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} + T_{_Sys}
SSx-r	T_{_ENC_VEL} + T_{_Sys}
SLS with parameterized fault response:
STO	T_{_ENC_VEL} + T_{_Sys}
SS1-t	T_{_ENC_VEL} + T_{_Sys} + SSx-t delay t₁ (8706.8)
SS2-t	T_{_ENC_VEL} + T_{_Sys} + SSx-t delay t₁ (8706.8)
SS1-r	T_{_ENC_VEL} + T_{_Sys} + SSx‑r monitoring delay t₂ (8706.9) + 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 time t₃If ramp monitoring = linear, then jerk time = 0(8706.11)
SSM	T_{_ENC_VEL} + T_{_Sys}
SSR with parameterized fault response:
STO	T_{_ENC_VEL} + T_{_Sys}
SS1-t	T_{_ENC_VEL} + T_{_Sys} + SSx-t delay t₁ (8706.8)
SS2-t	T_{_ENC_VEL} + T_{_Sys} + SSx-t delay t₁ (8706.8)
SS1-r	T_{_ENC_VEL} + T_{_Sys} + SSx‑r monitoring delay t₂ (8706.9) + actual_speed (8700.79)/SSx‑r deceleration a (8706.10) + SSx‑r jerk time t₃If ramp monitoring = linear, then jerk time = 0(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 time t₃If ramp monitoring = linear, then jerk time = 0(8706.11)
SDI	T_{_ENC_POS} + T_{_Sys}
SLI	T_{_ENC_VEL} + T_{_Sys}
SLA with parameterized fault response:
STO	T_{_ENC_ACC} + T_{_Sys}
SS1-t	T_{_ENC_ACC} + T_{_Sys} + SSx-t delay t₁ (8706.8)
SS2-t	T_{_ENC_ACC} + T_{_Sys} + SSx-t delay t₁ (8706.8)
SS1-r	T_{_ENC_ACC} + T_{_Sys} + SSx‑r monitoring delay t₂ (8706.9) + actual_speed (8700.79)/SSx‑r deceleration a (8706.10) + SSx‑r jerk time t₃If ramp monitoring = linear, then jerk time = 0(8706.11)
SS2-r	T_{_ENC_ACC} + T_{_Sys} + SSx‑r delay t₂ (8706.9) + actual_speed (8700.79)/SSx‑r deceleration a (8706.10) + SSx‑r jerk time t₃If ramp monitoring = linear, then jerk time = 0(8706.11)
SSx-r	T_{_ENC_VEL} + T_{_Sys}
SLS with parameterized fault response:
STO	T_{_ENC_VEL} + T_{_Sys}
SS1-t	T_{_ENC_VEL} + T_{_Sys} + SSx-t delay t₁ (8706.8)
SS1-r	T_{_ENC_VEL} + T_{_Sys} + SSx‑r monitoring delay t₂ (8706.9) + actual_speed (8700.79)/SSx‑r deceleration a (8706.10) + SSx‑r jerk timeIf ramp monitoring = linear, then jerk time = 0 t₃ (8706.11)
SDI	T_{_ENC_POS} + T_{_Sys}