Schneider Modicon M241 Logic Controller User Guide
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Modicon M241
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SQL Gateway EIO0000002417 04/2020
Modicon M241
Logic Controller
User Guide
06/2021
www.schneider-electric.com
EIO0000004267.01
Table of Contents
1 Modicon M241 Logic Controller - Programming Guide. . . . . . . . . Part I 2 Modicon M241 Logic Controller - System Functions and Variables Part II
PLC System Library Guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Modicon M241 Logic Controller - High Speed Counting HSC Library Guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Modicon M241 Logic Controller - PTOPWM Library Guide. . . . . . 5 Modicon M241 Logic Controller - Hardware Guide. . . . . . . . . . . . 6 Modicon TMC4 Cartridges - Programming Guide. . . . . . . . . . . . . 7 Modicon TMC4 Cartridges - Hardware Guide. . . . . . . . . . . . . . . . .
Part III
Part IV Part V Part VI Part VII
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Modicon M241
Logic Controller
Programming Guide
EIO0000003059.03 04/2021
www.se.com
Legal Information
The Schneider Electric brand and any trademarks of Schneider Electric SE and its subsidiaries referred to in this guide are the property of Schneider Electric SE or its subsidiaries. All other brands may be trademarks of their respective owners.
This guide and its content are protected under applicable copyright laws and furnished for informational use only. No part of this guide may be reproduced or transmitted in any form or by any means (electronic, mechanical, photocopying, recording, or otherwise), for any purpose, without the prior written permission of Schneider Electric.
Schneider Electric does not grant any right or license for commercial use of the guide or its content, except for a non-exclusive and personal license to consult it on an "as is" basis. Schneider Electric products and equipment should be installed, operated, serviced, and maintained only by qualified personnel.
As standards, specifications, and designs change from time to time, information contained in this guide may be subject to change without notice.
To the extent permitted by applicable law, no responsibility or liability is assumed by Schneider Electric and its subsidiaries for any errors or omissions in the informational content of this material or consequences arising out of or resulting from the use of the information contained herein. � 2021 Schneider Electric. All rights reserved.
Table of Contents
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Safety Information ......................................................................................7 About the Book...........................................................................................8 About the Modicon M241 Logic Controller ..................................................13
M241 Logic Controller Description........................................................13 How to Configure the Controller .................................................................17
How to Configure the Controller ...........................................................17 Libraries ..................................................................................................19
Libraries ............................................................................................. 19 Supported Standard Data Types ................................................................20
Supported Standard Data Types ..........................................................20 Memory Mapping......................................................................................21
Controller Memory Organization...........................................................21 RAM Memory Organization..................................................................22 Non-Volatile Memory Organization .......................................................23 Relocation Table .................................................................................26 Tasks ....................................................................................................... 28 Maximum Number of Tasks .................................................................28 Task Configuration Screen...................................................................28 Task Types .........................................................................................30 System and Task Watchdogs ...............................................................32 Task Priorities .....................................................................................33 Default Task Configuration...................................................................35 Controller States and Behaviors ................................................................36 Controller State Diagram .....................................................................36
Controller State Diagram ...............................................................36 Controller States Description ...............................................................39
Controller States Description..........................................................39 State Transitions and System Events ...................................................42
Controller States and Output Behavior ............................................42 Commanding State Transitions ......................................................45 Error Detection, Types, and Management .......................................51 Remanent Variables ......................................................................52 Controller Device Editor ............................................................................54 Controller Parameters .........................................................................54 Communication Settings......................................................................55 PLC Settings ......................................................................................56 Services ............................................................................................. 56 Ethernet Services ...............................................................................57 Users Rights ......................................................................................58 Embedded Inputs and Outputs Configuration..............................................67 Embedded I/Os Configuration ..............................................................67 Expert Functions Configuration..................................................................71 Expert Functions Overview ..................................................................71 Counting Function...............................................................................73 Pulse Generators Embedded Function .................................................74 Cartridge Configuration .............................................................................76 TMC4 Cartridge Configuration .............................................................76 Expansion Modules Configuration..............................................................77
3
TM4/TM3/TM2 Expansion Module Configuration ...................................77 TM3 I/O Configuration General Description...........................................78 TM3 I/O Bus Configuration ..................................................................81 Optional I/O Expansion Modules ..........................................................82 Ethernet Configuration ..............................................................................85 Ethernet Features, Functions and Services...........................................85
Presentation .................................................................................85 IP Address Configuration ...............................................................86 Modbus TCP Client/Server ............................................................90 Web Server ..................................................................................91 FTP Server ................................................................................. 101 FTP Client .................................................................................. 102 SNMP ........................................................................................ 102 Controller as a Target Device on EtherNet/IP................................. 103 Controller as a Slave Device on Modbus TCP ............................... 119 Changing the Modbus TCP Port ................................................... 123 Firewall Configuration ....................................................................... 124 Introduction ................................................................................ 124 Dynamic Changes Procedure....................................................... 125 Firewall Behavior ........................................................................ 126 Firewall Script Commands ........................................................... 128 Industrial Ethernet Manager .................................................................... 131 Industrial Ethernet............................................................................. 131 DHCP Server ................................................................................... 134 Fast Device Replacement.................................................................. 134 Serial Line Configuration ......................................................................... 135 Serial Line Configuration ................................................................... 135 Machine Expert Network Manager ..................................................... 136 Modbus Manager.............................................................................. 137 ASCII Manager ................................................................................. 140 Modbus Serial IOScanner.................................................................. 141 Adding a Device on the Modbus Serial IOScanner............................... 142 Adding a Modem to a Manager .......................................................... 147 CANopen Configuration .......................................................................... 149 CANopen Interface Configuration....................................................... 149 J1939 Configuration................................................................................ 152 J1939 Interface Configuration ............................................................ 152 OPC UA Server Configuration ................................................................. 155 OPC UA Server Overview.................................................................. 155 OPC UA Server Configuration............................................................ 155 OPC UA Server Symbols Configuration .............................................. 157 OPC UA Server Performance ............................................................ 158 Post Configuration .................................................................................. 161 Post Configuration Presentation......................................................... 161 Post Configuration File Management.................................................. 162 Post Configuration Example .............................................................. 163 Connecting a Modicon M241 Logic Controller to a PC ............................... 166 Connecting the Controller to a PC ...................................................... 166 SD Card................................................................................................. 169 Script Files ....................................................................................... 169 SD Card Commands ......................................................................... 169
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Firmware Management ........................................................................... 175 Updating Modicon M241 Logic Controller Firmware ............................. 175 Updating TM3 Expansion Modules Firmware ...................................... 177
Compatibility .......................................................................................... 180 Software and Firmware Compatibilities............................................... 180
Appendices .............................................................................................. 181
How to Change the IP Address of the Controller ........................................ 182 changeIPAddress: Change the IP address of the controller .................. 182
Functions to Get/Set Serial Line Configuration in User Program ................. 184 GetSerialConf: Get the Serial Line Configuration ................................. 184 SetSerialConf: Change the Serial Line Configuration ........................... 185 SERIAL_CONF: Structure of the Serial Line Configuration Data Type ................................................................................................ 186
Controller Performance ........................................................................... 188 Processing Performance ................................................................... 188
Glossary ................................................................................................... 189 Index ......................................................................................................... 199
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Safety Information
Safety Information
Important Information
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.
The addition of this symbol to a "Danger" or "Warning" safety label indicates that an electrical hazard exists which will result in personal injury if the instructions are not followed.
This is the safety alert symbol. It is used to alert you to potential personal injury hazards. Obey all safety messages that follow this symbol to avoid possible injury or death.
! DANGER
DANGER indicates a hazardous situation which, if not avoided, will result in death or serious injury.
! WARNING
WARNING indicates a hazardous situation which, if not avoided, could result in death or serious injury.
! CAUTION
CAUTION indicates a hazardous situation which, if not avoided, could result in minor or moderate injury.
NOTICE
NOTICE is used to address practices not related to physical injury.
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
About the Book
Document Scope
The purpose of this document is to help you program and operate your Modicon M241 Logic Controller with the EcoStruxure Machine Expert software.
NOTE: Read and understand this document and all related documents, page 8 before installing, operating, or maintaining your Modicon M241 Logic Controller.
The Modicon M241 Logic Controller users should read through the entire document to understand its features.
Validity Note
This document has been updated for the release of EcoStruxureTM Machine Expert V2.0.
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 www.se.com.
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.
Related Documents
Title of Documentation
EcoStruxure Machine Expert - Programming Guide
Reference Number EIO0000002854 (ENG) EIO0000002855 (FRE)
EIO0000002856 (GER)
EIO0000002858 (SPA)
EIO0000002857 (ITA)
EIO0000002859 (CHS)
Modicon M241 Logic Controller - Hardware Guide
EIO0000003083 (ENG) EIO0000003084 (FRE)
EIO0000003085 (GER)
EIO0000003086 (SPA)
EIO0000003087 (ITA)
EIO0000003088 (CHS)
Modicon TM2 Expansion Modules Configuration EIO0000003432 (ENG) - Programming Guide
EIO0000003433 (FRE)
EIO0000003434 (GER)
EIO0000003435 (SPA)
EIO0000003436 (ITA)
EIO0000003437 (CHS)
Modicon TM3 Expansion Modules Configuration EIO0000003119 (ENG) - Programming Guide
EIO0000003120 (FRE)
8
EIO0000003059.03
About the Book
Title of Documentation
Reference Number
Modicon TM3 Bus Coupler - Programming Guide (EcoStruxure Machine Expert)
Modicon TM4 Expansion Modules Programming Guide
Modicon TMC4 Cartridges - Programming Guide
Modicon M241 Logic Controller - PLCSystem Library Guide
Modicon M241 Logic Controller - HSC Library Guide
Modicon TM3 Expert I/O Modules - HSC Library Guide
EIO0000003121 (GER) EIO0000003122 (SPA) EIO0000003123 (ITA) EIO0000003124 (CHS) EIO0000003635 (ENG) EIO0000003636 (FRA) EIO0000003637 (GER) EIO0000003638 (SPA) EIO0000003639 (ITA) EIO0000003640 (CHS) EIO0000003149 (ENG) EIO0000003150 (FRE) EIO0000003151 (GER) EIO0000003152 (SPA) EIO0000003153 (ITA) EIO0000003154 (CHS) EIO0000003107 (ENG) EIO0000003108 (FRE) EIO0000003109 (GER) EIO0000003110 (SPA) EIO0000003111 (ITA) EIO0000003112 (CHS) EIO0000003065 (ENG) EIO0000003066 (FRE) EIO0000003067 (GER) EIO0000003068 (SPA) EIO0000003069 (ITA) EIO0000003070 (CHS) EIO0000003071 (ENG) EIO0000003072 (FRE) EIO0000003073 (GER) EIO0000003074 (SPA) EIO0000003075 (ITA) EIO0000003076 (CHS) EIO0000003683 (ENG) EIO0000003684 (FRE) EIO0000003685 (GER) EIO0000003686 (SPA) EIO0000003687 (ITA) EIO0000003688 (CHS) EIO0000003689 (POR) EIO0000003690 (TUR)
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9
About the Book
Title of Documentation Modicon M241 Logic Controller PTO/PWM Library Guide
EcoStruxure Machine Expert FtpRemoteFileHandling Library Guide
EcoStruxure Machine Expert - SnmpManager Library Guide
EcoStruxure Machine Expert - Manage a Cyclic Task Interval - Toolbox_Advance Library Guide
EcoStruxure Machine Expert - Modem Functions - Modem Library Guide
Reference Number EIO0000003077 (ENG) EIO0000003078 (FRE) EIO0000003079 (GER) EIO0000003080 (SPA) EIO0000003081 (ITA) EIO0000003082 (CHS) EIO0000002779 (ENG) EIO0000002780 (FRE) EIO0000002781 (GER) EIO0000002783 (SPA) EIO0000002782 (ITA) EIO0000002784 (CHS) EIO0000002797 (ENG) EIO0000002798 (FRE) EIO0000002799 (GER) EIO0000002801 (SPA) EIO0000002800 (ITA) EIO0000002802 (CHS) EIO0000000946 (ENG) EIO0000000947 (FRE) EIO0000000948 (GER) EIO0000000950 (SPA) EIO0000000949 (ITA) EIO0000000951 (CHS) EIO0000000552 (ENG)
You can download these technical publications and other technical information from our website at www.se.com/ww/en/download/ .
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About the Book
Product Related Information
WARNING
LOSS OF CONTROL � The designer of any control scheme must consider the potential failure
modes of control paths and, for certain critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop and overtravel stop, power outage and restart.
� Separate or redundant control paths must be provided for critical control functions.
� System control paths may include communication links. Consideration must be given to the implications of unanticipated transmission delays or failures of the link.
� Observe all accident prevention regulations and local safety guidelines.1
� Each implementation of this equipment must be individually and thoroughly tested for proper operation before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
1 For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems" or their equivalent governing your particular location.
WARNING
UNINTENDED EQUIPMENT OPERATION � Only use software approved by Schneider Electric for use with this
equipment.
� Update your application program every time you change the physical hardware configuration.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Terminology Derived from Standards
The technical terms, terminology, symbols and the corresponding descriptions in this manual, or that appear in or on the products themselves, are generally derived from the terms or definitions of international standards.
In the area of functional safety systems, drives and general automation, this may include, but is not limited to, terms such as safety, safety function, safe state, fault, fault reset, malfunction, failure, error, error message, dangerous, etc.
Among others, these standards include:
Standard IEC 61131-2:2007 ISO 13849-1:2015
EN 61496-1:2013
ISO 12100:2010
Description Programmable controllers, part 2: Equipment requirements and tests. Safety of machinery: Safety related parts of control systems. General principles for design. Safety of machinery: Electro-sensitive protective equipment. Part 1: General requirements and tests. Safety of machinery - General principles for design - Risk assessment and risk reduction
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About the Book
Standard EN 60204-1:2006 ISO 14119:2013 ISO 13850:2015 IEC 62061:2015 IEC 61508-1:2010 IEC 61508-2:2010
IEC 61508-3:2010 IEC 61784-3:2016 2006/42/EC 2014/30/EU 2014/35/EU
Description
Safety of machinery - Electrical equipment of machines - Part 1: General requirements
Safety of machinery - Interlocking devices associated with guards Principles for design and selection
Safety of machinery - Emergency stop - Principles for design
Safety of machinery - Functional safety of safety-related electrical, electronic, and electronic programmable control systems
Functional safety of electrical/electronic/programmable electronic safetyrelated systems: General requirements.
Functional safety of electrical/electronic/programmable electronic safetyrelated systems: Requirements for electrical/electronic/programmable electronic safety-related systems.
Functional safety of electrical/electronic/programmable electronic safetyrelated systems: Software requirements.
Industrial communication networks - Profiles - Part 3: Functional safety fieldbuses - General rules and profile definitions.
Machinery Directive
Electromagnetic Compatibility Directive
Low Voltage Directive
In addition, terms used in the present document may tangentially be used as they are derived from other standards such as:
Standard IEC 60034 series IEC 61800 series IEC 61158 series
Description
Rotating electrical machines
Adjustable speed electrical power drive systems
Digital data communications for measurement and control � Fieldbus for use in industrial control systems
Finally, the term zone of operation may be used in conjunction with the description of specific hazards, and is defined as it is for a hazard zone or danger zone in the Machinery Directive (2006/42/EC) and ISO 12100:2010.
NOTE: The aforementioned standards may or may not apply to the specific products cited in the present documentation. For more information concerning the individual standards applicable to the products described herein, see the characteristics tables for those product references.
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About the Modicon M241 Logic Controller
About the Modicon M241 Logic Controller
Introduction
This chapter provides information about the Modicon M241 Logic Controller and devices that EcoStruxure Machine Expert can configure and program.
M241 Logic Controller Description
Overview
The M241 Logic Controller has various powerful features and can service a wide range of applications.
Software configuration, programming, and commissioning is accomplished with the EcoStruxure Machine Expert software described in detail in the EcoStruxure Machine Expert Programming Guide and the M241 Logic Controller Programming Guide, page 8.
Programming Languages
The M241 Logic 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 M241 Logic Controller is 24 Vdc or 100...240 Vac.
Real Time Clock
The M241 Logic Controller includes a Real Time Clock (RTC) system (see Modicon M241 Logic Controller, Hardware Guide).
Run/Stop
The M241 Logic Controller can be operated by the following:
� A hardware Run/Stop switch.
� A Run/Stop operation by a dedicated digital input, defined in the software configuration. For more information, refer to Configuration of Digital Inputs, page 67.
� An EcoStruxure Machine Expert software command.
Memory
This table describes the different types of memory:
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13
About the Modicon M241 Logic Controller
Memory Type RAM
Non-volatile
Size
64 Mbytes, of which 8 Mbytes available for the application
128 Mbytes
Used to execute the application.
save the program and data in case of a power interruption.
Embedded Inputs/Outputs
The following embedded I/O types are available, depending on the controller reference:
� Regular inputs � Fast inputs associated with counters � Regular sink/source transistor outputs � Fast sink/source transistor outputs associated with pulse generators � Relay outputs
Removable Storage
The M241 Logic Controllers include an embedded SD card slot.
The main uses of the SD card are: � Initializing the controller with a new application � Updating the controller and expansion module firmware, page 175 � Applying post configuration files to the controller, page 161 � Storing recipes files � Receiving data logging files � Backup Data Logging File, page 25
Embedded Communication Features
The following types of communication ports are available, depending on the controller reference:
� CANopen Master � Ethernet � USB Mini-B � Serial Line 1 � Serial Line 2
Expansion Module and Bus Coupler Compatibility
Refer to the compatibility tables in the EcoStruxure Machine Expert - Compatibility and Migration User Guide.
