Response time when reporting the limit violation via 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	Calculation specification response time
SOS	T_{_ENC_POS_Combined} + 2 × T_{_Sys}
SSx-r	T_{_ENC_VEL_Combined} + 2 × T_{_Sys}
SLS with parameterized fault response:
STO	T_{_ENC_VEL_Combined} + 2 × T_{_Sys}
SS1-t	T_{_ENC_VEL_Combined} + 2 × T_{_Sys} + SSx‑t delay t₁ (8706.8) + Brake application timeIf SBC enable (8706.14) = no, then brake application time = 0 (8706.15)
SS2-t	T_{_ENC_VEL_Combined} + T_{_Sys} + SSx‑t delay t₁ (8706.8)
SS1-r	T_{_ENC_VEL_Combined} + 2 × T_{_Sys} + SSx‑r monitoring delay t₂ (8706.9) + Brake application time¹⁾ (8706.15) + Actual_speed (8700.79)/SSx‑r deceleration a (8706.10) + SSx‑r jerk time t₃ If ramp monitoring = linear, then jerk time = 0. (8706.11)
SS2-r	T_{_ENC_VEL_Combined} + T_{_Sys} + SSx‑r delay t₂ (8706.9) + actual_speed (8700.79)/SSx‑r deceleration a (8706.10) + SSx‑r jerk time²⁾ t₃ (8706.11)
SSM	T_{_ENC_VEL_Combined} + T_{_Sys}
SSR with parameterized fault response:
STO	T_{_ENC_VEL_Combined} + 2 × T_{_Sys}
SS1-t	T_{_ENC_VEL_Combined} + 2 × T_{_Sys} + SSx‑t delay t₁ (8706.8) + Brake application time¹⁾ (8706.15)
SS2-t	T_{_ENC_VEL_Combined} + T_{_Sys} + SSx‑t delay t₁ (8706.8)
SS1-r	T_{_ENC_VEL_Combined} + 2 × T_{_Sys} + SSx‑r monitoring delay t₂ (8706.9) + brake application delay¹⁾ (8706.15) + actual_speed (8700.79)/SSx‑r deceleration a (8706.10) + SSx‑r jerk time²⁾ t₃ (8706.11)
SS2-r	T_{_ENC_VEL_Combined} + T_{_Sys} + SSx‑r delay t₂ (8706.9) + actual_speed (8700.79)/SSx‑r deceleration a (8706.10) + SSx‑r jerk time²⁾ t₃ (8706.11)
F-PI	T_{_ENC_VEL_Combined} + T_{_Sys}
SDI	T_{_ENC_POS_Combined} + 2 × T_{_Sys}
SLI	T_{_ENC_VEL_Combined} + 2 × T_{_Sys} For systems in which an encoder is responsible for the position and a 2nd encoder is responsible for the speed, the following applies: T_{_ENC_VEL_Combined} + T_{ENC_POS_Combined} + 2 × T_{_Sys}
SLA with parameterized fault response:
STO	T_{_ENC_ACC_Combined} + 2 × T_{_Sys}
SS1-t	T_{_ENC_ACC_Combined} + 2 × T_{_Sys} + SSx‑t delay t₁ (8706.8) + Brake application time¹⁾ (8706.15)
SS2-t	T_{_ENC_ACC_Combined} + T_{_Sys} + SSx‑t delay t₁ (8706.8)
SS1-r	T_{_ENC_ACC_Combined} + 2 × T_{_Sys} + SSx‑r monitoring delay t₂ (8706.9) + Brake application time¹⁾ (8706.15) + Actual_speed (8700.79)/SSx‑r deceleration a (8706.10) + SSx‑r jerk time²⁾ t₃ (8706.11)
SS2-r	T_{_ENC_ACC_Combined} + T_{_Sys} + SSx‑r delay t₂ (8706.9) + actual_speed (8700.79)/SSx‑r deceleration a (8706.10) + SSx‑r jerk time²⁾ t₃ (8706.11)
F-PI	T_{_ENC_ACC_Combined} + T_{_Sys}
SLP:
with ramp	T_{_ENC_VEL_COMBINED}+ T_{_ENC_POS_COMBINED} + 2 × T_{_Sys}
without ramp	T_{_ENC_POS_COMBINED}+ 2 × T_{_Sys}
SCA	T_{_ENC_POS_COMBINED}+ T_{_Sys}
F-ConnectionLoss response time:
SS1-t response	T_{_Sys} + SSx-t delay t₁ (8706.8) + Brake application time¹⁾ (8706.15)
SS1-r response	T_{_Sys} + SSx-r monitoring delay t₁ (8706.9) + Brake application time¹⁾ (8706.15) + Actual_speed (8700.79)/SSx‑r deceleration a (8706.10) + SSx‑r jerk time²⁾ t₃ (8706.11)