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'
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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)
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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 . 112
Figure BB.4 – Relationship between ranging position accuracy, detection zone and
tolerance zone – Example 1 . 113
Figure BB.5 – Relationship between ranging position accuracy, detection zone and
tolerance zone – Example 2 . 114
Figure BB.6 – POD of a single measurement (logarithmic) for a MooM-evaluation with
1 ≤ M ≤ 50 . 116
Figure BB.7 – POD of a single measurement for a MooM-evaluation with 1 ≤ M ≤ 50 in
relation to σ in the case of a normal distribution . 117
Table 1 – Minimum tests required for the verification of detection capability
requirements (see also 4.2.12.1) . 34
Table 2 – Overview of light interference tests. 55
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
SAFETY OF MACHINERY –
ELECTRO-SENSITIVE PROTECTIVE EQUIPMENT –
Part 3: Particular requirements for active opto-electronic protective
devices responsive to diffuse reflection (AOPDDR)
FOREWORD
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This redline version of the official IEC Standard allows the user to identify the changes
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– 6 – IEC 61496-3:2018 RLV IEC 2018
International Standard IEC 61496-3 has been prepared by IEC technical committee 44: Safety
of machinery – Electrotechnical aspects.
This third edition cancels and replaces the second edition published in 2008. This edition
constitutes a technical revision.
This edition 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.
The text of this standard is based on the following documents:
FDIS Report on voting
44/831/FDIS 44/837/RVD
Full information on the voting for the approval of this standard can be found in the report on
voting indicated in the above table.
This publication has been drafted in accordance with the ISO/IEC Directives, Part 2.
This document is to be used in conjunction with IEC 61496-1:2012.
Where a particular clause or subclause of IEC 61496-1:2012 is not mentioned in this
document, that clause or subclause applies as far as is reasonable. Where this document
states "addition" or "replacement", the relevant text of IEC 61496-1:2012 is adapted
accordingly. Clauses and subclauses which are additional to those of IEC 61496-1:2012 are
numbered sequentially, following on the last available number in IEC 61496-1:2012. Where no
available number exist, the additional subclauses are numbered starting from 101.
Supplementary Annexes are entitled AA and BB.
A list of all parts in the IEC 61496 series, published under the general title Safety of
machinery – Electro-sensitive protective equipment, can be found on the IEC website.
The committee has decided that the contents of this publication will remain unchanged until
the stability date indicated on the IEC web site under "http://webstore.iec.ch" in the data
related to the specific publication. At this date, the publication will be
• reconfirmed,
• withdrawn,
• replaced by a revised edition, or
• amended.
IMPORTANT – The 'colour inside' logo on the cover page of this publication indicates
that it contains colours which are considered to be useful for the correct
understanding of its contents. Users should therefore print this document using a
colour printer.
INTRODUCTION
An electro-sensitive protective equipment (ESPE) is applied to machinery presenting a risk of
personal injury. It provides protection by causing the machine to revert to a safe condition
before a person can be placed in a hazardous situation.
This part of IEC 61496 supplements or modifies the corresponding clauses in IEC 61496-1 to
specify particular requirements for the design, construction and testing of electro-sensitive
protective equipment (ESPE) for the safeguarding of machinery, employing active opto-
electronic protective devices responsive to diffuse reflection (AOPDDRs) for the sensing
function.
Where a particular clause or subclause of part 1 is not mentioned in this part 3, that clause or
subclause applies as far as is reasonable. Where this part states "addition", "modification" or
"replacement", the relevant text of part 1 should be adapted accordingly.
Supplementary Annexes are entitled AA, BB, etc.
Each type of machine presents its own particular hazards, and it is not the purpose of this
document to recommend the manner of application of the ESPE to any particular machine.
The application of the ESPE should be is a matter for agreement between the equipment
supplier, the machine user and the enforcing authority. In this context, attention is drawn to
the relevant guidance established internationally, for example, IEC 62046 and ISO /TR 12100.
Due to the complexity of the technology, there are many issues that are highly dependent on
analysis and expertise in specific test and measurement techniques. In order to provide a high
level of confidence, independent review by relevant expertise is recommended.
– 8 – IEC 61496-3:2018 RLV IEC 2018
SAFETY OF MACHINERY –
ELECTRO-SENSITIVE PROTECTIVE EQUIPMENT –
Part 3: Particular requirements for active opto-electronic protective
devices responsive to diffuse reflection (AOPDDR)
1 Scope
Replacement:
This part of IEC 61496 specifies additional requirements for the design, construction and
testing of non-contact 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 may 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.
This document does 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 a 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 a transmitter 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
whereby the presence of the object can be detected. This reflection is used to determine the
position of the object.
NOTE 1 Under certain circumstances, limitations of the sensor in relation to its use need to be considered. For
example:
– Objects that generate mirror-like (specular) reflections may not be detected if the diffuse reflectance value is
less than that specified for the "black" test piece.