M241 Logic Controller
Reference TM241C24R
TM241CE24R
Digital Inputs
6 regular inputs (1)
8 fast inputs (counters) (2)
6 regular inputs (1)
8 fast inputs (counters) (2)
Digital Outputs
6 2A relay outputs
4 source fast outputs (pulse generators) (3)
6 2A relay outputs
4 source fast outputs (pulse generators) (3)
Communication Ports
2 serial line ports
1 USB programming port
2 serial line ports
1 USB programming port
Terminal Type
Power supply
Removable screw 100...240 Vac terminal blocks
Removable screw 100...240 Vac terminal blocks
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About the Modicon M241 Logic Controller
Reference
Digital Inputs
Digital Outputs
TM241CEC24R
6 regular inputs (1)
8 fast inputs (counters) (2)
6 2A relay outputs
4 source fast outputs (pulse generators)(3)
TM241C24T
6 regular inputs (1)
8 fast inputs (counters) (2)
TM241CE24T
6 regular inputs (1)
8 fast inputs (counters) (2)
TM241CEC24T
6 regular inputs (1)
8 fast inputs (counters) (2)
Source outputs
6 regular transistor outputs
4 fast outputs (pulse generators) (3)
Source outputs
6 regular transistor outputs
4 fast outputs (pulse generators) (3)
Source outputs
6 regular transistor outputs
4 fast outputs (pulse generators) (3)
TM241C24U
6 regular inputs (1)
8 fast inputs (counters) (2)
TM241CE24U
6 regular inputs (1)
8 fast inputs (counters) (2)
TM241CEC24U
6 regular inputs (1)
8 fast inputs (counters) (2)
Sink outputs
6 regular transistor outputs
4 fast outputs (pulse generators) (3)
Sink outputs
6 regular transistor outputs
4 fast outputs (pulse generators) (3)
Sink outputs
6 regular transistor outputs
4 fast outputs (pulse generators) (3)
TM241C40R TM241CE40R
16 regular inputs (1)
8 fast inputs (counters) (2)
16 regular inputs (1)
8 fast inputs (counters) (2)
12 2A relay outputs
4 source fast outputs (pulse generators) (3)
12 2A relay outputs
4 source fast outputs (pulse generators) (3)
TM241C40T TM241CE40T
16 regular inputs (1) 8 fast inputs (counters) (2)
16 regular inputs (1)
Source outputs
12 regular transistor outputs
4 fast outputs (pulse generators) (3)
Source outputs
Communication Ports Terminal Type
Power supply
1 Ethernet port
2 serial line ports
1 Ethernet port
1 CANopen master port
1 USB programming port
2 serial line ports
1 USB programming port
Removable screw terminal blocks
Removable screw terminal blocks
100...240 Vac 24 Vdc
2 serial line ports
1 USB programming port
1 Ethernet port
Removable screw 24 Vdc terminal blocks
2 serial line ports
1 USB programming port
1 Ethernet port
1 CANopen master port
2 serial line ports
1 USB programming port
Removable screw terminal blocks
Removable screw terminal blocks
24 Vdc 24 Vdc
2 serial line ports
1 USB programming port
1 Ethernet port
Removable screw 24 Vdc terminal blocks
2 serial line ports
1 USB programming port
1 Ethernet port
1 CANopen master port
2 serial line ports
1 USB programming port
2 serial line ports
1 USB programming port
1 Ethernet port
2 serial line ports
1 USB programming port
Removable screw terminal blocks
Removable screw terminal blocks
Removable screw terminal blocks
Removable screw terminal blocks
24 Vdc
100...240 Vac 100...240 Vac 24 Vdc
2 serial line ports
Removable screw 24 Vdc terminal blocks
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15
About the Modicon M241 Logic Controller
Reference
Digital Inputs
Digital Outputs
Communication Ports Terminal Type
Power supply
8 fast inputs (counters) (2)
12 regular transistor outputs
1 USB programming port
4 fast outputs (pulse generators) (3)
1 Ethernet port
TM241C40U
16 regular inputs (1)
8 fast inputs (counters) (2)
Sink outputs
12 regular transistor outputs
2 serial line ports
1 USB programming port
Removable screw 24 Vdc terminal blocks
4 fast outputs (pulse generators) (3)
TM241CE40U
16 regular inputs (1)
8 fast inputs (counters) (2)
Sink outputs
12 regular transistor outputs
2 serial line ports
1 USB programming port
Removable screw 24 Vdc terminal blocks
4 fast outputs (pulse generators) (3)
1 Ethernet port
(1) The regular inputs have a maximum frequency of 1 kHz.
(2) The fast inputs can be used either as regular inputs or as fast inputs for counting or event functions.
(3) The fast transistor outputs can be used either as regular transistor outputs, as reflex outputs for counting function (HSC), or as fast transistor outputs for pulse generator functions (FreqGen / PTO / PWM).
Delivery Content
The following figure presents the content of the delivery for a M241 Logic Controller:
1 M241 Logic Controller Instruction Sheet 2 M241 Logic Controller 3 Lithium carbon monofluoride battery, type Panasonic BR2032.
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How to Configure the Controller
How to Configure the Controller
Introduction
This chapter shows the default configuration of a project.
How to Configure 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 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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Item DI DQ Counters Pulse_Generators Cartridge_x
Use to Configure... Embedded digital inputs of the logic controller Embedded digital outputs of the logic controller Embedded counting functions (HSC) Embedded pulse generator functions (PTO/PWM/FreqGen) Cartridges inserted into the logic controller
17
Applications Tree Tools Tree
Item IO_Bus COM_Bus Ethernet_x Serial_Line_x CAN_x
How to Configure the Controller
Use to Configure... Expansion modules connected to the logic controller Communications bus of the logic controller Embedded Ethernet, serial line, or CANopen communications interfaces
NOTE: Ethernet and CANopen are only available on some references.
The Applications tree allows you to manage project-specific applications as well as global applications, POUs, and tasks. The Tools tree allows you to configure the HMI part of your project and to manage libraries.
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Libraries
Libraries
Introduction
This chapter describes the default libraries of the Modicon M241 Logic Controller.
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 M241 Logic Controller
When you select a Modicon M241 Logic Controller for your application, EcoStruxure Machine Expert automatically loads the following libraries:
Library name IoStandard Standard Util PLCCommunication
M241 PLCSystem M241 HSC
M241 PTOPWM
Relocation Table
Description
CmpIoMgr configuration types, ConfigAccess, Parameters and help functions: manages the I/Os in the application.
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).
Analog Monitors, BCD Conversions, Bit/Byte Functions, Controller Datatypes, Function Manipulators, Mathematical Functions, Signals.
SysMem, Standard. These functions facilitate communications between specific devices. Most of them are dedicated to Modbus exchange. Communication functions are processed asynchronously with regard to the application task that called the function. (See EcoStruxure Machine Expert, Modbus and ASCII Read/Write Functions, PLCCommunication Library Guide).
Contains functions and variables to get information and send commands to the controller system. (See Modicon M241 Logic Controller, System Functions and Variables, PLCSystem Library Guide).
Contains function blocks and variables to get information and send commands to the Fast Inputs/ Outputs of the Modicon M241 Logic Controller. These function blocks permit you to implement HSC (High Speed Counting) functions on the Fast Inputs/Outputs of the Modicon M241 Logic Controller. (See Modicon M241 Logic Controller, High Speed Counting, HSC Library Guide).
Contains function blocks and variables to get information and send commands to the Fast Inputs/ Outputs of the Modicon M241 Logic Controller. These function blocks permit you to implement PTO (Pulse Train Output) and PWM (Pulse Width Modulation) functions on the Fast Outputs of the Modicon M241 Logic Controller. (See Modicon M241 Logic Controller, PTOPWM, Library Guide).
Allows you organization of data to optimize exchanges between the Modbus client and the controller, by regrouping non-contiguous data into a contiguous table of registers. See Relocation Table, page 26.
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Supported Standard Data Types
Supported Standard Data Types
Introduction
This chapter provides the different IEC data types supported by the controller.
Supported Standard Data Types
Supported Standard Data Types
The controller supports the following IEC data types:
Data Type BOOL BYTE WORD DWORD LWORD SINT USINT INT UINT DINT UDINT LINT ULINT REAL STRING WSTRING TIME
Lower Limit FALSE 0 0 0 0 -128 0 -32,768 0 -2,147,483,648 0 -263 0 1.175494351e-38 1 character 1 character 0
Upper Limit TRUE 255 65,535 4,294,967,295 264-1 127 255 32,767 65,535 2,147,483,647 4,294,967,295 263-1 264-1 3.402823466e+38 � � 4294967295
Information Content 1 Bit 8 Bit 16 Bit 32 Bit 64 Bit 8 Bit 8 Bit 16 Bit 16 Bit 32 Bit 32 Bit 64 Bit 64 Bit 32 Bit 1 character = 1 byte 1 character = 1 word 32 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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Memory Mapping
Memory Mapping
Introduction
This chapter describes the memory maps and sizes of the different memory areas in the Modicon M241 Logic Controller. These memory areas are used to store user program logic, data and the programming libraries.
Controller Memory Organization
Introduction
The controller memory is composed of two types of physical memory:
� The non-volatile memory, page 23 contains files (application, configuration files, and so on).
� The Random Access Memory (RAM), page 22 is used for application execution.
Files Transfers in Memory
Item Controller State
File Transfer Events
Connection
Description
1
�
Initiated automatically at Power ON and Reboot
Internal
Files transfer from non-volatile memory to RAM. The content of the RAM is overwritten.
2
All states except
Initiated by user
INVALID_OS (1)
Ethernet or USB programming port
Files can be transferred via: � Web server, page 91 � FTP server, page 101 � Controller Assistant � EcoStruxure Machine Expert
3
All states
Initiated automatically by script (data transfer) or by power cycle (cloning) when an SD card is inserted
SD card
Up/download with SD card (1).
(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
NOTE: The modification of files in non-volatile memory does not affect a running application. Any changes to files in non-volatile memory are taken into account at the next reboot.
RAM Memory Organization
Introduction
This section describes the RAM (Random Access Memory) size for different areas of the Modicon M241 Logic Controller.
Memory Mapping
The RAM size is 64 Mbytes.
The RAM is composed of 2 areas: � dedicated application memory � OS memory
This table describes the dedicated application memory:
Area System area 192 Kbytes
User area 8 Mbytes
Element System Area Mappable Addresses %MW0...%MW59999 System and diagnostic variables, page 23 (%MW60000...%MW60199) This memory is accessible through Modbus requests only. These must be read-only requests. Dynamic Memory Area: Read Relocation Table, page 26 (%MW60200...%MW61999) This memory is accessible through Modbus requests only. These must be read-only requests. System and diagnostic variables, page 23 (%MW62000...%MW62199) This memory is accessible through Modbus requests only. These can be read or write requests. Dynamic Memory Area: Write Relocation Table, page 26 (%MW62200...%MW63999) This memory is accessible through Modbus requests only. These can be read or write requests. %MW64000...%MW65535 Reserved Retain and Persistent data, page 23 Symbols Variables Application Libraries
Size 128 Kbytes
64 Kbytes Dynamic allocation
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Memory Mapping
System and Diagnostic Variables
Variables PLC_R PLC_W ETH_R ETH_W PROFIBUS_R SERIAL_R SERIAL_W TM3_MODULE_R
Description Structure of controller read-only system variables. Structure of controller read/write system variables. Structure of Ethernet read-only system variables. Structure of Ethernet read/write system variables. Structure of PROFIBUS DP read-only system variables. Structure of Serial Lines read-only system variables. Structure of Serial Lines read/write system variables. Structure of TM3 modules read-only system variables.
For more information on system and diagnostic variables, refer to Modicon M241 Logic Controller System Functions and Variables PLCSystem Library Guide.
Memory Addressing
This table describes the memory addressing for the address sizes Double Word (%MD), Word (%MW), Byte (%MB), and Bit (%MX):
Double Words %MD0
%MD1
%MD2
Words %MW0 %MW1 %MW2 %MW3 %MW4 ...
Bytes
%MB0 %MB1 %MB2 %MB3 %MB4 %MB5 %MB6 %MB7 %MB8 ... ... ...
Bits
%MX0.7
...
%MX1.7
...
%MX2.7
...
%MX3.7
...
%MX4.7
...
%MX5.7
...
%MX6.7
...
%MX7.7
...
%MX8.7
...
...
...
...
...
...
...
%MX0.0 %MX1.0 %MX2.0 %MX3.0 %MX4.0 %MX5.0 %MX6.0 %MX7.0 %MX8.0 ... ... ...
Example of overlap of memory ranges:
%MD0 contains %MB0 (...) %MB3, %MW0 contains %MB0 and %MB1, %MW1 contains %MB2 and %MB3.
NOTE: The Modbus communication is asynchronous with the application.
Non-Volatile Memory Organization
Introduction
The non-volatile memory contains the file system used by the controller.
File Type
The Modicon M241 Logic Controller manages the following file types:
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23
Memory Mapping
Type
Description
Boot application
This file resides in non-volatile 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 (1).
Application source
Source file that can be uploaded from non-volatile memory to the PC if the source file is not available on the PC (2).
Post configuration
File that contains Ethernet, serial line, and firewall parameters.
The parameters specified in the file override the parameters in the executable application at each reboot.
Data logging
Files in which the controller logs events as specified by the application.
HTML page
HTML pages displayed by the web server for the website embedded in the controller.
Operating System (OS)
Retain variable Retain-persistent variable
Controller firmware that can be written to non-volatile memory. The firmware file is applied at next reboot of the controller.
Remanent variables
(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 non-volatile memory.
File Organization
This table shows the file organization of the non-volatile memory:
Disk Directory /sys OS
Web /usr App
Cfg /usr Log
Rcp Syslog
File
M241M251FW1v_XX.YY (1) M241M251FW2v_XX.YY (1) Version.ini Index.htm Conf.htm Application.app Application.crc Application.map Archive.prj (2) settings.conf (3) OpcUASymbolConf.map (3) Machine.cfg (2) CodesysLateConf.cfg (2)
UserDefinedLogName_1.log UserDefinedLogName_n.log
crashC1.txt(2) crashC2.txt(2) crashBoot.txt(2) PlcLog.txt (2)
Content
Firmware of core 1 Firmware of core 2 Control file for firmware version HTML pages served by the web server for the website embedded in the controller.
Boot application
Application source OPC UA configuration OPC UA symbols configuration Post configuration file, page 161
� Name of application to launch � Routing table (main/sub net) All *.log files created using the data logging functions (see EcoStruxure 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. Main directory for recipe This file contains a record of detected system errors. For use by Schneider Electric Technical Support.
Up/Downloaded Data Type Firmware
Website � Application � � � Configuration Configuration Configuration Configuration
log file �
� Log file
This file contains system event data that is also � visible online in EcoStruxure Machine Expert
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Memory Mapping
Disk Directory
File
FwLog.txt
/usr
Fdr/FDRS (4)
only for
TM241CE�
Device1.prm
/data �
�
/sd0 �
�
�
User files
(1): v_XX.YY represents the version
(2): if any
(3): if OPC UA, page 155 is configured
(4): the Fdr/FDRS directory is hidden
Content
Up/Downloaded Data Type
by viewing the Log tab of the Controller Device Editor, page 54.
This file contains a record of firmware system � events. For use by Schneider Electric Technical Support.
Parameter files stored by the FDR client device1
FDR, page 134
Retained and persistent data
�
SD card. Removable
�
�
�
NOTE: For more information on libraries and available function blocks, refer to Libraries, page 19.
Files Redirection
When system, program or certain user activity creates specific file types, the M241 Logic Controller examines the file extension and automatically moves the file to a corresponding folder in non-volatile memory.
The following table lists the file types that are moved in this way and the destination folder in non-volatile memory:
File extensions *.app, *.ap_, *.err, *.crc, *.frc, *.prj *.cfg, *.cf_ *.log *.rcp, *.rsi
Non-volatile memory folder /usr/App /usr/Cfg /usr/Log /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 (see Modicon M241 Logic Controller, System Functions and Variables, PLCSystem Library Guide) 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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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:
Register 60200...61999 62200...63999
Description Dynamic Memory Area: Read Relocation Table Dynamic Memory Area: Write Relocation Table
For further information, refer to Modicon M241 Logic Controller PLCSystem � Library Guide.
Adding a Relocation Table
This table describes how to add a Relocation Table to your project:
Step 1 2 3
4
Action In the Applications tree tab, select the Application node. Click the right mouse button.
Click Objects > Relocation Table....
Result: The Add Relocation Table window is displayed. 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.
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:
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Memory Mapping
This picture describes the relocation table editor:
Icon
Element New Item
Description 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.
-
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).
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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Tasks
Introduction
Tasks
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.
Maximum Number of Tasks
Maximum Number of Tasks
The maximum number of tasks you can define for the Modicon M241 Logic Controller are:
� Total number of tasks = 19 � Cyclic tasks = 5 � Freewheeling tasks = 1 � Event tasks = 8 � External Event tasks = 16
Special Considerations for Freewheeling
A Freewheeling task, page 31 does not have a fixed duration. In Freewheeling mode, each 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, page 32.
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.
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.
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Tasks
The Configuration window is composed of 4 parts:
EIO0000003059.03
The table describes the fields of the Configuration screen:
Field Name Priority
Type Watchdog POUs
Definition
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.
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 information, refer to Task Priorities, page 33.
These task types are available: � Cyclic, page 30 � Event, page 31 � External , page 32 � Freewheeling, page 31
To configure the watchdog, page 33, define these 2 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.
The list of POUs (see EcoStruxure Machine Expert, Programming Guide) (Programming Organization Units) 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 Input Assistant editor.
� To remove a POU from the list, use the command Remove Call. � To replace the 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.
29
Task Types
Introduction
Cyclic Task
Tasks
The following section describes the various task types available for your program, along with a description of the task type characteristics.
A Cyclic task is assigned a fixed cycle time using the interval setting in the type section of the 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 the
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 PLC Settings, page 56.
For more information on I/O behavior, refer to Controller States Detailed Description, page 39.
4.
Remaining Interval time: The controller firmware carries out system
processing and 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.
NOTE: When the task cycle time is set to a value less than 3 ms, the actual task duration should first be monitored through the Task Monitoring screen during commissioning to ensure that it is consistently lower than the configured task cycle time. If greater, the task cycle may not be respected without causing a task cycle watchdog time-out and the controller transitioning to a HALT state. To avoid this condition to a certain degree, when the task cycle time is set to a value of less than 3 ms, real limits of +1 ms are imposed if, on any given cycle, the calculated cycle time slightly exceeds the configured cycle time.
NOTE: Get and set the interval of a Cyclic Task by application using the GetCurrentTaskCycle and SetCurrentTaskCycle function. (Refer to EcoStruxure Machine Expert - Manage a Cyclic Task Interval - Toolbox_ Advance Library Guide for further details.)
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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:
Event Task
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 the
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 PLC Settings, page 56.
For more information on I/O behavior, refer to Controller States Detailed Description, page 39.
4.
System Processing: The controller firmware carries out system
processing and 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, page 30.
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 preempted 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
1 Double-click the TASK in the Applications tree.
2 Select Event from the Type list in the Configuration tab.
3 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.
NOTE: When the event task is triggered at an excessive frequency, the controller will go to the HALT state (Exception).The maximum rate of events is 6 events per millisecond. If the event task is triggered at a higher frequency than this, the message 'ISR Count Exceeded' is logged in the application log page.
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External Event Task
Tasks
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 preempted 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.
Depending on the controller, there are up to 4 types of events that can be associated with an External event task:
� Rising edge on an advanced input (DI0...DI15) � HSC thresholds � HSC Stop � CAN Sync
NOTE: CAN Sync is a specific event object, depending on the CANopen manager configuration. NOTE: The maximum frequency of events is 6 per millisecond. If the external event task is triggered at a higher frequency than this, the controller goes to the HALT state (Exception) and an "ISR Count Exceeded" message is logged on the application log page.
System and Task Watchdogs
Introduction
Two types of watchdog functionality are implemented for the Modicon M241 Logic Controller:
� System Watchdogs: These watchdogs are defined in and managed by the controller firmware. These are not configurable by the user.
� Task Watchdogs: These watchdogs are optional watchdogs that you can define for each task. These are managed by your application program and are configurable in EcoStruxure Machine Expert.
System Watchdogs
Three system watchdogs are defined for the Modicon M241 Logic 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 3 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: System watchdogs are not configurable by the user.
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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 maximum execution time for a task. When a task takes longer than this, the controller will report 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.
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.
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Tasks
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.
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.
WARNING
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 TM2/TM3 Modules and CANopen I/Os
You can select the task that drives TM3 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, page 81. During the read and write phases, all physical I/Os are refreshed at the same time. TM3/TM2 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.
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EIO0000003059.03
Tasks
NOTE: Event tasks cannot drive the TM3/TM2 bus cycle.
Default Task Configuration
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 20 ms, and its task watchdog service is activated with a time of 100 ms and a sensitivity of 1. Refer to Task Priorities, page 33 for more information on priority settings. Refer to Task Watchdogs, page 32 for more 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.
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Controller States and Behaviors
Controller States and Behaviors
Introduction
This chapter provides 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.
Controller State Diagram
Controller State Diagram Controller State Diagram
This diagram describes the controller operating mode:
Legend:
� Controller states are indicated in ALL-CAPS BOLD � User and application commands are indicated in Bold � System events are indicated in Italics
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EIO0000003059.03
Controller States and Behaviors
� Decisions, decision results, and general information are indicated in normal text
(1) For details on STOPPED to RUNNING state transition, refer to Run Command, page 45. (2) For details on RUNNING to STOPPED state transition, refer to Stop Command, page 45.
Note 1
The Power Cycle (Power Interruption followed by a Power ON) deletes all output forcing settings. Refer to Controller State and Output Behavior, page 42 for further details.
Note 2
The outputs will assume their hardware initialization values.
Note 3
In some cases, when a system error is detected, it will cause the controller to reboot automatically into the EMPTY state as if no Boot application were present in the non-volatile memory. However, the Boot application is not deleted from the non-volatile memory. In this case, the ERR LED (red) flashes regularly.
