Schneider Electric Modicon M262 Programming Guide

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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.

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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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28 30 33 35 36

40 41 45 47 48 50

52 52 56 56 60 61 64 70 71

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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

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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

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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

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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.

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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.

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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.

Machine Expert V1.2.3.

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About the Modicon M26 2 Logic/Motion Con troller

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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.

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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

(see Modicon M262

(see page 261)

(see page 254)

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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)

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

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

–

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

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About the Modicon M262 Logic/Motion Controller

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Modicon M262 Logic/Moti on Controller

M262 Motion Controller

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Modicon M262 Motion Co ntroller

Chapter 2

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.

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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

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Modicon M262 Logic/Moti on Controller

How to Configure the Controller

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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)

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Modicon M262 Logic/Moti on Controller

Libraries

EIO0000003651 05/2020

Libraries

Chapter 4

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

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Modicon M262 Logic/Moti on Controller

Supported Standard Data Types

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Supported Standard Data Types

Chapter 5

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

-1

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

-2

263-1

-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

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

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Supported Standard Data Types

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Modicon M262 Logic/Moti on Controller

Memory Mapping

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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

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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

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.

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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.

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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)

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Memory Mapping

File Organization

This table shows the file organization of the flash memory:

Disk Directory File Content Up/Downloaded

data type

/sys Pkg Temporary file Internal use N/A

/usr App Application.app Boot application Application

Application.crc –

Cfg

/usr Log

Archive.prj

Machine.cfg

CodesysLateConf.cfg Name of application to launch. Configuration

FirewallDefault.cmd Default firewall settings. By default, this

(1)

UserDefinedLogName_1

Application source –

Post configuration file

file does not exist. It can be added optionally.

.log All *.log files created using the data

logging functions

(see page 253)

(see EcoStruxure

Configuration

log file

Machine Expert, Data Logging Functions, DataLogging Library Guide)

You must specify the total number of files created and the names and contents of each log file using the datalogging feature.

... – –

UserDefinedLogName_n

pki – Certificate store for M262 secured

Rcp – Main directory for Recipes. –

Syslog

Visu – Used for the Webvisualization feature. –

/sd0 – – SD card. Refer to Managing Script Files

– User files – –

(1) If the files had been created due to specific events or customer requirements.

crash.txt LoggerFile_xxx.mel

(1)

.log – –

protocols.

Record of detected system errors. For use by Schneider Electric Technical Support.

(see page 273)

–

Log file

–

NOTE: For more information on libraries and available function blocks, refer to Libraries

(see page 23)

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Memory Mapping

Files Redirection

When system, program or certain user activity creates specific file types, the M262 Logic/Motion Controller examines the file extension and automatically moves the file to a corresponding folder in flash memory.

The following table lists the file types that are moved in this way and the destination folder in flash memory:

File extensions Flash memory folder

*.app, *.ap_, *.err, *.crc, *.frc, *.prj /usr/App

*.cfg, *.cf_ /usr/Cfg

*.log /usr/Log

*.rcp, *.rsi /usr/Rcp

Backup Data Logging File

Data logging files can become large to the point of exceeding the space available in the file system. Therefore, you should develop a method to archive the log data periodically on an SD card. You could split the log data into several files, for example LogMonth1, LogMonth2, and use the

ExecuteScript command to copy the first file to an SD card. Afterwards, you may remove it from the internal file system while the second file is accumulating data. If you allow the data logging file to grow and exceed the limits of the file size, you could lose data.

NOTICE

LOSS OF APPLICATION DATA

 Backup SD card data regularly.  Do not remove power or reset the controller, and do not insert or remove the SD card while it

is being accessed.

Failure to follow these instructions can result in equipment damage.

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RAM Memory Organization

Introduction

This section describes the Random Access Memory (RAM) size for different areas of the Modicon M262 Logic/Motion Controller.

Memory Mapping

The RAM is composed of two areas:

 Dedicated application memory  OS memory

This table describes the dedicated application memory:

Area Element

System area System Area Mappable Addresses

%MW0...%MW59999

System and diagnostic variables (%MW60000...%MW60199) This memory is accessible through Modbus requests only. These must be read-only requests.

Dynamic Memory Area: Read Relocation Table (%MW60200...%MW61999) This memory is accessible through Modbus requests only. These must be read-only requests.

System and diagnostic variables (%MW62000...%MW62199) This memory is accessible through Modbus requests only. These can be read or write requests.

Dynamic Memory Area: Write Relocation Table (%MW62200...%MW63999) This memory is accessible through Modbus requests only. These can be read or write requests.

User area Symbols

Variables

Libraries

Application

(see page 36)

Memory Mapping

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Memory Mapping

System and Diagnostic Variables

Variables Description

PLC_R Structure of controller read-only system variables.

PLC_W Structure of controller read/write system variables.

ETH_R Structure of Ethernet read-only system variables (Ethernet counters).

ETH_W Structure of Ethernet read/write system variables. Allows you to reset

SERIAL_R Structure of Serial Line read-only system variables (Serial Line counters).

SERIAL_W Structure of Serial Line read-write system variables. Allows you to reset

TM3_MODULE_R Structure of TM3 modules read-only system variables.

TM3_BUS_W Structure of TM3 modules read-write system variables.

TMS_BUS_DIAG_R Structure of TMS modules read-only system variables (diagnostic).

TMS_MODULE_DIAG_R Structure of TMS modules read-only system variables (diagnostic).

Ethernet counters.

Serial Line counters.

For more information on system and diagnostic variables, refer to the M262 System Library Guide

(see Modicon M262 Logic/Motion Controller, System Functions and Variables, System Library

Guide)

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NVRAM Memory Organization

Introduction

The NVRAM memory contains:

 Files saved for the diagnostics  Remanent (retain-persistent) variables

NVRAM size

The following table describes the size of the NVRAM:

User Function Description Size

System diagnostics Contain the controller context saved on power off. 128 Kbytes

Remanent (retain-persistent) variables

Remanent or retain-persistent variables are saved in the NVRAM. Each subsequent read/write access to these variables requires a NVRAM access. For more information about remanent variables, see Remanent Variables performance, see Processing Performance

NOTE: For an optimum cycle time, only access the retain-persistent variables when necessary. For frequent (Read) access, copy theses variables to a working memory in the RAM.

Modified and saved in the NVRAM. Saved after each modification. This action impacts the cycle time.

(see page 71)

. For more information about the impact on

(seepage313)

Memory Mapping

Retain: 64 Kbytes Persistent: 64 Kbytes

EIO0000003651 05/2020 35

Memory Mapping

Relocation Table

Introduction

The Relocation Table allows you to organize data to optimize communication between the controller and other equipment by regrouping non-contiguous data into a contiguous table of located registers, accessible through Modbus.

NOTE: A relocation table is considered an object. Only one relocation table object can be added to a controller.

Relocation Table Description

This table describes the Relocation Table organization:

60200...61999 Dynamic Memory Area: Read Relocation Table

62200...63999 Dynamic Memory Area: Write Relocation Table

For further information, refer to M262 System Library Guide.

Adding a Relocation Table

This table describes how to add a Relocation Table to your project:

The %MW registers are read from the variables at each cycle.

The %MW registers are copied to the variables at each cycle.

Step Action

1 In the Applications tree tab, select the Application node.

2 Click the right mouse button.

3 Click Objects → Relocation Table....

Result: The Add Relocation Table window is displayed.

4 Click Add.

Result: The new relocation table is created and initialized.

NOTE: As a Relocation Table is unique for a controller, its name is Relocation Table and cannot

be changed.

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Relocation Table Editor

The relocation table editor allows you to organize your variables in the relocation table.

To access the relocation table editor, double-click the Relocation Table node in the Tools tree tab:

This picture describes the relocation table editor:

Memory Mapping

EIO0000003651 05/2020 37

Memory Mapping

Icon Element Description

- ID Automatic incremental integer (not editable).

- Variable The name or the full path of a variable (editable).

- Address The address of the system area where the variable is stored (not editable).

- Length Variable length in word.

- Validity Indicates if the entered variable is valid (not editable).

New Item Adds an element to the list of system variables.

Move Down Moves down the selected element of the list.

Move Up Moves up the selected element of the list.

Delete Item Removes the selected elements of the list.

Copy Copies the selected elements of the list.

Paste Pastes the elements copied.

Erase Empty Item Removes all the elements of the list for which the "Variable" column is empty.

NOTE: If a variable is undefined after program modifications, the content of the cell is displayed in red, the related Validity cell is False, and Address is set to -1.

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Modicon M262 Logic/Moti on Controller

Tasks

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Tasks

Chapter 7

Tasks

Introduction

The Task Configuration node in the Applications tree allows you to define one or more tasks to control the execution of your application program.

The task types available are:

 Cyclic  Freewheeling  Event  External event

This chapter begins with an explanation of these task types and provides information regarding the maximum number of tasks, the default task configuration, and task prioritization. In addition, this chapter introduces the system and task watchdog functions and explains its relationship to task execution.

What Is in This Chapter?

This chapter contains the following topics:

Topic Page

Maximum Number of Tasks 40

Task Types 41

Task Configuration Screen 45

System and Task Watchdogs 47

Task Priorities 48

Default Task Configuration 50

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Tasks

Maximum Number of Tasks

The maximum number of tasks you can define for the Modicon M262 Logic/Motion Controller are:

 Total number of tasks = 16  Cyclic tasks = 8  Freewheeling tasks = 1  Event tasks = 8  External Event tasks = 8

Special Considerations for Freewheeling

A Freewheeling task scan starts when the previous scan has been completed and after a period of system processing (30% of the total duration of the Freewheeling task). If the system processing period is reduced to less than 15% for more than 3 seconds due to interruptions by other tasks, a system error is detected. For more information, refer to the System Watchdog

Controller, Programming Guide)

NOTE: You may wish to avoid using a Freewheeling task in a multi-task application when some high priority and time-consuming tasks are running. Doing so may provoke a task Watchdog Timeout. You should not assign CANopen to a freewheeling task. CANopen should be assigned to a cyclic task.

