Selection of a safety sub-function via safe digital input

STO

T_{_InputProcessing_F-DI} + T_{_Sys}

SOS

T_{_InputProcessing_F-DI} + T_{_Sys}

SS1-r

T_{_InputProcessing_F-DI} + T_{_Sys} + SSx‑r monitoring delay t₂ (8706.9) + Brake application timeIf SBC enable (8706.14) = no, then the brake application time = 0 (8706.15) + Actual_speed/SSx‑r deceleration a (8706.10) + SSx‑r jerk timeIf ramp monitoring = linear, then jerk time = 0. t₃ (8706.11)

SS2-r

T_{_InputProcessing_F-DI} + T_{_Sys} + SSx‑r monitoring delay t₂ (8706.9) + actual_speed/SSx‑r deceleration a (8706.10) + SSx‑r jerk time²⁾ t₃ (8706.11)

SS1-t

T_{_InputProcessing_F-DI} + T_{_Sys} + SSx‑t delay t1 (8706.8) + Brake application time¹⁾ (8706.15)

SS2-t

T_{_InputProcessing_F-DI} + T_{_Sys} + SSx‑t delay t1 (8706.8)

SSx-r with SLI

T_{_InputProcessing_F-DI} + T_{_Sys} + SSx‑r monitoring delay t₂ (8706.9) + actual_speed/SSx‑r deceleration a (8706.10) + SSx‑r jerk time²⁾ t₃ (8706.11)

SSx-t with SLI

T_{_InputProcessing_F-DI} + T_{_Sys} + SSx‑t delay t1 (8706.8)

SLS

T_{_InputProcessing_F-DI} + T_{_Sys} + SSx‑r monitoring delay t₂ (8706.23) + v_{_Start}/SSx‑r deceleration a (8706.27) + SSx‑r jerk time²⁾ t₃ (8706.28)

• SLS ramp start at actual speed = 0
• v_{_Start} = Maximum speed (8707.1) - Limit speed (8706.24)
• SLS ramp start at actual speed = 1 and ramp monitoring = linear
• v_{_Start} = Actual speed - Limit speed (8706.24)
• SLS ramp start at actual speed = 1 and ramp monitoring = jerk-limited
• v_{_Start} = Actual speed + SLS speed offset v (8706.36) - Limit speed (8706.24)

SLS via SCA

T_{ENC_POS_COMBINED} + T_{_Sys} + SSx‑r monitoring delay t2 (8706.23) + v_{_Start}/SSx‑r deceleration a (8706.27) + SSx‑r jerk time²⁾ t3 (8706.28)

• SLS ramp start at actual speed = 0
• v_{_Start} = Maximum speed (8707.1) - Limit speed (8706.24)
• SLS ramp start at actual speed = 1 and ramp monitoring = linear
• v_{_Start} = Actual speed - Limit speed (8706.24)
• SLS ramp start at actual speed = 1 and ramp monitoring = jerk-limited
• v_{_Start} = Actual speed + SLS speed offset v (8706.36) - Limit speed (8706.24)

SSR

T_{_InputProcessing_F-DI} + T_{_Sys} + monitoring delay t2 (8706.53)

SDI

T_{_InputProcessing_F-DI} + T_{_Sys}

SLI

T_{_InputProcessing_F-DI} + T_{_Sys}

SLA

T_{_InputProcessing_F-DI} + T_{_Sys} + monitoring delay t2 (8706.76)

SLP

T_{_InputProcessing_F-DI} + T_{_Sys}