Response time when reporting the limit value 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} + 2 × T_{_Sys}
SSx-r	T_{_ENC_VEL} + 2 ×T_{_Sys}
SLS with parameterized fault response:
STO	T_{_ENC_VEL} + 2 × T_{_Sys}
SS1-t	T_{_ENC_VEL} + 2 × 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} + 2 × T_{_Sys} + SSx‑r monitoring delay t₂ (8706.9) + 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} + 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} + 2 × T_{_Sys}
SS1-t	T_{_ENC_VEL} + 2 × 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} + 2 × 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)
F-PI	T_{_ENC_VEL} + T_{_Sys}
SDI	T_{_ENC_POS} + 2 × T_{_Sys}
SLI	T_{_ENC_VEL} + 2 × T_{_Sys}
SLA with parameterized fault response:
STO	T_{_ENC_ACC} + 2 × T_{_Sys}
SS1-t	T_{_ENC_ACC} + 2 × T_{_Sys} + SSx-t delay t₁ (8706.8)
SS2-t	T_{_ENC_ACC_Combined} + T_{_Sys} + SSx‑t delay t₁ (8706.8)
SS1-r	T_{_ENC_ACC} + 2 × 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)
F-PI	T_{_ENC_ACC} + T_{_Sys}