Sunx SD3-A1 User manual

2
About the instruction manual (connection and operation) of the SD3-A1
and the SD3SOFT instruction manual (software operation)
The instruction manual (connection and operation) for the SD3-A1 contains important
information on proper usage of laser scanner and usage in accordance with intended
purpose. For additional information on the configuration of the SD3-A1, please refer to
the SD3SOFT instruction manual (software operation).
It is essential to observe all information in the instruction manual (connection and
operation) and in the instruction manual (software operation), especially the safety notes.
The instruction manual (connection and operation) and the instruction manual (software
operation) must be kept in a safe place. They must be available during the entire period
when the SD3-A1 is in use. Documents are also automatically installed on the PC when
SD3SOFT is installed and can be viewed at any time with the Help menu.
Safety and warning notices are identified by the symbol .
References to important information are identified by the symbol .
References to the safety of laser devices are identified with the symbol .
SUNX Limited is not liable for damage caused by improper usage. The user must also be
familiar with all the SD3-A1 manuals to be able to use the system properly.
Version: V5.5
Reprinting and duplication is prohibited in whole or in part without prior approval of
SUNX Limited.

3
Contents
1 Approvals .........................................................................................................................................6
1.1 Approval and declaration of EC conformity............................................................................ 6
1.2 Specialized technical terms and abbreviations ......................................................................7
1.3 Guidelines and standards.......................................................................................................8
2 System Overview.............................................................................................................................9
2.1 Brief description and functional principle of the SD3-A1........................................................9
2.2 Special features of the SD3-A1............................................................................................ 11
3 Safety Notes and Usage in Accordance with Intended Purpose .............................................13
3.1 General safety notes ............................................................................................................13
3.2 Usage requirements and usage in accordance with intended purpose............................... 13
3.3 Restrictions for use...............................................................................................................14
3.4 Information related to detection zone changeover............................................................... 15
3.5 General information related to determining detection zone contours ..................................16
3.6 Additional safety notes for stationary use ............................................................................17
3.7 Additional safety notes for mobile use .................................................................................18
4 Applications for the SD3-A1.........................................................................................................19
4.1 Stationary safeguarding of the danger area......................................................................... 19
4.2 Access guarding by passage monitoring .............................................................................20
4.3 Safeguarding of danger points based on hand and arm protection.....................................21
4.4 Mobile safeguarding of automatic guided vehicles .............................................................. 22
4.5 Protecting transporter trolleys against collisions.................................................................. 22
4.6 Guarding the sides on AGVs ................................................................................................23
4.7 Other possible applications ..................................................................................................24
5 Information for Planning and Mounting......................................................................................25
5.1 Attachment and dimensions .................................................................................................26
5.2 Installing adjacent laser scanners ........................................................................................26
5.2.1 Constructive measures.........................................................................................................26
5.2.2 Adjusting adjacent laser scanners........................................................................................27
5.3 Information on setting the dimensions of detection zones ...................................................28
5.3.1 Methods of configuring detection zones using the PC ......................................................... 28
5.3.2 Range of the detection zone, resolution...............................................................................28
5.3.3 Range of the warning zone, resolution.................................................................................29
5.3.4 Range of the measurement field .......................................................................................... 30
5.3.5 Required detection zone additions Z.................................................................................... 30
5.4 Safeguarding stationary danger zones ................................................................................ 31
5.4.1 The purpose of safeguarding ...............................................................................................31
5.4.2 Mounting position .................................................................................................................31
5.4.3 Mounting height ....................................................................................................................32
5.4.4 Recommendations for mounting to prevent unmonitored zones .........................................32
5.4.5 Additions ...............................................................................................................................36
5.4.6 System availability ................................................................................................................ 36
5.4.7 Restart interlock....................................................................................................................37
5.4.8 Calculating the detection zone dimensions for safeguarding an area ................................. 38
5.5 Access protection .................................................................................................................43
5.5.1 Object of protection ..............................................................................................................43
5.5.2 Installation position ...............................................................................................................43
5.5.3 Safety-relevant settings, and calculation of the safety distance ..........................................43
5.5.4 Definition of the reference boundary ....................................................................................44