– The determination of the minimal reflection factors for the detection of obstacles is based on the clothing of a
person. Objects having a reflectivity lower than that considered in this part may not be detected.
Opto-electronic devices that perform only a single one-dimensional spot-like distance
measurements, for example, optical proximity switches, are not covered by this document.
This document does not address those aspects required for complex classification or
differentiation of the object detected.
This document does not address requirements and tests for outdoor application.
Excluded from this document are AOPDDRs employing radiation with the peak of wavelength
outside the range 820 nm to 946 950 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 may can be used as a guide. This document is relevant for
AOPDDRs having a stated detection capability minimum detectable object size in the range
from 30 mm to 200 mm. AOPDDRs intended for use as trip device using whole-body detection
with normal approach to the detection zone and having a stated detection capability not
exceeding 200 mm shall meet the requirements of Clause A.12. AOPDDRs intended for a
direction of approach normal to the detection zone and having a stated detection capability in
the range from 30 mm to 70 mm shall meet the requirements of Clause A.13.
NOTE 2 According to ISO 13855 (EN 999), 6.3 foreseeable angles of approach greater than 30” should be
considered normal approach and foreseeable angles of approach less than 30” should be considered parallel
approach.
NOTE 3 According to ISO 13855 (EN 999), 6.2 when electro-sensitive protective equipment employing active
opto-electronic protective devices is used for direction of approach parallel to the detection zone the device should
have a detection capability in the range from 50 mm to 117 mm.
This document may 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 may can be necessary appropriate, for example
when the materials that have to be recognized by the sensing function have different
properties from those of persons and their clothing.
This document does not deal with electromagnetic compatibility (EMC) emission requirements.
2 Normative references
Clause 2 of IEC 61496-1:2012 applies, except as follows.
Addition:
IEC 60068-2-14:1984, Basic Environmental testing procedures – Part 2-14: Tests – Test N:
Change of temperature
Amendment 1 (1986)
IEC 60068-2-75:1997-08, Environmental testing – Part 2-75: Tests – Test Eh: Hammer tests
IEC TR 60721-4-5, Classification of environmental conditions – Part 4-5: Guidance for the
correlation and transformation of environmental condition classes of IEC 60721-3 to the
environmental tests of IEC 60068 – Ground vehicle installations
IEC 60825-1:2014, Safety of laser products – Part 1: Equipment classification and
requirements and user’s guide
IEC 61496-1:2004 2012, Safety of machinery – Electro-sensitive protective equipment –
Part 1: General requirements and tests
IEC 62046 , Safety of machinery – Application of protective equipment to detect the presence
of persons
IEC 62471, Photobiological safety of lamps and lamp systems
ISO 13855:2002 2010, Safety of machinery – Positioning of protective equipment safeguards
with respect to the approach speeds of parts of the human body
EN 471:2003-09 ISO 20471:2013, High-visibility warning clothing for professional use – Test
methods and requirements
__________
To be published.
– 10 – IEC 61496-3:2018 RLV IEC 2018
3 Terms and definitions
Clause 3 of IEC 61496-1:2012 applies, except as follows.
Replacement of 3.3 and 3.4:
3.3
detection capability
ability to detect the specified test pieces (see 4.2.13) in the specified detection zone
Note 1 to entry: A list of influences which can affect the AOPDDR detection capability is given in 4.2.12.1.
Note 2 to entry: Detection capability is often described by the minimum detectable object size and the object
reflectivity. The supplier can state more than one value as the minimum detectable object size, for example
depending on distances or mounting conditions. For an AOPPDR-2D the minimum detectable object size is the
diameter of the cylindrical test piece.
3.4
detection zone
zone within which the specified test piece(s) (see 4.2.13) is detected by the AOPDDR with a
minimum required probability of detection (see 4.2.12.2)
Note 1 to entry: A tolerance zone is necessary to achieve the required probability of detection of the specified test
piece(s) within the detection zone.
Addition:
3.301
active opto-electronic protective device responsive to diffuse reflection
AOPDDR
device, whose sensing function is performed by opto-electronic emitting and receiving
elements, that detects the diffuse reflection of optical radiations generated within the device
by an object present in a detection zone specified in two or three dimensions
Note 1 to entry: A receiving element can be composed by optics/optic-arrays and a single sensor element(s) or a
sensor array(s).
Note 2 to entry: This note applies to the French language only.
3.302
AOPDDR detection capability
ability to detect the specified test pieces (see 4.2.13) in the detection zone
NOTE A list of influences which can affect the AOPDDR detection capability is given in 4.2.12.1.
3.302
AOPDDR-2D
AOPDDR that has one or more detection zone(s) specified in two dimensions
Note 1 to entry: For example, a third dimension is not greater than the minimum detectable object size, then the
AOPDDR is regarded as 2D (see Figures 1 and 2).
