Mitsubishi Electric MELFA CR800 Series Instruction Manual page 75

(c) Time performance
The time from signal input to STO shuts off when deceleration fales with SS1 enabled is as follow.
T1: The time from signal input to SS1 activation including:
T1-1: SS1 reaction time: 7.1ms
T1-2: Input signal filter
DSI: DSI Filter Time (refer to (c) DSI filter configuration.)
External emergency stop input: 7.1ms
Emergency stop switch (Operation panel): 7.1ms
Emergency stop switch (T/B): 7.1ms
Door switch input: 32.1ms
Enabling device input: 32.1ms
Mode selector: 32.1ms
3-position enable switch: 32.1ms
T2: The time from SS1 activation to STO shuts off including:
T2-1: SS1 deceleration monitoring time
T2-2: STO reaction time：7.1ms
The time from signal input of robot controller to STO shuts off
= <T1-1> + <T1-2> + <T2-1> + <T2-2>
4 SAFETY MONITORING FUNCTIONS
Safety Monitoring Functions 4-65