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5.6 Protecting danger points.......................................................................................................45
5.6.1 Object of protection ..............................................................................................................45
5.6.2 Installation position ...............................................................................................................45
5.6.3 Safety-related settings, and calculation of the safety distance ............................................45
5.6.4 Defining the reference boundary ..........................................................................................47
5.7 Safeguarding mobile machines ............................................................................................48
5.7.1 The purpose of safeguarding ...............................................................................................48
5.7.2 Installing adjacent laser scanners ........................................................................................48
5.7.3 Mounting position .................................................................................................................48
5.7.4 Mounting height ....................................................................................................................48
5.7.5 Recommendations for mounting to prevent unmonitored zones .........................................49
5.7.6 Additions ...............................................................................................................................51
5.7.7 System availability ................................................................................................................ 52
5.7.8 Restart ..................................................................................................................................52
5.7.9 Calculating the dimensions of the detection zone of an AGV application ...........................53
5.7.10 Side guarding configuration on AGVs ..................................................................................56
6 Details on Switching Over Detection and Warning Zones........................................................57
6.1 Sequence of zone pair switchovers......................................................................................57
6.2 Practical AGV application (example).................................................................................... 59
7 Functions of the SD3-A1...............................................................................................................62
7.1 Restart .................................................................................................................................. 62
7.2 Channels for zone pair changeovers, FP 1 to FP 4 .............................................................62
7.3 Alarm 1 (X1-5) ......................................................................................................................63
7.4 Alarm 2 (X1-15) ....................................................................................................................63
7.5 OSSD 1 (X1-12) and OSSD 2 (X1-11)................................................................................. 64
7.6 Data communication.............................................................................................................64
8 Integrating the SD3-A1 into Machine Controls ..........................................................................64
8.1 Integrating the SD3-A1 with external wiring with relays and
eightfold zone pair changeover ............................................................................................ 65
8.2 Connecting the SD3-A1 to a safety sequence circuit with manual restart,
relay monitoring, without zone pair changeover ..................................................................67
8.3 Connecting the SD3-A1 to a PLC with corresponding safety level
(Category 3 or higher, EN 954) and zone pair changeover .................................................68
9 Electrical Connection....................................................................................................................69
9.1 Electrical power supply.........................................................................................................69
9.2 Connecting the PC and control cables to the scanner.........................................................69
9.3 Connector assembly .............................................................................................................70
9.4 Points to consider when preparing and laying the cables....................................................70
9.5 Interface pin assignments.....................................................................................................71
10 Commissioning..............................................................................................................................73
10.1 Hardware and software requirements ..................................................................................73
10.2 Installing “SD3SOFT” and starting up the SD3-A1 ..............................................................73
10.3 SD3-A1 status indicator........................................................................................................75
10.4 Status information of the SD3-A1.........................................................................................77
10.5 Restart and device swap-out ................................................................................................78

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11 Maintenance and Testing.............................................................................................................. 79
11.1 Test before first startup by person qualified and authorized to perform the task ................79
11.2 Extended shutdown of the SD3-A1 ......................................................................................79
11.3 Regular tests by a person qualified and authorized to perform the task .............................80
11.4 Daily test by with test piece performed by responsible operating personnel.......................80
11.4.1 Checklist for daily test of stationary applications by responsible operating personnel........81
11.4.2 Checklist for daily test of mobile applications by responsible operating personnel............. 82
11.5 Checklist for testing stationary applications ......................................................................... 83
11.6 Checklist for testing mobile applications ..............................................................................85
11.7 Replacing the optical window ...............................................................................................87
11.7.1 General information: .............................................................................................................87
11.7.2 Initial measurement of the new optical window....................................................................89
11.7.3 Procedure when using the SD3SOFT user software version 1.09 or later..........................90
11.8 Cleaning................................................................................................................................91
11.8.1 Cleaning the optical window when dirty ............................................................................... 91
11.8.2 Cleaning the optical window; cleaning diffusing light panes ................................................92
12 Delivery Package ...........................................................................................................................93
12.1 Disposal ................................................................................................................................93
12.2 Accessories and spare parts ................................................................................................94
12.3 Coding of the control cable X1 .............................................................................................95
13 Technical Data ...............................................................................................................................96
13.1 Test pieces ...........................................................................................................................96
13.2 Detection zone......................................................................................................................96
13.3 Detection zone additions ......................................................................................................97
13.4 Warning zone........................................................................................................................97
13.5 Contour measurement..........................................................................................................97
13.6 Electrical power supply.........................................................................................................98
13.7 Inputs ....................................................................................................................................98
13.8 Outputs .................................................................................................................................98
13.9 Software................................................................................................................................99
13.10 Interfaces ..............................................................................................................................99
13.11 Optics....................................................................................................................................99
13.12 Environment and material...................................................................................................100
13.13 Dimensional drawings of the SD3-A1 ................................................................................101
13.14 Dimensional drawings of the mounting system..................................................................102
14 Diagnostic Codes and Causes...................................................................................................103

