Schneider Electric Modicon M262 Programming Guide

Modicon M262

Logic/Motion Controller

Programming Guide

05/2020

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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.

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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. . . . . . . . . . . . . . . . . . . . . .	15
Chapter 2 Modicon M262 Motion Controller . . . . . . . . . . . . . . . . . .		19
	Modicon M262 Motion Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . .	19
Chapter 3 How to Configure the Controller . . . . . . . . . . . . . . . . . . .		21
	Configuring the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	21
Chapter 4	Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	23
	Libraries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	23
Chapter 5 Supported Standard Data Types . . . . . . . . . . . . . . . . . .		25
	Supported Standard Data Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . .	25
Chapter 6	Memory Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	27
	Controller Memory Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	28
	Flash Memory Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	30
	RAM Memory Organization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	33
	NVRAM Memory Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	35
	Relocation Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	36
Chapter 7	Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	39
	Maximum Number of Tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	40
	Task Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	41
	Task Configuration Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	45
	System and Task Watchdogs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	47
	Task Priorities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	48
	Default Task Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	50
Chapter 8 Controller States and Behaviors. . . . . . . . . . . . . . . . . . .		51
8.1	Controller State Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	52
	Controller State Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	52
8.2	Controller States Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	56
	Controller States Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	56
8.3 State Transitions and System Events . . . . . . . . . . . . . . . . . . . . . . . . .		60
	Controller States and Output Behavior . . . . . . . . . . . . . . . . . . . . . . . .	61
	Commanding State Transitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	64
	Error Detection, Types, and Management. . . . . . . . . . . . . . . . . . . . . .	70
	Remanent Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	71

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Chapter 9 Controller Device Editor . . . . . . . . . . . . . . . . . . . . . . . . . .		73
	Controller Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	74
	Communication Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	76
	PLC Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	77
	Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	79
	Ethernet Services. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	81
	Users Rights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	85
Chapter 10 Embedded Inputs and Outputs Configuration . . . . . . . . .		87
10.1 Configuring the Fast I/Os. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		88
	Embedded I/Os Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	88
10.2	Hardware Encoder Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	94
	Hardware Encoder Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	95
	Adding an Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	97
	Encoder Motion Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	100
Chapter 11 Expansion Modules Configuration . . . . . . . . . . . . . . . . . .		101
	TM3 I/O Configuration General Description. . . . . . . . . . . . . . . . . . . . .	102
	TM3 I/O Bus Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	106
	TMS Expansion Module Configuration. . . . . . . . . . . . . . . . . . . . . . . . .	107
	TM3 Expansion Module Configuration. . . . . . . . . . . . . . . . . . . . . . . . .	108
	Optional I/O Expansion Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	109
Chapter 12	Ethernet Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . .	113
12.1	Ethernet Services. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	114
	Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	115
	IP Address Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	117
	Modbus TCP Client/Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	123
	Web Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	125
	Symbol Configuration Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	149
	FTP Server. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	155
	SNMP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	156
	Controller as a Target Device on EtherNet/IP . . . . . . . . . . . . . . . . . . .	157
	Controller as a Slave Device on Modbus TCP. . . . . . . . . . . . . . . . . . .	182
12.2	Firewall Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	187
	Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	188
	Dynamic Changes Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	190
	Firewall Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	191
	Firewall Script Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	193

