where d is the resolution of the protective equipment
- C � 48mm
at 4 m distance
- C � 72mm
at 5 m distance
The constant C represents the ability of the protective equipment to recognize hands, fingers, etc.
6.2.3 Safety of machinery – Safety-related parts of control systems – Part 1:
General principles for design
EN ISO 13849-1
This standard can be applied to design the safety of the used equipment. Since in this thesis the
developed equipment was left unsafe and the system was secured by other means only the necessary
safety is evaluated at this point.
Figure A.1 of the standard gives an overview at how to choose the performance level the combined
components need to achieve. Applying the graph shown in Figure 73 results in a required performance
level of e, since the possible injuries are serious (S2), the exposure in a collaborative workplace is
continuous (F2) and the possibility of avoiding a 4 m/sec fast robot are scarcely possible (P2).
Figure 73: Risk graph of the EN 13849-1 [72]
The performance level e also requires the control to achieve category 3 to 4, according to figure 5 of
the standard (see Figure 74).