Note 4
After verification of a valid Boot application the following events occur: � The application is loaded into RAM. � The Post Configuration, page 161 file settings (if any) are applied.
During the load of the boot application, a Check context test occurs to verify that the Remanent variables are valid. If the Check context test is invalid, the boot application will load but the controller will transitions to the STOPPED state, page 48.
Note 5a
The Starting Mode is set in the PLC settings tab of the Controller Device Editor, page 56.
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 will be detected immediately, and the controller will behave 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 will normally reboot 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 non-volatile 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 2 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 non-production environment and confirm that the controller and attached equipment assume their expected conditions in the RUNNING state.
WARNING
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.
Multiple Download:
NOTE: Online changes to your program are not automatically written to the Boot application, and will be 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).
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 non-production 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.
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.
Note 8
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, page 39 for further details.
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Controller States and Behaviors
Note 9
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 power cycle is mandatory.
Note 10
The RUNNING state has 2 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, page 78. � RUNNING with Breakpoint: this exception condition is indicated by the RUN LED, which displays a single green flash. Refer to Controller States Description, page 39 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.
Controller States Description
Controller States Description
Introduction
This section provides a detailed description of the controller states.
WARNING
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. � Before performing any of these operations, consider the effect on all connected equipment. � Before acting on a controller, always positively confirm the controller state by viewing its LEDs, confirming the condition of the Run/Stop input, verifying the presence of output forcing, and reviewing the controller status information via EcoStruxure Machine Expert.(1) Failure to follow these instructions can result in death, serious injury, or equipment damage.
(1) The controller states can be read in the PLC_R.i_wStatus system variable of the M241 PLCSystem library (see Modicon M241 Logic Controller, System Functions and Variables, PLCSystem Library Guide)
Controller States Table
The following table describes the controller states:
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Controller States and Behaviors
Controller State
BOOTING
INVALID_OS
EMPTY EMPTY after a system error detected RUNNING RUNNING with breakpoint
RUNNING with external error detected
STOPPED
STOPPED with external error detected HALT Boot Application not saved
Description
The controller executes the boot firmware and its own internal self-tests. It then checks the checksum of the firmware and user applications.
There is not a valid firmware file present in the non-volatile memory. The controller does not execute the application. Refer to Firmware Management, page 175 to restore a correct state. The controller has no application.
LED RUN (Green) OFF OFF OFF OFF
OFF
This state is the same as the other EMPTY state. However the application is present, and is intentionally not loaded. A reboot (power cycle), or a new application download, restores a correct state.
OFF
The controller is executing a valid application.
ON
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.
Single flash
The controller is executing a valid application and a configuration, TM3, SD card, ON or other I/O error is 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.
The controller has a valid application that is stopped. See details of the STOPPED state, page 40 for an explanation of the behavior of outputs and field buses in this state.
The controller is executing a valid application and a configuration, TM3, SD card, or other I/O error is detected.
Regular flash
Regular flash
The controller stops executing the application because it has detected an application error.
The controller has an application in memory that differs from the application in non-volatile memory. At next power cycle, the application will be changed by the one from non-volatile memory.
Regular flash
ON or regular flash
ERR (Red) OFF ON ON Regular flash Single flash Fast flash OFF OFF
OFF
OFF
OFF
ON Single flash
I/O (Red) ON ON OFF OFF OFF OFF OFF OFF
ON
OFF ON � OFF
This timing diagram shows the difference between the fast flash, regular flash and single flash:
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.
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� 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.
� All 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. For output used by a PTO function, the default value is ignored, in order not to generate an extra pulse. 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.
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 inputs are read and then written 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.
NOTE: Expert functions cease operating. For example, a counter will be stopped.
- If Keep current values configuration is selected:
PTO, PWM, FreqGen (frequency generator), and HSC reflex outputs are set to 0.
- If Set all outputs to default configuration is selected:
PTO outputs are set to 0.
PWM, FreqGen (frequency generator) and HSC reflex outputs are set to the configured default values.
CAN Behavior When Update IO While In Stop Is Selected
The following is true for the CAN buses when the Update IO while in stop setting is selected:
� The CAN bus remains operational. Devices on the CAN bus continue to perceive the presence of a functional CAN 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 values.
� If the Behaviour for outputs in Stop field is Set all outputs to default the last values are updated to the default values and subsequent TPDOs are issued with these default values.
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Task and I/O Behavior When Update IO While In Stop Is Not Selected
CAN 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.
NOTE: Expert functions cease operating. For example, a counter will be stopped.
- If Keep current values configuration is selected:
PTO, PWM, FreqGen (frequency generator), and HSC reflex outputs are set to 0.
- If Set all outputs to default configuration is selected:
PTO outputs are set to 0.
PWM, FreqGen (frequency generator), and HSC reflex outputs are set to the configured default values.
The following is true for the CAN buses when the Update IO while in stop setting is not selected:
� The CAN Master ceases communications. Devices on the CAN 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 CAN Master.
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.
Controller States and Output Behavior
Introduction
The Modicon M241 Logic 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.
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
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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, page 78.
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, rightclick on the controller in the Devices 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 maintain their 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, page 39 for more details on these variations.
NOTE: The Keep current values setting does not apply to PTO, PWM, FreqGen (frequency generator), and HSC reflex outputs. These outputs are always set to 0 when the controller passes to the STOPPED state, irrespective of the Keep current values setting.
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 Devices tree and select Edit Object.
This output behavior applies: � when the controller is going from RUNNING state to STOPPED state. � if the controller is going from RUNNING 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 maintain their 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, page 39 for more details on these variations.
The outputs driven by a PTO, PWM, FreqGen, and HSC expert functions will not apply the default value.
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
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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.
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 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 controller is in STOPPED state.
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.
The outputs driven by a PTO, PWM, FreqGen, and HSC expert functions cannot be forced.
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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Commanding State Transitions
Run Command
Effect: Commands a transition to the RUNNING controller state.
Starting Conditions: BOOTING or STOPPED state.
Methods for Issuing a Run Command: � Run/Stop Input: If configured, command a rising edge to the Run/Stop input (assuming the Run/Stop switch is in the RUN position). Set the Run/Stop to 1 for all of the subsequent options to be effective. Refer to Run/Stop Input, page 68 for more information. � 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 M241 PLCSystem 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, or EMPTY state. � The controller is restarted into the RUNNING state automatically under certain conditions.
Refer to Controller State Diagram, page 36 for further details.
Stop Command
Effect: Commands a transition to the STOPPED controller state.
Starting Conditions: BOOTING, EMPTY, or RUNNING state.
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, page 68 for more information. � 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 M241 PLCSystem 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, 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, page 48 for further details. � The controller is restarted into the STOPPED state automatically under certain conditions.
Refer to Controller State Diagram, page 36 for further details.
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Controller States and Behaviors
Reset Warm
Effect: Resets the variables, except for the remanent variables, to their default values. Places the controller into the STOPPED state.
Starting Conditions: RUNNING, STOPPED, or HALT states.
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 M241 PLCSystem 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. The non-located and non-remanent variables are reset to their initialization values. 7. The values of the first 1000 %MW registers are maintained. 8. The values of %MW1000 to %MW59999 registers are reset to 0. 9. The fieldbus communications are stopped and then restarted after the reset is complete.
10. The inputs are reset to their initialization values. The outputs are reset to their software initialization values or their default values if no software initialization values are defined.
11. The Post Configuration file is read, page 161. For details on variables, refer to Remanent Variables, page 52.
Reset Cold
Effect: Resets the 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 M241 PLCSystem 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. The non-located and non-remanent variables are reset to their initialization values. 7. The values of the first 1000 %MW registers are maintained. 8. The values of %MW1000 to %MW59999 registers are reset to 0. 9. The fieldbus communications are stopped and then restarted after the reset is complete.
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10. The inputs are reset to their initialization values. The outputs are reset to their software initialization values or their default values if no software initialization values are defined.
11. The Post Configuration file is read, page 161. For details on variables, refer to Remanent Variables, page 52.
Reset Origin
Effect: Resets all variables, including the remanent variables, to their initialization values. Erases all user files on the controller, including user rights and certificates. Reboots and places the controller into the EMPTY state.
Starting Conditions: RUNNING, STOPPED, or HALT states.
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, data logging, Post Configuration, user rights and certificates) 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. The non-located and non-remanent variables are reset. 9. The values of the first 1000 %MW registers are reset to 0.
10. The values of %MW1000 to %MW59999 registers are reset to 0. 11. The fieldbus communications are stopped. 12. Embedded Expert I/O are reset to their previous user-configured default
values. 13. The other inputs are reset to their initialization values.
The other outputs are reset to their hardware initialization values. 14. The controller reboots. For details on variables, refer to Remanent Variables, page 52.
Reset Origin Device
Effect: Resets all variables, including the remanent variables, to their initialization values. Places the controller into the EMPTY state if PLC Logic is selected.
Starting Conditions: RUNNING, STOPPED, or HALT states.
Methods for Issuing a Reset Origin Device Command: � EcoStruxure Machine Expert Online Menu: Right-click My controller > Reset Origin Device command. Result: a dialog box allows you to select the items to remove: User Management PLC Logic Certificates
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Controller States and Behaviors
Machine Expert Logic Builder
Do you really want to reset the device to its original state?
Resetting the device will delete all of the selected items below.
Deleting just a subset of items may render other items inoperable. Depending on the configuration of the device, additional items may also get deleted.
Delete
item User Management PLC Logic Certificates
Yes
No
When User Management is selected: � User and groups are reset to default value. NOTE: If the controller user rights are disabled before this command is used, you can connect to the controller without login prompt afterwards. Use the dedicated command in Online menu: Security > Reset user rights management to default to enforce again the use of user management.
When PLC Logic is selected: 1. The application stops. 2. Forcing is erased. 3. The web visu files are erased. 4. Diagnostic indications for errors are reset. 5. The values of the retain variables are reset. 6. The values of the retain-persistent variables are reset. 7. The non-located and non-remanent variables are reset. 8. The fieldbus communications are stopped. 9. Embedded Expert I/O are reset to their previous user-configured default values.
10. The other inputs are reset to their initialization values. The other outputs are reset to their hardware initialization values.
11. System Logs are maintained. When Certificates is selected, certificates used for Webserver and FTP server are reset.
For details on variables, refer to Remanent Variables, page 52.
Reboot
Effect: Commands a reboot of the controller.
Starting Conditions: Any state.
Methods for Issuing the Reboot Command: � Power cycle � REBOOT by Script, page 169
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:
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- 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 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 and the remanent variables are valid.
The Reboot was provoked by a script and:
- the Starting Mode is set to Start in run, and if the Run/Stop input is configured and set to RUN, or the switch is 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 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 not configured, and if the boot application has not changed, and if the remanent variables are not valid.
- 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 is configured and set to RUN, or the switch is set to run, and if the controller was not in HALT state before the power cycle.
- the Starting Mode is set to Start as previous state and if the Run/Stop input is not configured, and if the controller was not in HALT, or the switch is set to run 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. The non-located and non-remanent variables are reset to their initialization values.
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7. The values of the first 1000 %MW registers are restored if saved context is valid.
8. The values of %MW1000 to %MW59999 registers are reset to 0. 9. The fieldbus communications are stopped and restarted after the boot
application is loaded successfully. 10. The inputs are reset to their initialization values. The 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. 11. The Post Configuration file is read, page 161. 12. 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 reestablished 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.
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, page 52. 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.
Download Application
Effect: Loads your application executable into the RAM memory. Optionally, creates a Boot application in the non-volatile memory.
Starting Conditions: RUNNING, STOPPED, HALT, and EMPTY states.
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 non-volatile memory using FTP. The updated file is applied at the next reboot.
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� SD card: Load Boot application file using an SD card in the controller. The updated file is applied at the next reboot. Refer to File Transfer with SD Card, page 174 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. The non-located and non-remanent variables are reset to their initialization values. 8. The values of the first 1000 %MW registers are maintained. 9. The values of %MW1000 to %MW59999 registers are reset to 0.
10. The fieldbus communications are stopped and then the configured fieldbus of the new application is started after the download is complete.
11. 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.
12. The inputs are reset to their initialization values. The 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.
13. The Post Configuration file is read, page 161. For details on variables, refer to Remanent Variables, page 52.
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, page 48.
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:
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Type of Error Detected External Error
Application 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 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 an optional module(1).
� The boot application in non-volatile memory is not the same as the one in RAM.
An application error is detected when improper programming is encountered or when a task watchdog threshold is exceeded.
RUNNING with External Error Detected Or STOPPED with External Error Detected
HALT
System Error
A system error is detected when the controller enters a condition 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.
NOTE: There are some system errors that can be managed by runtime and are therefore treated like application errors.
BOOTING EMPTY
(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, page 78.
NOTE: Refer to the Modicon M241 Logic Controler PLCSystem � Library Guide for more detailed information on diagnostics.
Remanent Variables
Overview
Remanent variables can either be reinitialized or retain their values in the event of power outages, reboots, resets, and application program downloads. There are multiple types of remanent variables, declared individually as retain or persistent, or in combination as retain-persistent.
NOTE: For this controller, variables declared as persistent behave in the same way as variables declared as retain-persistent.
This table describes the behavior of remanent variables in each case:
Action
VAR
Online change to application
X
program
Online change modifying the boot
�
application (1)
Stop
X
Power cycle
�
Reset warm
�
Reset cold
�
Reset origin
�
Reset origin device
�
Download of application program
�
using EcoStruxure Machine
Expert (3)
VAR RETAIN X
VAR GLOBAL RETAIN PERSISTENT
X
X
X
X
X
X
X
X (2)
X
�
X
�
�
�
�
�
X
52
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Controller States and Behaviors
Action
VAR
Download of application program
�
using an SD card (3)
VAR RETAIN �
VAR GLOBAL RETAIN PERSISTENT
�
(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 application (for example, a:=a+1; => a:=a+2;). In all other cases, retain variables are reinitialized.
(2) For more details on VAR RETAIN, refer to Effects of the Reset warm Command, page 46.
(3) If the downloaded application contains the same retain-persistent variables as the existing application, the existing retain variables maintain their values.
NOTE: The first 1000 %MW are automatically retained and persistent if no variable is associated to them. Their values are kept after a reboot / Reset warm / Reset cold. The other %MW are managed as VAR. For example, if you have in your program:
VAR myVariable AT %MW0 : WORD; END_VAR
%MW0 behaves like myVariable (not retained and not persistent).
Adding Retain-Persistent Variables
Declare retain-persistent (VAR GLOBAL PERSISTENT RETAIN) variables in the PersistentVars window:
Step 1 2 3 4
Action In the Applications tree, select the Application node. Click the right mouse button.
Choose Add Objects > Persistent variables
Click Add. Result: The PersistentVars window is displayed.
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53
Controller Device Editor
Introduction
This chapter describes how to configure the controller.
Controller Device Editor
Controller Parameters
Controller Parameters
To open the device editor, double-click MyController in the Devices tree:
MyController Communication settings Applications Files Log PLC Settings Services IEC Objects Task Deployment Ethernet Services Users and Groups Access Rights Symbol Rights OPC UA Server Configuration Status Information
C...
Controller
ProjectName
IP_Address
TimeSinceBoot
NodeName
ProjectAuthor
FW_Version
Tabs Description
Tab
Description
Restriction
Communication Settings, page 55
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 (Communication Settings).
Online mode only
Applications
Presents the application running on the controller and allows removing the application from the controller.
Online mode only
Files, page 23
File management between the PC and the controller.
Online mode only
Only one logic controller disk at a time can be seen through this tab. When an SD card is inserted, this file displays the content of the SD card. Otherwise, this tab displays the content of the /usr directory of the internal non-volatile memory of the controller.
Log
View the controller log file.
Online mode only
PLC settings, page 56
Configuration of:
�
� application name
� I/O behavior in stop
� bus cycle options
Services, page 56
Lets you configure the online services of the controller (RTC, device identification).
Online mode only
IEC Objects
Allows you to access to the device from the IEC application through the listed objects. � Displays a monitoring view in online mode. For more information, refer to IEC Object in CODESYS Online Help.
Task deployment
Displays a list of I/Os and their assignments to tasks.
After compilation only
Ethernet Services
The IP Routing tab allows you to configure the routes and the cross network
�
transparency through IP Routing options.
NOTE: This tab is empty if no Ethernet connection is available in the configuration.
Users and Groups
The Users and Groups tab is provided for devices supporting online 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.
54
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Controller Device Editor
Tab
Access Rights
Symbol Rights OPC UA Server Configuration Status Information
Description
Restriction
For more details, refer to the EcoStruxure Machine Expert Programming Guide.
The Access Rights tab allows you to define the device access rights of users.
�
For more details, refer to the EcoStruxure Machine Expert Programming Guide.
Allows the Administrator to configure Users and Groups access to the symbol sets. � For more information, refer to Symbol Configuration in CODESYS Online Help.
Displays the OPC UA Server Configuration, page 155 window.
�
Not used.
�
Displays general information about the device (name, description, provider, version,
�
image).
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.
You can change the display mode of the Communication Settings tab: � Simple mode. Refer to EcoStruxure Machine Expert, Programming Guide. � Classic mode. Refer to EcoStruxure Machine Expert, Programming Guide. � Controller selection mode. Refer to EcoStruxure Machine Expert, Programming Guide.
Edit Communication Settings
In Controller selection mode, 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 contextual menu.
You can configure the Ethernet settings in the Edit communication settings window in 2 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 always 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.
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55
PLC Settings
Overview
The figure below presents the PLC Settings tab:
Controller Device Editor
Element
Application for I/O handling
PLC settings
Update IO while in stop
Behavior for outputs in Stop
Bus cycle options
Always update variables Bus cycle task
Additional settings Starting mode Options
Generate force variables for IO mapping Enable Diagnosis for devices Show I/O warnings as errors Starting mode
Description By default, set to Application because there is only one application in the controller. If this option is activated (default), the values of the input and output channels are 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.
This configuration setting is the parent for all Bus cycle task parameters used in the application Devices 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. Not used.
Not used.
Not used.
This option defines the starting mode on a power-on. For further information, refer to State behavior diagram, page 36. Select with this option one of these starting modes:
� Start as previous state � Start in stop � Start in run
Services
Services Tab
56
The Services tab is divided in three parts:
EIO0000003059.03
Controller Device Editor
� RTC Configuration � Device Identification � Post Configuration The figure below shows the Services tab:
NOTE: To have controller information, you must be connected to the controller.
Element RTC Configuration
PLC Time Read Local Time
Write
Synchronize with local date/time Device Identification Post Configuration
Description
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 Coordinated Universal Time (UTC).
Reads the date and time saved on the controller and displays the values in the PLC Time field. Lets you define a date and a time that are sent to the controller 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.
Writes the date and time defined in the Local time field to the logic 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.
Displays the Firmware Version, the Boot Version, and the Coprocessor Version of the selected controller, if connected.
Displays the application parameters overwritten by the Post configuration, page 161.
Ethernet Services
IP Routing
The IP Routing subtab allows you to configure the IP routes in the controller.
The parameter Enable IP forwarding recalls the options set or not on the configuration page of the TM4ES4 Ethernet module (option not available on the embedded Ethernet port).
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57
Controller Device Editor
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 M241 Logic Controller can have up to two 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.
Use the routing tables to manage the IP forwarding.
To add a route, double click My controller then click Ethernet Services > IP Routing > Add Route.
MyController Communication Settings Applications Files Log PLC settings Services
IP Routing Routing Table Network Destination Network Mask Gateway
IEC Objects Task Deployment Ethernet Services Users and Groups
Edit route
Network Destination Network Mask Gateway
10 . 100 . 100 . 0 255 . 255 . 255 . 0 172 . 16 . 4 . 0
Ok
Cancel
Users Rights
Introduction
58
Add Route...
Delete Route...
Edit Route...
For reasons of network security, TCP/IP forwarding is disabled by default. Therefore, you must manually enable TCP/IP forwarding if you want to access devices through the controller. 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.