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Chapter 13	Industrial Ethernet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	201
	Industrial Ethernet Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	202
	DHCP Server. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	207
	Fast Device Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	208
Chapter 14	Sercos Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . .	209
	Overview of the Sercos Standard . . . . . . . . . . . . . . . . . . . . . . . . . . . .	210
	Modicon M262 Logic/Motion Controller Sercos Configuration . . . . . .	212
	Modicon M262 Motion Controller and Safety Controllers with Sercos	213
	Single Wire Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	214
Chapter 15 Serial Line Configuration . . . . . . . . . . . . . . . . . . . . . . . .		217
	Serial Line Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	218
	Machine Expert Network Manager . . . . . . . . . . . . . . . . . . . . . . . . . . .	220
	Modbus Manager. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	221
	ASCII Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	225
	Modbus Serial IOScanner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	227
	Adding a Device on the Modbus Serial IOScanner. . . . . . . . . . . . . . .	229
	Adding a Modem to a Manager. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	235
Chapter 16	OPC UA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	237
16.1	Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	238
	OPC UA Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	238
16.2 OPC UA Server Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		239
	OPC UA Server Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	240
	OPC UA Server Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	241
	OPC UA Server Symbols Configuration . . . . . . . . . . . . . . . . . . . . . . .	244
	OPC UA Server Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	246
16.3 OPC UA Client Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		249
	OPC UA Client Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	250
	Programming the OPC UA Client . . . . . . . . . . . . . . . . . . . . . . . . . . . .	251
Chapter 17	Post Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	253
	Post Configuration Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	254
	Post Configuration File Management . . . . . . . . . . . . . . . . . . . . . . . . .	255
	Post Configuration Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	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. . . . . . . . . . . . . . . . . . .	262
	Updating the Controller Firmware by Controller Assistant. . . . . . . . . .	265
	Updating TM3 Expansion Modules Firmware . . . . . . . . . . . . . . . . . . .	268
	Updating TMS Expansion Modules Firmware . . . . . . . . . . . . . . . . . . .	271
Chapter 20 Managing Script Files. . . . . . . . . . . . . . . . . . . . . . . . . . . .		273
	Creating a Script . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	274
	Generating Scripts and Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	279
	Transferring Scripts and Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	280
Chapter 21 Cloning a Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		283
	Before Cloning a Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	284
	Cloning a Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	286
Chapter 22	Compatibility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	289
	Software and Firmware Compatibilities . . . . . . . . . . . . . . . . . . . . . . . .	289
Chapter 23 Industrial Plug and Work . . . . . . . . . . . . . . . . . . . . . . . . .		291
23.1 Accessing the Web Server. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		292
	Launching the Web Server. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	292
23.2 Using the Machine Assistant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		293
	Launching the Machine Assistant . . . . . . . . . . . . . . . . . . . . . . . . . . . .	294
	Managing the Network Scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	295
	Managing the Devices Network Settings . . . . . . . . . . . . . . . . . . . . . . .	297
	Backing Up/Restoring Configuration . . . . . . . . . . . . . . . . . . . . . . . . . .	299
	Exporting/Importing .semdt Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	300
Appendices	. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	301
Appendix A How to Change the IP Address of the Controller . . . . . . .		303
	changeIPAddress: Change the IP address of the controller . . . . . . . .	303
Appendix B Functions to Get/Set Serial Line Configuration in User
	Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	307
	GetSerialConf: Get the Serial Line Configuration . . . . . . . . . . . . . . . .	308
	SetSerialConf: Change the Serial Line Configuration . . . . . . . . . . . . .	309
	SERIAL_CONF: Structure of the Serial Line Configuration Data Type	311
Appendix C	Controller Performance . . . . . . . . . . . . . . . . . . . . . . . . . .	313
	Processing Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	313
Glossary	. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	315
Index	. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	327

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Schneider Electric Modicon M262 Programming Guide

Safety Information

Important Information

NOTICE

Read these instructions carefully, and look at the equipment to become familiar with the device beforetryingtoinstall,operate,service,ormaintainit.Thefollowingspecialmessagesmayappear 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 Electricfor 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:Readandunderstandthisdocument andallrelateddocumentsbeforeinstalling,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 EcoStruxureTM Machine Expert V1.2.3.

Thetechnical characteristicsof thedevicesdescribedinthepresentdocumentalso appearonline. 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.

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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

ThepowersupplyoftheM262Logic/MotionControlleris24 Vdc(see ModiconM262Logic/Motion

Controller, Hardware Guide).

Real Time Clock

The M262 Logic/Motion Controller includes a Real Time Clock (RTC) system (see Modicon M262 Logic/Motion Controller, Hardware Guide).

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

A Run/Stop operation by a dedicated digital input, defined in the software configuration. For more information, refer to Configuration of Digital Inputs (see page 89).

