Schneider Electric Modicon M262 Programming Guide

Modicon M262 Logic/M otion Controller

EIO0000003651 05/2020

Modicon M262
Logic/Motion Controller

Programming Guide

05/2020

EIO0000003651.04

www.schneider-electric.com

The information provided in this documentation contains general descriptions and/or technical
characteristics of the performance of the products contained herein. This documentation is not
intended as a substitute for and is not to be used for determining suitability or reliability of these
products for specific user applications. It is the duty of any such user or integrator to perform the
appropriate and complete risk analysis, evaluation and testing of the products with respect to the
relevant specific application or use thereof. Neither Schneider Electric nor any of its affiliates or
subsidiaries shall be responsible or liable for misuse of the information contained herein. If you
have any suggestions for improvements or amendments or have found errors in this publication,
please notify us.

You agree not to reproduce, other than for your own personal, noncommercial use, all or part of
this document on any medium whatsoever without permission of Schneider Electric, given in
writing. You also agree not to establish any hypertext links to this document or its content.
Schneider Electric does not grant any right or license for the personal and noncommercial use of
the document or its content, except for a non-exclusive license to consult it on an "as is" basis, at
your own risk. All other rights are reserved.

All pertinent state, regional, and local safety regulations must be observed when installing and
using this product. For reasons of safety and to help ensure compliance with documented system
data, only the manufacturer should perform repairs to components.

When devices are used for applications with technical safety requirements, the relevant
instructions must be followed.

Failure to use Schneider Electric software or approved software with our hardware products may
result in injury, harm, or improper operating results.

Failure to observe this information can result in injury or equipment damage.

© 2020 Schneider Electric. All rights reserved.

2 EIO0000003651 05/2020

Table of Contents

Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Chapter 1 About the Modicon M262 Logic/Motion Controller . . . . . 15

M262 Logic/Motion Controller Description. . . . . . . . . . . . . . . . . . . . . .

Chapter 2 Modicon M262 Motion Controller . . . . . . . . . . . . . . . . . . 19

Modicon M262 Motion Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 3 How to Configure the Controller . . . . . . . . . . . . . . . . . . . 21

Configuring the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 4 Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Libraries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 5 Supported Standard Data Types . . . . . . . . . . . . . . . . . . 25

Supported Standard Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 6 Memory Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Controller Memory Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Flash Memory Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

RAM Memory Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

NVRAM Memory Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Relocation Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 7 Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Maximum Number of Tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Task Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Task Configuration Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

System and Task Watchdogs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Task Priorities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Default Task Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 8 Controller States and Behaviors . . . . . . . . . . . . . . . . . . . 51

8.1 Controller State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Controller State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2 Controller States Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Controller States Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3 State Transitions and System Events . . . . . . . . . . . . . . . . . . . . . . . . .

Controller States and Output Behavior . . . . . . . . . . . . . . . . . . . . . . . .

Commanding State Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Error Detection, Types, and Management. . . . . . . . . . . . . . . . . . . . . .

Remanent Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15

19

21

23

25

28
30
33
35
36

40
41
45
47
48
50

52
52
56
56
60
61
64
70
71

EIO0000003651 05/2020 3

Chapter 9 Controller Device Editor . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Controller Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Communication Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PLC Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Ethernet Services. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Users Rights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

74
76
77
79
81
85

Chapter 10 Embedded Inputs and Outputs Configuration . . . . . . . . . 87

10.1 Configuring the Fast I/Os . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Embedded I/Os Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2 Hardware Encoder Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Hardware Encoder Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Adding an Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Encoder Motion Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

88
88
94
95
97

100

Chapter 11 Expansion Modules Configuration . . . . . . . . . . . . . . . . . . 101

TM3 I/O Configuration General Description. . . . . . . . . . . . . . . . . . . . .

TM3 I/O Bus Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TMS Expansion Module Configuration. . . . . . . . . . . . . . . . . . . . . . . . .

TM3 Expansion Module Configuration . . . . . . . . . . . . . . . . . . . . . . . . .

Optional I/O Expansion Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

102
106
107
108
109

Chapter 12 Ethernet Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

12.1 Ethernet Services. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

IP Address Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Modbus TCP Client/Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Web Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Symbol Configuration Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FTP Server. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SNMP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Controller as a Target Device on EtherNet/IP . . . . . . . . . . . . . . . . . . .

