Safe communication
The response times for the safe communication always relate to the safe protocol and not to the external interface of the safety option. All response times must be multiplied by the factor 1.002.
Calculation factor (formula symbol) | Calculation specification response time |
|---|---|
Input processing time via safe process output data (T_InputProcessing_F-PO) | 22 × T_Task + T_Sys |
Response time selection (F-DIx after F-PI) | T_InputProcessing_F-DIx + TSys |
Response time (F-PO after F-DOx) | T_InputProcessing_F-PO + TSys |
Response time (safe position (SP) after F‑PI) | T_ENC_POS_COMBINED + TSys |
Response time (safe velocity (SV) after F‑PI) | T_ENC_VEL_COMBINED + TSys |