An EcoStruxure Machine Expert software command.

The system variable PLC_W in a Relocation Table (see page 36).

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	For the execution of the application and the
	available for the application	firmware.
Flash	1 Gbyte	Non-volatilememorydedicatedtotheretention
		of the program and data in case of a power
		interruption.
Non-volatile RAM	512 Kbytes	Non-volatilememorydedicatedtotheretention
		of the retain-persistent variables, and the
		diagnostic files and associated information.

Embedded Inputs/Outputs

The following embedded I/O types are available:

Fast inputs

Fast source outputs

Encoder

The following encoder modes are available:

Incremental mode

SSI mode

Removable Storage

The M262 Logic/Motion Controllers include an integrated SD card slot (see Modicon M262 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 (see page 261)

Applying post configuration files to the controller (see page 254)

Storing recipes files

Receiving data logging files

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About the Modicon M262 Logic/Motion Controller

Embedded Communication Features

The following types of communication ports are available:

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

USB Mini-B (see Modicon M262 Logic/Motion Controller, Hardware Guide)

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

Sercos (Ethernet 1)

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	4 fast inputs	24 Vdc	1 serial line port	Removable	–
Controller:	Source outputs		1 USB programming port	spring
TM262L•	4 fast outputs		1 Ethernet port
			1 dual port Ethernet switch
M262 Motion	4 fast inputs	24 Vdc	1 serial line port	Removable	1 Encoder port
Controller:	Source outputs		1 USB programming port	spring
TM262M•	4 fast outputs		1 Ethernet port for fieldbus
			with Sercos interface
			1 dual port Ethernet switch

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

2M262 Logic/Motion Controller

3 Removable spring terminal blocks

4Attachment parts

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About the Modicon M262 Logic/Motion Controller

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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.

ThesecontrollersaredesignedforaxispositioningusingtheEcoStruxureMachineExpertsoftware 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 8802- 3 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).

Camingmode,basedonrecipes,withmodificationonfly.Therecipecanbedesignedthanks 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 fullyconfigurable.ThenumberofI/OconfiguredincreasestheloadoftheSercosBusandmaylead to an overflow. If an overflow occurs, and assuming your application tolerates it, increase the SercosCycletime.IfincreasingtheSercosCycletimeisnotcompatiblewithyourapplication,then optimize the application.

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

Controller reference	Sercos cycle	Synchronized axes on	Additional virtual axes	Additional
	time	Sercos (activated and	FB_ControlledAxis	Sercos devices
		simulated)
TM262M15MESS8T	1 ms	4	1	4
	2 ms	4	1	12
	4 ms	4	1	12
TM262M25MESS8T	1 ms	4	1	8
	2 ms	8	2	8
	4 ms	8	2	16
TM262M35MESS8T	1 ms	8	2	8
	2 ms	16	4	8
	4 ms	16	4	24

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 Help (see Motion Sizer, Online Help).

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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.

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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	EmbeddedEthernetdedicatedtoMotionBusSercosonTM262M•,dedicated
	to devices on TM262L•.
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 (see page 144).

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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
	commands to the controller system.
SE_Relocation Table	Allows you to optimize exchanges between the Modbus client and the controller,
(see page 36)	by regrouping non-contiguous data into a contiguous table of registers.
M262 Encoder	Containsfunctionblocksandenumeratedtypesforenable,monitorandpresetof
	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.
TM3System	Contains functions and function blocks for TM3 expansion modules.
TMSSystem	Contains the function block and enumerated types for TMS expansion modules.

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Libraries

24	EIO0000003651 05/2020

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	264-1	64 Bit
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	-263	263-1	64 Bit
ULINT	0	264-1	64 Bit
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

FormoreinformationonARRAY,LTIME,DATE,TIME,DATE_AND_TIME,andTIME_OF_DAY,refer to the EcoStruxure Machine Expert Programming Guide.