Note 2 to entry: A typical example of an AOPDDR-2D is a laser scanner that performs distance measurement by
measuring the time a pulse needs for travelling from the sensing device to an object and back to the sensing
device. An AOPDDR-2D that has more than one detection zone may carry out distance measurements in different
planes.
Note 3 to entry: This note applies to the French language only.
3.303
AOPDDR-3D
AOPDDR that has one or more detection zone(s) specified in three dimensions
Note 1 to entry: For example, a third dimension as specified by the supplier is greater than the minimum
detectable object size, the AOPDDR is regarded as 3D (see Figures 1 and 2). The detection zone(s) can be set-up
for example as a volume in the shape of a pyramid or a cone.
Note 2 to entry: Typical examples of AOPDDR-3D are laser scanners with two perpendicular positioned moving
mirrors or time-of-flight-cameras (TOF) that perform distance measurement on several pixels. An AOPDDR-3D that
has more than one detection zone may carry out distance measurements in different volumes.
Note 3 to entry: This note applies to the French language only.
3.304
basic test distance
BTD
Radius, respectively width and length (or equivalent values), of the detection zone used for
test set-up
Note 1 to entry: For dimension of BTD, see 5.1.1.2.
Note 2 to entry: This note applies to the French language only.
3.305
centre axis
line through the origin of distance measurement and the centre of the maximum detection
zone stated by the supplier
Note 1 to entry: See Figure 1 and Figure 2.
3.306
corner axis
line through the origin of distance measurement and defined by the bounding line of the
detection zone
Note 1 to entry: See Figure 1 and Figure 2.
3.307
minimum detection zone
lowest dimension of the detection zone which is necessary to ensure the integrity of the
detection capability
3.308
position accuracy
accuracy in two or three dimensions of the position of an object as measured by the AOPDDR
3.303309
tolerance zone
TZ
zone outside of and adjacent to the detection zone within which the specified test piece(s)
(see 4.2.13) is detected with a probability of detection lower than the required probability
within the detection zone
Note 1 to entry: The tolerance zone is necessary to achieve the required probability of detection of the specified
test piece(s) within the detection zone
Note 2 to entry: For explanation of the concept of probability of detection and the tolerance zone, see Annex BB.
Note 3 to entry: This note applies to the French language only.
3.310
zone with limited detection capability
zone, between the optical window and the beginning of the detection zone, where the
detection capability is not achieved
Note 1 to entry: The dimensions and appropriate information for use of the zone with limited detection capability
are provided by the supplier.
– 12 – IEC 61496-3:2018 RLV IEC 2018
Addition:
3.101 Abbreviated terms
AGV automated guided vehicle
BTD basic test distance
POD probability of detection
TZ tolerance zone
4 Functional, design and environmental requirements
This clause of part 1 is applicable except as follows:
4.1 Functional requirements
4.1.3 Types of ESPE
Replacement:
In this document, only type 2 and type 3 ESPE is are considered. The types differ in their
performance in the presence of faults and under influences from environmental conditions. It
is the responsibility of the machine supplier and/or the user to prescribe if this which type is
suitable for a particular application.
The type 2 ESPE shall fulfil the fault detection requirements of 4.2.2.3 of this document. In
normal operation, the output circuit of each of at least two output signal switching devices
(OSSDs) or of one output signal switching device (OSSD) and one secondary switching
device (SSD) of the type 2 ESPE shall go to the OFF-state when the sensing device is
actuated, or when the power is removed from the device.
The type 3 ESPE shall fulfil the fault detection requirements of 4.2.2.4 of this document. In
normal operation, the output circuit of each of at least two output signal switching devices
(OSSDs) of the type 3 ESPE shall go to the OFF-state when the sensing device is actuated,
or when the power is removed from the device.
When a single safety-related data interface is used to perform the functions of the OSSD(s),
then the data interface and associated safety-related communication interface shall meet the
requirements of 4.2.4.4. In this case, a single safety-related data interface can substitute for
two OSSDs in a type 3 ESPE.
Addition:
4.1.46 Zone(s) with limited detection capability
A zone between the optical window and the beginning of the detection zone is referred to as a
zone with limited detection capability. In order to ensure no hazard can arise in a particular
application due to the presence of this one or more zone(s) with limited detection capability
between the optical window and the detection zone, its dimensions and appropriate
information for use shall be provided by the supplier.
A If the zone with limited detection capability shall not extends more than 50 mm from the
optical window in direction to the plane of detection zone(s), then additional and effective
technical measures shall be applied to prevent undetected presence of objects or persons or
parts of persons in the zone with limited detection capability.
4.2 Design requirements
4.2.2 Fault detection requirements
4.2.2.2 Particular requirements for a type 1 ESPE
4.2.2.2 of IEC 61496-1:2012 does not apply.
