Omron G9SP-N20S Operation Manuals page 80

Reaction Times
Reaction Time Formula
!WARNING
54
The formula for calculating reaction time for local Safety I/O on the G9SP-
series Controller is given below.
Local Safety I/O reaction time = (Cycle time × 2) − 2 + Input OFF delay time [ms]
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.
Connected device Safety Sensor/Switch
2 ms + (Cycle time × 3) ms
E3ZS or E3FS Sin-
gle Beam Safety
2 ms + (Cycle time × 2) ms
Sensor
2 ms + (Cycle time × 1) ms
6 ms + 0.4 ms × Number of
D40A Non-contact
Switch connected Switches
D40Z Non-contact Always 31 ms
Switch
(Cycle time × 3) ms
(Cycle time × 3) ms
UM Safety Mat
(Cycle time × 2) ms
(Cycle time × 1) ms
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.
Connected device
Cycle time 4
E3ZS or E3FS Single 14 12 14 16 18 20 12 13 14 17 22 27 32
Beam Safety Sensor
D40A Non-contact
Switch
D40Z Non-contact
Switch
UM Safety Mat 12 10 12 14 16 9
reaction time
Cycle time = 4 ms
5 ms ≤ Cycle time ≤ 9 ms
10 ms ≤ Cycle time
---
Cycle time ≤ 10 ms
11 ms ≤ Cycle time
Cycle time = 4 ms
5 ms ≤ Cycle time ≤ 8 ms
9 ms ≤ Cycle time
Sensor/Switch reaction time [ms]
5 6 7 8 9 10 11 12 15 20 25 30
6 + 0.4 × Number of connected Switches
(Independent of the cycle time.)
31 31 31 31 31 33 36 45 60 75 90
10 11 12 15 20 25 30
Section 3-2
Cycle time