Controller as a Slave Device on Modbus TCP. . . . . . . . . . . . . . . . . . .

12.2 Firewall Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dynamic Changes Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Firewall Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Firewall Script Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

114
115
117
123
125
149
155
156
157
182
187
188
190
191
193

4 EIO0000003651 05/2020

Chapter 13 Industrial Ethernet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

Industrial Ethernet Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DHCP Server. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fast Device Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

202
207
208

Chapter 14 Sercos Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

Overview of the Sercos Standard . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Modicon M262 Logic/Motion Controller Sercos Configuration . . . . . .

Modicon M262 Motion Controller and Safety Controllers with Sercos

Single Wire Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

210
212
213
214

Chapter 15 Serial Line Configuration . . . . . . . . . . . . . . . . . . . . . . . . 217

Serial Line Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Machine Expert Network Manager . . . . . . . . . . . . . . . . . . . . . . . . . . .

Modbus Manager. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ASCII Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Modbus Serial IOScanner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Adding a Device on the Modbus Serial IOScanner . . . . . . . . . . . . . . .

Adding a Modem to a Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

218
220
221
225
227
229
235

Chapter 16 OPC UA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

16.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

OPC UA Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16.2 OPC UA Server Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

OPC UA Server Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

OPC UA Server Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

OPC UA Server Symbols Configuration . . . . . . . . . . . . . . . . . . . . . . .

OPC UA Server Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16.3 OPC UA Client Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

OPC UA Client Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Programming the OPC UA Client . . . . . . . . . . . . . . . . . . . . . . . . . . . .

238
238
239
240
241
244
246
249
250
251

Chapter 17 Post Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

Post Configuration Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Post Configuration File Management . . . . . . . . . . . . . . . . . . . . . . . . .

Post Configuration Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

254
255
257

Chapter 18 Connecting a Modicon M262 Logic/Motion Controller to a

PC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

Connecting the Controller to a PC . . . . . . . . . . . . . . . . . . . . . . . . . . . .

259

EIO0000003651 05/2020 5

Chapter 19 Updating Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

Updating the Controller Firmware by SD Card. . . . . . . . . . . . . . . . . . .

Updating the Controller Firmware by Controller Assistant . . . . . . . . . .

Updating TM3 Expansion Modules Firmware . . . . . . . . . . . . . . . . . . .

Updating TMS Expansion Modules Firmware . . . . . . . . . . . . . . . . . . .

Chapter 20 Managing Script Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . 273

Creating a Script . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Generating Scripts and Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Transferring Scripts and Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 21 Cloning a Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

Before Cloning a Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Cloning a Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 22 Compatibility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289

Software and Firmware Compatibilities . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 23 Industrial Plug and Work . . . . . . . . . . . . . . . . . . . . . . . . . 291

23.1 Accessing the Web Server. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Launching the Web Server. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

23.2 Using the Machine Assistant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Launching the Machine Assistant . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Managing the Network Scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Managing the Devices Network Settings . . . . . . . . . . . . . . . . . . . . . . .

Backing Up/Restoring Configuration . . . . . . . . . . . . . . . . . . . . . . . . . .

Exporting/Importing .semdt Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendix A How to Change the IP Address of the Controller . . . . . . . 303

changeIPAddress: Change the IP address of the controller . . . . . . . .

Appendix B Functions to Get/Set Serial Line Configuration in User

Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307

GetSerialConf: Get the Serial Line Configuration . . . . . . . . . . . . . . . .

SetSerialConf: Change the Serial Line Configuration . . . . . . . . . . . . .

SERIAL_CONF: Structure of the Serial Line Configuration Data Type

Appendix C Controller Performance . . . . . . . . . . . . . . . . . . . . . . . . . . 313

Processing Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

262
265
268
271

274
279
280

284
286

289

292
292
293
294
295
297
299
300
301

303

308
309
311

313
315
327

6 EIO0000003651 05/2020

Safety Information

Important Information

NOTICE

Read these instructions carefully, and look at the equipment to become familiar with the device
before trying to install, operate, service, or maintain it. The following special messages may appear
throughout this documentation or on the equipment to warn of potential hazards or to call attention
to information that clarifies or simplifies a procedure.

EIO0000003651 05/2020 7

PLEASE NOTE

Electrical equipment should be installed, operated, serviced, and maintained only by qualified
personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of
the use of this material.

