11
Response times
Calculation of response times
Manual – MOVISAFE
®
CS..A Safety Card
87
11.1.1
Encoder
All response times must be multiplied by the factor 1.002.
Calculation factor (formula
symbol)
Calculation specification response time
sine/cosine encoder:
•
Processing time encoder
positioning
(T
_ENC_POS
)
T
_Sys
+ T
_Task
•
Processing time encoder
speed
(T
_ENC_VEL
)
Filter time speed (8708.3) + T
_Task
+ T
_Sys
•
Processing time encoder
acceleration
(T
_ENC_ACC
)
Filter time acceleration (8708.2) + 2 × T
_Task
+ T
_Sys
EI7C built-in encoder:
•
Processing time encoder
speed
(T
_ENC_VEL
)
Filter time speed (8708.4) + 1/n
_Actual
+ T
_Task
+ T
_Sys
Response time encoder
error:
•
Deactivation F-DO_STO/
F-DOx
8 ms
•
Setting error status F-PE 12 ms
11.1.2
Safe digital input F-DI
All response times must be multiplied by the factor 1.002.
Calculation factor (formula symbol)
Calculation specification response time
Input processing time with selection F-DI
(T
_InputProcessing_F-DI
)
Input filter time (8704.2) + 2 ms + T
_Sys
+ 350 µs
Input processing with deselection F-DI:
(T
_InputProcessing_F-DI_Deselection
)
•
Single-channel
Input filter time (8704.2) + 51 ms + T
_Sys
+ 350 µs
•
Dual-channel
Input filter time (8704.2) + 2 ms + T
_Sys
+ 350 µs
Response time of line diagnostics
30 ms (the response times of the drive safety functions are
not taken into account)
24842532/EN – 04/2018
