Figure 66: Response times within a Flexi Soft system
Digital inputs (E1)
T
able 107: Example for the calculation of the response time for the digital inputs (E1)
General information C4000 response time 14.0 ms
General information Input processing time 6.5 ms
If on-off filter active + min. filter time
1)
–
If I1 … I8 connected to test input
X1…X8
+ max. OFF-ON delay
2)
of t
he test input
used
–
a) Pressure-sensitive safety mats
and bumpers
+ test period
2)
of the test output,
higher value of the two test outputs
–
b) Type 4 testable sensors (e.g., L41) + test period
2)
of t
he test output –
c) All other sensors + test gap
2)
of t
he test output
(if test gap
2)
> 1 ms)
–
If you are using single-channel outputs –
Total E1 20.5 ms
1)
Switching off is delayed until the signal has been at Low for at least the selected filter time. For FX3-XTIO
and FX3-
XTDI firmware version <V3.00.0, the filter time is set to a fixed value of 8ms.
2)
Take the values from the report in the configuration software.
Digital outputs (A1) on path 1
T
able 108: Example for the calculation of the response time for the digital outputs (A1) on path 1
General information Robot response time 40.0 ms
General information Output processing time 4.5 ms
If you are using single-channel outputs Potential switch-off delay in the event
of an int
ernal error, depending on
whether an extended error detection
time has been configured for the
switching of capacitive loads: +10ms
or +50ms
1)
–
Total A1 44.5 ms
1)
see "Extended error detection time for cross-circuits at outputs Q1 to Q4 on the FX3-XTIO for the
s
witching of increased capacitive loads", page 27 and see "Fault detection time and fault response time
when using single-channel outputs on the FX3-XTIO", page 28.
12 T
ECHNICAL DATA
136
O P E R A T I N G I N S T R U C T I O N S | Flexi Soft Modular Safety Controller 8012478/1IG6/2023-02-24 | SICK
Subject to change without notice
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