Response time for limit violation with active fault response

The response time describes the time from detection of the limit value violation to activation of the safe state (STO). All response times must be multiplied by the factor 1.002.

Calculation factor	Calculation specification response time
SOS	T_{_ENC_POS_Combined} + T_{_Sys}
SSx-r	T_{_ENC_VEL_Combined} + T_{_Sys}
SLS with parameterized fault response:
STO	T_{_ENC_VEL_Combined} + T_{_Sys}
SS1-t	T_{_ENC_VEL_Combined} + T_{_Sys} + SSx‑t delay t₁ (8706.8) + Brake application time If 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} + 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 timeIf ramp monitoring = linear, then jerk time = 0.t₃ (8706.11)
SS2-r	T_{_ENC_VEL} + 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} + T_{_Sys}
SS1-t	T_{_ENC_VEL_Combined} + 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} + 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_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)
SDI	T_{_ENC_POS_Combined} + T_{_Sys}
SLI	T_{_ENC_VEL_Combined} + 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} + T_{_Sys}
SLA with parameterized fault response:
STO	T_{_ENC_ACC_Combined} + T_{_Sys}
SS1-t	T_{_ENC_ACC_Combined} + 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} + 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)
SLP:
with ramp	T_{_ENC_VEL_COMBINED}+ T_{_ENC_POS_COMBINED} + T_{_Sys}
without ramp	T_{_ENC_POS_COMBINED}+ T_{_Sys}