(see page 42)

does not have a fixed duration. In Freewheeling mode, the task

(see Modicon LMC078, Motion

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Task Types

Introduction

The following section describes the various task types available for your program, along with a description of the task type characteristics.

Cyclic Task

A Cyclic task is assigned a fixed cycle time using the Interval setting in the Type section of Configuration subtab for that task. Each Cyclic task type executes as follows:

1. Read Inputs: The physical input states are written to the %I input memory variables and other system operations are executed.

2. Task Processing: The user code (POU, and so on) defined in the task is processed. The %Q output memory variables are updated according to your application program instructions but not

yet written to the physical outputs during this operation.

3. Write Outputs: The %Q output memory variables are modified with any output forcing that has been defined; however, the writing of the physical outputs depends upon the type of output and

instructions used. For more information on defining the bus cycle task, refer to the EcoStruxure Machine Expert Programming Guide and Modicon M262 Logic/Motion Controller Settings For more information on I/O behavior, refer to Controller States Detailed Description

(see page 56)

4. Remaining Interval time: The controller firmware carries out system processing and any other lower priority tasks.

NOTE: If you define too short a period for a cyclic task, it will repeat immediately after the write of the outputs and without executing other lower priority tasks or any system processing. This will affect the execution of all tasks and cause the controller to exceed the system watchdog limits, generating a system watchdog exception.

Tasks

(see page 77)

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Tasks

Freewheeling Task

A Freewheeling task does not have a fixed duration. In Freewheeling mode, each task scan begins when the previous scan has been completed and after a short period of system processing. Each Freewheeling task type executes as follows:

1. Read Inputs: The physical input states are written to the %I input memory variables and other system operations are executed.

2. Task Processing: The user code (POU, and so on) defined in the task is processed. The %Q output memory variables are updated according to your application program instructions but not

yet written to the physical outputs during this operation.

3. Write Outputs: The %Q output memory variables are modified with any output forcing that has been defined; however, the writing of the physical outputs depends upon the type of output and

(see page 56)

4. System Processing: The controller firmware carries out system processing and any other lower priority tasks (for example: HTTP management, Ethernet management, parameters management).

NOTE: If you want to define the task interval, refer to Cyclic Task

(see page 77)

(see page 41)

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Event Task

This type of task is event-driven and is initiated by a program variable. It starts at the rising edge of the boolean variable associated to the trigger event unless pre-empted by a higher priority task. In that case, the Event task will start as dictated by the task priority assignments.

For example, if you have defined a variable called my_Var and would like to assign it to an Event, proceed as follows:

Step Action

NOTE: When the event task is triggered with too high a frequency, the controller may detect an error and transition to the HALT state (Exception). The maximum rate of events is 10 events per millisecond for TM262L10MESE8T and TM262M15MESS8T, and 16 events per millisecond for TM262L20MESE8T, TM262M25MESS8T and TM262M35MESS8T. If the event task is triggered at a higher frequency than this, the message 'ISR Count Exceeded' is logged in the application log page.

Tasks

1 Double-click the TASK in the Applications tree.

2 Select Event from the Type list in the Configuration tab.

Click the Input Assistant button to the right of the Event field. Result: The Input Assistant window appears.

4 Navigate in the tree of the Input Assistant dialog box to find and assign the my_Var variable.

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Tasks

External Event Task

This type of task is event-driven and is initiated by the detection of a hardware or hardware-related function event. It starts when the event occurs unless pre-empted by a higher priority task. In that case, the External Event task will start as dictated by the task priority assignments.

For example, an External event task could be associated with an HSC Stop event. To associate the HSC0_STOP event to an External event task, select it from the External event drop-down list on the Configuration tab.

The external event task can be associated with the CAN Sync event. To associate the CAN_1_SYNC event to an external event task, select it from the External event dropdown list in the Configuration tab.

Different types of events can be associated with an External event task:

 HSC thresholds  HSC Stop  CAN Sync  HSC Event Periodmeter  Event input

NOTE: CAN Sync is a specific event object, depending on the CANopen manager configuration.

NOTE: When the external event task is triggered with too high a frequency, the controller may detect an error and transition to the HALT state (Exception). The maximum rate of events is 10 events per millisecond for TM262L10MESE8T and TM262M15MESS8T, and 16 events per millisecond for TM262L20MESE8T, TM262M25MESS8T and TM262M35MESS8T. If the event task is triggered at a higher frequency than this, the message 'ISR Count Exceeded' is logged in the application log page.

(see Modicon TM3 Expert I/O Modules, HSC Library Guide)

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Task Configuration Screen

Screen Description

This screen allows you to configure the tasks. Double-click the task that you want to configure in the Applications tree to access this screen.

Each configuration task has its own parameters that are independent of the other tasks.

The Configuration window is composed of four parts:

Tasks

EIO0000003651 05/2020 45

Tasks

The table describes the fields of the Configuration screen:

Field Name Definition

Priority Configure the priority of each task with a number from 0 to 31 (0 is the highest priority, 31 is

the lowest). Only one task at a time can be running. The priority determines when the task runs:

 A higher priority task pre-empts a lower priority task  Tasks with same priority run in turn (2 ms time-slice)

NOTE: Do not assign tasks with the same priority. If there are yet other tasks that attempt

to pre-empt tasks with the same priority, the result could be indeterminate and unpredicable. For important safety information, refer to Task Priorities

(see page 48)

Type These task types are available:

 Cyclic  Event  External  Freewheeling

Watchdog To configure the watchdog

(see page 41)

(see page 43)

(see page 44)

(see page 42)

(see Modicon LMC078, Motion Controller, Programming Guide)

define these two parameters:

 Time: enter the timeout before watchdog execution.  Sensitivity: defines the number of expirations of the watchdog timer before the controller

stops program execution and enters a HALT state.

POUs The list of Programming Organization Units (POUs) controlled by the task is defined in the

task configuration window

 To add a POU linked to the task, use the command Add Call and select the POU in the

(see EcoStruxure Machine Expert, Programming Guide)

Input Assistant editor.

 To remove a POU from the list, use the command Remove Call.  To replace the currently selected POU of the list by another one, use the command

Change Call.

 POUs are executed in the order shown in the list. To move the POUs in the list, select a

POU and use the command Move Up or Move Down.

NOTE: You can create as many POUs as you want. An application with several small

POUs, as opposed to one large POU, can improve the refresh time of the variables in online mode.

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System and Task Watchdogs

Introduction

Two types of watchdog functionality are implemented for the Modicon M262 Logic/Motion Controller:

 System Watchdogs: These watchdogs are managed by the controller firmware. You cannot

configure them.

 Task Watchdogs: These watchdogs are optional watchdogs that you can define for each task.

These are configurable in EcoStruxure Machine Expert.

System Watchdogs

Three system watchdogs are defined for the Modicon M262 Logic/Motion Controller. They are managed by the controller firmware and are therefore sometimes referred to as hardware watchdogs in the EcoStruxure Machine Expert online help. When one of the system watchdogs exceeds its threshold conditions, an error is detected.

The threshold conditions for the three system watchdogs are defined as follows:

 If all of the tasks require more than 85% of the processor resources for more than 3 seconds, a

system error is detected. The controller enters the HALT state.

 If the total execution time of the tasks with priorities between 0 and 24 reaches 100% of

processor resources for more than 1 second, an application error is detected. The controller responds with an automatic reboot into the EMPTY state.

 If the lowest priority task of the system is not executed during an interval of 10 seconds, a

system error is detected. The controller responds with an automatic reboot into the EMPTY state.

NOTE: You cannot configure the system watchdogs.

Tasks

Task Watchdogs

EcoStruxure Machine Expert allows you to configure an optional task watchdog for every task defined in your application program. (Task watchdogs are sometimes also referred to as software watchdogs or control timers in the EcoStruxure Machine Expert online help). When one of your defined task watchdogs reaches its threshold condition, an application error is detected and the controller enters the HALT state.

When defining a task watchdog, the following options are available:

 Time: This defines the allowable maximum execution time for a task. When a task takes longer

than this, the controller reports a task watchdog exception.

 Sensitivity: The sensitivity field defines the number of task watchdog exceptions that must occur

before the controller detects an application error.

To access the configuration of a task watchdog, double-click the Task in the Applications tree.

NOTE: For more information on watchdogs, refer to EcoStruxure Machine Expert Programming Guide.

EIO0000003651 05/2020 47

Tasks

Task Priorities

Task Priority Configuration

You can configure the priority of each task between 0 and 31 (0 is the highest priority, 31 is the lowest). Each task must have a unique priority. Assigning the same priority to more than one task leads to a build error.

Task Priority Suggestions

 Priority 0 to 24: Controller tasks. Assign these priorities to tasks with a high availability

requirement.

 Priority 25 to 31: Background tasks. Assign these priorities to tasks with a low availability

requirement.

Task Priorities of Embedded I/Os

When a task cycle starts, it can interrupt any task with lower priority (task preemption). The interrupted task resumes when the higher priority task cycle is finished.

EIO0000003651 05/2020

NOTE: If the same input is used in different tasks the input image may change during the task cycle of the lower priority task. To improve the likelihood of proper output behavior during multitasking, a build error message is displayed if outputs in the same byte are used in different tasks.

UNINTENDED EQUIPMENT OPERATION

Map your inputs so that tasks do not alter the input images in an unexpected manner.

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

Task Priorities of TM3 Modules and CANopen I/Os

You can select the task that drives TM3 I/Os and CANopen physical exchanges. In the PLC settings, select Bus cycle task to define the task for the exchange. By default, the task is set to MAST. This definition at the controller level can be overridden by the I/O bus configuration

(see page 106)

TM3 and CANopen data is copied into a virtual I/O image during a physical exchanges phase, as shown in this figure:

Inputs are read from the I/O image table at the beginning of the task cycle. Outputs are written to the I/O image table at the end of the task.

NOTE: TM3 influence the application execution time. You can configure the Bus cycle options using I/O mapping tab. Refer to the TM3 Expansion Modules Programming Guide.