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1 Approvals
1.1 Approval and declaration of EC conformit
y
EC type examination in accordance with
DIN EN 61496 - 1 and IEC 61496 - 3
TUV
PRODUCT SERVICE GMBH IQSE
Ridlerstr. 65 80339 Munich

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1.2 Specialized technical terms and abbreviations
Table 1.2-1: Specialized technical terms and abbreviations
AGV Automatic Guided Vehicle (FTS in German)
AOPD Active Optoelectronic Protective Device
AOPDDR Active Optoelectronic Protective Device responsive to Diffuse
Reflection
EDM External Device Monitoring
Monitoring of external control parts (relay monitoring)
ESPE Electro-Sensitive Protecting Equipment (BWS in German)
N.O. Normal open contact
OSSD Output Signal Switching Device Safety-relevant switch output
PC Personal Computer
DZ Detection Zone (SF in German)
Reset Defined Reset or SD3-A1
RS-232 RS-232 interface
RS-422 RS-422 interface
ZP Zone Pair (contains 1 × detection zone and 1 × warning zone)
(FP in German)
WZ Warning Zone (WF in German)

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1.3 Guidelines and standards
The following guidelines and standards are of critical importance for the implementation of laser
scanner. Guidelines providing particularly relevant information for users of such systems are
marked with an asterisk (*).
Guideline / Standard Designation
European Guidelines
98 / 37 / EG Machine guideline
73 / 23 / EWG Low voltage guideline
89 / 336 / EWG EMC guideline
A Standards
ISO 12100-1 and 2 Safety of machinery - basic concepts
ISO 14121 Safety of machinery - principles for risk assessment *
B1 Standards
ISO 13852 Safety of machinery - safety distances to prevent danger
zones being reached by the upper limbs *
ISO 13849-1 Safety of machinery - Safety related parts of control
systems; Part 1: General principles for design
ISO 13855 Safety of machinery. The positioning of protective
equipment in respect of approach speeds of parts of the
human body
*
B2 Standards
IEC 60204-1 Safety of machinery - Electrical equipment of machines -
Part 1: General requirements
IEC 60825-1 Safety of laser products - Part 1: Equipment classification
and requirements
IEC 61496-1 Safety of machinery. Electro-sensitive protective
equipment. General requirements and tests *
IEC 61496-3 Safety of machinery - Electro-sensitive protective
equipment - Part 3: Particular requirements for Active
Opto-electronic Protective Devices responsive to Diffuse
Reflection (AOPDDR)
*
C Standards
DIN EN 775 Industrial robots - Safety *
DIN EN 1525 Safety of industrial trucks - Driverless trucks and their
systems *
DIN EN 12895 Industrial trucks - Electromagnetic compatibility

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Table 1.3-1: Guidelines and standards
This list does not claim to be complete. In certain cases, the concrete requirements of the
application will necessitate the application of additional guidelines and standards!
2System Overvie
w
2.1 Brief description and functional principle of the SD3-A1
The SD3-A1 is an optical distance sensor that takes two-dimensional measurements. I
t
could also be referred to as an optical area radar device. The sensor uses a rotating
deflecting unit to periodically emit light pulses within a working range of 190°.
If these pulses strike a person or an object, the reflected light is received and evaluated
by the SD3-A1. The scanner calculates the precise coordinates of the person or object
based on the travel time of the reflected light and the current angle of the deflecting unit.
If the person or object is within the bounds of a previously defined area called a detection
zone, a safety-oriented switching function is performed. This switching function causes
the semiconductor outputs to be switched OFF. The safety-oriented switching function
cannot be reset until the detection zone is clear. Depending on the operating mode, the
reset can be initiated either automatically or manually.
Guideline / Standard Designation
National Standards
DIN 15185-2 Warehousesystems with powered industrials trucks *

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Fig. 2.1-1: The 190° angle range of the SD3-A1 is divided into 0.36° angle
segments.
A laser diode coupled with transmitter optics produces focused light pulses. These pulses
are projected across the monitored surface by a rotating mirror in such a way that a light
pulse is triggered in each of the angle segments within 40ms (scanning rate: 25 scans/s).
Fig. 2.1-2: Functional principle of the SD3-A1
The SD3-A1 can detect people up to a distance of 4.0m even if they are wearing very
dark clothing or exhibit a low degree of reflectance. Dangerous movements are brought to
a standstill by two failsafe semiconductor outputs.

