As delay testing using external testers requires expensive equipment, built-in self-test (BIST) is an alternative technique that can significantly reduce the test cost. In this paper, a BIST test pattern generator (TPG) design for the detection of delay faults is proposed. This TPG design produces test sequences having exactly the same robust delay fault coverage as single input change (SIC) test sequences obtained with the most efficient TPGs proposed before in the literature, but with a reduced test length and less area overhead. This reduction of the test length and area overhead is obtained by determining compatible inputs of the circuit under test (CUT), i.e. inputs that can be switch simultaneously without altering the robust test coverage.