. D urin g th e rea d and write phas es, a ll ph ysic al I/O s are ref reshed at the same time.

Tasks

WARNING

EIO0000003651 05/2020 49

Tasks

Default Task Configuration

The MAST task can be configured in Freewheeling or Cyclic mode. The MAST task is automatically created by default in Cyclic mode. Its preset priority is medium (15), its preset interval is 10 ms, and its task watchdog service is activated with a time of 50 ms and a sensitivity of 1. Refer to Task Priorities information on watchdogs.

Designing an efficient application program is important in systems approaching the maximum number of tasks. In such an application, it can be difficult to keep the resource utilization below the system watchdog threshold. If priority reassignments alone are not sufficient to remain below the threshold, some lower priority tasks can be made to use fewer system resources if the SysTaskWaitSleep function, contained in the SysTask library, is added to those tasks.

NOTE: Do not delete or change the name of the MAST task. Otherwise, EcoStruxure Machine Expert detects an error when you attempt to build the application, and you are not able to download it to the controller.

(see page 48)

for more information on priority settings. Refer to Task Watchdogs for more

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Modicon M262 Logic/Moti on Controller

Controller States and Behaviors

EIO0000003651 05/2020

Controller States and Behaviors

Chapter 8

Controller States and Behaviors

Introduction

This chapter provides you with information on controller states, state transitions, and behaviors in response to system events. It begins with a detailed controller state diagram and a description of each state. It then defines the relationship of output states to controller states before explaining the commands and events that result in state transitions. It concludes with information about Remanent variables and the effect of EcoStruxure Machine Expert task programming options on the behavior of your system.

What Is in This Chapter?

This chapter contains the following sections:

Section Topic Page

8.1 Controller State Diagram 52

8.2 Controller States Description 56

8.3 State Transitions and System Events 60

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Controller States and Behaviors

Controller State Diagram

Section 8.1

Controller State Diagram

This diagram describes the controller operating mode:

ALL-CAPS BOLD: Controller states Bold: User and application commands

Italics

: System events

Normal text: Decisions, decision results, and general information

(1) For details on STOPPED to RUNNING state transition, refer to Run Command

(2) For details on RUNNING to STOPPED state transition, refer to Stop Command

EIO0000003651 05/2020

(see page 64)

Note 1

Note 2

Note 3

Note 4

Controller States and Behaviors

The alarm relay is open.

The outputs assume their hardware initialization states. The encoder power supply is not enabled. The voltage is 0. The alarm relay is closed.

In some cases, when a system error is detected, it causes the controller to reboot automatically into the EMPTY state as if no Boot application were present in the Flash memory. However, the Boot application is not deleted from the Flash memory. In this case, the ERR LED (Red) flashes fast and regularly.

After verification of a valid Boot application the following events occur:

 The application is loaded into RAM.  The Post Configuration

(see page 253)

file settings (if any) are applied.

During the load of the boot application, a Check context test occurs to assure that the Remanent variables are valid. If the Check context test is invalid, the boot application loads but the controller assumes STOPPED state

(see page 67)

Note 5a

The Starting Mode is set in the PLC settings tab of the Controller Device Editor

(seepage77)

Note 5b

When a power interruption occurs, the controller continues in the RUNNING state for at least 4 ms before shutting down. If you have configured and provide power to the Run/Stop input from the same source as the controller, the loss of power to this input is detected immediately, and the controller behaves as if a STOP command was received. Therefore, if you provide power to the controller and the Run/Stop input from the same source, your controller reboots normally into the STOPPED state after a power interruption when Starting Mode is set to Start as previous state.

Note 6

During a successful application download the following events occur:

 The application is loaded directly into RAM.  By default, the Boot application is created and saved into the Flash memory.

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Controller States and Behaviors

Note 7

The default behavior after downloading an application program is for the controller to enter the STOPPED state irrespective of the Run/Stop input setting, the Run/Stop switch position or the last controller state before the download.

However, there are two considerations in this regard: Online Change: An online change (partial download) initiated while the controller is in the

RUNNING state returns the controller to the RUNNING state if successful and provided the Run/Stop input is configured and set to Run or Run/Stop switch is set to Run. Before using the Login with online change option, test the changes to your application program in a virtual or nonproduction environment and confirm that the controller and attached equipment assume their expected conditions in the RUNNING state.

UNINTENDED EQUIPMENT OPERATION

Always verify that online changes to a RUNNING application program operate as expected before downloading them to controllers.

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

NOTE: Online changes to your program are not automatically written to the Boot application, and are overwritten by the existing Boot application at the next reboot. If you wish your changes to persist through a reboot, manually update the Boot application by selecting Create boot application in the online menu (the controller must be in the STOPPED state to achieve this operation).

Multiple Download: EcoStruxure Machine Expert has a feature that allows you to perform a full

application download to multiple targets on your network or fieldbus. One of the default options when you select the Multiple Download... command is the Start all applications after download or online change option, which restarts all download targets in the RUNNING state, provided their respective Run/Stop inputs are commanding the RUNNING state, but irrespective of their last controller state before the multiple download was initiated. Deselect this option if you do not want all targeted controllers to restart in the RUNNING state. In addition, before using the Multiple Download option, test the changes to your application program in a virtual or nonproduction environment and confirm that the targeted controllers and attached equipment assume their expected conditions in the RUNNING state.

WARNING

UNINTENDED EQUIPMENT OPERATION

Always verify that your application program will operate as expected for all targeted controllers and equipment before issuing the “Multiple Download…” command with the “Start all applications after download or online change” option selected.

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

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Note 8

Note 9

Note 10

Controller States and Behaviors

NOTE: During a multiple download, unlike a normal download, EcoStruxure Machine Expert does not offer the option to create a Boot application. You can manually create a Boot application at any time by selecting Create boot application in the Online menu on all targeted controllers.

The EcoStruxure Machine Expert software platform allows many powerful options for managing task execution and output conditions while the controller is in the STOPPED or HALT states. Refer to Controller States Description

(see page 56)

for further details.

To exit the HALT state it is necessary to issue one of the Reset commands (Reset Warm, Reset Cold, Reset Origin), download an application or cycle power.

In case of non-recoverable event (hardware watchdog or internal error), a cycle power is mandatory.

The RUNNING state has two exception conditions:

 RUNNING with External Error: this exception condition is indicated by the I/O LED, which

displays solid Red. You may exit this state by clearing the external error (probably changing the application configuration). No controller commands are required, but may however include the need of a power cycle of the controller. For more information, refer to I/O Configuration General Description

 RUNNING with Breakpoint: this exception condition is indicated by the RUN LED, which

(see page 102)

displays a single flash. Refer to Controller States Description

(see page 56)

for further details.

Note 11

The boot application can be different from the application loaded. It can happen when the boot application was downloaded through SD card, FTP, or file transfer or when an online change was performed without creating the boot application.

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Controller States and Behaviors

Controller States Description

Section 8.2

Controller States Description

Introduction

This section provides a detailed description of the controller states.

UNINTENDED EQUIPMENT OPERATION

 Never assume that your controller is in a certain controller state before commanding a change

of state, configuring your controller options, uploading a program, or modifying the physical configuration of the controller and its connected equipment.

 Consider the effect of any of these operations on all connected equipment before performing

any of these operations.

 Positively confirm the controller state by viewing its LEDs before acting on the controller.  Confirm the condition of the Run/Stop input (if so equipped and configured) and/or the

Run/Stop switch (if so equipped) before acting on the controller.

 Verify the presence of output forcing before acting on the controller.  Review the controller status information via EcoStruxure Machine Expert before acting on the

controller.

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

(1)

WARNING

(1)

The controller states can be read in the PLC_R.i_wStatus system variable of the M262 System

library.

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Controller States and Behaviors

Controller States Table

The following tables describe the controller states:

Controller State Description LED Status

BOOTING The controller executes the boot

firmware and its own internal self-tests. It then verifies the checksum of the firmware and user applications.

INVALID_OS There is not a valid firmware file present

in the flash memory or the firmware is not from Schneider Electric. The controller does not execute the application. Refer to the Updating Firmware

(see page 261)

section to restore a

correct state.

Controller State Description LED

EMPTY The controller has no application. OFF Single

EMPTY after a system error detected

This state is the same as the normal EMPTY state. But the application is present, and is intentionally not loaded. A next reboot (power cycle), or a new application download, restores correct state.

RUNNING The controller is executing a valid application. ON OFF OFF

RUNNING with breakpoint

This state is same as the RUNNING state with the following exceptions:

 The task-processing portion of the program does not resume until

the breakpoint is cleared.

 The LED indications are different.  For more information on breakpoint management, refer to

EcoStruxure Machine Expert Programming Guide.

RUNNING with external error detected

Configuration, TM3, SD card, or other I/O error detected. When I/O LED is ON, the details about the detected error can be found in PLC_R.i_lwSystemFault_1 and

PLC_R.i_lwSystemFault_2. Any of the detected error conditions reported by these variables cause the I/O LED to be ON.

STOPPED The controller has a valid application that is stopped. See details of

the STOPPED state

(see page 58)

for an explanation of the behavior

of outputs and field buses in this state.

Each LED, from the PWR LED to the NS or S3 LED, depending on the controller reference, flashes before turning solid green. The boot sequence is complete when all the LEDs are solid green. The LEDs then flash together briefly to indicate that the controller is operational.

FSP LED stays solid red after the boot sequence.

RUN (Green)

ERR (Red)

I/O (Red)

OFF

flash

OFF Fast

OFF

flash

Single

OFF OFF

flash

ON OFF ON

Regular

OFF OFF

flash

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Controller States and Behaviors

Controller State Description LED

RUN (Green)

STOPPED with external error detected

HALT The controller stops executing the application because it has

Boot Application not saved

Configuration, TM3, SD card, or other I/O error detected. Regular

detected an application error

The controller has an application in memory that differs from the application in Flash memory. At next power cycle, the application is changed by the one from Flash memory.

flash

Regular flash

ON or regular flash

This figure shows the difference between the fast flash, the regular flash and single flash:

ERR (Red)

OFF ON

ON –

Single flash

I/O (Red)

OFF

Details of the STOPPED State

The following statements are true for the STOPPED state:

 The input configured as the Run/Stop input remains operational.  The output configured as the Alarm output remains operational and goes to a value of 0.  Ethernet, Serial (Modbus, ASCII, and so on), and USB communication services remain

operational and commands written by these services can continue to affect the application, the controller state, and the memory variables.