Users rights contain the following elements: User, Group, Object, Operation, User Rights, Access rights. These elements allow you to manage users accounts and users access rights to control the access on the global projects.
� A User is a person or a service with specific User Rights.
EIO0000003059.03
Controller Device Editor
� A Group is a Persona or a Function. It is predefined or added. Each Group provides accesses thanks to Object.
� An Object is composed by predefined accesses thanks to Operation. � An Operation is the elementary action possible. � User Rights are the possible Access rights: VIEW, MODIFY, EXECUTE
and ADD�REMOVE for the dedicated operation. For more informations, refer to the EcoStruxure Machine Expert Programming Guide.
Login and passwords
Login and password are not set by default. This table describes how to log in:
Server/feature EcoStruxure Machine Expert
Web server FTP server OPC-UA Change Device Name feature
First connection or connection after reset to default / reset origin / reset origin device You must first create your login and your password.
NOTE: The login and the password that you create during the first connection have administrator privileges. NOTE: For information on lost login and passwords, see Troubleshooting, page 66. No login possible
No login possible
No login possible
No login possible
User Rights enabled
Connection after User Rights disabled
Login: configured login Password: configured password
No login or password required.
Login: configured login Password: configured password Login: configured login Password: configured password Login: configured login Password: configured password Login: configured login Password: configured password
Login: Anonymous Password: no password required. Login: Anonymous Password: Anonymous
Login: Anonymous Password: Anonymous
No login or password required.
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 disabling the user rights in User Management page of the web server, page 100. NOTE: The following characters are supported by the controller:
� login: a...z A...Z 0...9 � = [ ] \ ; ` , . / @ # $ % ^ & * ( ) _ + { } | : " < > ? ` ~ � password: a...z A...Z 0...9 � = [ ] \ ; ` , . / @ # $ % ^ & * ( ) _ + { } | : " < > ?
` ~ and space The length is limited to 60 characters.
Default users and groups
This table indicates the name and description of the predefined default groups: NOTE: Administrator can define a new Group if needed.
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59
Controller Device Editor
Group Name Administrator
Persona Persona Designer/ Programmer Persona Operator Persona Web Designer Persona Communication Persona Maintenance Function Function External Media Function File Access Function FTP Function Symbol Configuration Function Web Access Function Monitor Function OPC UA Function Variable
Group Description � Manages all the user rights. � Is created at first connection.
Group dedicated to the design of the application.
Group dedicated to the usage of the application. Group dedicated to the management of the Web server. Group dedicated to the management of communication features. Group dedicated to the maintenance of the application.
Group to allow the usage of External Command (from SD Card). Group to allow permissions on files tab. Group to allow usage of FTP. Group to allow access to Symbol Configuration.
Group to allow command on Web server. Group to allow monitoring of IEC variables. Group to allow access to OPC UA server. Group to allow read/write of IEC variables.
Object Names
Object name Device ExternalCmd FTP Logger OPC_UA PlcLogic Settings UserManagement Web FileSystem
This table indicates the name and description of the predefined objects:
Object Description Object related to the connection of the controller through EcoStruxure Machine Expert. Object related to script command (Clone and CloneCheck). Object related to FTP access (connection, upload and download on ftp server). Object related to the message logger. Object related to OPC UA server (connection, read and write variables). Object related to the application on the controller. Object related to the settings of the controller (nodename...). Object related to User rights Management. Object related to the access of the Web server. Object related to the file access (when accessing through the controller Files tab).
Operation Functions
This list indicates the name of the possible predefined operations: � SD Card command Script Command: Reboot Script Command: SET_NODE_NAME Script Command: FIREWALL_INSTALL Script Command: Delete Script Command: Download Script Command: Upload
60
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Controller Device Editor
Script Command: UpdateBoot Clone operation (clone controller contents to empty SD card) � FTP server command Connection to FTP server List Directory Change Directory Create Folder Rename Folder Suppress Folder Create File Rename File Suppress File Download File Upload File � OPC UA server command: Connection to OPC UA server Read Variable Write Variable � Web server command: Connection to Web server List Variables Read Variable Write Variable Access to File System Access to logger � EcoStruxure Machine Expert Command Reset Origin Device Login Set Node Name Update Logger Create Application Download application Pass RUN / STOP Reset (Cold / Warm / Origin) Delete Application Create Boot Application Save Retain Variables Restore Retain Variables Add Group Remove Group Add User Remove User Read User Rights Import User Rights Export User Rights
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61
Access Rights
Controller Device Editor
For each Group linked with an Object, User Rights are predefined with specifics Access Rights. This table indicates the Access Rights:
Access Rights
VIEW MODIFY ADD_REMOVE EXECUTE
Access Rights Description (depends on the Object. See Predefined Access Rights Needed by Object and Associated Operations, page 65). Allow to read only parameters and applications. Allow to write, modify and download parameters and applications. Allow to add and remove files, scripts and folders. Allow to execute and start applications and scripts.
Predefined Access Rights for Group Persona
For each Group, several Objects are predefined with preset Access Rights
Group: Administrator
Object name
Access Rights
Device
VIEW / MODIFY / ADD_REMOVE / EXECUTE
FTP
VIEW / MODIFY / ADD_REMOVE
Logger
VIEW
OPC_UA
VIEW / MODIFY
PlcLogic
VIEW / MODIFY / ADD_REMOVE / EXECUTE
Settings
VIEW / MODIFY
UserManagement
VIEW / MODIFY
Web FileSystem
VIEW / MODIFY / EXECUTE VIEW / MODIFY / ADD_REMOVE
Group: Designer / Programmer persona
Object name
Access Rights
Device
VIEW / ADD_REMOVE
FTP
VIEW / MODIFY / ADD_REMOVE
Logger
VIEW
OPC_UA
VIEW / MODIFY
PlcLogic
VIEW / MODIFY / ADD_REMOVE / EXECUTE
Settings
VIEW / MODIFY
UserManagement
VIEW
Web
VIEW / MODIFY / EXECUTE
FileSystem
VIEW / MODIFY / ADD_REMOVE
Group: Operator persona
Object name
Access Rights
Device Logger
VIEW VIEW
PlcLogic
VIEW / MODIFY / EXECUTE
Settings
VIEW
62
EIO0000003059.03
Controller Device Editor
Group: Operator persona
Object name
Access Rights
UserManagement
VIEW
Web
VIEW / MODIFY / EXECUTE
Group: Designer / Web designer persona
Object name
Access Rights
Device FTP
VIEW VIEW / MODIFY / ADD_REMOVE
Logger
VIEW
OPC_UA
VIEW
PlcLogic
VIEW
Settings
VIEW
UserManagement
VIEW
Web FileSystem
VIEW / MODIFY / EXECUTE VIEW / MODIFY / ADD_REMOVE
Group: Communication expert persona
Object name
Access Rights
Device FTP
VIEW VIEW / MODIFY / ADD_REMOVE
Logger
VIEW
OPC_UA
VIEW / MODIFY
PlcLogic
VIEW / MODIFY / EXECUTE
Settings
VIEW
UserManagement
VIEW
Web
VIEW / MODIFY / EXECUTE
FileSystem
VIEW / MODIFY / ADD_REMOVE
Group: Maintenance persona
Object name
Access Rights
Device FTP
VIEW VIEW / MODIFY / ADD_REMOVE
Logger
VIEW
OPC_UA
VIEW
PlcLogic
VIEW / EXECUTE
Settings
VIEW
UserManagement
VIEW
Web
VIEW / MODIFY / EXECUTE
FileSystem
VIEW / MODIFY / ADD_REMOVE
Predefined Access Rights for Group Function
For each Group, several Objects are predefined with predefined Access Rights
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63
Controller Device Editor
Group: Function External Media (1)
Object name
Access Rights
ExternalCmd
VIEW / MODIFY / ADD_REMOVE / EXECUTE
(1) NOTE: Enabling the objects in the group External Media will allow the access rights regardless of the user. That is to say, that the rights governing SD cards are global and are not confined to defined users
Group: Function File Access
Object name
Access Rights
Logger
VIEW
FileSystem
VIEW / MODIFY / ADD_REMOVE
Group: Function FTP Access
Object name
Access Rights
FTP
VIEW / MODIFY / ADD_REMOVE
Logger
VIEW
Group: Function Symbol Configuration Access
Object name
Access Rights
Logger
VIEW
OPC_UA
VIEW / MODIFY
PlcLogic
VIEW / MODIFY / ADD_REMOVE / EXECUTE
Web
VIEW / MODIFY / EXECUTE
Group: Function Web Access
Object name
Access Rights
Logger
VIEW
Web
VIEW / MODIFY / EXECUTE
Group: Function Monitor Access
Object name
Access Rights
Logger
VIEW
OPC_UA
VIEW
PlcLogic
VIEW
Web
VIEW
Group: Function OPC UA Access
Object name
Access Rights
Logger
VIEW
OPC_UA
VIEW / MODIFY
Group: Function Variable Access
Object name
Access Rights
Logger
VIEW
OPC_UA
VIEW
PlcLogic
VIEW / MODIFY / ADD_REMOVE / EXECUTE
Web
VIEW
64
EIO0000003059.03
Controller Device Editor
Predefined Access Rights Needed by Object and Associated Operations
Object Name Device ExternalCmd
FTP
Logger OPC_UA PlcLogic
Settings UserManagement
Web FileSystem
ADD_REMOVE Reset origin device �
Access Rights
MODIFY
VIEW
Set node name
Login
Download
Upload
Clone
Connection to FTP Server Create file Create folder Upload file Upload folder Download file Download folder Delete file Delete folder � �
Create application Download application Delete application Create Boot application �
�
�
�
Connection to FTP Server Download file Download folder Rename File Rename Folder
Connection to FTP Server List directory Change directory Download file Download folder
� Connection OPC_UA Read Variable Write Variable Write Variable
Update logger Connection OPC_UA Read Variable
Read Variable Save retain variables
Reject / Trust Certificate �
Set Node Name Add Group
Read User Rights
Remove Group
Export User Rights
Add User
Remove User
Edit User Rights
Import User Rights
Reset Origin Device
Set Variables
Connection to Web Server
Monitor Variables
Access Files System
�
�
EXECUTE � Delete Reboot Set Node Name Firewall install Clone Check �
� �
Pass Run / Stop Reset Restore Retains Var � �
Execute Command
�
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65
Symbol Rights Troubleshooting
Controller Device Editor
The Symbol Rights tab (see Tabs Description, page 54) allows you to configure user group access to the symbol sets. It consists in a customizable set of symbols allowing to separate functions and associate them with a user right. If supported by the target device, you can combine different symbol sets from the symbols of the application in the symbol configuration editor. The information about the symbol sets is downloaded to the controller. Then you can define the user group that has access to each symbol set.
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 or USB key (depending on the support of your particular controller) to update the controller firmware. In addition, you may clear the User Rights in the controller by running a script (for more information, refer to EcoStruxure Machine Expert Programming Guide). This effectively removes the existing application from the controller memory, but restores the ability to access the controller.
66
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Embedded Inputs and Outputs Configuration
Embedded Inputs and Outputs Configuration
Embedded I/Os Configuration
Overview
The embedded I/O function allows configuration of the controller inputs and outputs.
The M241 logic controller provides:
I/O Type
Fast inputs Regular inputs Fast outputs Regular outputs
24 I/O References TM241�24� 8 6 4 6
40 I/O References TM241�40� 8 16 4 12
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, page 17. 2 Select the I/O Configuration tab.
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.
Digital Input Configuration Parameters
For each digital input, you can configure the following parameters:
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67
Embedded Inputs and Outputs Configuration
Parameter Filter
Latch
Value None 1 ms 4 ms* 12 ms No* Yes
Event
No*
Rising edge
Falling edge
Both edges
Bounce
0.000 ms
0.001 ms
0.002 ms*
0.005 ms
0.010 ms
0.05 ms
0.1 ms
0.5 ms
1 ms
Run/Stop Input
5 ms None
I0...I13 (TM241�24� references)
I0...I23 (TM241�40� references)
* Parameter default value
Description
Reduces the effect of noise on a controller input.
Constraint
Available if Latch and Event are disabled.
In the other cases, this parameter is disabled and its value is None.
Allows incoming pulses with amplitude widths shorter than the controller scan time to be captured and recorded.
This parameter is only available for the fast inputs I0 to I7. Available if Event disabled and Filter are disabled. Use latch inputs in MAST task only.
Event detection
This parameter is only available for the fast inputs I0 to I7.
Available if Latch disabled and Filter are disabled. When Both edges is selected, and the input state is TRUE before the controller is powered on, the first falling edge is ignored.
Reduces the effect of bounce on a controller input.
Available if Latch is enabled or Event is enabled.
In the other cases, this parameter is disabled and its value is 0.002.
The Run/Stop input can be used to run or stop the controller application.
Select one of the inputs to use as the Run/Stop input.
NOTE: The selection is grey and inactive if the parameter is unavailable.
Run/Stop Input
This table presents the different states:
Input states State 0 A rising edge
State 1
Result
Stops the controller and ignores external Run commands.
From the STOPPED state, initiate a start-up of an application in RUNNING state, if no conflict with Run/Stop switch position.
The application can be controlled by: � 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.
68
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Embedded Inputs and Outputs Configuration
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), page 56. 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, page 36.
WARNING
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.
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.
Digital Output Configuration Parameters
This table presents the function of the different parameters:
Parameter General Parameters Alarm Output
Rearming Output Mode
Synchronization
Minimize jitter for local Output
Function Select an output to be used as alarm output, page 69. Select the rearming output mode, page 70.
Select this option to minimize jitter on local outputs, page 70.
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.
The alarm output is set to 0 when a short-circuit is detected.
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69
Embedded Inputs and Outputs Configuration
NOTE: Outputs assigned to configured expert functions cannot be configured as the alarm output.
Rearming Output Mode
Fast outputs of the Modicon M241 Logic Controller use push/pull technology. In case of detected error (short-circuit or over temperature), the output is put in the default value and the condition is signaled by status bit and PLC_R.i_ wLocalIOStatus.
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 the default value 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.
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.
Minimize Jitter for Local Output
This option allows the embedded I/Os to be read or set at predictable time intervals, regardless of the task duration. Minimizes jitter on outputs by delaying the write to the physical outputs until the read input operation of the next bus cycle task starts. The end time of a task is often less easy to predict than the start time.
Normal scheduling of input/ouput phases is:
When the Minimize Jitter for Local Output option is selected, the scheduling of the IN and OUT phases becomes:
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Expert Functions Configuration
Expert Functions Configuration
Overview
This chapter describes the expert functions of the M241.
Expert Functions Overview
Introduction
The inputs and outputs available on the M241 logic controller can be connected to expert functions.
The M241 logic controller supports the following expert functions:
Functions Counters
Pulse Generators
HSC Simple
HSC Main Single Phase
HSC Main Dual Phase Frequency Meter
Period Meter PTO (see Modicon M241 Logic Controller PTO/PWM - Library Guide)
PWM (see Modicon M241 Logic Controller PTO/PWM - Library Guide)
Frequency Generator (see Modicon M241 Logic Controller PTO/PWM Library Guide)
Description
The HSC functions can execute fast counts of pulses from sensors, switches, etc. that are connected to the fast or regular inputs. HSC functions connected to regular inputs operate at a maximum frequency of 1 kHz.
For more information about the HSC functions, refer to High Speed Counter types (see Modicon M241 Logic Controller, High Speed Counting, HSC Library Guide).
The PTO function provides 4 pulse train output channels to control 4 independent linear single-axis stepper or servo drives in open loop mode.
The PTO function connected to regular transistor outputs operates at a maximum frequency of 1 kHz.
The PWM function generates a square wave signal on dedicated output channels with a variable duty cycle.
The PWM function connected to regular transistor outputs operates at a maximum frequency of 1 kHz.
The frequency generator function generates a square wave signal on dedicated output channels with a fixed duty cycle (50%).
The Frequency Generator function connected to regular transistor outputs operates at a maximum frequency of 1 kHz.
As of the release of EcoStruxure Machine Expert, any regular I/O not already in use can be configured for use by any of the expert function types, in the same way as fast I/Os.
NOTE:
� When an input is used as Run/Stop, it cannot be used by an expert function.
� When an output is used as Alarm, it cannot be used by an expert function.
For more details, refer to Embedded Functions Configuration, page 71.
Maximum Number of Expert Functions
The maximum number of expert functions that can be configured depends on:
1. The logic controller reference.
2. The expert function types and number of optional functions (see Modicon M241 Logic Controller, High Speed Counting, HSC Library Guide) configured. Refer to Embedded Expert I/O Assignment (see Modicon M241 Logic Controller, High Speed Counting, HSC Library Guide).
3. The number of I/Os that are available.
Maximum number of expert functions by logic controller reference:
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Expert Functions Configuration
Expert Function Type
24 I/O References (TM241�24�)
40 I/O References (TM241�40�)
Total number of HSC functions
14
16
HSC
Simple
14
16
Main Single Phase
4
Main Dual Phase Frequency Meter (1)
PTO
Period Meter
PWM FreqGen
(1) When the maximum number is configured, only 12 additional HSC Simple functions can be added.
The maximum number of expert functions possible may be further limited by the number of I/Os used by each expert function.
Example configurations: � 4 PTO (2) + 14 HSC Simple on 24 I/O controller references � 4 FreqGen (2) + 16 HSC Simple on 40 I/O controller references � 4 HSC Main Single Phase + 10 HSC Simple on 24 I/O controller references � 4 HSC Main Dual Phase + 8 HSC Simple on 40 I/O controller references � 2 PTO (2) + 2 HSC Main Single Phase + 14 HSC Simple on 40 I/O controller references (2) With no optional I/O configured
The performance of the expert function is limited by the I/Os used: � HSC with fast inputs: 100 kHz/200 kHz � HSC with regular inputs: 1 kHz
Configuring an Expert Function
To configure an expert function, proceed as follows:
Step 1
Description Double-click the Counters or Pulse_Generators node in the Devices tree. Result: The Counters or Pulse_Generators configuration window appears:
2 Double-click None in the Value column and choose the expert function type to assign. Result: The default configuration of the expert function appears when you click anywhere in the configuration window.
3 Configure the expert function parameters, as described in the following chapters. 4 To configure an additional expert function, click the + tab.
NOTE: If the maximum number of expert functions is already configured, a message appears at the bottom of the configuration window informing you that you can now add only HSC Simple functions.
Regular I/O Configured as Expert Function
When regular I/Os are configured as expert functions, note the following:
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Expert Functions Configuration
� Inputs can be read through memory variables.
� An input cannot be configured as an expert function if it has already been configured as a Run/Stop input.
� An output cannot be configured in an expert function if it has already been configured as an alarm.
� Short-Circuit management applies on the outputs. Status of outputs are available.
� The I/O that are not used by expert functions can be used as any other regular I/O.
� When inputs are used in expert functions (Latch, HSC,...), integrator filter is replaced by anti-bounce filter. Filter value is configured in the configuration screen.
Counting Function
Overview
The Counting function can execute fast counts of pulses from sensors, encoders, switches, and so on, that are connected to fast inputs. The Counting function can also be connected to regular inputs, in which case the function operates at a lower frequency.
There are 2 types of embedded counting functions:
� Simple type: a single input counter.
� Main type: a counter that uses up to 4 inputs and 2 reflex outputs.
Based on the embedded counting functions, there are 5 types of counters that you can configure in EcoStruxure Machine Expert:
� HSC Simple
� HSC Main Single Phase
� HSC Main Dual Phase
� Frequency Meter
� Period Meter
The Frequency Meter type and the Period Meter type are based on an HSC Main type.
