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When calculating safe distance for a scanner or light curtain used for perimeter guarding of a robot, does one measure outward from the edge of the maximum operating envelope of the robot or the edge of the restricted envelope established by software?
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It is acceptable to measure from the maximum operating range. This will require verification any time you make a change to the programmed motion, however. Calculating from the maximum restricted envelope is more conservation and it will not be necessary to recheck the safe distance if you must reprogram the motion.