 Web visualization is not operational.  Outputs initially assume their configured default state (Keep current values or Set all outputs to

default) or the state dictated by output forcing if used. The subsequent state of the outputs depends on the value of the Update IO while in stop setting and on commands received from remote devices. For more information on the behavior of the TM3 outputs, refer to Modicon TM3 Expansion Modules Configuration - Programming Guide

Modules, Programming Guide)

(see Modicon TM3, Expansion

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Controller States and Behaviors

Task and I/O Behavior When Update IO While In Stop Is Selected

When the Update IO while in stop setting is selected:

 The Read Inputs operation continues normally. The physical input s are re ad and th en writ t en

to the %I input memory variables.

 The Task Processing operation is not executed.  The Write Outputs operation continues. The %Q output memory variables are updated to

reflect either the Keep current values configuration or the Set all outputs to default configuration, adjusted for any output forcing, and then written to the physical outputs.

CANopen Behavior When Update IO While In Stop Is Selected

The following is true for the CANopen buses when the Update IO while in stop setting is selected:

 The CANopen bus remains fully operational. Devices on the CANopen bus continue to

perceive the presence of a functional CANopen Master.

 TPDO and RPDO continue to be exchanged.  The optional SDO, if configured, continue to be exchanged.  The Heartbeat and Node Guarding functions, if configured, continue to operate.  If the Behaviour for outputs in Stop field is set to Keep current values, the TPDOs continue

to be issued with the last actual values.

 If the Behaviour for outputs in Stop field is Set all outputs to default the last actual values are

updated to the default values and subsequent TPDOs are issued with these default values.

Task and I/O Behavior When Update IO While In Stop Is Not Selected

When the Update IO while in stop setting is not selected, the controller sets the I/O to either the Keep current values or Set all outputs to default condition (as adjusted for output forcing if used). After this, the following becomes true:

 The Read Inputs operation ceases. The %I input memory variables are frozen at their last

values.

 The Task Processing operation is not executed.  The Write Outputs operation ceases. The %Q output memory variables can be updated via

the Ethernet, Serial, and USB connections. However, the physical outputs are unaffected and retain the state specified by the configuration options.

CANopen Behavior When Update IO While In Stop Is Not Selected

The following is true for the CANopen buses when the Update IO while in stop setting is not selected:

 The CANopen Master ceases communications. Devices on the CANopen bus assume their

configured fallback states.

 TPDO and RPDO exchanges cease.  Optional SDO, if configured, exchanges cease.  The Heartbeat and Node Guarding functions, if configured, stop.  The current or default values, as appropriate, are written to the TPDOs and sent once before

stopping the CANopen Master.

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Controller States and Behaviors

State Transitions and System Events

Section 8.3

State Transitions and System Events

Overview

This section begins with an explanation of the output states possible for the controller. It then presents the system commands used to transition between controller states and the system events that can also affect these states. It concludes with an explanation of the Remanent variables, and the circumstances under which different variables and data types are retained through state transitions.

What Is in This Section?

This section contains the following topics:

Controller States and Output Behavior 61

Commanding State Transitions 64

Error Detection, Types, and Management 70

Remanent Variables 71

Topic Page

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Controller States and Output Behavior

Introduction

The Modicon M262 Logic/Motion Controller defines output behavior in response to commands and system events in a way that allows for greater flexibility. An understanding of this behavior is necessary before discussing the commands and events that affect controller states. For example, typical controllers define only two options for output behavior in stop: fallback to default value or keep current value.

The possible output behaviors and the controller states to which they apply are:

 Managed by Application Program  Keep current values  Set all outputs to default  Hardware Initialization Values  Software Initialization Values  Output Forcing

NOTE: For TM3 Expert module reflex output behavior, refer to Modicon TM3 Expansion Modules Configuration - Programming Guide

Guide)

Managed by Application Program

Your application program manages outputs normally. This applies in the RUNNING and RUNNING with External Error Detected states.

NOTE: An exception to this is if the RUNNING with External Error Detected state has been provoked by a I/O expansion bus error. For more information, refer to I/O Configuration General Description

(see page 102)

(see Modicon TM3, Expansion Modules, Programming

Controller States and Behaviors

Keep Current Values

Select this option by choosing Controller Editor → PLC settings → Behavior for outputs in Stop → Keep current values. To access the Controller Editor, right-click on the controller in the device tree and select Edit Object.

This output behavior applies in the STOPPED controller state. It also applies to CAN bus in the HALT controller state. Outputs are set to and maintained in their current state, although the details of the output behavior vary greatly depending on the setting of the Update I/O while in stop option and the actions commanded via configured fieldbusses. Refer to for more details on these variations.

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Controller States and Behaviors

Set All Outputs to Default

Select this option by choosing Controller Editor → PLC settings → Behavior for outputs in Stop → Set all outputs to default. To access the Controller Editor, right-click on the controller in the device tree and select Edit Object.

This output behavior applies:

 when the controller is going from RUN state to STOPPED state.  if the controller is going from RUN state to HALT state.  after application download.  after reset warm/cold command.  after a reboot.

It also applies to CAN bus in the HALT controller state. Outputs are set to and maintained in their current state, although the details of the output behavior vary greatly depending on the setting of the Update I/O while in stop option and the actions commanded via configured fieldbusses.Refer to Controller States Description

Hardware Initialization Values

This output state applies in the BOOTING, EMPTY (following power cycle with no boot application or after the detection of a system error), and INVALID_OS states.

In the initialization state, analog, transistor, and relay outputs assume the following values:

 For an analog output: Z (high impedance)  For a fast transistor output: Z (high impedance)  For a regular transistor output: 0 Vdc  For a relay output: Open

(see page 56)

for more details on these variations.

Software Initialization Values

This output state applies when downloading or when resetting the application. It applies at the end of the download or at the end of a reset warm or cold.

The software Initialization Values are the initialization values of outputs images (%I, %Q, or variables mapped on %I or %Q).

By default, they are set to 0 but it is possible to map the I/O in a GVL and assign to the outputs a value different than 0.

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Output Forcing

The controller allows you to force the state of selected outputs to a defined value for the purposes of system testing, commissioning, and maintenance.

You are only able to force the value of an output while your controller is connected to EcoStruxure Machine Expert.

To do so, use the Force values command in the Debug menu.

Output forcing overrides all other commands (except write immediate) to an output irrespective of the task programming that is being executed.

When you logout of EcoStruxure Machine Expert when output forcing has been defined, you are presented with the option to retain output forcing settings. If you select this option, the output forcing continues to control the state of the selected outputs until you download an application or use one of the Reset commands.

When the option Update I/O while in stop, if supported by your controller, is checked (default state), the forced outputs keep the forcing value even when the logic controller is in STOP.

Output Forcing Considerations

The output you wish to force must be contained in a task that is currently being executed by the controller. Forcing outputs in unexecuted tasks, or in tasks whose execution is delayed either by priorities or events has no effect on the output. However, once the task that had been delayed is executed, the forcing takes effect at that time.

Depending on task execution, the forcing could impact your application in ways that may not be obvious to you. For example, an event task could turn on an output. Later, you may attempt to turn off that output but the event is not being triggered at the time. This would have the effect of the forcing being apparently ignored. Further, at a later time, the event could trigger the task at which point the forcing would take effect.

In case of any forced variable, the FSP LED is flashing red, regular flash.

Controller States and Behaviors

WARNING

UNINTENDED EQUIPMENT OPERATION

 You must have a thorough understanding of how forcing will affect the outputs relative to the

tasks being executed.

 Do not attempt to force I/O that is contained in tasks that you are not certain will be executed

in a timely manner, unless your intent is for the forcing to take affect at the next execution of the task whenever that may be.

 If you force an output and there is no apparent affect on the physical output, do not exit

EcoStruxure Machine Expert without removing the forcing.

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

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Controller States and Behaviors

Commanding State Transitions

Run Command

Effect:

Commands a transition to the RUNNING controller state.

Starting Conditions:

Methods for Issuing a Run Command:

 Refer to Run/Stop Input  EcoStruxure Machine Expert Online Menu: Select the Start command.  RUN command from Web Server  By an external call via Modbus request using the PLC_W.q_wPLCControl and

PLC_W.q_uiOpenPLCControl system variables of the M262 System library.

 Login with online change option: An online change (partial download) initiated while the

controller is in the RUNNING state returns the controller to the RUNNING state if successful.

 Multiple Download Command: sets the controllers into the RUNNING state if the Start all

applications after download or online change option is selected, irrespective of whether the targeted controllers were initially in the RUNNING, STOPPED, HALT, or EMPTY state.

 The controller is restarted into the RUNNING state automatically under certain conditions.

Refer to Controller State Diagram

Stop Command

Effect:

Starting Conditions:

Methods for Issuing a Stop Command:

 Run/Stop Input: If configured, command a value of 0 to the Run/Stop input. Refer to Run/Stop

Input

 EcoStruxure Machine Expert Online Menu: Select the Stop command.  STOP command from WebServer  By an internal call by the application or an external call via Modbus request using the PLC_W.

q_wPLCControl and PLC_W. q_uiOpenPLCControl system variables of the M262 System library.

 Login with online change option: An online change (partial download) initiated while the

controller is in the STOPPED state returns the controller to the STOPPED state if successful.

 Download Command: implicitly sets the controller into the STOPPED state.  Multiple Download Command: sets the controllers into the STOPPED state if the Start all

applications after download or online change option is not selected, irrespective of whether the targeted controllers were initially in the RUNNING, STOPPED, HALT, or EMPTY state.