Accessing the Counting Function Configuration Window
Follow these steps to access the embedded counting function configuration window:
Step Description 1 Double-click Counters in the Devices tree. The Counting Function window appears:
2 Double-click Value and choose the counting function type to assign.
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Expert Functions Configuration
Counting Function Configuration Window
The following figure shows a sample HSC configuration window:
The following table describes the areas of the Counters configuration window:
Number
1 2 3 4
5
Action
The instance name of the function and the currently configured counting function type . Click + to configure a new instance of counting function. Double-click the Value column to display a list of the counter function types available. Double-click the Instance name value to edit the instance name of the function. The Instance name is automatically given by EcoStruxure Machine Expert. The Instance name parameter is editable and allows you to define the instance name. However, whether the Instance name is software-defined or user-defined, use the same instance name as an input to the function blocks dealing with the counter, as defined in the Counters editor. Configure each parameter by clicking the plus sign next to it to access its settings. The parameters available depend on the mode used.
For detail information on configuration parameters, refer to M241 HSC Library Guide.
Pulse Generators Embedded Function
Overview
The pulse generated embedded functions available with the M241 are:
PTO PWM FreqGen
The PTO (Pulse Train Output) implements digital technology that provides precise positioning for open loop control of motor drives.
The PWM (Pulse Width Modulation) function generates a programmable square wave signal on a dedicated output with adjustable duty cycle and frequency.
The FreqGen (Frequency Generator) function generates a square wave signal on dedicated output channels with a fixed duty cycle (50%).
Accessing the Pulse Generators Configuration Window
Follow these steps to access the Pulse Generators configuration window:
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Expert Functions Configuration Step Description 1 Double-click Pulse Generators on the Devices tree. The Pulse Generation Function window appears:
2 Double-click Value and choose the pulse generator function type to assign.
Pulse Generators Configuration Window
The figure shows a sample Pulse_Generators configuration window used to configure a PTO, PWM, or FreqGen function:
The following table describes the areas of the Pulse_Generators configuration window:
Number 1 2 3 4
5
Action The instance name of the function and the currently configured pulse generator function type .
Click + to configure a new instance of pulse generator function.
Double-click the Value column to display a list of the pulse generator function types available.
Double-click the Instance name value to edit the instance name of the function.
The Instance name is automatically given by EcoStruxure Machine Expert. The Instance name parameter is editable and allows you to define the instance name. However, whether the Instance name is software-defined or user-defined, use the same instance name as an input to the function blocks dealing with the counter, as defined in the Counters editor. Configure each parameter by selecting the parameter value from the list to access its settings.
The parameters available depend on the type of parameter selected.
For detailed information on configuration parameters, refer to the Modicon M241 Logic Controller PTO/PWM - Library Guide.
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Cartridge Configuration
Cartridge Configuration
TMC4 Cartridge Configuration
Introduction
The Modicon M241 Logic Controller supports the following cartridges:
� TMC4 standard cartridges
� TMC4 application cartridges
For further information about the TMC4 cartridge configuration, refer to the TMC4 Cartridges Programming Guide (see Modicon TMC4, Cartridges, Programming Guide).
WARNING
UNINTENDED EQUIPMENT OPERATION � Only use software approved by Schneider Electric for use with this
equipment.
� Update your application program every time you change the physical hardware configuration.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Adding a TMC4 Cartridge
To add a cartridge to your controller, select the cartridge in the Hardware Catalog, drag it to the Devices tree, and drop it on one of the highlighted nodes.
For more information on adding a device to your project, refer to:
� Using the Hardware Catalog (see EcoStruxure Machine Expert, Programming Guide)
� Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming Guide)
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Expansion Modules Configuration
Expansion Modules Configuration
Overview
This chapter describes how to configure the TM4, TM3, and TM2 expansion modules for the Modicon M241 Logic Controller.
TM4/TM3/TM2 Expansion Module Configuration
Introduction
The Modicon M241 Logic Controller supports the following expansion modules: � TM4 communication expansion modules � TM3 expansion modules Digital I/O modules Analog I/O modules Expert I/O modules Safety modules Transmitter and receiver modules � TM2 expansion modules Digital I/O modules Analog I/O modules Expert modules Communication modules
For further information about the TM4,TM3 and TM2 expansion modules configuration, refer to the TM4 Expansion Modules Configuration Programming Guide, TM3 Expansion Modules Configuration Programming Guide and TM2 Expansion Modules Configuration Programming Guide respectively.
WARNING
UNINTENDED EQUIPMENT OPERATION � Only use software approved by Schneider Electric for use with this
equipment. � Update your application program every time you change the physical
hardware configuration. Failure to follow these instructions can result in death, serious injury, or equipment damage.
Adding an Expansion Module
To add an expansion module to your controller, select the expansion module in the Hardware Catalog, drag it to the Devices tree, and drop it on one of the highlighted nodes.
For more information on adding a device to your project, refer to:
� Using the Hardware Catalog (see EcoStruxure Machine Expert, Programming Guide)
� Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming Guide)
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Expansion Modules Configuration
TM3 I/O Configuration General Description
Introduction
In your project, you can add I/O expansion modules to your M241 Logic Controller to increase the number of digital and analog inputs and outputs over those native to the controller (embedded I/O).
You can add either TM3 or TM2 I/O expansion modules to the logic controller, and further expand the number of I/O via TM3 transmitter and receiver modules to create remote I/O configurations. Special rules apply in all cases when creating local and remote I/O expansions, and when mixing TM2 and TM3 I/O expansion modules (refer to Maximum Hardware Configuration (see Modicon M241 Logic Controller, Hardware Guide)).
The I/O expansion bus of the M241 Logic Controller is created when you assemble the I/O expansion modules to the logic controller. I/O expansion modules are considered as external devices in the logic controller architecture and, as such, are treated differently than the embedded I/Os of the logic controller.
I/O Expansion Bus Errors
If the logic controller cannot communicate with one or more I/O expansion modules contained in the program configuration, and those modules are not configured as optional modules (refer to Optional I/O Expansion Modules, page 82), the logic controller detects it as an I/O expansion bus error. The unsuccessful communication may be detected during the startup of the logic controller or during runtime, and there may be any number of causes. Causes of communication exceptions on the I/O expansion bus include, among other things, disconnection of or physically missing I/O modules, electromagnetic radiation beyond published environmental specifications, or otherwise inoperative modules.
If an I/O expansion bus error is detected:
� The system status LED I/O of the logic controller is illuminated indicating an I/ O error.
� When EcoStruxure Machine Expert is in online mode, a red triangle appears next to the TM3 expansion module or modules in error and next to the IO_ Bus node on the Devices tree window:
The following diagnostic information is also available:
� Bit 0 and bit 1 of the PLC_R.i_lwSystemFault_1 system variable are set to 0.
� The PLC_R.i_wIOStatus1 and PLC_R.i_wIOStatus2 system variables are set to PLC_R_IO_BUS_ERROR.
� The TM3_MODULE_R[i].i_wModuleState system variable, where [i] identifies the TM3 expansion module in error, is set to TM3_BUS_ERROR.
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Expansion Modules Configuration
� The TM3_GetModuleBusStatus function block returns the TM3_ERR_BUS error code (see Modicon M241 Logic Controller, System Functions and Variables, PLCSystem Library Guide).
Refer to PLC_R (see Modicon M241 Logic Controller, System Functions and Variables, PLCSystem Library Guide) and TM3_MODULE_R (see Modicon M241 Logic Controller, System Functions and Variables, PLCSystem Library Guide) structures for details on system variables.
Active I/O Expansion Bus Error Handling
The TM3_BUS_W.q_wIOBusErrPassiv system variable is set to ERR_ACTIVE by default to specify the use of active I/O error handling. The application can set this bit to ERR_PASSIVE to use passive I/O error handling instead.
By default, when the logic controller detects a TM3 module in bus communication error, it sets the bus to a "bus off" condition whereby the TM3 expansion module outputs, the input image value and the output image value are set to 0. A TM3 expansion module is considered to be in bus communication error when an I/O exchange with the expansion module has been unsuccessful for at least two consecutive bus task cycles. When a bus communication error occurs, the TM3_ MODULE_R[i].i_wModuleState system variable, where [i] is the expansion module number in error, is set to TM3_BUS_ERROR. The other bits are set to TM3_OK.
Normal I/O expansion bus operation can only be restored after eliminating the source of the error and performing one of the following:
� Power cycle
� New application download
� Restarting the I/O Bus by setting the TM3_BUS_W.q_wIOBusRestart system variable to 1. The bus is restarted only if no expansion modules are in error (TM3_MODULE_R[i].i_wModuleState = TM3_BUS_ERROR). Refer to Restarting the I/O Expansion Bus, page 80.
� Issuing a Reset Warm or Reset Cold command with EcoStruxure Machine Expert, page 45.
Passive I/O Expansion Bus Handling
The application can set the system variable TM3_BUS_W.q_wIOBusErrPassiv to ERR_PASSIVE to use passive I/O error handling. This error handling is provided to afford compatibility with previous firmware versions.
When passive I/O error handling is in use, the logic controller attempts to continue data bus exchanges with the modules during bus communication errors. While the expansion bus error persists, the logic controller attempts to re-establish communication on the bus with incommunicative modules, depending on the type of I/O expansion module:
� For TM3 I/O expansion modules, the value of the I/O channels is maintained (Keep current values) for approximately 10 seconds while the logic controller attempts to re-establish communication. If the logic controller cannot re-establish communications within that time, the affected TM3 I/O expansion outputs are set to 0.
� For TM2 I/O expansion modules that may be part of the configuration, the value of the I/O channels is maintained indefinitely. That is to say, the outputs of the TM2 I/O expansion modules are set to "Keep current values" until either power is cycled on the logic controller system, or you issue a Reset Warm or Reset Cold command with EcoStruxure Machine Expert, page 45.
In either case, the logic controller continues to solve logic and, if your controller is so equipped, the embedded I/O continues to be managed by the application ("managed by application program, page 43") while it attempts to re-establish communication with the incommunicative I/O expansion modules. If the communication is successful, the I/O expansion modules resume to be managed by the application. If communication with the I/O expansion modules is unsuccessful, you must resolve the reason for the unsuccessful communication,
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Expansion Modules Configuration
and then cycle power on the logic controller system, or issue a Reset Warm or Reset Cold command with EcoStruxure Machine Expert, page 45.
The value of the incommunicative I/O expansion modules input image is maintained and the output image value is set by the application.
Further, if the incommunicative I/O module(s) disturb the communication with unaffected modules, the unaffected modules are also considered to be in error and the TM3_MODULE_R[i].i_wModuleState system variable (where [i] is the expansion module number) is set to TM3_BUS_ERROR. However, with the ongoing data exchanges that characterize the Passive I/O Expansion Bus Error Handling, the unaffected modules apply the data sent, and do not apply the fallback values as for the incommunicative module.
Therefore, you must monitor within your application the state of the bus and the error state of the module(s) on the bus, and take the appropriate action necessary given your particular application.
WARNING
UNINTENDED EQUIPMENT OPERATION
� Include in your risk assessment the possibility of unsuccessful communication between the logic controller and any I/O expansion modules.
� If the "Keep current values" option deployed during an I/O expansion module external error is incompatible with your application, use alternate means to control your application for such an event.
� Monitor the state of the I/O expansion bus using the dedicated system variables and take appropriate actions as determined by your risk assessment.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
For more information on the actions taken upon startup of the logic controller when an I/O expansion bus error is detected, refer to Controller States Description, page 39.
Restarting the I/O Expansion Bus
When active I/O error handling is being applied, that is, embedded and TM3 outputs set to 0 when a bus communication error is detected, the application can request a restart of the I/O expansion bus while the logic controller is still running (without the need for a Cold Start, Warm Start, power cycle, or application download).
The TM3_BUS_W. q_wIoBusRestart system variable is available to request restarts of the I/O expansion bus. The default value of this bit is 0. Provided at least one TM3 expansion module is in error (TM3_MODULE_R[i].i_ wModuleState set to TM3_BUS_ERROR), the application can set TM3_BUS_W. q_wIoBusRestart to 1 to request a restart of the I/O expansion bus. On detection of a rising edge of this bit, the logic controller reconfigures and restarts the I/O expansion bus if all of the following conditions are met:
� The TM3_BUS_W.q_wIOBusErrPassiv system variable is set to ERR_ ACTIVE (that is, I/O expansion bus activity is stopped)
� Bit 0 and bit 1 of the PLC_R.i_lwSystemFault_1 system variable are set to 0 (I/O expansion bus is in error)
� The TM3_MODULE_R[i].i_wModuleState system variable is set to TM3_ BUS_ERROR (at least one expansion module is in bus communication error)
If the TM3_BUS_W.q_wIoBusRestart system variable is set to 1 and any of the above conditions is not met, the logic controller takes no action.
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Expansion Modules Configuration
Match Software and Hardware Configuration
The I/O that may be embedded in your controller is independent of the I/O that you may have added in the form of I/O expansion. It is important that the logical I/O configuration within your program matches the physical I/O configuration of your installation. If you add or remove any physical I/O to or from the I/O expansion bus or, depending on the controller reference, to or from the controller (in the form of cartridges), then you must update your application configuration. This is also true for any field bus devices you may have in your installation. Otherwise, there is the potential that the expansion bus or field bus no longer function while the embedded I/O that may be present in your controller continues to operate.
WARNING
UNINTENDED EQUIPMENT OPERATION
Update the configuration of your program each time you add or delete any type of I/O expansions on your I/O bus, or you add or delete any devices on your field bus.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Presentation of the Optional Feature for I/O Expansion Modules
I/O expansion modules can be marked as optional in the configuration. The Optional module feature provides a more flexible configuration by the acceptance of the definition of modules that are not physically attached to the logic controller. Therefore, a single application can support multiple physical configurations of I/O expansion modules, allowing a greater degree of scalability without the necessity of maintaining multiple application files for the same application.
You must be fully aware of the implications and impacts of marking I/O modules as optional in your application, both when those modules are physically absent and present when running your machine or process. Be sure to include this feature in your risk analysis.
WARNING
UNINTENDED EQUIPMENT OPERATION
Include in your risk analysis each of the variations of I/O configurations that can be realized marking I/O expansion modules as optional, and in particular the establishment of TM3 Safety modules (TM3S...) as optional I/O modules, and make a determination whether it is acceptable as it relates to your application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: For more details about this feature, refer to Optional I/O Expansion Modules, page 82.
TM3 I/O Bus Configuration
Overview
TM3 I/O bus configuration enables you to select the task that drives TM3 physical exchanges. It can also override the configuration defined in the PLC settings, page 56 bus cycle task.
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Expansion Modules Configuration
Configuring the I/O Bus
Follow these steps to configure the TM3 I/O bus:
Step Description 1 In the Devices tree, double-click IO_Bus. Result: The IO_Bus editor tab appears:
2 Set the Bus cycle task from the list to either of the following: � Use parent bus cycle setting (default) Sets the task for bus exchange as defined in the PLC settings. � MAST Sets the Master task for bus exchange irrespective of the task defined in the PLC settings.
Optional I/O Expansion Modules
Presentation
I/O expansion modules can be marked as optional in the configuration. The Optional module feature provides a more flexible configuration by the acceptance of the definition of modules that are not physically attached to the controller. Therefore, a single application can support multiple physical configurations of I/O expansion modules, allowing a greater degree of scalability without the necessity of maintaining multiple application files for the same application.
Without the Optional module feature, when the controller starts up the I/O expansion bus (following a power cycle, application download or initialization command), it compares the configuration defined in the application with the physical I/O modules attached to the I/O bus. Among other diagnostics made, if the controller determines that there are I/O modules defined in the configuration that are not physically present on the I/O bus, an error is detected and the I/O bus does not start.
With the Optional module feature, the controller ignores the absent I/O expansion modules that you have marked as optional, which then allows the controller to start the I/O expansion bus.
The controller starts the I/O expansion bus at configuration time (following a power cycle, application download, or initialization command) even if optional expansion modules are not physically connected to the controller.
The following module types can be marked as optional:
� TM3 I/O expansion modules
� TM2 I/O expansion modules
NOTE: TM3 Transmitter/Receiver modules (the TM3XTRA1 and the TM3XREC1) and TMC4 cartridges cannot be marked as optional.
You must be fully aware of the implications and impacts of marking I/O modules as optional in your application, both when those modules are physically absent and
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present when running your machine or process. Be sure to include this feature in your risk analysis.
WARNING
UNINTENDED EQUIPMENT OPERATION
Include in your risk analysis each of the variations of I/O configurations that can be realized marking I/O expansion modules as optional, and in particular the establishment of TM3 Safety modules (TM3S...) as optional I/O modules, and make a determination whether it is acceptable as it relates to your application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Marking an I/O Expansion Module as Optional
To add an expansion module and mark it as optional in the configuration:
Step 1 2 3 4
Action Add the expansion module to your controller . In the Devices tree, double-click the expansion module. Select the I/O Configuration tab. In the Optional module line, select Yes in the Value column:
Shared Internal ID Codes
Controllers and bus couplers identify expansion modules by a simple internal ID code. This ID code is not specific to each reference, but identifies the logical structure of the expansion module. Therefore, different references can share the same ID code. You cannot have two modules with the same internal ID code declared as optional without at least one mandatory module placed between them. This table groups the module references sharing the same internal ID code:
Modules sharing the same internal ID code TM2DDI16DT, TM2DDI16DK TM2DRA16RT, TM2DDO16UK, TM2DDO16TK TM2DDI8DT, TM2DAI8DT TM2DRA8RT, TM2DDO8UT, TM2DDO8TT TM2DDO32TK, TM2DDO32UK TM3DI16K, TM3DI16, TM3DI16G TM3DQ16R, TM3DQ16RG, TM3DQ16T, TM3DQ16TG, TM3DQ16TK, TM3DQ16U, TM3DQ16UG, TM3DQ16UK TM3DQ32TK, TM3DQ32UK TM3DI8, TM3DI8G, TM3DI8A TM3DQ8R, TM3DQ8RG, TM3DQ8T, TM3DQ8TG, TM3DQ8U, TM3DQ8UG TM3DM8R, TM3DM8RG TM3DM24R, TM3DM24RG TM3SAK6R, TM3SAK6RG
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Modules sharing the same internal ID code TM3SAF5R, TM3SAF5RG TM3SAC5R, TM3SAC5RG TM3SAFL5R, TM3SAFL5RG TM3AI2H, TM3AI2HG TM3AI4, TM3AI4G TM3AI8, TM3AI8G TM3AQ2, TM3AQ2G TM3AQ4, TM3AQ4G TM3AM6, TM3AM6G TM3TM3, TM3TM3G TM3TI4, TM3TI4G TM3TI4D, TM3TI4DG TM3TI8T, TM3TI8TG TM3XHSC202, TM3XHSC202G
Expansion Modules Configuration
Optional Modules Diagnostic
The following diagnostic information is available: TM3_MODULE_R[i].i_ wModuleState system variable, where [i] identifies the absent TM3 optional expansion module, is set to TM3_MISSING_OPT_MOD.
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Ethernet Configuration
Ethernet Configuration
Introduction
This chapter describes how to configure the Ethernet network interface of the Modicon M241 Logic Controller.
Ethernet Features, Functions and Services
Presentation
Ethernet Features, Functions and Services
The controller supports the following services: � Modbus TCP Server, page 90 � Modbus TCP Client, page 90 � Web Server, page 91 � FTP Server, page 101 � SNMP, page 102 � Controller as Target Device On EtherNet/IP, page 103 � Controller as Slave Device On Modbus TCP, page 119 � IEC VAR ACCESS, page 86 � Web visualization � OPC UA Server, page 155
Ethernet Protocols
The controller supports the following protocols: � IP (Internet Protocol) � UDP (User Datagram Protocol) � TCP (Transmission Control Protocol) � ARP (Address Resolution Protocol) � ICMP (Internet Control Messaging Protocol) � IGMP (Internet Group Management Protocol)
Connections
This table shows the maximum number of connections:
Connection Type
Modbus Server Modbus Client EtherNet/IP Target
FTP Server Web Server Machine Expert Protocol (EcoStruxure Machine Expert software, trace, Web visualization, HMI devices)
Maximum Number of Connections 8 8 16 4 10 8
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Ethernet Configuration
NOTE: When at least one EtherNet/IP target is configured, the total number of connections (EtherNet/IP plus Modbus TCP) is limited to 16. Only if the Modbus TCP IOScanner is exclusively used, the total number of slave devices can be up to 64. These maximums are controlled for at build time. Each connection based on TCP manages its own set of connections as follows: 1. When a client tries to open a connection that exceeds the poll size, the controller closes the oldest connection. 2. If all connections are busy (exchange in progress) when a client tries to open a new one, the new connection is denied. 3. The server connections stay open as long as the controller stays in operational states (RUNNING, STOPPED, HALT). 4. The server connections are closed when leaving operational states (RUNNING, STOPPED, HALT), except in case of power outage (because the controller does not have time to close the connections). Connections can be closed when the originator of the connection requests to close the connection it had previously opened.