4.2.2.3 Particular requirements for a type 2 ESPE
This subclause of part 1 is not applicable.
Replacement:
A type 2 ESPE shall have a means of periodic test to reveal a failure to danger (for example
loss of detection capability, response time exceeding that specified).
The test shall be performed also at power-on of the ESPE before going to the ON-state and at
each reset.
Depending on the application, the periodic test may need to be performed more often to
achieve a desired safety performance. Generic functional safety standards give requirements
how often periodic test have to be applied to fulfil the requirements for a certain safety
performance.
NOTE 1 The periodic test can be initiated by external or internal means.
When it is not possible to reveal a failure to danger by periodic tests other equivalent
measures shall be applied.
A single fault resulting in the loss of the stated AOPDDR detection capability or the increase
in response time beyond the specified time or preventing one or more of the OSSDs going to
the OFF-state shall result in a lock-out condition as a result of the next periodic test.
A single fault resulting in the deterioration of the stated AOPDDR detection capability shall
result in a lock-out condition at least as a result of the next periodic test. If periodic test cycle
is less than 5 s then deterioration of the stated AOPDDR detection capability shall be
detected within 5 s.
NOTE 2 Examples of deterioration of the AOPDDR detection capability include
– the increase of the minimum detectable object size,
– the increase in the minimum detectable reflectivity, and;
– the decrease of position accuracy.
The occurrence of single faults shall be considered by analysis and/or test with each of the
following conditions and throughout the entire detection zone:
– environmental conditions specified in 4.3;
– at the limits of alignment and/or adjustment.
Where the periodic test is intended to be initiated by an external (for example machine)
safety-related control system, the ESPE shall be provided with suitable input facilities (for
example terminals).
The duration of the periodic test shall be such that the intended safety function is not impaired,
especially if the ESPE is intended for use as a trip device.
– 14 – IEC 61496-3:2018 RLV IEC 2018
If the periodic test is automatically initiated, the correct functioning of the periodic test shall
be monitored. In the event of a fault, the OSSD(s) shall be signalled to go to the OFF-state. If
one or more OSSDs do(es) not go to the OFF-state, a lock-out condition shall be initiated.
An ESPE with only one OSSD shall have a minimum of one SSD (see Clause A.4 of
IEC 61496-1:2012).
4.2.2.4 Particular requirements for a type 3 ESPE
Replacement:
A single fault in the sensing device resulting in a complete loss of the stated AOPDDR
detection capability shall cause the ESPE to go to a lock-out condition within the specified
response time.
NOTE 1 For AOPDDR using rotating mirrors for scanning the detection zone, this requirement can be fulfilled by
scanning on a defined reference object located outside the detection zone and the tolerance zone.
A single fault resulting in a deterioration of the stated AOPDDR detection capability shall
cause the ESPE to go to a lock-out condition within a time period of 5 s following the
occurrence of that fault.
NOTE 2 Examples of deterioration of the AOPDDR detection capability include
– the increase of the minimum detectable object size,
– the increase in the minimum detectable reflectance reflectivity, and
– the decrease of measurement position accuracy.
A single fault resulting in an increase in response time beyond the specified value or
preventing at least one OSSD going to the OFF-state shall cause the ESPE to go to a lock-out
condition immediately, i.e. within the response time, or immediately upon any of the following
demand events where fault detection requires a change in state:
– on actuation of the sensing function;
– on switch off/on;
– on reset of the start interlock or the restart interlock, if available (see Clauses A.5 and A.6
of IEC 61496-1:2012);
– on the application of an external test signal, if available.
NOTE An external test signal may can be required if, for example, in a particular application,
the frequency of actuation of the sensing function is foreseeably low and the OSSDs are
monitored only at the change of state.
It shall not be possible for the ESPE to achieve a reset from a lock-out condition, for example,
by interruption and restoration of the mains power supply or by any other means, when the fault
which initiated the lock-out condition is still present.
In cases where a single fault which in itself does not cause a failure to danger of the ESPE is
not detected, the occurrence of further one additional faults shall not cause a failure to danger.
For verification of this requirement, see 5.3.4.
The occurrence of single faults shall be considered by analysis and/or test with each of the
following conditions and throughout the entire detection zone:
– environmental conditions specified in 4.3;
– at the limits of alignment and/or adjustment.
4.2.2.5 Particular requirements for a type 4 ESPE
4.2.2.5 of IEC 61496-1:2012 does not apply.
Addition:
4.2.12 Integrity of the AOPDDR detection capability
4.2.12.1 General
The design of the AOPDDR shall ensure that the detection capability is not decreased below
the limits specified by the supplier and in this document by any of, but not limited to, the
following:
− ageing of components;
− component tolerances (for example, spectral sensitivity of the receiver element);
− distance-dependent changes of sensitivity related for example to optics;
− limits of adjustment;
− insecure fixing of optical and mechanical components within the AOPDDR;
− environmental interference, especially:
a) system noise;
b) electrical interference according to 4.3.2 of IEC 61496-1;
c) pollution on the surface of the optical window of the housing;
d) condensation on the surface of the optical window of th
...
