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
(formula symbol)

Calculation specification response time

Input processing time via safe process output data

(T_InputProcessing_F-PO)

2 × T_Task + T_Sys

Response time selection
(F-DIx after F-PI)

T_InputProcessing_F-DIx + TSys

Response time
(F-PO after F-DOx)

T_InputProcessing_F-PO + TSys

Response time (safe position (SP) after F‑PI)

T_ENC_POS_COMBINED + TSys

Response time (safe speed (SV) after F‑PI)

T_ENC_VEL_COMBINED + TSys