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Objects (min. 150 × 150mm) are detected up to a distance of 15m (corresponds to the
warning zone) and signaled by way of a non-safety-related semiconductor output.
Eight programmable zone pairs (each of which consists of one detection zone and one
warning zone) enable the scanner to be optimally adapted to the needs of each particula
r
application.
The SD3-A1 can be implem ented not only on machines and systems (stationary
safeguarding of danger zones), but also on vehicles (mobile safeguarding of transport
vehicles).
Due to its wide range of measurement and its non-contact, electro-sensitive
measurem ent principle, the SD3-A1 can be effectively used as a protective device fo
r
virtually any application.
2.2 Special features of the SD3-A1
x Eight freely programmable detection zones (up to a maximum of 4m)
x Eight freely programmable warning zones (up to a maximum of 15m)
x Expanded monitoring range of up to 190°
x ConfigPlug for easy device exchange without configuration expense
x Compact design (W × D × H: 140mm × 135mm × 155mm)
x Light weight (2kg)
x Low power consumption requirements (300mA, plus the load at the outputs)
x Two types of interfaces at one Sub-D jack (RS-232 and RS-422)
x User-friendly software

12

13
3 Safety Notes and Usage in
A
ccordance with Intended Purpose
3.1 General safety notes
The protective function of the devices can be negatively affected, however, if they are
used improperly or not in accordance with their intended purposes. If this occurs, it may
not be possibly to safeguard danger areas completely or at all, which may result in
danger to life and / or limb for persons who are in the general area of the machines or
systems.
Caution – laser radiation!
The SD3-A1 is a laser device belonging to laser class 1. The valid legal and local
regulations for operating laser systems must be complied with.
Avoid positioning the scanner at eye level.
3.2 Usage
r
equirements and usage in accordance with intended purpose
The relevant regulations for machine safety apply for the use of the laser scanner
SD3-A1. Responsible authorities (for example professional trade unions, OSHA) are also
available for questions related to safety. In general, the following usage requirements
must be observed:
x If the scanner is enclosed in a protective housing, additional window material, such
as plastic or glass must not be used as it may impair the detection.
x Avoid touching the scanner optical window and the six diffusing light screens.
x The SD3-A1 is not suitable for use as a protective device:
- if it is possible that dangerous fluids will be spewed out or objects will be ejected.
- for machines with long braking times (max. depth of the detection zone: 4m)
x The SD3-A1 corresponds to Type 3 in accordance with IEC 61496-1 and 3.
A
safety
category of 3 in accordance with EN 954-1 can be achieved with the SD3-A1 if all
other elements in the safety chain are set up to stop the dangerous motion in
accordance with that safety category.
x The electrical connection of the SD3-A1 to the control system must only be made by
an electrician.
x The 24V DC (+20% / -30%) power supply must be ensured by a safe network
disconnect in accordance with IEC 742. The same requirements apply to all
connected input and output circuits.