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)
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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 – Distribution of measurement values . 81
Figure AA.13 – AOPDDR-2D detection zone angled to the direction of approach –
Orthogonal approach . 82
Figure AA.14 – AOPDDR-3D detection zone angled to the direction of approach –
Orthogonal approach . 82
Figure BB.1 – Relationship between position accuracy and detection zone . 84
Figure BB.2 – Relationship between position accuracy, detection zone and the
probabilistic part of the tolerance zone – Example 1 . 85
Figure BB.3 – Relationship between position accuracy, detection zone and the
probabilistic part of the tolerance zone – Example 2 . 86
Figure BB.4 – Relationship between position accuracy, detection zone and tolerance
zone – Example 1 . 87
Figure BB.5 – Relationship between position accuracy, detection zone and tolerance
zone – Example 2 . 88
Figure BB.6 – POD of a single measurement (logarithmic) for a MooM-evaluation with
1 ≤ M ≤ 50 . 89
Figure BB.7 – POD of a single measurement for a MooM-evaluation with 1 ≤ M ≤ 50 in
relation to σ in the case of a normal distribution . 89
Table 1 – Minimum tests required for the verification of detection capability
requirements (see also 4.2.12.1) . 28
– 4 – IEC 61496-3:2018 IEC 2018
Table 2 – Overview of light interference tests. 41
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
SAFETY OF MACHINERY –
ELECTRO-SENSITIVE PROTECTIVE EQUIPMENT –
Part 3: Particular requirements for active opto-electronic protective
devices responsive to diffuse reflection (AOPDDR)
FOREWORD
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patent rights. IEC shall not be held responsible for identifying any or all such patent rights.
International Standard IEC 61496-3 has been prepared by IEC technical committee 44: Safety
of machinery – Electrotechnical aspects.
This third edition cancels and replaces the second edition published in 2008. This edition
constitutes a technical revision.
This edition 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;
– 6 – IEC 61496-3:2018 IEC 2018
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.
The text of this standard is based on the following documents:
FDIS Report on voting
44/831/FDIS 44/837/RVD
Full information on the voting for the approval of this standard can be found in the report on
voting indicated in the above table.
This publication has been drafted in accordance with the ISO/IEC Directives, Part 2.
This document is to be used in conjunction with IEC 61496-1:2012.
Where a particular clause or subclause of IEC 61496-1:2012 is not mentioned in this
document, that clause or subclause applies as far as is reasonable. Where this document
states "addition" or "replacement", the relevant text of IEC 61496-1:2012 is adapted
accordingly. Clauses and subclauses which are additional to those of IEC 61496-1:2012 are
numbered sequentially, following on the last available number in IEC 61496-1:2012. Where no
available number exist, the additional subclauses are numbered starting from 101.
Supplementary Annexes are entitled AA and BB.
A list of all parts in the IEC 61496 series, published under the general title Safety of
machinery – Electro-sensitive protective equipment, can be found on the IEC website.
The committee has decided that the contents of this publication will remain unchanged until
the stability date indicated on the IEC web site under "http://webstore.iec.ch" in the data
related to the specific publication. At this date, the publication will be
• reconfirmed,
• withdrawn,
• replaced by a revised edition, or
• amended.
IMPORTANT – The 'colour inside' logo on the cover page of this publication indicates
that it contains colours which are considered to be useful for the correct
understanding of its contents. Users should therefore print this document using a
colour printer.
INTRODUCTION
An electro-sensitive protective equipment (ESPE) is applied to machinery presenting a risk of
personal injury. It provides protection by causing the machine to revert to a safe condition
before a person can be placed in a hazardous situation.
This part of IEC 61496 supplements or modifies the corresponding clauses in IEC 61496-1 to
specify particular requirements for the design, construction and testing of electro-sensitive
protective equipment (ESPE) for the safeguarding of machinery, employing active opto-
electronic protective devices responsive to diffuse reflection (AOPDDRs) for the sensing
function.
Each type of machine presents its own particular hazards, and it is not the purpose of this
document to recommend the manner of application of the ESPE to any particular machine.
The application of the ESPE is a matter for agreement between the equipment supplier, the
machine user and the enforcing authority. In this context, attention is drawn to the relevant
guidance established internationally, for example, IEC 62046 and ISO 12100.
Due to the complexity of the technology, there are many issues that are highly dependent on
analysis and expertise in specific test and measurement techniques. In order to provide a high
level of confidence, independent review by relevant expertise is recommended.