Services Available
With an Ethernet communication, the IEC VAR ACCESS service is supported by the controller. With the IEC VAR ACCESS service, data can be exchanged between the controller and an HMI.
The NetWork variables service is also supported by the controller. With the NetWork variables service, data can be exchanged between controllers.
NOTE: For more information, refer to the EcoStruxure Machine Expert Programming Guide.
IP Address Configuration
Introduction
There are different ways to assign the IP address to the added Ethernet interface of the controller:
� Address assignment by DHCP server � Address assignment by BOOTP server � Fixed IP address � Post configuration file, page 161. If a post configuration file exists, this
assignment method has priority over the others. The IP address can also be changed dynamically through the:
� Communication Settings (see EcoStruxure Machine Expert, Programming Guide) tab in EcoStruxure Machine Expert
� changeIPAddress function block, page 182 NOTE: If the attempted addressing method is unsuccessful, the link uses a default IP address, page 88 derived from the MAC address.
Carefully manage the IP addresses because each device on the network requires a unique address. Having multiple devices with the same IP address can cause unintended operation of your network and associated equipment.
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WARNING
UNINTENDED EQUIPMENT OPERATION � Verify that there is only one master controller configured on the network or
remote link. � Verify that all devices have unique addresses. � Obtain your IP address from your system administrator. � Confirm that the IP address of the device is unique before placing the
system into service. � Do not assign the same IP address to any other equipment on the network. � Update the IP address after cloning any application that includes Ethernet
communications to a unique address. Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: Verify that your system administrator maintains a record of assigned IP addresses on the network and subnetwork, and inform the system administrator of any configuration changes performed.
Address Management
This diagram shows the different types of address systems for the controller:
EIO0000003059.03
NOTE: If a device programmed to use the DHCP or BOOTP addressing methods is unable to contact its respective server, the controller uses the default IP address. It repeats its request constantly. The IP process restarts in the following cases:
� Controller reboot � Ethernet cable reconnection � Application download (if IP parameters change) � DHCP or BOOTP server detected after a prior addressing attempt was
unsuccessful.
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Ethernet Configuration
Ethernet Configuration
In the Devices tree, double-click Ethernet_1:
Configured Parameters
Network Name
my_Device
IP Address by DHCP IP Address by BOOTP fixed IP Address
IP Address
85 . 100 . 68 . 252
Subnet Mask Gateway Address
255 . 255 . 255 . 0 0.0 .0 .0
Ethernet Protocol
Ethernet 2
Transfer Rate
Auto
Current Settings Network Name
my_Device
IP Address by DHCP IP Address by BOOTP fixed IP Address
IP Address
85 . 100 . 68 . 252
Subnet Mask Gateway Address
255 . 0 . 0 . 0 0.0 .0 .0
Ethernet Protocol
Ethernet 2
Transfer Rate
100 MBit full
Security Parameters Protocol inactive
FTP Server Modbus Server SNMP protocol Web Visualisation protocol
Protocol active Discovery protocol Machine Expert protocol Secured Web Server (HTTPS) >>
<<
Security Parameters Protocol inactive
FTP Server Modbus Server SNMP protocol Web Visualisation protocol
Protocol active Discovery protocol Machine Expert protocol Secured Web Server (HTTPS) >>
<<
Slave device identification
DHCP Server active
When active, each device that will be added to the fieldbus, can be configured in order to be identified by its name or MAC Address, instead of its IP Address.
Adapter Status MAC Address Network Status
00:80:F4:0C:CC:05 Data Exchanges
Note: If you are in online mode, you see the two windows. You cannot edit them. If you are in offline mode, you see the Configured Parameters window. You can edit it.
This table describes the configured parameters:
Configured Parameters Network Name IP Address by DHCP IP Address by BOOTP Fixed IP Address Ethernet Protocol Transfer Rate
Description Used as device name to retrieve IP address through DHCP, maximum 15 characters. IP address is obtained by DHCP server. IP address is obtained by BOOTP server. IP address, Subnet Mask, and Gateway Address are defined by the user. Protocol type used (Ethernet 2) Speed and Duplex are in auto-negotiation mode.
Default IP Address
The IP address by default is 10.10.x.x.
The last two fields in the default IP address are composed of the decimal equivalent of the last two hexadecimal bytes of the MAC address of the port.
The MAC address of the port can be retrieved on the label placed on the front side of the controller.
The default subnet mask is Default Class A Subnet Mask of 255.255.0.0. NOTE: A MAC address is written in hexadecimal format and an IP address in decimal format. Convert the MAC address to decimal format.
Example: If the MAC address is 00.80.F4.01.80.F2, the default IP address is 10.10.128.242.
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Address Classes
The IP address is linked: � to a device (the host) � to the network to which the device is connected
An IP address is always coded using 4 bytes.
The distribution of these bytes between the network address and the device address may vary.This distribution is defined by the address classes.
The different IP address classes are defined in this table:
Address Class Class A Class B Class C Class D Class E
Byte1
Byte 2
Byte 3
Byte 4
0 Network ID
Host ID
1 0 Network ID
Host ID
1 1 0 Network ID
Host ID
1 1 10 1 1 11
Multicast Address 0 Address reserved for subsequent use
Subnet Mask
The subnet mask is used to address several physical networks with a single network address. The mask is used to separate the subnetwork and the device address in the host ID.
The subnet address is obtained by retaining the bits of the IP address that correspond to the positions of the mask containing 1, and replacing the others with 0.
Conversely, the subnet address of the host device is obtained by retaining the bits of the IP address that correspond to the positions of the mask containing 0, and replacing the others with 1.
Example of a subnet address:
IP address
Subnet mask
Subnet address
192 (11000000) 255 (11111111) 192 (11000000)
1 (00000001) 255 (11111111) 1 (00000001)
17 (00010001) 240 (11110000) 16 (00010000)
11 (00001011) 0 (00000000) 0 (00000000)
NOTE: The device does not communicate on its subnetwork when there is no gateway.
Gateway Address
The gateway allows a message to be routed to a device that is not on the same network.
If there is no gateway, the gateway address is 0.0.0.0.
The gateway address can be defined on Ethernet_1 interface or on TM4ES4 Ethernet interface. The traffic to unknown networks is sent through this gateway address, or to address configured on IP routing table, page 57.
Security Parameters
This table describes the different security parameters:
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Security Parameters
Description
Default settings
Discovery protocol
This parameter deactivates Discovery protocol. When deactivated, Discovery requests are ignored.
Active
FTP Server
This parameter deactivates the FTP Server of the controller. When deactivated, FTP requests Active are ignored.
Machine Expert protocol
This parameter deactivates the Machine Expert protocol on Ethernet interfaces. When
deactivated, any Machine Expert request from any device is rejected, including those from the UDP or TCP connection. Therefore, no connection is possible on Ethernet from a PC with EcoStruxure Machine Expert, from an HMI target that wants to exchange variables with this controller, from an OPC server, or from Controller Assistant.
Active
Modbus Server
This parameter deactivates the Modbus Server of the controller. When deactivated, any Modbus request to the controller is ignored.
Inactive
SNMP protocol
This parameter deactivates the SNMP server of the controller. When deactivated, SNMP requests are ignored.
Inactive
Secured Web Server (HTTPS)
This parameter deactivates the Web Server of the controller. When deactivated, HTTPS requests to the controller Web Server are ignored.
Active
WebVisualisation protocol
This parameter deactivates the Web visualization pages of the controller. When deactivated, HTTP requests to the logic controller WebVisualisation protocol are ignored.
Inactive
Slave Device Identification
When DHCP Server active is selected, devices added to the fieldbus can be configured to be identified by their name or MAC address, instead of their IP address. Refer to DHCP Server, page 134.
Modbus TCP Client/Server
Introduction
Unlike Modbus serial link, Modbus TCP is not based on a hierarchical structure, but on a client/server model.
The Modicon M241 Logic Controller implements both client and server services so that it can initiate communications to other controllers and I/O devices, and to respond to requests from other controllers, SCADA, HMIs, and other devices. By default, Modbus Server functionality is not active.
Without any configuration, the embedded Ethernet port of the controller supports Modbus server.
The Modbus client/server is included in the firmware and does not require any programming action from the user. Due to this feature, it is accessible in RUNNING, STOPPED and EMPTY states.
Modbus TCP Client
The Modbus TCP client supports the following function blocks from the PLCCommunication library without any configuration:
� ADDM � READ_VAR � SEND_RECV_MSG � SINGLE_WRITE � WRITE_READ_VAR � WRITE_VAR For further information, refer to the Function Block Descriptions (see EcoStruxure Machine Expert, Modbus and ASCII Read/Write Functions, PLCCommunication Library Guide).
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Web Server
Modbus TCP Server
The Modbus server supports the Modbus requests:
Function Code Dec (Hex) 1 (1) 2 (2) 3 (3) 6 (6) 8 (8) 15 (F) 16 (10) 23 (17) 43 (2B)
Subfunction Dec (Hex) � � � � � � � � 14 (E)
Function
Read digital outputs (%Q) Read digital inputs (%I) Read holding register (%MW) Write single register (%MW) Diagnostic Write multiple digital outputs (%Q) Write multiple registers (%MW) Read/write multiple registers (%MW) Read device identification
NOTE: The embedded Modbus server only ensures time-consistency for a single word (2 bytes). If your application requires time-consistency for more than 1 word, add and configure a Modbus TCP Slave Device, page 119 so that the contents of the %IW and %QW buffers are time-consistent in the associated IEC task (MAST by default).
Introduction
As standard equipment, the controller provides an embedded Web server with a predefined, built-in website. You can use the pages of the website for module setup and control as well as application diagnostics and monitoring. These pages are ready to use with a Web browser. No configuration or programming is required.
The Web server can be accessed by the web browsers listed below:
� Google Chrome (version 87 or greater)
� Mozilla Firefox (version 62 or greater)
The Web server can maintain 10 simultaneous open sessions, page 85.
NOTE: The Web server can be disabled by unchecking the Web Server active parameter in the Ethernet Configuration tab, page 88.
The Web server is a tool for reading and writing data, and controlling the state of the controller, with access to all data in your application. However, if there are security concerns over these functions, you must at a minimum assign a secure password to the Web Server or disable the Web server to prevent unauthorized access to the application. By enabling the Web server, you enable these functions.
The Web server allows you to monitor a controller and its application remotely, to perform various maintenance activities including modifications to data and configuration parameters, and change the state of the controller. Care must be taken to ensure that the immediate physical environment of the machine and process is in a state that will not present safety risks to people or property before exercising control remotely.
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WARNING
UNINTENDED EQUIPMENT OPERATION � Configure and install the RUN/STOP input for the application, if available for
your particular controller, so that local control over the starting or stopping of the controller can be maintained regardless of the remote commands sent to the controller. � Define a secure password for the Web Server and do not allow unauthorized or otherwise unqualified personnel to use this feature. � Ensure that there is a local, competent, and qualified observer present when operating on the controller from a remote location. � You must have a complete understanding of the application and the machine/process it is controlling before attempting to adjust data, stopping an application that is operating, or starting the controller remotely. � Take the precautions necessary to assure that you are operating on the intended controller by having clear, identifying documentation within the controller application and its remote connection. Failure to follow these instructions can result in death, serious injury, or equipment damage.
Web Server Access
Access to the Web server is controlled by User Rights when they are enabled in the controller. For more information, refer to Users and Groups Tab Description, page 54.
To access the Web server you must first connect to the controller with EcoStruxure Machine Expert or Controller Assistant.
WARNING
UNAUTHORIZED DATA ACCESS � Secure access to the FTP/Web server using User Rights. � If you disable User Rights, disable the FTP/Web server to prevent any
unwanted or unauthorized access to data in your application. Failure to follow these instructions can result in death, serious injury, or equipment damage.
In order to change the password, go to Users and Groups tab of the device editor. For more information, refer to the EcoStruxure Machine Expert Programming Guide.
NOTE: 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 or USB key (depending on the support of your particular controller) to update the controller firmware. In addition, you may clear the User Rights in the controller by running a script (for more information, refer to EcoStruxure Machine Expert Programming Guide) . This effectively removes the existing application from the controller memory, but restores the ability to access the controller.
Home Page Access
To access the website home page, type in your navigator the IP address of the controller.
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This figure shows the Web Server site login page:
This figure shows the home page of the Web Server site once you have logged in:
NOTE: Schneider Electric adheres to industry best practices in the development and implementation of control systems. This includes a "Defense-in-Depth" approach to secure an Industrial Control System. This approach places the controllers behind one or more firewalls to restrict access to authorized personnel and protocols only.
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WARNING
UNAUTHENTICATED ACCESS AND SUBSEQUENT UNAUTHORIZED MACHINE OPERATION � Evaluate whether your environment or your machines are connected to your
critical infrastructure and, if so, take appropriate steps in terms of prevention, based on Defense-in-Depth, before connecting the automation system to any network.
� Limit the number of devices connected to a network to the minimum necessary.
� 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.
� Monitor activities within your systems.
� Prevent subject devices from direct access or direct link by unauthorized parties or unauthenticated actions.
� Prepare a recovery plan including backup of your system and process information.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Monitoring: Data Parameters
Monitoring Web Server Variables To monitor Web server variables, you must add a Web Data Configuration object to your project. Within this object, you can select all variables you want to monitor. This table describes how to add a Web Data Configuration object:
Step 1 2
3
Action Right click the Application node in the Applications tree tab.
Click Add Object > Web Data Configuration....
Result: The Add Web Data Configuration window is displayed. Click Add. Result: The Web Data Configuration object is created and the Web Data Configuration editor is open.
NOTE: As a Web Data Configuration object is unique for a controller, its name cannot be changed.
Web Data Configuration Editor Click the Refresh button to be able to select variables, this action will display all the variables defined in the application.
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Select the variables you want to monitor in the web server:
NOTE: The variable selection is possible only in offline mode.
Monitoring: Data Parameters Submenu
The Data Parameters submenu allows you to create and monitor some lists of variables. You can create several lists of variables (maximum 10 lists), each one containing several variables of the controller application (maximum 20 variables per list).
Each list has a name, and a refresh period. The lists are saved in the non-volatile memory of the controller, so that a created list can be accessed (loaded, modified, saved) from any Web client application accessing this controller.
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Ethernet Configuration The Data Parameters submenu allows you to display and modify variable values:
Element Add Del Refresh period Refresh
Load Save
Description Adds a list description or a variable Deletes a list description or a variable Refreshing period of the variables contained in the list description (in ms)
Enables I/O refreshing: � Gray button: refreshing disabled � Orange button: refreshing enabled
Loads saved lists from the controller non-volatile memory to the Web server page Saves the selected list description in the controller (/usr/web directory)
NOTE: The IEC objects (%IX, %QX) are not directly accessible. To access IEC objects you must first group their contents in located registers (refer to Relocation Table, page 26).
NOTE: Bit memory variables (%MX) cannot be selected.
Monitoring: IO Viewer Submenu
The IO Viewer submenu allows you to display and modify the I/O values:
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Element Refresh
1000 ms << >>
Description Enables I/O refreshing:
� Gray button: refreshing disabled � Orange button: refreshing enabled I/O refreshing period in ms Goes to previous I/O list page Goes to next I/O list page
Monitoring: Oscilloscope Submenu
The Oscilloscope submenu can display up to 2 variables in the form of a recorder time chart:
Element Reset Refresh Load Save Item0 Item1 Min Max Period(ms)
Description Erases the memorization Starts/stops refreshing Loads parameter configuration of Item0 and Item1 Saves parameter configuration of Item0 and Item1 in the controller Variable to be displayed Variable to be displayed Minimum value of the variable axis Maximum value of the variable axis Page refresh period in milliseconds
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Diagnostics: Ethernet Submenu
This figure shows the remote ping service:
Ethernet Configuration
Diagnostics: Scanner Status Submenu
The Scanner Status submenu displays status of the Modbus TCP I/O Scanner (IDLE, STOPPED, OPERATIONAL) and the health bit of up to 64 Modbus scanned devices. For more information, refer to EcoStruxure Machine Expert Modbus TCP User guide.
Diagnostics: EtherNet/IP Status Submenu
The EtherNet/IP Status submenu displays the status of the EtherNet/IP Scanner (IDLE, STOPPED, OPERATIONAL) and the health bit of up to 16 EtherNet/IP target devices. For more information, refer to EcoStruxure Machine Expert EtherNet/IP User guide.
Maintenance Page
The Maintenance page provides access to the controller data for maintenance capabilities.
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Maintenance: Post Conf Submenu
The Post Conf submenu allows you to update the post configuration file, page 161 saved on the controller:
Step 1 2 3
Action Click Load. Modify the parameters, page 163.
Click Save. NOTE: The new parameters will be considered at next Post Configuration file reading, page 161.
Log Files
This page provided access to the /usr/Syslog/ folder of the controller nonvolatile memory, page 23.
Maintenance: EIP Config Files Submenu
The file tree only appears when the Ethernet IP service is configured on the controller. Index of /usr:
File My Machine Controller.gz My Machine Controller.ico My Machine Controller.eds
Description GZIP file Icon file Electronic Data Sheet file
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Ethernet Configuration
Maintenance: User Management Submenu
The User Management submenu displays a screen that allows you to access two different actions, all restricted by using secure protocol (HTTPS):
� User accounts management: Allows you to manage user accounts management, removing all password and returning all user accounts on the controller to default settings.
Disable
Users accounts management
Reset to default
Click Disable to deactivate all user rights on the controller. (Passwords are saved and are restored if you click Enable.)
Click OK on the window that appears to confirm. As a result: � Users no longer have to set and enter a password to connect to the controller. � FTP, HTTP, and OPC UA server connections accept anonymous user connections. See Login and passwords table, page 59. NOTE: The Disable button is only active if the user has administrator privileges.
Enable
Users accounts management
Reset to default
Click Enable to restore the previous user rights saved on the controller.
Click OK on the window that appears to confirm. As a result, users have to enter the password previously set to connect to the controller. See Login and passwords table, page 59
NOTE: The Enable only appears if the user rights were disabled and the user rights backup file is available on the controller. Click Reset to default to return all user accounts on the controller to their default setting state.
Click OK on the window that appears to confirm. NOTE: Connections to FTP, HTTP, and the OPC UA server are blocked until a new password is set.
� Clone management: allows you to control whether user rights are copied and applied to the target controller when cloning a controller with an SD Card, page 170.
Exclude users rights
Clone management
Include users rights
Click Exclude users rights to exclude copying user rights to the target controller when cloning a controller.
NOTE: By default, the users rights are excluded.
Click Include users rights to copy user rights to the target controller when cloning a controller. A popup prompts you to confirm copying the user rights. Click OK to continue.
NOTE: The Exclude users rights and Include users rights buttons are only active if the current user is connected to the controller using a secure protocol.
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FTP Server
Introduction
Any FTP client that is connected to the controller (Ethernet port), without EcoStruxure Machine Expert installed, can be used to transfer files to and from the data storage area of the controller.
NOTE: Schneider Electric adheres to industry best practices in the development and implementation of control systems. This includes a "Defense-in-Depth" approach to secure an Industrial Control System. This approach places the controllers behind one or more firewalls to restrict access to authorized personnel and protocols only.
