Response time in case of 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} + T_{_Sys} + 1 ms
SLS with parameterized fault response:
STO	T_{_ENC_VEL} + T_{_Sys} + 1 ms
SS1-t	T_{_ENC_VEL} + 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_{_ENC_VEL} + T_{_Sys} + SSx-t delay t₁ (8706.8)
SS1-r	T_{_ENC_VEL} + 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 = 0t₃ (8706.11) + 1 ms
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 the jerk time = 0(8706.11)
SSR with parameterized fault response:
STO	T_{_ENC_VEL} + T_{_Sys}
SS1-t	T_{_ENC_VEL} + T_{_Sys} + SSx‑t delay t₁ (8706.8) + Brake application timeIf SBC enable (8706.14) = no, then the brake application time = 0 (8706.15)
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) + 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 the 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 the jerk time = 0(8706.11)
SDI	T_{_ENC_POS} + T_{_Sys} + 1 ms
SLI	T_{_ENC_VEL} + 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}