 REBOOT by Script: The file transfer script on an SD card can issue a REBOOT as its final

command. The controller is rebooted into the STOPPED state provided the other conditions of the boot sequence allow this to occur. Refer to Reboot

 The controller is restarted into the STOPPED state automatically under certain conditions.

Refer to Controller State Diagram

Commands a transition to the STOPPED controller state.

(see page 91)

BOOTING or STOPPED state.

(see page 91)

BOOTING, EMPTY, or RUNNING state.

for more information.

(see page 52)

for further details.

(see page 67)

for further details.

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Reset Warm

Effect: controller into the STOPPED state.

Starting Conditions:

Methods for Issuing a Reset Warm Command:

 EcoStruxure Machine Expert Online Menu: Select the Reset warm command.  By an internal call by the application or an external call via Modbus request using the PLC_W.

q_wPLCControl and PLC_W. q_uiOpenPLCControl system variables of the M262 System library.

Effects of the Reset Warm Command:

1. The application stops.

2. Forcing is erased.

3. Diagnostic indications for errors are reset.

4. The values of the retain variables are maintained.

5. The values of the retain-persistent variables are maintained.

6. All non-located and non-remanent variables are reset to their initialization values.

7. The values of the 0...59999 %MW registers are reset to 0.

8. All fieldbus communications are stopped and then restarted after the reset is complete.

9. All inputs are reset to their initialization values. All outputs are reset to their software initialization

values or their default values if no software initialization values are defined.

10.The Post Configuration file is read

For details on variables, refer to Remanent Variables

Controller States and Behaviors

Resets all variables, except for the remanent variables, to their default values. Places the

RUNNING, STOPPED, or HALT states.

(see page 253)

(see page 71)

Reset Cold

Effect:

Resets all variables, except for the retain-persistent type of remanent variables, to their

initialization values. Places the controller into the STOPPED state.

Starting Conditions:

RUNNING, STOPPED, or HALT states.

Methods for Issuing a Reset Cold Command:

 EcoStruxure Machine Expert Online Menu: Select the Reset cold command.  By an internal call by the application or an external call via Modbus request using the PLC_W.

q_wPLCControl and PLC_W. q_uiOpenPLCControl system variables of the M262 System library.

Effects of the Reset Cold Command:

1. The application stops.

2. Forcing is erased.

3. Diagnostic indications for errors are reset.

4. The values of the retain variables are reset to their initialization value.

5. The values of the retain-persistent variables are maintained.

6. All non-located and non-remanent variables are reset to their initialization values.

7. The values of %MW0 to %MW59999 registers are reset to 0.

8. All fieldbus communications are stopped and then restarted after the reset is complete.

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Controller States and Behaviors

9. All inputs are reset to their initialization values. All outputs are reset to their software initialization values or their default values if no software initialization values are defined.

10.The Post Configuration file is read

For details on variables, refer to Remanent Variables

Reset Origin

Resets all variables, including the remanent variables, to their initialization values. Erases

Effect: all user files on the controller. Places the controller into the EMPTY state.

Starting Conditions:

Methods for Issuing a Reset Origin Command:

 EcoStruxure Machine Expert Online Menu: Select the Reset origin command.

Effects of the Reset Origin Command:

1. The application stops.

2. Forcing is erased.

3. The web visu files are erased.

4. The user files (Boot application, Post Configuration, App, App/MFW, Cfg) are erased.

5. Diagnostic indications for errors are reset.

6. The values of the retain variables are reset.

7. The values of the retain-persistent variables are reset.

8. All non-located and non-remanent variables are reset.

9. All fieldbus communications are stopped.

10.Embedded Expert I/O are reset to their previous user-configured default values.

11.All other inputs are reset to their initialization values. All other outputs are reset to their hardware initialization values.

12.User rights are deleted.

13.Security certificates are erased.

14.System Logs are maintained.

For details on variables, refer to Remanent Variables

(see page 253)

(see page 71)

RUNNING, STOPPED, or HALT states.

(see page 71)

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Reboot

Controller States and Behaviors

Effect:

Commands a reboot of the controller.

Starting Conditions:

Any state.

Methods for Issuing the Reboot Command:

 Power cycle  REBOOT by Script

Effects of the Reboot:

1. The state of the controller depends on a number of conditions:

a. The controller state is RUNNING if:

The Reboot was provoked by a power cycle and:

- the Starting Mode is set to Start in run, and if the Run/Stop input is not configured, and if the controller was not in HALT state before the power cycle, and if the remanent variables are valid.

- the Starting Mode is set to Start in run, and if the Run/Stop input is configured and set to RUN, and if the controller was not in HALT state before the power cycle, and if the remanent variables are valid.

- the Starting Mode is set to Start as previous state, and Controller state was RUNNING before the power cycle, and if the Run/Stop input is set to not configured and the boot application has not changed and the remanent variables are valid.

- the Starting Mode is set to Start as previous state, and Controller state was RUNNING before the power cycle, and if the Run/Stop input is configured and is set to RUN. The Reboot was provoked by a script and:

- the Starting Mode is set to Start in run, and if the Run/Stop input or switch is configured and set to RUN, and if the controller was not in HALT state before the power cycle, and if the remanent variables are valid.

b. The controller state is STOPPED if:

The Reboot was provoked by a power cycle and:

- the Starting Mode is set to Start in stop.

- the Starting Mode is set to Start as previous state and the controller state was not RUNNING before the power cycle.

- the Starting Mode is set to Start as previous state and the controller state was RUNNING before the power cycle, and if the Run/Stop input is set to not configured, and if the boot application has changed.

- the Starting Mode is set to Start as previous state and the controller state was RUNNING before the power cycle, and if the Run/Stop input is configured and is set to STOP.

- the Starting Mode is set to Start in run and if the controller state was HALT before the power cycle.

- the Starting Mode is set to Start in run, and if the controller state was not HALT before the power cycle, and if the Run/Stop input is configured and is set to STOP.

- the Starting Mode is set to Start as previous state and if the Run/Stop input or switch is configured and set to RUN, and if the controller was not in HALT state before the power cycle.

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Controller States and Behaviors

- the Starting Mode is set to Start as previous state and if the Run/Stop input or switch is not configured, and if the controller was not in HALT state before the power cycle.

c. The controller state is EMPTY if:

- There is no boot application or the boot application is invalid, or

- The reboot was provoked by specific System Errors.

d. The controller state is INVALID_OS if there is no valid firmware.

2. Forcing is maintained if the boot application is loaded successfully. If not, forcing is erased.

3. Diagnostic indications for errors are reset.

4. The values of the retain variables are restored if saved context is valid.

5. The values of the retain-persistent variables are restored if saved context is valid.

6. All non-located and non-remanent variables are reset to their initialization values.

7. The values of %MW0 to %MW59999 registers are reset to 0.

8. All fieldbus communications are stopped and restarted after the boot application is loaded successfully.

9. All inputs are reset to their initialization values. All outputs are reset to their hardware initialization values and then to their software initialization values or their default values if no software initialization values are defined.

10.The Post Configuration file is read

11.The controller file system is initialized and its resources (sockets, file handles, and so on) are deallocated. The file system employed by the controller needs to be periodically re-established by a power cycle of the controller. If you do not perform regular maintenance of your machine, or if you are using an Uninterruptible Power Supply (UPS), you must force a power cycle (removal and reapplication of power) to the controller at least once a year.

(see page 253)

NOTICE

DEGRADATION OF PERFORMANCE

Reboot your controller at least once a year by removing and then reapplying power.

Failure to follow these instructions can result in equipment damage.

For details on variables, refer to Remanent Variables

NOTE: The Check context test concludes that the context is valid when the application and the remanent variables are the same as defined in the Boot application.

NOTE: If you provide power to the Run/Stop input from the same source as the controller, the loss of power to this input is detected immediately, and the controller behaves as if a STOP command was received. Therefore, if you provide power to the controller and the Run/Stop input from the same source, your controller reboots normally into the STOPPED state after a power interruption when Starting Mode is set to Start as previous state.

NOTE: If you make an online change to your application program while your controller is in the RUNNING or STOPPED state but do not manually update your Boot application, the controller detects a difference in context at the next reboot, the remanent variables are reset as per a Reset cold command, and the controller enters the STOPPED state.

(see page 71)

EIO0000003651 05/2020

Download Application

Effect:

Loads your application executable into the RAM memory. Optionally, creates a Boot

application in the Flash memory.

Starting Conditions:

Methods for Issuing the Download Application Command:

 EcoStruxure Machine Expert:

2 options exist for downloading a full application:

 Download command.  Multiple Download command.

For important information on the application download commands, refer to Controller State Diagram.

 FTP: Load Boot application file to the Flash memory using FTP. The updated file is applied at

the next reboot.

 SD card: Load Boot application file using an SD card in the controller SD card slot. The updated

file is applied at the next reboot. Refer to File Transfer with SD Card for further details.

Effects of the EcoStruxure Machine Expert Download Command:

1. The existing application stops and then is erased.

2. If valid, the new application is loaded and the controller assumes a STOPPED state.

3. Forcing is erased.

4. Diagnostic indications for errors are reset.

5. The values of the retain variables are reset to their initialization values.

6. The values of any existing retain-persistent variables are maintained.

7. All non-located and non-remanent variables are reset to their initialization values.

8. The values of %MW0 to %MW59999 registers are reset to 0.

9. All fieldbus communications are stopped and then any configured fieldbus of the new

application is started after the download is complete.

10.Embedded Expert I/O are reset to their previous user-configured default values and then set to

the new user-configured default values after the download is complete.

11.All inputs are reset to their initialization values. All outputs are reset to their hardware

initialization values and then to their software initialization values or their default values if no software initialization values are defined, after the download is complete.

12.The Post Configuration file is read

For details on variables, refer to Remanent Variables

Effects of the FTP or SD Card Download Command:

There are no effects until the next reboot. At the next reboot, the effects are the same as a reboot with an invalid context. Refer to Reboot

Controller States and Behaviors

RUNNING, STOPPED, HALT, and EMPTY states.

