Selection of a safety sub-function 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
STO	T_{_InputProcessing_F-PO} + 2 × T_{_Sys}
SOS	T_{_InputProcessing_F-PO} + T_{_Sys}
SS1-r	T_{_InputProcessing_F-PA} + 2 × 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 (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_{_InputProcessing_F-PA} + 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 t₃If ramp monitoring = linear, then jerk time = 0 (8706.11)
SS1-t	T_{_InputProcessing_F-PA} + 2 × 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_{_InputProcessing_F-PO} + T_{_Sys} + SSx‑t delay t₁ (8706.8)
SSx-r with final state SLI	T_{_InputProcessing_F-PA} + 2 × 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 (8700.79)/SSx‑r deceleration a (8706.10) + SSx‑r jerk time t₃If ramp monitoring = linear, then jerk time = 0 (8706.11)
SSx-t with final state SLI	T_{_InputProcessing_F-PA} + 2 × T_{_Sys} + SSx‑t delay t₁ (8706.8) + brake application time If SBC enable (8706.14) = no, then brake application time = 0 (8706.15)
SLS	T_{_InputProcessing_F-PA} + T_{_Sys} + SSx-r monitoring delay t₂ (8706.23) + v_{_Start}/SSx-r deceleration a (8706.27) + SSx-r t₃If ramp monitoring = linear, then jerk time = 0 (8706.28) SLS ramp start at actual speed = 0 v_{_Start} = maximum speedMaximum speed (8707.1) or other SLS limit speed in the same effective direction - 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}/deceleration a (8706.27) + SSx-r jerk time t₃If ramp monitoring = linear, then jerk time = 0 (8706.28) SLS ramp start at actual speed = 0 v_{_Start} = maximum speedMaximum speed (8707.1) or other SLS limit speed in the same effective direction - limit speed (8706.24) SLS ramp start at actual speed = 1 v_{_Start} = actual speed - limit speed (8706.24)
SSM	T_{_InputProcessing_F-PO} + T_{_Sys}
SSR	T_{_InputProcessing_F-PO} + T_{_Sys} + monitoring delay t₂ (8706.53)
SDI	T_{_InputProcessing_F-PO} + T_{_Sys}
SLI	T_{_InputProcessing_F-PO} + 2 × T_{_Sys}
SLA	T_{_InputProcessing_F-PO} + T_{_Sys} + monitoring delay (8706.76)