– 8 – IEC 61496-3:2018 IEC 2018
SAFETY OF MACHINERY –
ELECTRO-SENSITIVE PROTECTIVE EQUIPMENT –
Part 3: Particular requirements for active opto-electronic protective
devices responsive to diffuse reflection (AOPDDR)
1 Scope
This part of IEC 61496 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.
This document does 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.
This document does not address those aspects required for complex classification or
differentiation of the object detected.
This document does not address requirements and tests for outdoor application.
Excluded from this document 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. This document is relevant for AOPDDRs having
a minimum detectable object size in the range from 30 mm to 200 mm.
This document 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 appropriate, for example when the materials that
have to be recognized by the sensing function have different properties from those of persons
and their clothing.
This document does not deal with electromagnetic compatibility (EMC) emission requirements.
2 Normative references
Clause 2 of IEC 61496-1:2012 applies, except as follows.
Addition:
IEC 60068-2-14, Environmental testing – Part 2-14: Tests – Test N: Change of temperature
IEC 60068-2-75, Environmental testing – Part 2-75: Tests – Test Eh: Hammer tests
IEC TR 60721-4-5, Classification of environmental conditions – Part 4-5: Guidance for the
correlation and transformation of environmental condition classes of IEC 60721-3 to the
environmental tests of IEC 60068 – Ground vehicle installations
IEC 60825-1:2014, Safety of laser products – Part 1: Equipment classification and
requirements
IEC 61496-1:2012, Safety of machinery – Electro-sensitive protective equipment – Part 1:
General requirements and tests
IEC 62471, Photobiological safety of lamps and lamp systems
ISO 13855:2010, Safety of machinery – Positioning of safeguards with respect to the
approach speeds of parts of the human body
ISO 20471:2013, High-visibility clothing – Test methods and requirements
3 Terms and definitions
Clause 3 of IEC 61496-1:2012 applies, except as follows.
Replacement of 3.3 and 3.4:
3.3
detection capability
ability to detect the specified test pieces (see 4.2.13) in the specified detection zone
Note 1 to entry: A list of influences which can affect the AOPDDR detection capability is given in 4.2.12.1.
Note 2 to entry: Detection capability is often described by the minimum detectable object size and the object
reflectivity. The supplier can state more than one value as the minimum detectable object size, for example
depending on distances or mounting conditions. For an AOPPDR-2D the minimum detectable object size is the
diameter of the cylindrical test piece.
3.4
detection zone
zone within which the specified test piece(s) (see 4.2.13) is detected by the AOPDDR with a
minimum required probability of detection (see 4.2.12.2)
Note 1 to entry: A tolerance zone is necessary to achieve the required probability of detection of the specified test
piece(s) within the detection zone.
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Addition:
3.301
active opto-electronic protective device responsive to diffuse reflection
AOPDDR
device, whose sensing function is performed by opto-electronic emitting and receiving
elements, that detects the diffuse reflection of optical radiations generated within the device
by an object present in a detection zone specified in two or three dimensions
Note 1 to entry: A receiving element can be composed by optics/optic-arrays and a single sensor element(s) or a
sensor array(s).
Note 2 to entry: This note applies to the French language only.
3.302
AOPDDR-2D
AOPDDR that has one or more detection zone(s) specified in two dimensions
Note 1 to entry: For example, a third dimension is not greater than the minimum detectable object size, then the
AOPDDR is regarded as 2D (see Figures 1 and 2).
Note 2 to entry: A typical example of an AOPDDR-2D is a laser scanner that performs distance measurement by
measuring the time a pulse needs for travelling from the sensing device to an object and back to the sensing
device. An AOPDDR-2D that has more than one detection zone may carry out distance measurements in different
planes.
Note 3 to entry: This note applies to the French language only.
3.303
AOPDDR-3D
AOPDDR that has one or more detection zone(s) specified in three dimensions
Note 1 to entry: For example, a third dimension as specified by the supplier is greater than the minimum
detectable object size, the AOPDDR is regarded as 3D (see Figures 1 and 2). The detection zone(s) can be set-up
for example as a volume in the shape of a pyramid or a cone.
Note 2 to entry: Typical examples of AOPDDR-3D are laser scanners with two perpendicular positioned moving
mirrors or time-of-flight-cameras (TOF) that perform distance measurement on several pixels. An AOPDDR-3D that
has more than one detection zone may carry out distance measurements in different volumes.
Note 3 to entry: This note applies to the French language only.
3.304
basic test distance
BTD
Radius, respectively width and length (or equivalent values), of the detection zone used for
test set-up
Note 1 to entry: For dimension of BTD, see 5.1.1.2.
Note 2 to entry: This note applies to the French language only.
3.305
centre axis
line through the origin of distance measurement and the centre of the maximum detection
zone stated by the supplier
Note 1 to entry: See Figure 1 and Figure 2.
3.306
corner axis
line through the origin of distance measurement and defined by the bounding line of the
detection zone
Note 1 to entry: See Figure 1 and Figure 2.
