Runtime Performance - Festo CAMC-G-S3 Manual

2 Product description of safety module CAMC-G-S3
2.12

Runtime performance

2.12.1 Sampling times
The safety module records the input and output variables at regular intervals.
The variables are recorded at two fixed cycle rates è Tab. 2.90.
Cycle Sampling
frequency
TSample typ. 8 KHz
TLogic 500 Hz
Tab. 2.90 Sampling times of the safety module
This means that the recording of the input signals can be affected by a maximum jitter of
T + T
Logic Sample
after 2.125 ms. The start of a safety function can also be affected by this jitter, relative to
the input signal. The jitter is taken into account in the specified reaction times of the indi­
vidual function blocks.
2.12.2 Reaction time on request of a safety function
The reaction time is made up of three components (Fig. 2.38):
LIN_x
DIN40A/B INPUT
FILTER
LIN_D40
+
LOGIC
T
I
Fig. 2.38 Reaction times of the safety module (schematic diagram, excerpt from Fig. 2.3)
Festo – GDCP-CAMC-G-S3-EN – 1406NH – English
Cycle time Function
typ. 125 μs The cycle is internally synchronised to the control sampling
cycle of the basic unit, T
– recording of all inputs and outputs
– analysis of the position encoders
– filter calculation
– generation of the test pulses
– internal communication
2 ms Fixed sampling cycle for safety functions
– calculation of the safety functions
– calculation of the logic functions
– Finite state machine, error management
– signal sequence LIN_x -> VOUT_x
. Thus an input signal is recorded at best immediately or, at the latest,
VIN_x_y
Safety Functions
Logic
Safety Function
STO
T
L
range = 100 μs – 200 μs
Sample
VOUT_x LOUT_x
Logic
VOUT_STO_SFR
VOUT_STO_SSR
T
O
DOUT40A/B
Output Driver
+
Test Pulse Unit
137