WARNING
UNAUTHENTICATED ACCESS AND SUBSEQUENT UNAUTHORIZED MACHINE OPERATION � Evaluate whether your environment or your machines are connected to your
critical infrastructure and, if so, take appropriate steps in terms of prevention, based on Defense-in-Depth, before connecting the automation system to any network. � Limit the number of devices connected to a network to the minimum necessary. � 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. � Monitor activities within your systems. � Prevent subject devices from direct access or direct link by unauthorized parties or unauthenticated actions. � Prepare a recovery plan including backup of your system and process information. Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: Make use of the security-related commands (see EcoStruxure Machine Expert, Menu Commands, Online Help) which provide a way to add, edit, and remove a user in the online user management of the target device where you are currently logged in.
FTP Access
Access to the FTP server is controlled by User Rights when they are enabled in the controller. For more information, refer to Users and Groups Tab Description, page 54.
To access the FTP server you must first connect to the controller with EcoStruxure Machine Expert or Controller Assistant and activate the user rights or create the user for the first login.
NOTE: FTPS (explicit over TLS FTP) is set by default. Simple FTP (non secure) access is not possible at first connection. Set the parameter 1106 to 0 in the post configuration and reboot the controller to allow Simple FTP connection.
Files Access
See File Organization, page 23.
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FTP Client
SNMP
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Ethernet Configuration
Introduction
The FtpRemoteFileHandling library provides the following FTP client functionalities for remote file handling:
� Reading files � Writing files � Deleting files � Listing content of remote directories � Adding directories � Removing directories
NOTE: Schneider Electric adheres to industry best practices in the development and implementation of control systems. This includes a "Defense-in-Depth" approach to secure an Industrial Control System. This approach places the controllers behind one or more firewalls to restrict access to authorized personnel and protocols only.
WARNING
UNAUTHENTICATED ACCESS AND SUBSEQUENT UNAUTHORIZED MACHINE OPERATION � Evaluate whether your environment or your machines are connected to your
critical infrastructure and, if so, take appropriate steps in terms of prevention, based on Defense-in-Depth, before connecting the automation system to any network. � Limit the number of devices connected to a network to the minimum necessary. � 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. � Monitor activities within your systems. � Prevent subject devices from direct access or direct link by unauthorized parties or unauthenticated actions. � Prepare a recovery plan including backup of your system and process information. Failure to follow these instructions can result in death, serious injury, or equipment damage.
For further information, refer to FtpRemoteFileHandling Library Guide.
Introduction
The Simple Network Management Protocol (SNMP) is used to provide the data and services required for managing a network. The data is stored in a Management Information Base (MIB). The SNMP protocol is used to read or write MIB data. Implementation of the Ethernet SNMP services is minimal, as only the compulsory objects are handled.
SNMP Server
This table presents the supported standard MIB-2 server objects:
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Object sysDescr
Description Text description of the device
sysName Node administrative name
Access Read
Read/ Write
Value
SCHNEIDER M241-51 Fast Ethernet TCP/IP
Controller reference
The size of these character strings is limited to 50 characters.
The values written are saved to the controller via SNMP client tool software. The Schneider Electric software for this is ConneXview. ConneXview is not supplied with the controller or bus coupler. For more details, refer to www.se.com.
SNMP Client
The M241 Logic Controller supports an SNMP client library to allow you to query SNMP servers. For details, refer to the EcoStruxure Machine Expert SnmpManager, Library Guide.
Controller as a Target Device on EtherNet/IP
Introduction
This section describes the configuration of the M241 Logic Controller as an EtherNet/IP target device. For further information about EtherNet/IP, refer to the www.odva.org website.
EtherNet/IP Target Configuration
To configure your M241 Logic Controller as an EtherNet/IP target device, you must:
Step 1 2
Action Select EthernetIP 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 Hardware Catalog (see EcoStruxure Machine Expert, Programming Guide) � Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming Guide)
EtherNet/IP Parameters Configuration
To configure the EtherNet/IP parameters, double-click Ethernet_1 (Ethernet Network) > EthernetIP in the Devices tree.
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This dialog box is displayed:
Ethernet Configuration
The EtherNet/IP configuration parameters are defined as:
� Instance: Number referencing the input or output Assembly.
� Size: Number of channels of an input or output Assembly.
The memory size of each channel is 2 bytes that stores the value of an %IWx or %QWx object, where x is the channel number.
For example, if the Size of the Output Assembly is 20, it represents that there are 20 input channels (IW0...IW19) addressing %IWy...%IW(y+20-1), where y is the first available channel for the Assembly.
Element
Output Assembly Input Assembly
Instance Size Instance Size
Admissible Controller Range 150...189 2...120 100...149 2...120
EcoStruxure Machine Expert Default Value 150 20 100 20
EDS File Generation
You can generate an EDS file to configure EtherNet/IP cyclic data exchanges. To generate the EDS file:
Step 1
2 3
Action In the Devices tree, right-click the EthernetIP node and choose the Export as EDS command from the contextual menu. Modify the default file name and location as required. Click Save.
NOTE: The Major Revision and Minor Revision objects of the EDS file, defined in the file, are used to ensure uniqueness of the EDS file. The values of these objects do not reflect the actual controller revision level.
A generic EDS file for the M241 Logic Controller is also available on the Schneider Electric website. You must adapt this file to your application by editing it and defining the required Assembly instances and sizes.
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EthernetIP Slave I/O Mapping Tab
Variables can be defined and named in the EthernetIP Slave I/O Mapping tab. Additional information such as topological addressing is also provided in this tab.
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The table below describes the EthernetIP Slave I/O Mapping configuration:
Channel
Input Output
IW0 IWxxx QW0 QWxxx
Type
WORD
Default Value -
Description Command word of controller outputs (%QW)
WOR- D
State of controller inputs (%IW)
The number of words depends on the size parameter configured in EtherNet/IP Target Configuration, page 103.
Output means OUTPUT from Originator controller (= %IW for the controller).
Input means INPUT from Originator controller (= %QW for the controller).
Connections on EtherNet/IP
To access a target device, an Originator opens a connection which can include several sessions that send requests.
One explicit connection uses one session (a session is a TCP or UDP connection).
One I/O connection uses 2 sessions.
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The following table shows the EtherNet/IP connections limitations:
Characteristic Explicit connections I/O connections Connections Sessions Simultaneous requests
Maximum 8 (Class 3) 1 (Class 1) 8 16 32
NOTE: The M241 Logic Controller supports cyclic connections only. If an Originator opens a connection using a change of state as a trigger, packets are sent at the RPI rate.
Profile
The controller supports the following objects:
Object class
Class ID (hex)
Identity Object, page 106
01
Message Router Object, page 108
02
Assembly Object, page 109
04
Connection Manager Object, page 110 06
TCP/IP Interface Object, page 112
F5
Ethernet Link Object, page 113
F6
Interface Diagnostic Object, page 114 350
IOScanner Diagnostic Object, page 116 351
Connection Diagnostic Object, page
352
117
Explicit Connection Diagnostic Object , 353 page 118
Explicit Connections Diagnostic List
354
Object, page 119
Cat.
Number of Instances Effect on Interface Behavior
1
1
1
1
2
2
1
1
1
1
1
1
1
1
1
1
1
1
1
Supports the reset service Explicit message connection Defines I/O data format � TCP/IP configuration Counter and status information � � �
�
1
1
�
Attribute ID (hex) 1 2 3 4
6 7
Access Get Get Get Get
Get Get
Identity Object (Class ID = 01 hex)
The following table describes the class attributes of the Identity Object:
Name
Revision
Max Instances Number of Instances Optional Instance Attribute List
Data Type UINT
Value (hex) 01
UINT
01
UINT
01
UINT, UINT [ ] 00
Max Class Attribute UINT
07
Max Instance
UINT
07
Attribute
Details
Implementation revision of the Identity Object
The largest instance number
The number of object instances
The first 2 bytes contain the number of optional instance attributes. Each following pair of bytes represents the number of other optional instance attributes.
The largest class attributes value
The largest instance attributes value
The following table describes the Class Services:
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Service Code (hex) 01 0E
Name
Get Attribute All Get Attribute Single
Description
Returns the value of all class attributes Returns the value of the specified attribute
The following table describes the Instance Services:
Service Code (hex) 01 05
0E
Name Get Attribute All Reset (1)
Get Attribute Single
Description
Returns the value of all class attributes Initializes EtherNet/IP component (controller reboot) Returns the value of the specified attribute
Value 0
1 2 3...99 100...199 200...255
(1) Reset Service description: When the Identity Object receives a Reset request, it:
� determines whether it can provide the type of reset requested � responds to the request � attempts to perform the type of reset requested
NOTE: The reset command is rejected by the controller if an active EtherNet/ IP connection exists. The Reset common service has one specific parameter, Type of Reset (USINT), with the following values:
Type of Reset
Reboots the controller NOTE: This is the default value if this parameter is omitted.
Not supported
Not supported
Reserved Vendor specific
Reserved
Attribute ID (hex) Access
1
Get
2
Get
3
Get
4
Get
5
Get
6
Get
7
Get
The following table describes the Instance attributes:
Name Vendor ID Device type Product code Revision
Status Serial number
Product name
Data Type
UINT UINT UINT Struct of USINT, USINT
Value (hex) F3 0E 1001 �
WORD
�
UDINT
�
Struct of
�
USINT,
STRING
Details
Schneider Electric ID Controller Controller product code Product revision number of the controller (1). Equivalent to the 2 low bytes of the controller version Status word(2) Serial number of the controller: XX + 3 LSB of MAC address �
(1) Mapped in a WORD: � MSB: minor revision (second USINT) � LSB: major revision (first USINT)
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Bit 0 1 2 3 4...7
8 9 10
11
12...15
Example: 0205 hex means revision V5.2. (2) Status word (Attribute 5):
Name Owned Reserved Configured Reserved Extended Device Status
Minor Recoverable Fault Minor Unrecoverable Fault Major Recoverable Fault
Major Unrecoverable Fault
Reserved
Description
Unused �
TRUE indicates the device application has been reconfigured.
�
� 0: Self-testing or undetermined � 1: Firmware update in progress � 2: At least one invalid I/O connection detected � 3: No I/O connections established � 4: Non-volatile configuration invalid � 5: Unrecoverable error detected � 6: At least one I/O connection in RUNNING state � 7: At least one I/O connection established, all in idle mode � 8: Reserved � 9...15: Unused
TRUE indicates the device detected an error, which, under most circumstances, is recoverable.
This type of event does not lead to a change in the device state.
TRUE indicates the device detected an error, which, under most circumstances, is unrecoverable.
This type of event does not lead to a change in the device state.
TRUE indicates the device detected an error, which requires the device to report an exception and enter into the HALT state.
This type of event leads to a change in the device state, but, under most circumstances, is recoverable.
TRUE indicates the device detected an error, which requires the device to report an exception and enter into the HALT state.
This type of event leads to a change in the device state, but, under most circumstances, is not recoverable. �
Attribute ID (hex) Access
1
Get
2
Get
3
Get
4
Get
5
Get
6
Get
7
Get
Message Router Object (Class ID = 02 hex)
The following table describes the class attributes of the Message Router object:
Name Revision
Data Type UINT
Value (hex) 01
Max Instances
Number of Instance
Optional Instance Attribute List
UINT
02
UINT
01
Struct of UINT, 02 UINT [ ]
Optional
UINT
0A
Service List
Max Class
UINT
07
Attribute
Max Instance UINT
02
Attribute
Details
Implementation revision number of the Message Router Object The largest instance number
The number of object instances
The first 2 bytes contain the number of optional instance attributes. Each following pair of bytes represents the number of other optional instance attributes (from 100 to 119). The number and list of any implemented optional services attribute (0: no optional services implemented) The largest class attributes value
The largest instance attributes value
108
EIO0000003059.03
Ethernet Configuration
The following table describes the Class services:
Service Code (hex) 01 0E
Name
Get_Attribute_All Get_Attribute_Single
Description
Returns the value of all class attributes Returns the value of the specified attribute
The following table describes the Instance services:
Service Code (hex) 01 0E
Name
Get_Attribute_All Get_Attribute_Single
Description
Returns the value of all class attributes Returns the value of the specified attribute
Attribute ID (hex) 1
2
Access Get
Get
The following table describes the Instance attributes:
Name Implemented Object List
Data Type
Struct of UINT, UINT [ ]
Value �
Number available
UINT
512
Description
Implemented Object list. The first 2 bytes contain the number of implemented objects. Each 2 bytes that follow represents another implemented class number.
This list contains the following objects: � Identity � Message Router � Assembly � Connection Manager � Parameter � File Object � Modbus � Port � TCP/IP � Ethernet Link
Maximum number of concurrent CIP (Class 1 or Class 3) connections supported
Attribute ID (hex) 1
Access Get
2
Get
3
Get
4
Get
5
Get
6
Get
7
Get
Assembly Object (Class ID = 04 hex)
The following table describes the class attributes of the Assembly object:
Name Revision
Data Type UINT
Max Instances Number of Instances Optional Instance Attribute List
Optional Service List
UINT UINT Struct of: UINT UINT [ ] UINT
Max Class Attribute Max Instance Attribute
UINT UINT
Value (hex) Details
02
Implementation revision of the
Assembly Object
BE
The largest instance number
03
The number of object instances
01
04
Not supported
The first 2 bytes contain the number of optional instance attributes. Each following pair of bytes represents the number of other optional instance attributes.
The number and list of any implemented optional services attribute (0: no optional services implemented)
07
The largest class attributes value
04
The largest instance attributes value
EIO0000003059.03
109
Ethernet Configuration
Name Controller Output (%IW) Controller Input (%QW)
Attribute ID (hex) 3
Access Get/Set
4
Get
The following table describes the Class Services:
Service Code (hex) 0E
Name Get Attribute Single
Description Returns the value of the specified attribute
The following table describes the Instance Services:
Service Code (hex) 0E 10
Name
Get Attribute Single Set Attribute Single
Description
Returns the value of the specified attribute Modifies the value of the specified attribute
Instances Supported Output means OUTPUT from Originator controller (= %IW for the controller). Input means INPUT from Originator controller (= %QW for the controller). The controller supports 2 Assemblies:
Instance Configurable: must be between 100 and 149 Configurable: must be between 150 and 189
Data Size 2...40 words 2...40 words
NOTE: The Assembly object binds together the attributes of multiple objects so that information to or from each object can be communicated over a single connection. Assembly objects are static.
The Assemblies in use can be modified through the parameter access of the network configuration tool (RSNetWorx). The controller needs to recycle power to register a new Assembly assignment.
The following table describes the Instance attributes:
Name Instance Data
Instance Data Size
Data Type ARRAY of Byte
Value �
UINT
4...80
Description
Data Set service only available for Controller output
Size of data in byte
Access from a EtherNet/IP Scanner
When a EtherNet/IP Scanner needs to exchange assemblies with a M241 Logic Controller, it uses the following access parameters (Connection path):
� Class 4 � Instance xx where xx is the instance value (example: 2464 hex = instance
100). � Attribute 3 In addition, a configuration assembly must be defined in the Originator.
For example: Class 4, Instance 3, Attribute 3, the resulting Connection Path will be:
� 2004 hex � 2403 hex � 2c<xx> hex
Connection Manager Object (Class ID = 06 hex)
The following table describes the class attributes of the Assembly Object:
110
EIO0000003059.03
Ethernet Configuration
Attribute ID (hex) Access
Name
Data Type
1
Get
Revision
UINT
2
Get
Max Instances UINT
3
Get
Number of
UINT
Instances
4
Get
Optional
Struct of:
Instance
Attribute List
UINT
UINT [ ]
6
Get
Max Class
UINT
Attribute
7
Get
Max Instance UINT
Attribute
Value (hex) 01 01 01 �
07 08
Details
Implementation revision of the Connection Manager Object
The largest instance number
The number of object instances
The number and list of the optional attributes. The first word contains the number of attributes to follow and each following word contains another attribute code.
Following optional attributes include: � total number of incoming connection open requests � the number of requests rejected due to nonconforming format of the Forward Open � the number of requests rejected because of insufficient resources � the number of requests rejected due to parameter value sent with the Forward Open � the number of Forward Close requests received � the number of Forward Close requests with an invalid format � the number of Forward Close requests that could not be matched to an active connection � the number of connections that have timed out because the other side stopped producing, or a network disconnection occurred
The largest class attributes value
The largest instance attributes value
The following table describes the Class Services:
Service Code (hex) 01 0E
Name
Get Attribute All Get Attribute Single
Description
Returns the value of all class attributes Returns the value of the specified attribute
The following table describes the Instance Services:
Service Code (hex) 01 0E 4E 52 54
Name
Get Attribute All Get Attribute Single Forward Close Unconnected Send Forward Open
Description
Returns the value of all instance attributes Returns the value of the specified attribute Closes an existing connection Sends a multi-hop unconnected request Opens a new connection
Attribute ID (hex) 1 2
3
Access Get Get Get
The following table describes the Instance attributes:
Name
Data Type
Value Description
Open Requests
UINT
�
Open Format Rejects
UINT
�
Open Resource Rejects ARRAY of Byte �
Number of Forward Open service requests received
Number of Forward Open service requests which were rejected due to invalid format
Number of Forward Open service requests which were rejected due to lack of resources
EIO0000003059.03
111
Attribute ID (hex) 4
Access Get
Name Open Other Rejects
Data Type UINT
5
Get
Close Requests
UINT
6
Get
Close Format Requests UINT
7
Get
Close Other Requests UINT
8
Get
Connection Timeouts
UINT
Ethernet Configuration
Value Description
�
Number of Forward Open service requests
which were rejected for reasons other than
invalid format or lack of resources
�
Number of Forward Close service requests
received
�
Number of Forward Close service requests
which were rejected due to invalid format
�
Number of Forward Close service requests
which were rejected for reasons other than
invalid format
�
Total number of connection timeouts that have
occurred in connections controlled by this
Connection Manager
Attribute ID (hex) 1 2 3
Attribute ID (hex) 1 2
Access
TCP/IP Interface Object (Class ID = F5 hex)
This object maintains link specific counters and status information for an Ethernet 802.3 communications interface.
The following table describes the class attributes of the TCP/IP Interface Object:
Name
Data Type
Value
Details
Get
Revision
UINT
Get
Max Instances
UINT
Get
Number of Instances
UINT
4
Implementation revision of the TCP/IP
Interface Object
2
The largest instance number
2
The number of object instances
The following table describes the Class Services:
Service Code (hex) 01 0E
Name
Description
Get Attribute All Get Attribute Single
Returns the value of all class attributes Returns the value of the specified attribute
Instance Codes Only instance 1 is supported. The following table describes the Instance Services:
Service Code (hex) 01 0E
Name
Description
Get Attribute All Get Attribute Single
Returns the value of all instance attributes Returns the value of the specified instance attribute
Access
The following table describes the Instance Attributes:
Name
Data Type Value
Description
Get
Status
Get
Configuration
Capability
DWORD
Bit level
DWORD
Bit level
� 0: The interface configuration attribute has not been configured.
� 1: The interface configuration contains a valid configuration.
� 2...15: Reserved.
� 0: BOOTP Client � 1: DNS Client � 2: DHCP Client
112
EIO0000003059.03
Ethernet Configuration
Attribute ID (hex)
Access Name
3
Get
Configuration
4
Get
Physical Link
5
Get
Interface
configuration
6
Get
Host Name
Data Type Value
Description
DWORD
UINT Padded EPATH
UDINT UDINT UDINT UDINT UDINT STRING STRING
Bit level
Path size Path
� 5: Configured in EcoStruxure Machine Expert
All other bits are reserved and set to 0.
� 0: The interface configuration is valid.
� 1: The interface configuration is obtained with BOOTP.
� 2: The interface configuration is obtained with DHCP.
� 3: reserved
� 4: DNS Enable
All other bits are reserved and set to 0.