A qualified person is one who has skills and knowledge related to the construction and operation
of electrical equipment and its installation, and has received safety training to recognize and avoid
the hazards involved.

8 EIO0000003651 05/2020

About the Book

At a Glance

Document Scope

The purpose of this document is to help you to program and operate your Modicon M262
Logic/Motion Controller with the EcoStruxure Machine Expert software.

NOTE: Read and understand this document and all related documents before installing, operating,
or maintaining your Modicon M262 Logic/Motion Controller.

The Modicon M262 Logic/Motion Controller users should read through the entire document to
understand all features.

Validity Note

This document has been updated for the release of EcoStruxure

The technical characteristics of the devices described in the present document also appear online.
To access the information online, go to the Schneider Electric home page

https://www.se.com/ww/en/download/

The characteristics that are described in the present document should be the same as those
characteristics that appear online. In line with our policy of constant improvement, we may revise
content over time to improve clarity and accuracy. If you see a difference between the document
and online information, use the online information as your reference.

TM

Machine Expert V1.2.3.

.

EIO0000003651 05/2020 9

Related Documents

Title of Documentation Reference Number

EcoStruxure Machine Expert - Programming Guide

Modicon M262 Logic/Motion Controller - Hardware Guide

Modicon TM3 Expansion Modules Configuration - Programming
Guide

Modicon TM5 EtherNet/IP Fieldbus Interface - Programming Guide

Modicon TMS Expansion Modules - Programming Guide

EIO0000002854 (ENG)
EIO0000002855 (FRE)
EIO0000002856 (GER)
EIO0000002857 (SPA)
EIO0000002858 (ITA)
EIO0000002859 (CHS)

EIO0000003659 (ENG)
EIO0000003660 (FRE)
EIO0000003661 (GER)
EIO0000003662 (SPA)
EIO0000003663 (ITA)
EIO0000003664 (CHS)
EIO0000003665 (POR)
EIO0000003666 (TUR)

EIO0000001402 (ENG)
EIO0000001403 (FRE)
EIO0000001404 (GER)
EIO0000001405 (SPA)
EIO0000001406 (ITA)
EIO0000001407 (CHS)

EIO0000003707 (ENG)
EIO0000003708(FRE)
EIO0000003709 (GER)
EIO0000003710 (SPA)
EIO0000003711 (ITA)
EIO0000003712 (CHS)

EIO0000003691 (ENG)
EIO0000003692 (FRE)
EIO0000003693 (GER)
EIO0000003694 (SPA)
EIO0000003695 (ITA)
EIO0000003696 (CHS)
EIO0000003697 (POR)
EIO0000003698 (TUR)

10 EIO0000003651 05/2020

Title of Documentation Reference Number

Modicon M262 Logic/Motion Controller - System Library Guide

EIO0000003667 (ENG)
EIO0000003668 (FRE)
EIO0000003669 (GER)
EIO0000003670 (SPA)
EIO0000003671 (ITA)
EIO0000003672 (CHS)
EIO0000003673 (POR)
EIO0000003674 (TUR)

Modicon TM3 Expert I/O Modules - HSC Library Guide

EIO0000003683 (ENG)
EIO0000003684 (FRE)
EIO0000003685 (GER)
EIO0000003686 (SPA)
EIO0000003687 (ITA)
EIO0000003688 (CHS)
EIO0000003689 (POR)
EIO0000003690 (TUR)

Modicon M262 Logic/Motion Controller - Encoder Library Guide

EIO0000003675 (ENG)
EIO0000003676(FRE)
EIO0000003677(GER)
EIO0000003678 (SPA)
EIO0000003679 (ITA)
EIO0000003680 (CHS)
EIO0000003681 (POR)
EIO0000003682 (TUR)

M262 Embedded Safety - Integration Guide

EIO0000003921 (ENG)
EIO0000003923 (FRE)
EIO0000003922 (GER)
EIO0000003926 (SPA)
EIO0000003924 (ITA)
EIO0000003925 (CHS)

Sercos for M262 - User Guide

EIO0000003883 (ENG)
EIO0000003885 (FRE)
EIO0000003884 (GER)
EIO0000003888 (SPA)
EIO0000003886 (ITA)
EIO0000003887 (CHS)

Controller Assistant - User Guide

EIO0000001671 (ENG)
EIO0000001672 (FRE)
EIO0000001673 (GER)
EIO0000001675 (SPA)
EIO0000001674 (ITA)
EIO0000001676 (CHS)

EIO0000003651 05/2020 11

Title of Documentation Reference Number

EcoStruxure Machine Expert - FtpRemoteFileHandling Library Guide

EcoStruxure Machine Expert - SnmpManager Library Guide

You can download these technical publications and other technical information from our website
at https://www.se.com/ww/en/download/ .

