How are I/O timeout and Safety I/O timeout calculated?
A. An I/O connection will timeout based on the lower of 4x RPI or 100ms. Safety I/O timeout is calculated as 4xRPI.
B. An I/O connection will timeout based on the lower of 3x RPI or 100ms. Safety I/O timeout is calculated as 3xRPI.
C. An I/O connection will timeout based on the lower of 4x RPI or 150ms. Safety I/O timeout is calculated as 2xRPI.
D. An I/O connection will timeout based on the lower of 3x RPI or 150ms. Safety I/O timeout is calculated as 3xRPI.