(see page 253)

(see page 67)

(see page 71)

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Controller States and Behaviors

Error Detection, Types, and Management

Error Management

The controller detects and manages three types of errors:

 External errors  Application errors  System errors

This table describes the types of errors that may be detected:

Type of Error Detected

External Error

Description Resulting Controller

State

External errors are detected by the system while RUNNING or STOPPED but do not affect the ongoing controller state. An external error is detected in the following cases:

 A connected device reports an error to the controller.  The controller detects an error with an external device, for

RUNNING with External Error Detected Or STOPPED with External Error Detected

example, when the external device is communicating but not properly configured for use with the controller.

 The controller detects an error with an output.  The controller detects a communication interruption with a

device.

 The controller is configured for an expansion module that is not

present or not detected, and has not otherwise been declared as

(1)

an optional module

 The boot application in Flash memory is not the same as the one

in RAM.

 The I/O LED is red ON.

Application Error

An application error is detected when improper programming is encountered or when a task watchdog threshold is exceeded.

HALT

The controller is in STOP state. The ERR LED is red ON.

System Error A system error is detected when the controller enters a condition

BOOTING → EMPTY that cannot be managed during runtime. Most such conditions result from firmware or hardware exceptions, but there are some cases when incorrect programming can result in the detection of a system error, for example, when attempting to write to memory that was reserved during runtime, or when a system watchdog occurs. The ERR LED is fast flashing RED.

NOTE: There are some system errors that can be managed by

runtime and are therefore treated like application errors.

(1) Expansion modules may appear to be absent for any number of reasons, even if the absent I/O module

is physically present on the bus. For more information, refer to I/O Configuration General Description

(see page 102)

NOTE: Refer to the M262 System Library Guide for more detailed information on diagnostics.

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Remanent Variables

Overview

Remanent data refers to variables that are defined in Programming Organization Units (POUs) as retain or retain-persistent. In the event of power outages, reboots, resets, and application program downloads, remanent variables can either be reinitialized or retain their values.

This table describes the behavior of remanent variables in each case:

Action VAR VAR RETAIN VAR GLOBAL RETAIN

Online change to application program X X X

Online change modifying the boot application

Stop X X X

Power cycle – X X

Reset warm –

Reset cold – – X

Reset origin – – –

Download of application program

X The value is maintained. – The value is reinitialized. (1) Retain variable values are maintained if an online change modifies only the code part of the boot

(2) For more details on VAR RETAIN, refer to Effects of the Reset warm Command (3) If the application is downloaded using an SD card, any existing retain-persistent variables used by the

(1)

application (for example, a:=a+1; => a:=a+2;). In all other cases, retain variables are reinitialized.

application are reinitialized. If the application is downloaded using EcoStruxure Machine Expert, however, existing retain-persistent variables maintain their values. In both cases, if the downloaded application contains the same retain-persistent variables as the existing application, the existing retain variables maintain their values.

Controller States and Behaviors

PERSISTENT

–X X

(2)

(3)

–– X

(see page 65)

Adding Retain-Persistent Variables

Declare retain-persistent (VAR GLOBAL PERSISTENT RETAIN) symbols in the PersistentVars window:

Step Action

1 In the Applications tree, select the Application node.

2 Click the right mouse button.

3 Choose Add Objects → Persistent variables

4 Click Add.

Result: The PersistentVars window is displayed.

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Controller States and Behaviors

Retain and Persistent Variables: Performance Impact

Retain or retain-persistent variables are located in a dedicated non-volatile memory. Each time these variables are accessed during Programming Organization Unit (POU) execution, the nonvolatile memory is accessed. The access time of these variables is slower than the access time of regular variables, which can impact performance. This is an important fact to take into account when writing performance-sensitive POUs.

For more information about the impact of retain and retain persistent variables on cycle time during POU execution, see Processing Performance

(see page 313)

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Modicon M262 Logic/Moti on Controller

Controller Device Edito r

EIO0000003651 05/2020

Controller Device Edito r

Chapter 9

Controller Device Editor

Introduction

This chapter describes how to configure the controller.

What Is in This Chapter?

This chapter contains the following topics:

Controller Parameters 74

Communication Settings 76

PLC Settings 77

Services 79

Ethernet Services 81

Users Rights 85

Topic Page

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Controller Device Editor

Controller Parameters

To open the device editor, double-click MyController in the Devices tree:

Tabs Description

Tab Description Restriction

Communication settings

(see page 76)

Applications Presents the application running on the controller and allows

Files

(see page 30)

Log View the controller log file. Online mode

PLC settings

(see page 77)

Services

(see page 79)

Task deployment Displays a list of I/Os and their assignments to tasks. After

Manages the connection between the PC and the controller:

 Helping you find a controller in a network,  Presenting the list of available controllers, so you can connect to

the selected controller and manage the application in the controller,

 Helping you physically identify the controller from the device

editor,

 Helping you change the communication settings of the controller.

The controller list is detected through NetManage or through the Active Path based on the communication settings. To access the Communication settings, click Project → Project Settings... in the menu bar. For more information, refer to the EcoStruxure Machine Expert Programming Guide (

removing the application from the controller. If the state is EMPTY, boot application is deleted.

File management between the PC and the controller. Only one logic controller disk at a time can be seen through this tab. This tab displays the content of the memory of the controller.

Configuration of:

 Starting mode options  I/O behavior in stop  Bus cycle options

Date and time settings, versions. Online mode

Communication Settings

/usr

directory of the internal flash

–

Online mode only

only

–

only

compilation only

EIO0000003651 05/2020

Controller Device Editor

Tab Description Restriction

Ethernet Services

(see page 81)

Users and Groups The Users and Groups tab is provided for devices supporting online

Access Rights

(see page 85)

OPC UA Server Configuration

Diagnostic Table Displays the data of the controller. The self-awareness data can be

Information Displays general information about the device (name, description,

Ethernet_1 and Ethernet_2 tabs summarize the Ethernet connections. The IP Routing tab allows you to configure the routes and the cross network transparency through IP Forwarding options. The Ethernet Resources tab allows you to calculate the number of connections and channels configured.

user management. It allows setting up users and access-rights groups and assigning them access rights to control the access on EcoStruxure Machine Expert projects and devices in online mode. For more information, refer to the EcoStruxure Machine Expert Programming Guide.

The Access Rights tab allows you to define the device access rights of device users. For more information, refer to the EcoStruxure Machine Expert Programming Guide

Programming Guide)

Displays the OPC UA Server Configuration

accessed using the syntax NameOfControllerInDeviceTree.NameofParameter.

Example: MyController.SA_NbPowerOn.

provider, version, image).

(see EcoStruxure Machine Expert,

(see page 241)

window. –

–

Online mode only

–

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Controller Device Editor

Communication Settings

Introduction

This tab allows you to manage the connection from the PC to the controller:

 Helping you find a controller in a network.  Presenting the list of controllers, so you can connect to the selected controller and manage the

application inside the controller.

 Helping you physically identify the controller from the device editor.  Helping you change the communication settings of the controller.

Editing Communication Settings

The Edit communication settings window lets you change the Ethernet communication settings. To do so, click Communication settings tab. The list of controllers available in the network appears. Select and right-click the required row and click Edit communication settings... in the context menu.

You can configure the Ethernet settings in the Edit communication settings window in two ways:

 Without the Save settings permanently option:

Configure the communication parameters and click OK. These settings are immediately taken into account and are not kept if the controller is reset. For the next resets, the communication parameters configured into the application are taken into account.

 With the Save settings permanently option:

You can also activate the Save settings permanently option before you click OK. Once this option is activated, the Ethernet parameters configured here are taken into account on reset instead of the Ethernet parameters configured into the EcoStruxure Machine Expert application. For more information on the Communication settings view of the device editor, refer to the EcoStruxure Machine Expert Programming Guide.

Editing the communication settings modifies the settings of the Ethernet interface used for the connection.

NOTE: If you are connected by USB, the Ethernet_2 settings are modified.

NOTE: Click the update icon to apply the changes.

EIO0000003651 05/2020

PLC Settings

Overview

The figure below presents the PLC Settings tab:

Controller Device Editor

Element Description

Application for I/O handling By default, set to Application because there is only one application in the

PLC settings Update IO while in

Bus cycle options

stop

Behavior for outputs in Stop

Always update variables

Bus cycle task This configuration setting is the parent for all Bus cycle task parameters used

controller.

If this option is activated (default), the values of the input and output channels get also updated when the controller is stopped.

From the selection list, choose one of the following options to configure how the values at the output channels should be handled in case of controller stop:

 Keep current values  Set all outputs to default

By default, set to Enabled 1 (use bus cycle task if not used in task) and not editable.

in the application device tree. Some devices with cyclic calls, such as a CANopen manager, can be attached to a specific task. In the device, when this setting is set to Use parent bus cycle setting, the setting set for the controller is used. The selection list offers all tasks currently defined in the active application. The default setting is the MAST task.

NOTE: <unspecified> means that the task is in "slowest cyclic task" mode.

EIO0000003651 05/2020 77

Controller Device Editor

Element Description

Additional settings

Generate force variables for IO

Not used.

mapping

Enable Diagnosis for

Not used.

devices

Show I/O warnings

Not used.

as errors

Starting mode Options

Starting mode This option defines the starting mode on a power-on. For further information,

refer to State behavior diagram Select with this option one of these starting modes:

 Start as previous state  Start in stop  Start in run

(see page 52)

EIO0000003651 05/2020

Services

Services Tab

The Services tab is divided in three parts:

 RTC Configuration  Device Identification  Post Configuration

The figure below shows the Services tab:

Controller Device Editor

NOTE: To have controller information, you must be connected to the controller.

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Controller Device Editor

NOTE: RTC information can be configured by Web Server or using the SysTimeRtcSet function block. For more information, refer to the M262 System Library Guide.