Product Related Information

LOSS OF CONTROL

 The designer of any control scheme must consider the potential failure modes of control paths

and, for certain critical control functions, provide a means to achieve a safe state during and
after a path failure. Examples of critical control functions are emergency stop and overtravel
stop, power outage and restart.

 Separate or redundant control paths must be provided for critical control functions.
 System control paths may include communication links. Consideration must be given to the

implications of unanticipated transmission delays or failures of the link.

 Observe all accident prevention regulations and local safety guidelines.
 Each implementation of this equipment must be individually and thoroughly tested for proper

operation before being placed into service.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

EIO0000002779 (ENG)
EIO0000002780 (FRE)
EIO0000002781 (GER)
EIO0000002782 (SPA)
EIO0000002783 (ITA)
EIO0000002784 (CHS)

EIO0000002797 (ENG)
EIO0000002798 (FRE)
EIO0000002799 (GER)
EIO0000002800 (SPA)
EIO0000002801 (ITA)
EIO0000002802 (CHS)

WARNING

1

1

For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the
Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest
edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of
Adjustable-Speed Drive Systems" or their equivalent governing your particular location.

12 EIO0000003651 05/2020

UNINTENDED EQUIPMENT OPERATION

 Only use software approved by Schneider Electric for use with this equipment.
 Update your application program every time you change the physical hardware configuration.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

Terminology Derived from Standards

The technical terms, terminology, symbols and the corresponding descriptions in this manual, or
that appear in or on the products themselves, are generally derived from the terms or definitions
of international standards.

In the area of functional safety systems, drives and general automation, this may include, but is not
limited to, terms such as

safety, safety function, safe state, fault, fault reset, malfunction, failure

error, error message, dangerous

Among others, these standards include:

Standard Description

IEC 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.

ISO 13849-1:2015 Safety of machinery: Safety related parts of control systems.

EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.

ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment and risk

EN 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part 1: General

ISO 14119:2013 Safety of machinery - Interlocking devices associated with guards - Principles

ISO 13850:2015 Safety of machinery - Emergency stop - Principles for design

IEC 62061:2015 Safety of machinery - Functional safety of safety-related electrical, electronic,

IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-

IEC 61508-2:2010 Functional safety of electrical/electronic/programmable electronic safety-

IEC 61508-3:2010 Functional safety of electrical/electronic/programmable electronic safety-

IEC 61784-3:2016 Industrial communication networks - Profiles - Part 3: Functional safety

General principles for design.

Part 1: General requirements and tests.

reduction

requirements

for design and selection

and electronic programmable control systems

related systems: General requirements.

related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.

related systems: Software requirements.

fieldbuses - General rules and profile definitions.

WARNING

,

, etc.

EIO0000003651 05/2020 13

Standard Description

2006/42/EC Machinery Directive

2014/30/EU Electromagnetic Compatibility Directive

2014/35/EU Low Voltage Directive

In addition, terms used in the present document may tangentially be used as they are derived from
other standards such as:

Standard Description

IEC 60034 series Rotating electrical machines

IEC 61800 series Adjustable speed electrical power drive systems

IEC 61158 series Digital data communications for measurement and control – Fieldbus for use in

industrial control systems

Finally, the term
hazards, and is defined as it is for a

2006/42/EC

(

zone of operation

) and

ISO 12100:2010

may be used in conjunction with the description of specific

hazard zone

or

danger zone

in the

Machinery Directive

.

NOTE: The aforementioned standards may or may not apply to the specific products cited in the
present documentation. For more information concerning the individual standards applicable to the
products described herein, see the characteristics tables for those product references.

14 EIO0000003651 05/2020

Modicon M262 Logic/Moti on Controller

About the Modicon M26 2 Logic/Motion Con troller

EIO0000003651 05/2020

About the Modicon M26 2 Logic/Motion Con troller

Chapter 1

About the Modicon M262 Logic/Motion Controller

M262 Logic/Motion Controller Description

Overview

The M262 Logic/Motion Controller has various powerful features and can service a wide range of
applications.

