Selection of a safety sub-function via safe communication

STO

T_{_InputProcessing_F-PO} + 2 × T_{_Sys} + 1 ms

SOS

T_{_InputProcessing_F-DI} + T_{_Sys}

SS1-r

T_{_InputProcessing_F-PO} + 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 the jerk time = 0 t₃ (8706.11) + 1 ms

SS1-t

T_{_InputProcessing_F-PO} + 2 × T_{_Sys} + SSx‑t delay t₁ (8706.8) + Brake application time If SBC enable (8706.14) = no, then the brake application time = 0 (8706.15) + 1 ms

SS2-t

T_{_InputProcessing_F-DI} + T_{_Sys} + SSx‑t delay t₁ (8706.8)

SLS

T_{_InputProcessing_F-PO} + T_{_Sys} + SSx-r monitoring delay t₂ (8706.23) + v_{_Start}/SSx-r deceleration a (8706.27) + SSx-r jerk time t₃If ramp monitoring = linear, then the 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)

SDI

T_{_InputProcessing_F-PO} + T_{_Sys}

SSR

T_{_InputProcessing_F-DI} + T_{_Sys} + monitoring delay t₂ (8706.53)

SLI

T_{_InputProcessing_F-DI} + T_{_Sys}