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3.3 Restrictions for use
x The 24V DC power must be supplied to the scanner through a separate branch with
a 1.25A delayed action fuse in the control cabinet.
x You must ensure that protective caps are screwed onto interfaces X1 and X2. This
will protect the interfaces against dust.
x The safety output has a double design. The two OSSDs must always be included in
the shut-off circuit of the machine in such a manner that either of the two is
completely sufficient by itself to turn OFF the motion that presents a danger.
x The alarm output 1 (Pin 5 on X1) must not be used to switch safety-related signals.
x System tests (of the scanner, machine, control components and switch components)
may only be performed when they do not result in potential hazards for people.
x Tampering with or making changes to the SD3-A1 can result in the loss of the safety
function.
x Only expert trained personnel is allowed to perform startup, maintenance, parameter
settings or detection zone configurations. Familiarity with the safety notes in this
instruction manual (connection and operation) and in the instruction manual
(software operation) for the “SD3SOFT” program constitutes part of this expert
knowledge.
x The password required for configuring safety-relevant parameters must be kept in a
secure location by the safety official. Information about password levels can be
found in the instruction manual (software operation) for the “SD3SOFT”.
x If the machine is designed for start interlock / manual restart, all detection zones
must be checked before enable - no one is permitted in the danger area.
x Glass, highly reflective materials such as mirrors (reflectance > 10.000%), or objects
that do not reflect any light back to the sensor can falsify the measurement result.
More information is available in Chapter 5.3.5.
x Do not expose the SD3-A1 to flying sparks (for example a welding flash). Doing so
may cause dam age to the optical window.
x Vapor, sm oke, dust and all particles visible in the air have a significant negative
effect on measurement values and will result in the semiconductor outputs being
turned OFF.
x Avoid extreme variations in temperature.

15
3.4 Information
r
elated to detection
z
one
c
hangeove
r
If alternating operation is included in the design, and thus detection zone changeover, the
activation and effect of the detection zone in question must match the alternating
operating mode.
x The new detection zone must be activated before turning OFF the previous
detection zone. The time at which the changeover is made must be based on a risk
analysis.
x Braking paths, response and coast-down times must be taken into consideration
(for example overlapping detection zones).
x A “Start interlock” function is provided.
x If the machine has a restart key, it must not be possible to operate it from inside the
detection zones. All danger areas must be visible from the position of the button.
Before releasing the start / restart interlock, all detection zones must be tested. No
one is permitted inside the danger areas.
x There must be no unm onitored zones inside the danger areas.
x There must be no possibility for direct access to the danger area that shortens the
necessary safety distance (use a protective grid, for example).
x The information on required detection zone additions in Chapter 5 must be
observed.
x Make sure that the following types of light sources are not present on the scanning
plane:
 Laser light from one or more other scanners or sensors
 Infrared light
 Fluorescent light
 Stroboscopic light
Please consider as well Chapter 5.2.
x It must not be used for vehicles with internal combustion engines.
x The SD3-A1 is conceived for use inside enclosed spaces and with the operating
parameters listed in the technical specifications (temperature, humidity, shock,
vibration, etc.). Please refer to the list of parameters in Chapter 13.
x Avoid having reflective surfaces (such as glass, mirrors, retro-reflectors, etc.) at fixed
contours in the scanning plane. If this is not possible, an additional detection zone
must be provided.

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3.5 General information
r
elated to determining detection
z
one contours
x Shadow effects (e.g. surfaces or areas located behind stationary objects) must be
considered. As a rule, insufficient safeguarding must be adequately supplemented
by further safety measures such as protective grid, light curtains, and the like!
x Access to the detection zone in the dangerous area is not permitted.
x When setting the dimensions of the detection zone, you must comply with the
formulas cited in Chapters 5.4.8 and 5.7.9! Be sure to comply with higher-level
machine standards (e.g. DIN EN 1525) if applicable.
These contain individual specifications, for example, on points of access to the
danger zone and, if applicable, detection zone additions that must be given special
consideration.
They also provide information on how to measure safety distances at machines.
x Detection zones with a radius smaller than 20cm (at or close to the scanner) are not
admissible. 20cm is the preset minimum contour.
x When setting the dimensions of the detection zones, please comply with the
maximum angle range stated in the technical specifications (Chapter 13.11).
x Needle-shaped detection zone contours are not permitted, since they do not ensure
any protective effect. For additional information, please refer to the SD3SOFT use
r
software (Chapter entitled “Definition of detection zones”).
x Due to possible measurement errors, every detection zone has an additions area in
which detection is not guaranteed under all conditions. Please consider as well
Chapter 5.3.5. Read Chapter 5.4.6 and 5.7.7 for information on optimizing system
availability.
x The required safety distances must be taken into account when making detection
zone configurations. Safety distances are calculated according to formulas found in
either the machine-specific C standards or the general B standards IEC 61496-3 in
combination with DIN EN 999 (see Section 2 and 5 of the standard). Tolerance fields
and / or additions (make sure to consider Chapter 5.4 and 5.7).
x
A
fter the detection zones have been set, make a printout of the following
information:
 Detection zone contour with the X and Y coordinates
 Date
 Serial number of the scanner
 Name of the safety official
x When calculating the additions, be sure to consider whether the dust algorithm is
deactivated or activated (see Chapter 5.3.5).