Software configuration, programming, and commissioning are accomplished with the EcoStruxure
Machine Expert software version 1.1 or later, described in detail in the EcoStruxure Machine
Expert Programming Guide as well as the present document.

Programming Languages

The M262 Logic/Motion Controller is configured and programmed with the EcoStruxure Machine
Expert software, which supports the following IEC 61131-3 programming languages:

 IL: Instruction List
 ST: Structured Text
 FBD: Function Block Diagram
 SFC: Sequential Function Chart
 LD: Ladder Diagram

EcoStruxure Machine Expert software can also be used to program these controllers using CFC
(Continuous Function Chart) language.

Power Supply

The power supply of the M262 Logic/Motion Controller is 24 Vdc

Controller, Hardware Guide)

.

(see Modicon M262 Logic/Motion

Real Time Clock

The M262 Logic/Motion Controller includes a Real Time Clock (RTC) system

Logic/Motion Controller, Hardware Guide)

.

(see Modicon M262

The system time is maintained by capacitors when the power is off. The time is maintained for
1 000 hours when the controller is not supplied.

EIO0000003651 05/2020 15

About the Modicon M262 Logic/Motion Controller

Run/Stop

The M262 Logic/Motion Controller can be operated externally by the following:

 A hardware Run/Stop switch
 A Run/Stop operation by a dedicated digital input, defined in the software configuration. For

(see Modicon M262 Logic/Motion Controller, Hardware Guide)

more information, refer to Configuration of Digital Inputs

 An EcoStruxure Machine Expert software command.
 The system variable PLC_W in a Relocation Table
 The Web server

(see page 125)

Memory

This table describes the different types of memory:

Memory Type Size Use

RAM 256 Mbytes, of which 32 Mbytes are

available for the application

Flash 1 Gbyte Non-volatile memory dedicated to the retention

Non-volatile RAM 512 Kbytes Non-volatile memory dedicated to the retention

Embedded Inputs/Outputs

The following embedded I/O types are available:

 Fast inputs
 Fast source outputs

.

(see page 89)

(seepage36)

.

.

.

For the execution of the application and the
firmware.

of the program and data in case of a power
interruption.

of the retain-persistent variables, and the
diagnostic files and associated information.

Encoder

The following encoder modes are available:

 Incremental mode
 SSI mode

Removable Storage

The M262 Logic/Motion Controllers include an integrated SD card slot

Logic/Motion Controller, Hardware Guide)

The main uses of the SD card are:

 Initializing the controller with a new application
 Updating the controller and expansion module firmware
 Applying post configuration files to the controller
 Storing recipes files
 Receiving data logging files

16

(see Modicon M262

.

(see page 261)

(see page 254)

EIO0000003651 05/2020

About the Modicon M262 Logic/Motion Controller

Embedded Communication Features

The following types of communication ports are available:

 Ethernet
 USB Mini-B
 Serial Line
 Sercos (Ethernet 1)

(see Modicon M262 Logic/Motion Controller, Hardware Guide)

(see Modicon M262 Logic/Motion Controller, Hardware Guide)

(see Modicon M262 Logic/Motion Controller, Hardware Guide)

Expansion Module and Bus Coupler Compatibility

Refer to the compatibility tables in the EcoStruxure Machine Expert - Compatibility and Migration
User Guide

(see EcoStruxure Machine Expert Compatibility and Migration, User Guide)

M262 Logic/Motion Controller

Reference Digital I/O Power supply Communication Ports Terminal Type Encoder

M262 Logic
Controller:
TM262L•

M262 Motion
Controller:
TM262M•

4 fast inputs
Source outputs
4 fast outputs

4 fast inputs
Source outputs
4 fast outputs

24 Vdc 1 serial line port

1 USB programming port
1 Ethernet port
1 dual port Ethernet switch

24 Vdc 1 serial line port

1 USB programming port
1 Ethernet port for fieldbus
with Sercos interface
1 dual port Ethernet switch

Removable
spring

Removable
spring

–

1 Encoder port

NOTE: You can use the fast inputs/outputs as regular inputs/outputs.