3.307
minimum detection zone
lowest dimension of the detection zone which is necessary to ensure the integrity of the
detection capability
3.308
position accuracy
accuracy in two or three dimensions of the position of an object as measured by the AOPDDR
3.309
tolerance zone
TZ
zone outside of and adjacent to the detection zone within which the specified test piece(s)
(see 4.2.13) is detected with a probability of detection lower than the required probability
within the detection zone
Note 1 to entry: The tolerance zone is necessary to achieve the required probability of detection of the specified
test piece(s) within the detection zone
Note 2 to entry: For explanation of the concept of probability of detection and the tolerance zone, see Annex BB.
Note 3 to entry: This note applies to the French language only.
3.310
zone with limited detection capability
zone, between the optical window and the beginning of the detection zone, where the
detection capability is not achieved
Note 1 to entry: The dimensions and appropriate information for use of the zone with limited detection capability
are provided by the supplier.
Addition:
3.101 Abbreviated terms
AGV automated guided vehicle
BTD basic test distance
POD probability of detection
TZ tolerance zone
4 Functional, design and environmental requirements
4.1 Functional requirements
4.1.3 Types of ESPE
Replacement:
In this document, only type 2 and type 3 ESPE are considered. The types differ in their
performance in the presence of faults and under influences from environmental conditions. It
is the responsibility of the machine supplier and/or the user to prescribe which type is suitable
for a particular application.
The type 2 ESPE shall fulfil the fault detection requirements of 4.2.2.3 of this document. In
normal operation, the output circuit of each of at least two output signal switching devices
(OSSDs) or of one output signal switching device (OSSD) and one secondary switching
device (SSD) of the type 2 ESPE shall go to the OFF-state when the sensing device is
actuated, or when the power is removed from the device.
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The type 3 ESPE shall fulfil the fault detection requirements of 4.2.2.4 of this document. In
normal operation, the output circuit of each of at least two output signal switching devices
(OSSDs) of the type 3 ESPE shall go to the OFF-state when the sensing device is actuated,
or when the power is removed from the device.
When a single safety-related data interface is used to perform the functions of the OSSD(s),
then the data interface and associated safety-related communication interface shall meet the
requirements of 4.2.4.4. In this case, a single safety-related data interface can substitute for
two OSSDs in a type 3 ESPE.
Addition:
4.1.6 Zone(s) with limited detection capability
In order to ensure no hazard can arise in a particular application due to the presence of one
or more zone(s) with limited detection capability between the optical window and the detection
zone, its dimensions and appropriate information for use shall be provided by the supplier.
If the zone with limited detection capability extends more than 50 mm from the optical window
in direction to the detection zone(s), then additional and effective technical measures shall be
applied to prevent undetected presence of objects or persons or parts of persons in the zone
with limited detection capability.
4.2 Design requirements
4.2.2 Fault detection requirements
4.2.2.2 Particular requirements for a type 1 ESPE
4.2.2.2 of IEC 61496-1:2012 does not apply.
4.2.2.3 Particular requirements for a type 2 ESPE
Replacement:
A type 2 ESPE shall have a means of periodic test to reveal a failure to danger (for example
loss of detection capability, response time exceeding that specified).
The test shall be performed also at power-on of the ESPE before going to the ON-state and at
each reset.
Depending on the application, the periodic test may need to be performed more often to
achieve a desired safety performance. Generic functional safety standards give requirements
how often periodic test have to be applied to fulfil the requirements for a certain safety
performance.
NOTE 1 The periodic test can be initiated by external or internal means.
When it is not possible to reveal a failure to danger by periodic tests other equivalent
measures shall be applied.
A single fault resulting in the loss of the stated AOPDDR detection capability or the increase
in response time beyond the specified time or preventing one or more of the OSSDs going to
the OFF-state shall result in a lock-out condition as a result of the next periodic test.
A single fault resulting in the deterioration of the stated AOPDDR detection capability shall
result in a lock-out condition at least as a result of the next periodic test. If periodic test cycle
is less than 5 s then deterioration of the stated AOPDDR detection capability shall be
detected within 5 s.
NOTE 2 Examples of deterioration of the AOPDDR detection capability include
– the increase of the minimum detectable object size,
– the increase in the minimum detectable reflectivity, and;
– the decrease of position accuracy.
The occurrence of single faults shall be considered by analysis and/or test with each of the
following conditions and throughout the entire detection zone:
– environmental conditions specified in 4.3;
– at the limits of alignment and/or adjustment.
Where the periodic test is intended to be initiated by an external (for example machine)
safety-related control system, the ESPE shall be provided with suitable input facilities (for
example terminals).
The duration of the periodic test shall be such that the intended safety function is not impaired,
especially if the ESPE is intended for use as a trip device.