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Supported Standard Data Types

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Chapter 6

Memory Mapping

Introduction

This chapter describes the memory maps and sizes of the different memory areas in the Modicon M262Logic/MotionController.Thesememoryareasareusedtostoreuserprogramlogic,dataand the programming libraries.

What Is in This Chapter?

This chapter contains the following topics:

Topic	Page
Controller Memory Organization	28
Flash Memory Organization	30
RAM Memory Organization	33
NVRAM Memory Organization	35
Relocation Table	36

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Memory Mapping

Controller Memory Organization

Introduction

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

The Flash memory (see page 30) contains files (application, configuration files, and so on).

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

Item	Controller State	File Transfer Events	Connection	Description
1	–	Initiated automatically at	Internal	Files transfer from Flash memory to RAM.
		Power ON and Reboot		The content of the RAM is overwritten.
1*	–	Initiated automatically at	Internal	Operating system files transfer.
		Power ON and Reboot
2	All states except	Initiated by user	Ethernet or USB	Files can be transferred via:
	INVALID_OS (1)		programming	 Web server (see page 125)
			port	 FTP server (see page 155)
					Controller Assistant
					EcoStruxure Machine Expert
					(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	Initiatedautomaticallyby	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 filesin Flashmemory aretaken intoaccountatthe nextreboot, exceptfortheuserfiles 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
		applied at next reboot of the controller.

User functions(/usr)	Description
Boot application	This file resides in Flash memory and contains the compiled binary code of the
	executableapplication.Eachtimethecontrollerisrebooted,theexecutableapplication
	is extracted from the boot application and copied into the controller RAM (1).
Application source	Source file that can be uploaded from Flash memory to the PC if the source file is not
	available on the PC (2).
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 (see page 187) for more information.
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 applicationtoaPCformodification.Programmodificationsmustbemadetotheapplicationsource.When you download your application, you have the option to store the source file to Flash memory.

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+ 300 hidden pages

Title of Documentation	Reference Number
EcoStruxure Machine Expert - Programming Guide	EIO0000002854 (ENG)
	EIO0000002855 (FRE)
	EIO0000002856 (GER)
	EIO0000002857 (SPA)
	EIO0000002858 (ITA)
	EIO0000002859 (CHS)
Modicon M262 Logic/Motion Controller - Hardware Guide	EIO0000003659 (ENG)
	EIO0000003660 (FRE)
	EIO0000003661 (GER)
	EIO0000003662 (SPA)
	EIO0000003663 (ITA)
	EIO0000003664 (CHS)
	EIO0000003665 (POR)
	EIO0000003666 (TUR)
Modicon TM3 Expansion Modules Configuration - Programming	EIO0000001402 (ENG)
Guide	EIO0000001403 (FRE)
	EIO0000001404 (GER)
	EIO0000001405 (SPA)
	EIO0000001406 (ITA)
	EIO0000001407 (CHS)
Modicon TM5 EtherNet/IP Fieldbus Interface - Programming Guide	EIO0000003707 (ENG)
	EIO0000003708(FRE)
	EIO0000003709 (GER)
	EIO0000003710 (SPA)
	EIO0000003711 (ITA)
	EIO0000003712 (CHS)
Modicon TMS Expansion Modules - Programming Guide	EIO0000003691 (ENG)
	EIO0000003692 (FRE)
	EIO0000003693 (GER)
	EIO0000003694 (SPA)
	EIO0000003695 (ITA)
	EIO0000003696 (CHS)
	EIO0000003697 (POR)
	EIO0000003698 (TUR)