Element Description

RTC Configuration

Device Identification Displays the Firmware Version, the Boot Version, and the

Post Configuration Displays the application parameters overwritten by the Post

PLC Time Displays the date and time read from the controller when the Read

button is clicked, with no conversion applied. This read-only field is initially empty. If Write as UTC is selected, PLC Time is in UTC.

Read Reads the date and time saved on the controller and displays the

Local Time Lets you define a date and a time that are sent to the controller

Write Writes the date and time defined in the Local time field to the logic

Synchronize with local date/time

values in the PLC Time field.

when the Write button is clicked. If necessary, modify the default values before clicking the Write button. A message box informs you about the result of the command. The date and time fields are initially filled with the current PC settings.

controller. A message box informs you of the result of the command. Select the Write as UTC checkbox before running this command to write the values in UTC format.

Lets you directly send the PC settings. A message box informs you of the result of the command. Select Write as UTC before running this command to use UTC format. Use UTC time when using secure communication.

Coprocessor Version of the selected controller, if connected.

configuration

(see page 253)

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Controller Device Editor

Ethernet Services

Presentation

This tab displays the list of Ethernet or Sercos devices which are configured to be controlled by Modicon M262 Logic/Motion Controller.

 Ethernet_1  Ethernet_2

Toolbar

The following table describes the toolbar:

Element Description

Generate IP address Allows you to generate the configurations of each device configured in the Devices tree.

Filter Options Allows you to display more information on the configured devices.

Discover devices Start the Machine Assistant which allows you to discover and to configure the devices.

Network Settings

To view the configuration of a device, click the tab above the toolbar. The following information displays:

 IP Address  Subnet Mask  Gateway  Subnet Address

Configured Devices in the Project

Element Description Restriction

Device Name Name of the device from the Devices tree.

Click the device name to access the device configuration.

Device Type Type of the device. Cannot be edited.

IP Address IP Address of the device.

Can be left blank for Sercos devices

MAC Address MAC address of the target device.

Can be left blank for Sercos devices

DHCP Device Name Hostname of the target device Can be edited if IP Address by

Subnet Mask Subnet mask of the device Visible if Expert Mode selected in

EIO0000003651 05/2020 81

Cannot be edited.

–

Can be edited if IP Address by BOOTP selected in the configuration of the device.

DHCP selected in the configuration of the device.

Filter Options.

Controller Device Editor

Element Description Restriction

Gateway Address Gateway address of the device Visible if Expert Mode selected in

Identified by Four identification modes are possible:

Protocol Protocol used Cannot be edited.

Identifier Identifier of the device Can be edited for Sercos device.

Identification Mode Identification mode of the device Can be edited for Sercos device.

Operating Mode Three operating modes are possible:

Ethernet Resources

The Ethernet Resources tab:

 Displays the number of configured connections and channels.  Displays the number of input words.  Displays the number of output words.  Displays the scanner load.

Filter Options.

–

 None  Fixed  BOOTP  DHCP

Can be edited for Sercos device.

 Activated  Simulated  Optional

IP Routing

The IP Routing tab allows you to configure the IP routes in the controller.

The parameter Enable IP forwarding allows you to deactivate the IP forwarding service of the controller. When deactivated, the communication is not routed from a network to another one. The devices on the device network are no longer accessible from the control network and related features like Web pages access on device or commissioning of device via DTM, EcoStruxure Machine Expert - Safety and so on are not possible.

The Modicon M262 Logic/Motion Controller can have up to three Ethernet interfaces. Using a routing table is necessary to communicate with remote networks connected to different Ethernet interfaces. The gateway is the IP address used to connect to the remote network, which needs to be in local network of the controller.

EIO0000003651 05/2020

Controller Device Editor

This graphic depicts an example network, in which the last two rows of devices (gray and red) need to be added in the routing table:

Use the routing tables to manage the IP forwarding. The routing tables are settled with:

Network Destination Network Mask Gateway

xx.xx.xx.xx xx.xx.xx.xx xx.xx.xx.xx

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Controller Device Editor

To add a route, double click My controller then click Ethernet Services → IP Routing → Add Route.

For reasons of Internet security, TCP/IP forwarding is disabled by default. Therefore, you must manually enable TCP/IP forwarding. However, doing so may expose your network to possible cyberattacks if you do not take additional measures to protect your enterprise. In addition, you may be subject to laws and regulations concerning cybersecurity.

WARNING

UNAUTHENTICATED ACCESS AND SUBSEQUENT NETWORK INTRUSION

 Observe and respect any an all pertinent national, regional and local cybersecurity and/or

personal data laws and regulations when enabling TCP/IP forwarding on an industrial network.

 Isolate your industrial network from other networks inside your company.  Protect any network against unintended access by using firewalls, VPN, or other, proven

security measures.

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

EIO0000003651 05/2020

Users Rights

Introduction

Users and Groups and Access Right tabs access rights groups and the associated access rights, to control the access on projects. For more informations, refer to the EcoStruxure Machine Expert Programming Guide

Machine Expert, Programming Guide)

This table describes how to log in:

(see page 74)

Controller Device Editor

allows to manage user accounts, user

(see EcoStruxure

Server/feature First connection

EcoStruxure Machine Expert

HTTP No login possible Administrator /

FTP No login possible Administrator /

OPC-UA No login possible Administrator /

Change Device Name feature

Administrator / Administrator

No login possible Administrator /

User rights Login / Password

Administrator / configured password

configured password

Connection after reset to default Login / Password

Administrator / Administrator

No login possible

WARNING

UNAUTHORIZED DATA AND/OR APPLICATION ACCESS

 Secure access to the FTP/Web/OPC-UA server(s) using User Rights.  If you disable User Rights, disable the server(s) to prevent any unwanted or unauthorized

access to your application and/or data.

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

NOTE: Anonymous login can be restored by removing the user rights in the User Management

(see page 141)

page

NOTE: Only ASCII characters are supported by the controller for login and password.

of the web server.

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Controller Device Editor

Default users and groups

One user and two groups are set by default:

 User: Administrator  Groups: Administrator and Everyone

Access Rights

You can give Access Rights to groups.

You can allow the following operations through the access rights:

 VIEW  MODIFY  EXECUTE  ADD_REMOVE

Troubleshooting

The only way to gain access to a controller that has user access-rights enabled and for which you do not have the password(s) is by performing an Update Firmware operation. This clearing of User Rights can only be accomplished by using a SD card to update the controller firmware. In addition, you may clear the User Rights in the controller by running a script (refer to Reset the User Rights to Default

(see page 278)

memory, but restores the ability to access the Controller.

). This effectively removes the existing application from the controller

EIO0000003651 05/2020

Modicon M262 Logic/Moti on Controller

Embedded I/Os Configuration

EIO0000003651 05/2020

Embedded Inputs and Ou tputs Configuratio n

Chapter 10

Embedded Inputs and Outputs Configuration

What Is in This Chapter?

This chapter contains the following sections:

Section Topic Page

10.1 Configuring the Fast I/Os 88

10.2 Hardware Encoder Interface 94

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Embedded I/Os Configuration

Configuring the Fast I/Os

Section 10.1

Configuring the Fast I/Os

Embedded I/Os Configuration

Overview

The embedded I/O function allows configuration of the controller inputs and outputs.

The TM262• logic controllers provide:

 4 fast inputs.  4 fast outputs.

Accessing the I/O Configuration Window

Follow these steps to access the I/O configuration window:

Step Description

1 Double-click DI (digital inputs) or DQ (digital outputs) in the Devices tree. Refer to Devices tree

(see page 21)

2 Select the I/O Configuration tab.

EIO0000003651 05/2020

Configuration of Digital Inputs

This figure shows the I/O Configuration tab for digital inputs:

NOTE: For more information on the I/O Mapping tab, refer to the EcoStruxure Machine Expert Programming Guide

Embedded I/Os Configuration

(see EcoStruxure Machine Expert, Programming Guide)

EIO0000003651 05/2020 89

Embedded I/Os Configuration

Digital Input Configuration Parameters

For each digital input, you can configure the following parameters:

Parameter Value Description Constraint

Filter 0.000 ms

Latch No*

Event No*

Run/Stop Input

* Parameter default value

0.001 ms

0.002 ms

0.005 ms

0.01 ms

0.05 ms

0.1 ms

0.5 ms 1ms 4ms* 12 ms

Yes

Rising edge Falling edge Both edges

None* I0...I3

Reduces the effect of noise on a controller input.

Allows incoming pulses with amplitude widths shorter than the controller scan time to be captured and recorded.

Event detection Available if Latch disabled. When Both edges is

The Run/Stop input can be used to run or stop the controller application.

Configure Filter to 0.000 if you don’t want to filter the signal.

Available if Event disabled.

selected, and the input state is TRUE before the controller is powered on, the first falling edge is ignored.

Select one of the inputs to use as the Run/Stop Input.

NOTE: The selection is grey and inactive if the parameter is unavailable.

EIO0000003651 05/2020

Run/Stop Input

This table presents the different states:

Input states Result

State 0 Stops the controller and ignores external Run commands. FSP LED is red ON.

A rising edge From the STOPPED state, initiate a start-up of an application in RUNNING state, if

State 1 The application can be controlled by:

NOTE: Run/Stop input is managed even if the option Update I/O while in stop is not selected in Controller Device Editor (PLC settings tab) Inputs assigned to configured expert functions cannot be configured as Run/Stop inputs.

For further details about controller states and states transitions, refer to Controller State Diagram

(see page 52)

UNINTENDED MACHINE OR PROCESS START-UP

 Verify the state of security of your machine or process environment before applying power to

the Run/Stop input.

 Use the Run/Stop input to help prevent the unintentional start-up from a remote location.

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

Embedded I/Os Configuration

no conflict with Run/Stop switch position.

 EcoStruxure Machine Expert (Run/Stop)  A hardware Run/Stop switch  Application (Controller command)  Network command (Run/Stop command)

Run/Stop command is available through the Web Server command.

(see page 77)

WARNING

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Embedded I/Os Configuration

Capture Input

Capture Inputs tab allows you to select captures, exclusively for motion applications, and manage them in the I/O Configuration tab.