If the periodic test is automatically initiated, the correct functioning of the periodic test shall
be monitored. In the event of a fault, the OSSD(s) shall be signalled to go to the OFF-state. If
one or more OSSDs do(es) not go to the OFF-state, a lock-out condition shall be initiated.
An ESPE with only one OSSD shall have a minimum of one SSD (see Clause A.4 of
IEC 61496-1:2012).
4.2.2.4 Particular requirements for a type 3 ESPE
Replacement:
A single fault in the sensing device resulting in a complete loss of the stated AOPDDR
detection capability shall cause the ESPE to go to a lock-out condition within the specified
response time.
NOTE 1 For AOPDDR using rotating mirrors for scanning the detection zone, this requirement can be fulfilled by
scanning on a defined reference object located outside the detection zone and the tolerance zone.
A single fault resulting in a deterioration of the stated AOPDDR detection capability shall
cause the ESPE to go to a lock-out condition within a time period of 5 s following the
occurrence of that fault.
NOTE 2 Examples of deterioration of the AOPDDR detection capability include
– the increase of the minimum detectable object size,
– the increase in the minimum detectable reflectivity, and
– the decrease of position accuracy.
A single fault resulting in an increase in response time beyond the specified value or
preventing at least one OSSD going to the OFF-state shall cause the ESPE to go to a lock-out
condition within the response time, or immediately upon any of the following demand events
where fault detection requires a change in state:
– on actuation of the sensing function;
– on switch off/on;
– on reset of the start interlock or the restart interlock, if available (see Clauses A.5 and A.6
of IEC 61496-1:2012);
– on the application of an external test signal, if available.
– 14 – IEC 61496-3:2018 IEC 2018
An external test signal can be required if, for example, in a particular application, the
frequency of actuation of the sensing function is foreseeably low and the OSSDs are
monitored only at the change of state.
In cases where a single fault which in itself does not cause a failure to danger is not detected,
the occurrence of one additional fault shall not cause a failure to danger. For verification of
this requirement, see 5.3.4.
The occurrence of single faults shall be considered by analysis and/or test with each of the
following conditions and throughout the entire detection zone:
– environmental conditions specified in 4.3;
– at the limits of alignment and/or adjustment.
4.2.2.5 Particular requirements for a type 4 ESPE
4.2.2.5 of IEC 61496-1:2012 does not apply.
Addition:
4.2.12 Integrity of the AOPDDR detection capability
4.2.12.1 General
The design of the AOPDDR shall ensure that the detection capability is not decreased below
the limits specified by the supplier and in this document by any of, but not limited to, the
following:
a) reflectivity of objects in the range defined for the test pieces to be detected;
b) the position, size and number of objects within the detection zone;
c) the size of detection zones;
d) auto-adjustment, for example the following:
1) gain control;
2) sample rate;
3) shutter time;
4) optical characteristics;
e) properties/limitations of the emitting/receiving element, optics and signal processing, for
example the following:
1) signal noise;
2) dynamic range;
3) sensitivity and uniformity (e.g. cold and hot pixels);
4) micro lenses;
5) change of characteristics;
f) calibration of the sensing device;
g) accuracy of object position in image(s);
h) at the limits of alignment and/or adjustment;
i) environmental conditions specified in 4.3;
j) component tolerances;
k) changing of characteristics of internal and external references to ensure the detection
capability.
NOTE 1 Under certain circumstances, limitations of the sensor in relation to its use need to be considered. For
example,
– objects that generate mirror-like (specular) reflections cannot be detected if the portion of diffuse reflectivity is
less than that specified for the "black" test piece;
– the determination of the minimum reflectivity for the detection of obstacles is based on the clothing of a person;
it is possible that objects having a reflectivity lower than that considered in this document are not detected.
NOTE 2 The technique of scanning on a reference object can satisfy the requirement in respect of ageing of
components. Other techniques giving the same level of assurance can be used.
4.2.12.2 Detection zone(s) and tolerance zone(s)
The supplier shall specify the tolerance zone(s).
The supplier shall take into account worst-case conditions including, for example, signal-to-
noise ratio S/N and standard deviation σ considering all influences listed in this document and
any additional influences specified by the supplier (environmental influence, component faults,
multi-path reflections etc.).
The supplier shall specify the relevant parameters of the detection zone(s), including
operating distance and scanning angle or field of view. The geometry and/or frequency shall
be sufficient to ensure that a test piece with a diameter of the specified minimum detectable
object size is detected at the maximum operating distance. The supplier shall define values in
the range of 30 mm to 200 mm as the minimum detectable object size of the AOPDDR. The
minimum detectable object size may be distance dependent.
The restriction of the minimum detectable object size to the range of 30 mm to 200 mm is
based on current applications. Additional requirements can be necessary for AOPDDRs
having detection capabilities outside this range.
NOTE 1 For an AOPDDR-2D
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