.

Delivery Content

The following figure presents the content of the delivery for the M262 Logic/Motion Controller:

1 M262 Logic/Motion Controller Instruction Sheet
2 M262 Logic/Motion Controller
3 Removable spring terminal blocks
4 Attachment parts

EIO0000003651 05/2020 17

About the Modicon M262 Logic/Motion Controller

18

EIO0000003651 05/2020

Modicon M262 Logic/Moti on Controller

M262 Motion Controller

EIO0000003651 05/2020

Modicon M262 Motion Co ntroller

Chapter 2

Modicon M262 Motion Controller

Modicon M262 Motion Controller

Controller Overview

The Schneider Electric Modicon TM262M15MESS8T, TM262M25MESS8T and
TM262M35MESS8T are controllers with various powerful features which can control a wide range
of motion applications.

The Modicon TM262M• Motion Controller centrally implements the Logic Controller functions and
powerful advanced motion functions.

A Modicon TM262M• Motion Controller creates, synchronizes and coordinates the motion
functions of a machine for a maximum of 16 axes, synchronized in 2 ms.

These controllers are designed for axis positioning using the EcoStruxure Machine Expert software
platform.

Performance Overview

The Modicon TM262M• Motion Controller supports all the features normally available in our Logic
Controller, plus it integrates Motion functionalities.

The TM262M• range of Motion controllers is, without additional devices, ready for motion with the
integrated Sercos motion bus. It merges the hard-real-time aspects of the Sercos interface with
Ethernet. It is based upon and conforms to the Ethernet standard IEEE 802.3 and ISO/IEC 8802­3 to support the real-time application with high performance. Other features supporting motion
functionalities include:

 Synchronous axis Sercos devices, managed by PLCopen libraries, are fully synchronous with

the internal Motion task and the Sercos Cycle time, as for example: LMX32S.

 Non axis Sercos devices are also synchronized with the internal Motion task, for example,

TM5NS01 islands or safety-related TM5CSLC100/TM5CSLC200 controllers.

 External Encoder

 External port for Incremental or SSI encoder. The encoder support is fully synchronized with

the Motion application. It can be used like a real axis or a virtual axis.

 Fast input

 The fast inputs support a touch probe function to capture position. The captured position can

be used in the Motion application.

EIO0000003651 05/2020 19

M262 Motion Controller

 Motion Kernel is embedded in the TM262M• Motion controller, allowing you to manage the

motion functions:

 Synchronous axis in coordinated move in which the Functions blocks are based on the

PLCopen Standard to control easily the position / speed of a single axis.

 Gearing mode (Master / Slave Function Block).
 Caming mode, based on recipes, with modification on fly. The recipe can be designed thanks

to a cam editor included in EcoStruxure Machine Expert.

Depending the Motion controller and the Sercos Cycle time, you can configure more or less
Synchronous axis and non axis Sercos devices.

A TM5 System island used on Sercos is managed as non axis Sercos device. These islands are
fully configurable. The number of I/O configured increases the load of the Sercos Bus and may lead
to an overflow. If an overflow occurs, and assuming your application tolerates it, increase the
Sercos Cycle time. If increasing the Sercos Cycle time is not compatible with your application, then
optimize the application.

The following table indicates the performance capabilities of the Motion application:

Controller reference Sercos cycle

time

TM262M15MESS8T 1 ms 4 1 4

2ms 4 1 12

4ms 4 1 12

TM262M25MESS8T 1 ms 4 1 8

2ms 8 2 8

4ms 8 2 16

TM262M35MESS8T 1 ms 8 2 8

2ms 16 4 8

4ms 16 4 24

Synchronized axes on
Sercos (activated and
simulated)

Additional virtual axes
FB_ControlledAxis

Additional
Sercos devices

The Motion Sizer is embedded in EcoStruxure Machine Expert to help you define your complete
kinematic architecture. For more information on these features, refer to OneMotionSizer Online

(see Motion Sizer, Online Help)

Help

.

20

EIO0000003651 05/2020

Modicon M262 Logic/Moti on Controller

How to Configure the Controller

EIO0000003651 05/2020

How to Configure the Controller

Chapter 3

How to Configure the Controller

Configuring the Controller

Introduction

First, create a new project or open an existing project in the EcoStruxure Machine Expert software.

