54
Reaction Times Section 3-2
Reaction Time Formula
The formula for calculating reaction time for local Safety I/O on the G9SP-
series Controller is given below.
!WARNING Serious injury may possibly occur due to loss of required safety functions.
Confirm that the calculated reaction times meet the required specifications for
all safety chains.
Additional Information
The safety sensor/switch reaction times are given below for when the follow-
ing OMRON Safety Sensors or Switches are connected directly to the G9SP-
series Controller.
The fault detection time for 24-V short-circuit faults on D40A non-contact door
switch input is (Cycle time × 3) ms max.
When calculating the safe distance for applications other than as door
switches, use a Safety Sensor/Switch reaction time of (Cycle time × 3) ms.
Safety Sensor/Switch reaction time calculation examples are provided in the
following table for each cycle time.
Local Safety I/O reaction time = (Cycle time × 2) − 2 + Input OFF delay time [ms]
Connected device Safety Sensor/Switch
reaction time
Cycle time
E3ZS or E3FS Sin-
gle Beam Safety
Sensor
2 ms + (Cycle time × 3) ms Cycle time = 4 ms
2 ms + (Cycle time × 2) ms 5 ms ≤ Cycle time ≤ 9 ms
2 ms + (Cycle time × 1) ms 10 ms ≤ Cycle time
D40A Non-contact
Switch
6 ms + 0.4 ms × Number of
connected Switches
---
D40Z Non-contact
Switch
Always 31 ms Cycle time ≤ 10 ms
(Cycle time × 3) ms 11 ms ≤ Cycle time
UM Safety Mat (Cycle time × 3) ms Cycle time = 4 ms
(Cycle time × 2) ms 5 ms ≤ Cycle time ≤ 8 ms
(Cycle time × 1) ms 9 ms ≤ Cycle time
Connected device Sensor/Switch reaction time [ms]
Cycle time 45678910111215202530
E3ZS or E3FS Single
Beam Safety Sensor
14 12 14 16 18 20 12 13 14 17 22 27 32
D40A Non-contact
Switch
6 + 0.4 × Number of connected Switches
(Independent of the cycle time.)
D40Z Non-contact
Switch
31 31 31 31 31 33 36 45 60 75 90
UM Safety Mat 12 10 12 14 16 9 10 11 12 15 20 25 30
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