For each capture, you can configure the following parameters:

Parameter Type Value Description Constraint

Capture edge UINT Enum Falling edge

RealTimeAccess BOOL TRUE Using real time

For more information on motion applications and function blocks related, as MC_TouchProbe and MC_AbortTrigger, refer to M262 Synchronized Motion Control Library Guide.

Rising edge Both edges

Configure the edge on which the encoder position is captured.

access.

Enable the capture positions in Capture Inputs tab. Do not use with the function blocks from the M262 Encoder Library.

Configuration of Digital Outputs

This figure shows the I/O Configuration tab for digital outputs:

NOTE: For more information on the I/O Mapping tab, refer to the EcoStruxure Machine Expert Programming Guide.

EIO0000003651 05/2020

Digital Output Configuration Parameters

This table presents the function of the different parameters:

Parameter Function

General Parameters

Alarm Output Select an output to be used as alarm output

Rearming Output Mode Select the rearming output mode

NOTE: The selection is grey and inactive if the parameter is unavailable.

Alarm Output

This output is set to logical 1 when the controller is in the RUNNING state and the application program is not stopped at a breakpoint.

The alarm output is set to 0 when a task is stopped at a breakpoint to signal that the controller has stopped executing the application and when the controller is stopped.

NOTE: Outputs assigned to configured expert functions cannot be configured as the alarm output.

Rearming Output Mode

Fast outputs of the Modicon M262 Logic/Motion Controller use push/pull technology. In case of detected error (short-circuit or over temperature), the output is put in tri-state and the condition is signaled by status bit and PLC_R_IO_STATUS.This is also signaled by %IX1.0.

Two behaviors are possible:

 Automatic rearming: as soon as the detected error is corrected, the output is set again according

to the current value assigned to it and the diagnostic value is reset.

 Manual rearming: when an error is detected, the status is memorized and the output is forced

to tri-state until user manually clears the status (see I/O mapping channel).

In the case of a short-circuit or current overload, the common group of outputs automatically enters into thermal protection mode (all outputs in the group are set to 0), and are then periodically rearmed (each second) to test the connection state. However, you must be aware of the effect of this rearming on the machine or process being controlled.

(see page 93)

Embedded I/Os Configuration

WARNING

UNINTENDED MACHINE START-UP

Inhibit the automatic rearming of outputs if this feature is an undesirable behavior for your machine or process.

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

NOTE: Automatic rearming of outputs can be inhibited through the configuration.

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Embedded I/Os Configuration

Hardware Encoder Interface

Section 10.2

Hardware Encoder Interface

What Is in This Section?

This section contains the following topics:

Hardware Encoder Interface 95

Adding an Encoder 97

Encoder Motion Functions 100

Topic Page

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Hardware Encoder Interface

Introduction

The controller has a specific hardware encoder interface that can support:

 Incremental encoder  SSI absolute encoder

Incremental Mode Principle Description

The incremental mode behaves like a standard up/down counter, using pulses and counting these pulses.

Positions must be preset and counting must be initialized to implement and manage the incremental mode.

The counter value can be stored in the capture register by configuring an external event.

Incremental Mode Principle Diagram

The following diagram provides an overview of the encoder in incremental mode:

Embedded I/Os Configuration

SSI Mode Principle Description

The SSI (Synchronous Serial Interface) mode allows the connection of an absolute encoder.

The position of the absolute encoder is read by an SSI link.

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Embedded I/Os Configuration

SSI Mode Principle Diagram

The following diagram provides an overview of the encoder in SSI mode:

I/O mapping

This variable is used by the library to identify the encoder, incremental or SSI, to which the function block applies.

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Adding an Encoder

Introduction

In order to use the encoder interface, the Modicon M262 Logic/Motion Controller has a specific hardware encoder interface that can support:

 Incremental encoder  SSI encoder

For more information on usable function blocks, refer to Modicon M262 Logic/Motion Controller Encoder Library Guide

Adding an Encoder

To add an encoder to your controller, select the encoder in the Hardware Catalog. Drag and drop it to the Devices tree on one of the highlighted nodes.

For more information on adding a device to your project, refer to:

• Using the Drag-and-drop Method

• Using the Contextual Menu or Plus Button

Guide)

Incremental Encoder Configuration

To configure the incremental encoder, double-click the encoder node in the Devices tree.

This table describes the incremental encoder configuration parameters:

(see Modicon M262 Logic/Motion Controller, Encoder Library Guide)

Embedded I/Os Configuration

(see EcoStruxure Machine Expert, Programming Guide)

(see EcoStruxure Machine Expert, Programming

Parameter Type Value Default Value Unit Description

Power supply

Voltage selection

Power supply monitor

General

Input Mode BYTE

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BYTE Enum

Enum

None 5V 24 V

Enabled Disabled

Normal Quadrature x 1 Normal Quadrature x 2 Normal Quadrature x 4 Reverse Quadrature x 1 Reverse Quadrature x 2 Reverse Quadrature x 4

None ––

Disabled – Enable the power

supply monitor

Normal Quadrature x 1 – Select the period

measurement interval

Embedded I/Os Configuration

Parameter Type Value Default Value Unit Description

Counting Inputs

A Input

Filter BYTE

Enum

0.000

0.001

0.002

0.002 ms Set the filtering value to reduce the bounce effect on the input

0.005

0.05

0.01

0.08

0.5 1 4 12

B Input

Filter BYTE

Enum

0 0.002 ms Set the filtering value

to reduce the bounce effect on the input

Preset Input

Z Input

Filter BYTE

Enum

0.000

0.001

0.002

0.002 ms Set the filtering value to reduce the bounce effect on the input

0.005

0.05

0.01

0.08

0.5 1 4 12

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Embedded I/Os Configuration

SSI Encoder Configuration

To configure the SSI Encoder, double-click the encoder node in the Devices tree.

This table describes the SSI encoder configuration parameters:

Parameter Type Value Default Value Unit Description

Power supply

Voltage selection BYTE Enum None

Power supply monitor BYTE Enum Disabled Disabled – Enable the power supply monitor

Synchronous Serial Interface (SSI)

Transmission Speed BYTE Enum 100

Number of bits per frame

Number of data bits USINT (8...32) 8 8 – Set the number of bits to count

Number of data bits / turn

Number of status bits USINT (0...4) 0 0 – Set the number of bits to be

Parity BYTE Enum None None – Select the parity

Resolution reduction USINT (0...17) 0 0 – Set the resolution code

Binary coding BYTE Enum Binary Binary – Select the binary coding mode

USINT (8...64) 8 8 – Set the number of bits per frame

USINT (8...16) 8 8 – Set the number of data bits to

5V 24 V

250 500

None ––

250 KHz Select the speed of data

transmission

(header + data bits + status + parity)

turn + bits to count points per turn

count points per turn

reserved for the status

Motion Functions

You can configure specific elements, exclusively for motion applications. For more information, refer to Motion Functions tab

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(see page 100)

Embedded I/Os Configuration

Encoder Motion Functions

Introduction

The encoder Motion Functions tab allows you to configure specific elements, exclusively for mo t ion applications.

NOTE: These Motion Functions must not be used with the M262Encoder library when check boxes for Axis, Scaling, Filter and/or DeadTimeCompensation are enabled.

Configuring the Motion Functions

This table describes the procedure to configure the motion functions

Step Action

1 Double-click the encoder node in the Devices tree.

2 open the Motion Functions tab.

3 Enable check boxes for Axis, Scaling, Filter and/or DeadTimeCompensation.

Incremental/SSI Encoder

Result: The configuration parameters are displayed in the Incremental Encoder configuration tab or in the SSI Encoder configuration tab.

This table describes the motion functions configuration parameters of the incremental encoder or of the SSI encoder:

Parameter Type Value Default

Value

Scaling

IncrementResolution DINT 1...2,147,483,647 131072 IncrementResolution

PositionResolution LREAL 1.0...1.7976931348623158e+308 360.0 PositionResolution

GearIn UDINT 1...4,294,967,295 1 GearIn

GearOut UDINT 1...4,294,967,295 1 GearOut

InvertDirection BOOL FALSE FALSE Invert movement direction of the axis

Filter

AverageDuration UDINT 0...1024 0 Filter duration in Sercos cycles

DeadTimeCompensation

Delay LREAL -100.0...100.0 0 Delay of feedback movement values

Description

(position/velocity/acceleration) in milliseconds. This delay will be compensated by the system.

NOTE: The DeadTimeCompensation delay, without a filter, results in a very high signal deviation of the feedback velocity and can result in unexpected behavior of a coupled slave axis.

100

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Schneider Electric Modicon M262 Programming Guide

Specifications and Main Features

Frequently Asked Questions

User Manual

Modicon M262 Logic/M otion Controller

Table of Contents

Safety Information

About the Book

About the Modicon M26 2 Logic/Motion Con troller

M262 Logic/Motion Controller Description

Modicon M262 Motion Co ntroller

Modicon M262 Motion Controller

How to Configure the Controller

Configuring the Controller

Libraries

Libraries

Supported Standard Data Types

Supported Standard Data Types

Memory Mapping

Controller Memory Organization

Flash Memory Organization

RAM Memory Organization

NVRAM Memory Organization

Relocation Table

Tasks

Maximum Number of Tasks

Task Types

Task Configuration Screen

System and Task Watchdogs

Task Priorities

Default Task Configuration

Controller States and Behaviors

Controller State Diagram

Controller State Diagram

Controller States Description

Controller States Description

State Transitions and System Events

Controller States and Output Behavior

Commanding State Transitions

Error Detection, Types, and Management

Remanent Variables

Controller Device Edito r

Controller Parameters

Communication Settings

PLC Settings

Services

Ethernet Services

Users Rights

Embedded Inputs and Ou tputs Configuratio n

Embedded I/Os Configuration

Configuring the Fast I/Os

Hardware Encoder Interface

Hardware Encoder Interface

Adding an Encoder

Encoder Motion Functions