Bosch rexroth APAS CT-H Manuel D'utilisation page 38

16/22 APAS test device CT-H | Applications
Bosch Rexroth AG, edition 08.2021, 3 842 562 818
4.2 Determination of the residual distances
According to ISO/TS 15066 and the Machinery Directive 2006/42/EC,
a risk assessment must be carried out by the system integrator
before commissioning. The APAS test device can be used to perform
measurements to determine the residual distance in order to prove the
contact-free stop and thus support the risk assessment and proof of
safety of the robot application.
When performing measurements to determine the residual distance,
a hazardous situation is simulated. Here, the APAS test device is positioned
stationary at a suitable location in the path of the robot, preferably
on the Bosch BT 150 Professional construction stand that matches
the handle (order no.: 0 601 096 B00). The robot is moved toward the
APAS test device in automatic mode with the sensor skin active. After the
sensor skin has been triggered and the machine has stopped, the residual
distance between the APAS test device and the robot is measured.
For the determination of the worst-case residual distance relevant for
a risk assessment, the statistical method according to EN ISO 13855
Annex D can be adapted.
It is recommended to keep a log of the determined residual distances
and to store it in a tamper-proof manner. For more information
and training opportunities, please visit the APAS website at
www.boschrexroth.com/APAS or use the contact options listed in the
imprint and on the APAS homepage.
Fig. 4: APAS test device clamped in Bosch BT 150 Professional stand to determine
residual distances