Title of Documentation	Reference Number
Modicon M262 Logic/Motion Controller - System Library Guide	EIO0000003667 (ENG)
	EIO0000003668 (FRE)
	EIO0000003669 (GER)
	EIO0000003670 (SPA)
	EIO0000003671 (ITA)
	EIO0000003672 (CHS)
	EIO0000003673 (POR)
	EIO0000003674 (TUR)
Modicon TM3 Expert I/O Modules - HSC Library Guide	EIO0000003683 (ENG)
	EIO0000003684 (FRE)
	EIO0000003685 (GER)
	EIO0000003686 (SPA)
	EIO0000003687 (ITA)
	EIO0000003688 (CHS)
	EIO0000003689 (POR)
	EIO0000003690 (TUR)
Modicon M262 Logic/Motion Controller - Encoder Library Guide	EIO0000003675 (ENG)
	EIO0000003676(FRE)
	EIO0000003677(GER)
	EIO0000003678 (SPA)
	EIO0000003679 (ITA)
	EIO0000003680 (CHS)
	EIO0000003681 (POR)
	EIO0000003682 (TUR)
M262 Embedded Safety - Integration Guide	EIO0000003921 (ENG)
	EIO0000003923 (FRE)
	EIO0000003922 (GER)
	EIO0000003926 (SPA)
	EIO0000003924 (ITA)
	EIO0000003925 (CHS)
Sercos for M262 - User Guide	EIO0000003883 (ENG)
	EIO0000003885 (FRE)
	EIO0000003884 (GER)
	EIO0000003888 (SPA)
	EIO0000003886 (ITA)
	EIO0000003887 (CHS)
Controller Assistant - User Guide	EIO0000001671 (ENG)
	EIO0000001672 (FRE)
	EIO0000001673 (GER)
	EIO0000001675 (SPA)
	EIO0000001674 (ITA)
	EIO0000001676 (CHS)

Title of Documentation	Reference Number
EcoStruxureMachineExpert -FtpRemoteFileHandlingLibraryGuide	EIO0000002779 (ENG)
	EIO0000002780 (FRE)
	EIO0000002781 (GER)
	EIO0000002782 (SPA)
	EIO0000002783 (ITA)
	EIO0000002784 (CHS)
EcoStruxure Machine Expert - SnmpManager Library Guide	EIO0000002797 (ENG)
	EIO0000002798 (FRE)
	EIO0000002799 (GER)
	EIO0000002800 (SPA)
	EIO0000002801 (ITA)
	EIO0000002802 (CHS)

Standard	Description
IEC 61131-2:2007	Programmable controllers, part 2: Equipment requirements and tests.
ISO 13849-1:2015	Safety of machinery: Safety related parts of control systems.
	General principles for design.
EN 61496-1:2013	Safety of machinery: Electro-sensitive protective equipment.
	Part 1: General requirements and tests.
ISO 12100:2010	Safety of machinery - General principles for design - Risk assessment and risk
	reduction
EN 60204-1:2006	Safety of machinery - Electrical equipment of machines - Part 1: General
	requirements
ISO 14119:2013	Safety of machinery - Interlocking devices associated with guards - Principles
	for design and selection
ISO 13850:2015	Safety of machinery - Emergency stop - Principles for design
IEC 62061:2015	Safety of machinery - Functional safety of safety-related electrical, electronic,
	and electronic programmable control systems
IEC 61508-1:2010	Functional safety of electrical/electronic/programmable electronic safety-
	related systems: General requirements.
IEC 61508-2:2010	Functional safety of electrical/electronic/programmable electronic safety-
	related systems: Requirements for electrical/electronic/programmable
	electronic safety-related systems.
IEC 61508-3:2010	Functional safety of electrical/electronic/programmable electronic safety-
	related systems: Software requirements.
IEC 61784-3:2016	Industrial communication networks - Profiles - Part 3: Functional safety
	fieldbuses - General rules and profile definitions.

Standard	Description
2006/42/EC	Machinery Directive
2014/30/EU	Electromagnetic Compatibility Directive
2014/35/EU	Low Voltage Directive

Standard	Description
IEC 60034 series	Rotating electrical machines
IEC 61800 series	Adjustable speed electrical power drive systems
IEC 61158 series	Digital data communications for measurement and control – Fieldbus for use in
	industrial control systems

Schneider Electric Modicon M262 Programming Guide

Table of Contents

Safety Information

About the Book

About the Modicon M262 Logic/Motion Controller

M262 Logic/Motion Controller Description

Modicon M262 Motion Controller

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