17
3.6 Additional safety notes for stationary use
x When calculating the safety distances, be sure to consider all delay times, such as
the response time of the scanner, response time of the control elements, and
braking times and / or stopping times of the machine / system or AGV! Variations in
delay time caused by factors such as reduced braking power must also be taken int
o
consideration.
x The effectiveness of the switch-off function must be tested along the defined contou
r
of the detection zone during the initial startup and subsequent to any changes made
to a machine or system.
x The effectiveness of the switch-off function must be tested for the detection zone
contours along the entire driving route during the initial startup and following an
y
changes made to an AGV.
x In the event that there is insufficient room available to allow the full dimensions of a
detection zone, for example because of the position of the scanner, additional safet
y
measures (e.g. protective grids) must be installed.
x Following each definition of and change to the detection zones, the configuration
must be checked to see whether the possibility of people standing in the dange
r
zone as well as any barriers provided have been considered by an appropriate
layout of the detection zone(s).
x If the danger zone can be accessed from the side, and if the detection zone cannot
be extended sufficiently in this direction, additional safety measures (e.g. protective
grids) must be installed.
x We recommended marking the contour of the detection zone on the floor by painting
a colored line or applying colored adhesive tape.
x Check the mounting regularly (in particular, the angle of inclination) in order t
o
guarantee the reliability of detection.

18
3.7 Additional safety notes for mobile use
x There are additional requirements for the use of scanners on automatic guided
vehicles (AGV) and transporter trolleys according to DIN EN 1525.
x If possible, expanded detection zones to each side should be provided in order to
safeguard access from the side and directly in front of the vehicle.
x If is it not possible to completely safeguard the contour of the vehicle including its
trailer and the dimensions of its load while making curves, additional protective
devices such as switch strips must be attached to the side of the vehicle.
x There must be a minimum safety distance SAB of 500mm to the side of the vehicle
on both sides. A one-sided minimum safety distance is admissible in certain
exceptional cases. The specifications of DIN EN 1525 must be complied with.
x The basic value of the detection zone width for an AGV corresponds to the
maximum vehicle width including the trailer and the dimensions of the load plus the
detection zone additions ZS. Furthermore, the greatest possible lateral shift of the
AGV while making curves must be considered when defining detection zones.
x If the SD3-A1 is mounted on vehicles, the mounting (especially the angle o
f
inclination), the vehicles' braking power, and if applicable, play in the vehicle
guidance (the difference between the optimum and actual line of guidance) must be
regularly checked in order to guarantee the reliability of detection.

19
4 Applications for the SD3-A1
Due to its continuous coverage of the area, its wide range, and the ability to select among
eight zone pairs, the SD3-A1 is able to handle even complex applications.
4.1 Stationary safeguarding of the danger area
The SD3-A1 is used to safeguard dangerous working areas at machines and systems
where both constant and variable dem ands are placed on the geometrical shape of the
detection zone. The aim is to prevent people from entering the danger zone or reaching
the danger point with their upper and / or lower extremities, at the same time without
impeding the production process.
The SD3-A1 can be mounted directly at the machine table or on the side or in front of the
machine.
Fig. 4.1-1: Danger area guarding at stationary machinery with two alternating work
areas
Please comply with the safety notes in Chapter 3 and Chapter 5.4.7. For an example o
f
how to calculate detection zone measures, please refer to Chapter 5.4.8.

20
4.2 Access guarding by passage monitoring
Access guarding by passage monitoring (whole body trip control) is a suitable method
when the access to a machine or to a hazardous zone can be precisely defined in
structural terms, and there is no other unprotected access to the area. It is best to mount
the laser scanner above the passage in question, in vertical alignment. In order to secure
the protective equipment, laser scanner and fence against inadvertent misadjustment and
manipulation, the detection zones of the SD3-A1 must be defined on the basis of a
reference boundary. In this operating mode, the scanner will use the polled environment
as a reference and so check for changes in the layout of the protective equipment, as well
as checking every one of the individual measurements it carries out with a view t
o
detecting an intrusion. An example of the configuration of the SD3-A1 to give access
protection by passage monitoring will be found in Chapter 5.5.
Fig. 4.2-1: Access guarding by whole body trip control with system check of a
reference boundary