Refer to the EcoStruxure Machine Expert Programming Guide for information on how to:

 Add a controller to your project
 Add expansion modules to your controller
 Replace an existing controller
 Convert a controller to a different but compatible device

Devices Tree

The Devices tree presents a structured view of the current hardware configuration. When you add
a controller to your project, a number of nodes are added to the Devices tree, depending on the
functions the controller provides.

EIO0000003651 05/2020 21

How to Configure the Controller

Item Use to Configure...

Machine Assistant Devices discovery and configuration

DI Embedded digital inputs of the controller

DQ Embedded digital outputs of the controller

ENCODER Incremental or SSI Encoder interface of the controller

IO_Bus Expansion modules connected to the controller

COM_Bus Communication modules connected to the controller

Ethernet_1 Embedded Ethernet dedicated to Motion Bus Sercos on TM262M•, dedicated

Ethernet_2 Embedded Ethernet communication

Serial_Line Serial line communication interface

Applications Tree

The Applications tree allows you to manage project-specific applications as well as global
applications, POUs, and tasks.

Tools Tree

The Tools tree allows you to configure the HMI part of your project and to manage libraries.

The Tools tree allows you to:

 Configure the HMI part of your project.
 Access to the Library Manager tool.
 Access to the Message logger tool

to devices on TM262L•.

(see page 144)

.

22

EIO0000003651 05/2020

Modicon M262 Logic/Moti on Controller

Libraries

EIO0000003651 05/2020

Libraries

Chapter 4

Libraries

Libraries

Introduction

Libraries provide functions, function blocks, data types and global variables that can be used to
develop your project.

The Library Manager of EcoStruxure Machine Expert provides information about the libraries
included in your project and allows you to install new ones. For more information on the Library
Manager, refer to the Functions and Libraries User Guide.

Modicon M262 Logic/Motion Controller

When you select a Modicon M262 Logic/Motion Controller for your application, EcoStruxure
Machine Expert automatically loads the following libraries:

Library name Description

IoStandard Standard library for the IO-configuration. This library provides the basic I/O

interface for every IEC I/O driver.

Standard Contains functions and function blocks which are required matching IEC61131-3

as standard POUs for an IEC programming system. Link the standard POUs to
the project (standard.library).

Util Analog Monitors, BCD Conversions, Bit/Byte Functions, Controller Datatypes,

Function Manipulators, Mathematical Functions, Signals.

SE_PLCCommunication Contains communication functions. Most of them are dedicated to Modbus

exchange. Communication functions are processed asynchronously with regard
to the application task that called the function.

SE_M262 PLCSystem Contains functions and variables to get diagnostic information and send

SE_Relocation Table

(see page 36)

M262 Encoder Contains function blocks and enumerated types for enable, monitor and preset of

TM3System Contains functions and function blocks for TM3 expansion modules.

TMSSystem Contains the function block and enumerated types for TMS expansion modules.

EIO0000003651 05/2020 23

commands to the controller system.

Allows you to optimize exchanges between the Modbus client and the controller,
by regrouping non-contiguous data into a contiguous table of registers.

the encoder, capture of the encoder value in incremental or SSI mode, and read
of the active values of the scaling parameters used to compute the unit value.

Libraries

24

EIO0000003651 05/2020

Modicon M262 Logic/Moti on Controller

Supported Standard Data Types

EIO0000003651 05/2020

Supported Standard Data Types

Chapter 5

Supported Standard Data Types

Supported Standard Data Types

Supported Standard Data Types

The controller supports the following IEC data types:

Data Type Lower Limit Upper Limit Information Content

BOOL FALSE TRUE 1 Bit

BYTE 0 255 8 Bit

WORD 0 65,535 16 Bit

DWORD 0 4,294,967,295 32 Bit

LWORD 0

64

-1

2

SINT -128 127 8 Bit

USINT 0 255 8 Bit

INT -32,768 32,767 16 Bit

UINT 0 65,535 16 Bit

DINT -2,147,483,648 2,147,483,647 32 Bit

UDINT 0 4,294,967,295 32 Bit

LINT

ULINT 0

63

-2

263-1

64

2

-1

REAL 1.175494351e-38 3.402823466e+38 32 Bit

LREAL 2.2250738585072014e-308 1.7976931348623158e+308 64 Bit

STRING 1 character – 1 character = 1 byte

WSTRING 1 character – 1 character = 1 word

TIME - – 32 Bit

64 Bit

64 Bit

64 Bit

For more information on ARRAY, LTIME, DATE, TIME, DATE_AND_TIME, and TIME_OF_DAY, refer
to the EcoStruxure Machine Expert Programming Guide.

EIO0000003651 05/2020 25

Supported Standard Data Types

26

EIO0000003651 05/2020

Modicon M262 Logic/Moti on Controller

Memory Mapping

EIO0000003651 05/2020

Memory Mapping

Chapter 6

Memory Mapping

Introduction

This chapter describes the memory maps and sizes of the different memory areas in the Modicon
M262 Logic/Motion Controller. These memory areas are used to store user program logic, data and
the programming libraries.

What Is in This Chapter?

This chapter contains the following topics:

Controller Memory Organization 28

Flash Memory Organization 30

RAM Memory Organization 33

NVRAM Memory Organization 35

Relocation Table 36

Topic Page

EIO0000003651 05/2020 27

Memory Mapping

Controller Memory Organization

Introduction

The controller memory is composed of three types of physical memory:

 The Flash memory
 The Random Access Memory (RAM) is used for application execution.
 The Non-Volatile Random Access Memory (NVRAM) is used to save the retain-persistent

variables and diagnostic information.

Files Transfers in Memory

(see page 30)

contains files (application, configuration files, and so on).

Item Controller State File Transfer Events Connection Description

1 – Initiated automatically at

1* – Initiated automatically at

2 All states except

INVALID_OS

Power ON and Reboot

Power ON and Reboot

Initiated by user Ethernet or USB

(1)

Internal Files transfer from Flash memory to RAM.

Internal Operating system files transfer.

programming
port

The content of the RAM is overwritten.

Files can be transferred via:

 Web server
 FTP server
 Controller Assistant
 EcoStruxure Machine Expert

(see page 125)

(see page 155)

(see EcoStruxure Machine Expert,
Programming Guide)

(1) If the controller is in the INVALID_OS state, the only accessible memory is the SD card and only for firmware

upgrades.

28

EIO0000003651 05/2020

Memory Mapping

Item Controller State File Transfer Events Connection Description

3 All states Initiated automatically by

SD card

Up/download with SD card

(1)

.

script (data transfer) or
by power cycle (cloning)
when an SD card is
inserted

4 All states Initiated by system Internal Save of modified retain-persistent variables

and the context on power OFF.

(1) If the controller is in the INVALID_OS state, the only accessible memory is the SD card and only for firmware

upgrades.

NOTE: The modification of files in Flash memory does not affect a running application. Any
changes to files in Flash memory are taken into account at the next reboot, except for the user files
directly used by the application.

EIO0000003651 05/2020 29

Memory Mapping

Flash Memory Organization

Introduction

The Flash memory contains the file system used by the controller.

File Type

The Modicon M262 Logic/Motion Controller manages the following file types:

System function (/sys) Description

Operating System (OS) Controller firmware that can be written to Flash memory. The firmware file is

User functions (/usr) Description

Boot application This file resides in Flash memory and contains the compiled binary code of the

executable application. Each time the controller is rebooted, the executable application
is extracted from the boot application and copied into the controller RAM

Application source Source file that can be uploaded from Flash memory to the PC if the source file is not

available on the PC

Post configuration File that contains Ethernet and serial line parameters.

The parameters specified in the file override the parameters in the executable
application at each reset.

Firewall parameters Settings used to configure the firewall of the M262 Logic/Motion Controller. These

settings restrict access to authorized personnel and protocols only. See Firewall
Configuration

Data logging Files in which the controller logs events as specified by the application.

(1) The creation of a boot application is optional in EcoStruxure Machine Expert, according to application

properties. Default option is to create the boot application on download. When you download an
application from EcoStruxure Machine Expert to the controller, you are transferring only the binary
executable application directly to RAM.

(2) EcoStruxure Machine Expert does not support uploading of either the executable application or the boot

application to a PC for modification. Program modifications must be made to the application source. When
you download your application, you have the option to store the source file to Flash memory.

applied at next reboot of the controller.

(2)

.

(see page 187)

for more information.

(1)

.

30

EIO0000003651 05/2020