Number of 16 bits word in the element Path
Logical segments identifying the physical link object. The path is restricted to one logical class segment and one logical instance segment. The maximum size is 12 bytes.
IP Address
�
Network Mask �
Gateway
�
Address
Primary Name �
Secondary Name
0: no secondary name server address has been configured.
Default Domain Name
�
0: no Domain Name is configured ASCII characters.
0: no host name is configured
Attribute ID (hex) 1
2 3
Access Get Get Get
Ethernet Link Object (Class ID = F6 hex)
This object provides the mechanism to configure a TCP/IP network interface device.
The following table describes the class attributes of the Ethernet Link object:
Name Revision Max Instances Number of Instances
Data Type UINT UINT UINT
Value (hex) 4
3 3
Details
Implementation revision of the Ethernet Link Object The largest instance number The number of object instances
The following table describes the class services:
Service Code (hex) 01 0E
Name
Description
Get Attribute All Get Attribute Single
Returns the value of all class attributes Returns the value of the specified attribute
Instance Codes Only instance 1 is supported. The following table describes the instance services:
EIO0000003059.03
113
Ethernet Configuration
Attribute ID (hex) 1 2
3
Service Code (hex) 01 0E
Name
Description
Get Attribute All Get Attribute Single
Returns the value of all instance attributes Returns the value of the specified instance attribute
Access
The following table describes the instance attributes:
Name
Data Type
Value
Description
Get
Interface Speed
UDINT
�
Get
Interface Flags
DWORD
Bit level
Get
Physical Address ARRAY of 6 �
USINT
Speed in Mbit/s (10 or 100)
� 0: link status � 1: half/full duplex � 2...4: negotiation status � 5: manual setting / requires reset � 6: local hardware error detected All other bits are reserved and set to 0.
This array contains the MAC address of the product.
Format: XX-XX-XX-XX-XX-XX
Attribute ID (hex) 1 2
Access Get Get
EtherNet/IP Interface Diagnostic Object (Class ID = 350 hex)
The following table describes the class attributes of the EtherNet/IP Interface Diagnostic object:
Name Revision Max Instance
Data Type UINT UINT
Value (hex) 01
01
Details
Increased by 1 on each new update of the object Maximum instance number of the object
Attribute ID (hex) 1
2
Access Get
Get
The following table describes the instance attributes of the EtherNet/IP Interface Diagnostic object:
Name Protocols supported
Data Type UINT
Connection Diag
Max CIP IO Connections opened
Current CIP IO Connections
STRUCT of UINT
UINT
Max CIP Explicit Connections opened
Current CIP Explicit Connections
CIP Connections Opening Errors
CIP Connections Timeout Errors
Max EIP TCP Connections opened
UINT UINT UINT UINT UINT
Details
Protocol(s) supported (0=not supported, 1= supported):
� Bit 0: EtherNet/IP � Bit 1: Modbus TCP � Bit 2: Modbus Serial � Bits 3...15: Reserved, 0
Maximum number of CIP I/O connections opened.
Number of CIP I/O connections currently opened.
Maximum number of CIP explicit connections opened.
Number of CIP explicit connections currently opened
Incremented on each unsuccessful attempt to open a CIP connection.
Incremented when a CIP connection times out.
Maximum number of TCP connections opened and used for EtherNet/IP communications.
114
EIO0000003059.03
Ethernet Configuration
Attribute ID (hex)
Access
Name Current EIP TCP Connections
Data Type UINT
3
Get Clear IO Messaging Diag
STRUCT of
IO Production Counter
UDINT
IO Consumption Counter
UDINT
IO Production Send Errors Counter
UINT
IO Consumption Receive Errors Counter
UINT
4
Get Clear Explicit Messaging Diag
STRUCT of
Class3 Msg Send Counter
UDINT
Class3 Msg Receive Counter UDINT
UCMM Msg Send Counter
UDINT
UCMM Msg Receive Counter UDINT
5
Get
Com Capacity
STRUCT of
Max CIP Connections
UINT
Max TCP Connections
UINT
Max Urgent priority rate
UINT
Max Scheduled priority rate
UINT
Max High priority rate
UINT
Max Low priority rate
UINT
Max Explicit Messaging rate UINT
6
Get
Bandwidth Diag
STRUCT of
Current sending Urgent priority rate
UINT
Current reception Urgent priority rate
UINT
Current sending Scheduled priority rate
UINT
Current reception Scheduled priority rate
UINT
Current sending High priority rate
UINT
Current reception High priority UINT rate
Current sending Low priority rate
UINT
Current reception Low priority UINT rate
Current sending Explicit Messaging rate
UINT
Details
Number of TCP connections currently open and being used for EtherNet/IP communications.
Incremented each time a Class 0/1 CIP message is sent.
Incremented each time a Class 0/1 CIP message is received.
Incremented each Time a Class 0/1 message is not sent.
Incremented each time a consumption is received that contains an error.
Incremented each time a Class 3 CIP message is sent.
Incremented each time a Class 3 CIP message is received.
Incremented each time a UCMM message is sent.
Incremented each time a UCMM message is received.
Maximum number of supported CIP connections.
Maximum number of supported TCP connections.
Maximum number of CIP transport class 0/1 Urgent priority message packets per second.
Maximum number of CIP transport class 0/1 Scheduled priority message packets per second.
Maximum number of CIP transport class 0/1 High priority message packets per second.
Maximum number of CIP transport class 0/1 Low priority message packets per second.
Max CIP transport class 2/3 or other EtherNet/IP messages packets per second
CIP transport class 0/1 Urgent priority message packets sent per second.
CIP transport class 0/1 Urgent priority message packets received per second.
CIP transport class 0/1 Scheduled priority message packets sent per second.
CIP transport class 0/1 Scheduled priority message packets received per second.
CIP transport class 0/1 High priority message packets sent per second.
CIP transport class 0/1 High priority message packets received per second.
CIP transport class 0/1 Low priority message packets sent per second.
CIP transport class 0/1 Low priority message packets received per second.
CIP transport class 2/3 or other EtherNet/IP message packets sent per second.
EIO0000003059.03
115
Ethernet Configuration
Attribute ID (hex) 7
Access Get
Name
Current reception Explicit Messaging rate
Modbus Diag
Max. Modbus TCP Connections opened
Current Modbus TCP Connections
Modbus TCP Msg Send Counter
Modbus TCP Msg Receive Counter
Data Type UINT STRUCT of UINT
UINT UDINT UDINT
Details
CIP transport class 2/3 or other EtherNet/IP message packets received per second.
Maximum number of TCP connections opened and used for Modbus communications.
Number of TCP connections currently opened and used for Modbus communications.
Incremented each time a Modbus TCP message is sent.
Incremented each time a Modbus TCP message is received.
The following table describes the class services:
Service Code (hex) 01 0E
4C
Name
Description
Get_Attributes_All
Get_Attribute_ Single
Get_and_Clear
Returns the value of all class attributes. Returns the value of a specified attribute.
Gets and clears a specified attribute.
Attribute ID (hex) 1
IOScanner Diagnostic Object (Class ID = 351 hex)
The following table describes the class attributes of the IOScanner Diagnostic object:
Attribute ID (hex) 1
2
Access Name
Get
Revision
Get
Max Instance
Data Type Value Details (hex)
UINT
1
Increased by 1 on each new
update of the object.
UINT
1
Maximum instance number of
the object.
The following table describes the instance attributes of the IOScanner Diagnostic object:
Access Get
Name IO Status Table Size Status
Data Type STRUCT of UINT ARRAY of UINT
Details
Size in bytes of the Status attribute.
I/O status. Bit n, where n is instance n of the object, provides the status of the I/O exchanged on the I/O connection:
� 0: The input or output status of the I/O connection is in error, or no device.
� 1: The input or output status of the I/O connection is correct.
The following table describes the class services:
Service Code (hex) 01
Name
Description
Get_Attributes_All Returns the value of all class attributes.
116
EIO0000003059.03
Ethernet Configuration
Attribute ID (hex) 1 2
Access Get Get
IO Connection Diagnostic Object (Class ID = 352 hex)
The following table describes the class attributes of the IO Connection Diagnostic object:
Name Revision Max Instance
Data Type UINT UINT
Value (hex) 01
01
Details
Increased by 1 on each new update of the object.
Maximum instance number of the object
0...n
where n is the maximum number of CIP I/O connections.
NOTE: There is an IO Connection Diagnostic object instance for both O>T and T->O paths.
Attribute ID (hex) 1
2
Access
The following table describes the instance attributes of the I/O Connection Diagnostic object:
Name
Data Type
Details
Get Clear
IO Com Diag IO Production Counter IO Consumption Counter
STRUCT of UDINT UDINT
IO Production Send Errors Counter
IO Consumption Receive Errors Counter
CIP Connection TimeOut Errors
CIP Connection Opening Errors
UINT UINT UINT UINT
CIP Connection State CIP Last Error General Status
UINT UINT
CIP Last Error Extended Status UINT
Input Com Status
UINT
Output Com Status
UINT
Get
Connection Diag
STRUCT of
Production Connection ID
UDINT
Consumption Connection ID
UDINT
Production RPI
UDINT
Production API
Consumption RPI
Consumption API
Production Connection Parameters Consumption Connection Parameters Local IP Local UDP Port
Remote IP
UDINT UDINT UDINT UDINT
UDINT
UDINT UINT UDINT
Incremented each time a production is sent. Incremented each time a consumption is received. Incremented each time a production is not sent due to an error. Incremented each time a consumption is received that contains an error. Incremented each time a connection times out. Incremented on each unsuccessful attempt to open a connection. State of the CIP IO connection. General status of the last error detected on the connection. Extended status of the last error detected on the connection. Communication status of the inputs. Communication status of the outputs.
Connection ID for production. Connection ID for consumption. Requested Packet Interval (RPI) for productions, in s. Actual Packet Interval (API) for productions. RPI for consumptions. API for consumptions. Connection parameters for productions.
Connection parameters for consumptions.
Local IP address for I/O communication. Local UDP port number for I/O communication. Remote IP address for I/O communication.
EIO0000003059.03
117
Attribute ID (hex)
Access
Name
Remote UDP Port Production Multicast IP
Consumption Multicast IP
Protocols supported
Data Type UINT UDINT UDINT UINT
Ethernet Configuration
Details
Remote UDP port number for I/O communication.
Multicast IP address for productions, or 0 if multicast is not used. Multicast IP address for consumptions, or 0 if multicast is not used. Protocol(s) supported (0=not supported, 1= supported):
� Bit 0: EtherNet/IP � Bit 1: Modbus TCP � Bit 2: Modbus Serial � Bits 3...15: Reserved, 0
Instance Attributes
The following table describes the class services:
Service Code (hex) 01 0E 4C
Name
Description
Get_Attributes_All Returns the value of all class attributes.
Get_Attribute_Single Returns the value of the specified attribute.
Get_and_Clear
Gets and clears a specified attribute.
Attribute ID (hex) 1 2
Attribute ID (hex) 1 2 3 4 5 6 7 8
Explicit Connection Diagnostic Object (Class ID = 353 hex)
The following table describes the class attributes of the Explicit Connection Diagnostic object:
Access Name
Data Type Value (hex)
Details
Get
Revision
UINT
Get
Max Instance UINT
01
0...n (maximum number of CIP IO connections)
Increased by 1 at each new update of the object. Maximum instance number of the object.
Access
The following table describes the instance attributes of the Explicit Connection Diagnostic object:
Name
Data Type
Details
Get
Originator Connection UDINT
O to T Connection ID
ID
Get
Originator IP
UDINT
Get
Originator TCP Port
UINT
Get
Target Connection ID
UDINT
T to O Connection ID
Get
Target IP
UDINT
Get
Target TCP Port
UINT
Get
Msg Send Counter
UDINT
Incremented each time a Class 3 CIP Message is sent on the
connection
Get
Msg ReceiveCounter
UDINT
Incremented each time a Class 3 CIP Message is received on
the connection
118
EIO0000003059.03
Ethernet Configuration
Attribute ID (hex) 1 2
Access
Get Get
Attribute ID (hex) 1
2
Access Get Get
Explicit Connections Diagnostic List Object (Class ID = 354 hex)
The following table describes the class attributes of the Explicit Connections Diagnostic List object:
Name
Revision Max Instance
Data Type
UINT UINT
Value (hex) 01 0...n
Details
Increased by 1 at each new update of the object. n is the maximum number of concurrent list accesses supported.
The following table describes the instance attributes of the Explicit Connections Diagnostic List object:
Name
Data Type
Details
Number of Connections
Explicit Messaging Connections Diagnostic List
Originator Connection ID
Originator IP
Originator TCP Port
Target Connection ID
Target IP
Target TCP Port
Msg Send Counter
UINT
ARRAY of STRUCT
UDINT
UDINT UINT UDINT UDINT UINT UDINT
Msg Receive Counter UDINT
Total number of open Explicit connections
Contents of instantiated Explicit Connection Diagnostic objects
Originator to Target connection ID
Originator to Target IP address Originator to Target port number Target to Originator connection ID Target to Originator IP address Target to Originator port number Incremented each time a Class 3 CIP message is sent on the connection Incremented each time a Class 3 CIP message is sent on the connection
The following table describes the class services:
Service Code (hex) 08 09 33
Name
Create
Delete
Explicit_ Connections_ Diagnostic_Read
Description
Creates an instance of the Explicit Connections Diagnostic List object. Deletes an instance of the Explicit Connections Diagnostic List object. Explicit corrections diagnostic read object.
Controller as a Slave Device on Modbus TCP
Overview
This section describes the configuration of the M241 Logic Controller as a Modbus TCP Slave Device.
The Modbus TCP Slave Device adds another Modbus server function to the controller. This server is addressed by the Modbus client application by specifying a configured Unit ID (Modbus address) in the range 1...247. The embedded Modbus server of the slave controller needs no configuration, and is addressed by specifying a Unit ID equal to 255. Refer to Modbus TCP Configuration, page 120.
EIO0000003059.03
119
Ethernet Configuration
To configure your M241 Logic Controller as a Modbus TCP Slave Device, you must add Modbus TCP Slave Device functionality to your controller (see Adding a Modbus TCP Slave Device thereafter). This functionality creates a specific I/O area in the controller that is accessible with the Modbus TCP protocol. This I/O area is used whenever an external master needs to access the %IW and %QW objects of the controller. This Modbus TCP Slave Device functionality allows you to furnish to this area the controller I/O objects which can then be accessed with a single Modbus read/write registers request.
Inputs/outputs are seen from the slave controller: inputs are written by the master, and outputs are read by the master.
The Modbus TCP Slave Device can define a privileged Modbus client application, whose connection is not forcefully closed (embedded Modbus connections may be closed when more than 8 connections are needed).
The watchdog associated to the privileged connection allows you to verify whether the controller is being polled by the privileged master. If no Modbus request is received within the timeout duration, the diagnostic information i_byMasterIpLost is set to 1 (TRUE). For more information, refer to the Ethernet Port Read-Only System Variables (see Modicon M241 Logic Controller, System Functions and Variables, PLCSystem Library Guide).
For further information about Modbus TCP, refer to the www.odva.org website.
Adding a Modbus TCP Slave Device
To configure your M241 Logic Controller as a Modbus TCP slave device, you must:
Step 1
2 3
Action
Add a TM4ES4 expansion module to your configuration. To do this, you must have added the Industrial_Ethernet_manager to your logic controller.
Select Modbus TCP Slave Device 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 Hardware Catalog (see EcoStruxure Machine Expert, Programming Guide)
� Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming Guide)
Modbus TCP Configuration
To configure the Modbus TCP slave device, double-click TM4ES4 Ethernet_1 > ModbusTCP_Slave_Device in the Devices tree. This dialog box appears:
120
EIO0000003059.03
Ethernet Configuration
Element IP Master Address Watchdog
Slave Port
Unit ID Holding Registers (% IW) Input Registers (% QW)
Description
IP address of the Modbus master
The connections are not closed on this address.
Watchdog in 500 ms increments NOTE: The watchdog applies to the IP master Address unless the address is 0.0.0.0.
Modbus communication port (502) NOTE: The port number can be modified using the changeModbusPort script command, page 123.
Sends the requests to the Modbus TCP slave device (1...247), instead of to the embedded Modbus server (255).
Number of %IW registers to be used in the exchange (2...120) (each register is 2 bytes)
Number of %QW registers to be used in the exchange (2...120) (each register is 2 bytes)
Modbus TCP Slave Device I/O Mapping Tab
The I/Os are mapped to Modbus registers from the master perspective as follows:
� %IWs are mapped from register 0 to n-1 and are R/W (n = Holding register quantity, each %IW register is 2 bytes).
� %QWs are mapped from register n to n+m -1 and are read only (m = Input registers quantity, each %QW register is 2 bytes).
Once a Modbus TCP Slave Device has been configured, Modbus commands sent to its Unit ID (Modbus address) are handled differently than the same command would be when addressed to any other Modbus device on the network. For example, when the Modbus command 3 (3 hex) is sent to a standard Modbus device, it reads and returns the value of one or more registers. When this same command is sent to the Modbus TCP, page 90 Slave, it facilitates a read operation by the external I/O scanner.
Once a Modbus TCP Slave Device has been configured, Modbus commands sent to its Unit ID (Modbus address) access the %IW and %QW objects of the controller instead of the regular Modbus words (accessed when the Unit ID is 255). This facilitates read/write operations by a Modbus TCP IOScanner application.
The Modbus TCP Slave Device responds to a subset of the Modbus commands with the purpose of exchanging data with the external I/O scanner. The following Modbus commands are supported by the Modbus TCP slave device:
Function Code Dec Function (Hex)
3 (3)
Read holding register
6 (6)
Write single register
16 (10)
Write multiple registers
23 (17)
Read/write multiple registers
Other
Not supported
Comment
Allows the master to read %IW and %QW objects of the device Allows the master to write %IW objects of the device Allows the master to write %IW objects of the device Allows the master to read %IW and %QW objects of the device and write %IW objects of the device �
NOTE: Modbus requests that attempt to access registers above n+m-1 are answered by the 02 - ILLEGAL DATA ADDRESS exception code.
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To link I/O objects to variables, select the Modbus TCP Slave Device I/O Mapping tab:
Ethernet Configuration
Channel Input
Output
IW0 ... IWx QW0 ... QWy
Type WORD ... WORD WORD ... WORD
Description Holding register 0 ... Holding register x Input register 0 ... Input register y
The number of words depends on the Holding Registers (%IW) and Input Registers (%QW) parameters of the Modbus TCP tab.
NOTE: Output means OUTPUT from Originator controller (= %IW for the controller). Input means INPUT from Originator controller (= %QW for the controller).
NOTE: The Modbus TCP Slave Device refreshes the %IW and %QW registers as a single time-consistent unit, synchronized with the IEC tasks (MAST task by default). By contrast, the embedded Modbus TCP server only ensures time-consistency for 1 word (2 bytes). If your application requires timeconsistency for more than 1 word (2 bytes), use the Modbus TCP Slave Device.
The parameter Always update variables is set to Enabled 1 (use bus cycle task if not used in any task) and is not editable.
Bus Cycle Options
In the Modbus TCP Slave Device I/O Mapping tab, select the Bus cycle task to use:
� Use parent bus cycle setting (the default), � MAST � An existing task of the project: you can select an existing task and
associate it to the scanner. For more information about the application tasks, refer to the EcoStruxure Machine Expert Programming Guide. NOTE: There is a corresponding Bus cycle task parameter in the I/O mapping editor of the device that contains the Modbus TCP Slave Device. This parameter defines the task responsible for refreshing the %IW and %QW registers.
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Ethernet Configuration
Changing the Modbus TCP Port
changeModbusPort Command
The changeModbusPort command can be used to change the port used for data exchanges with a Modbus TCP master.
The current Modbus Slave Port is displayed on the Modbus TCP configuration window, page 120.
The default Modbus port number is 502.
Command changeModbusPort "portnum"
Description
portnum is the new Modbus port number to use and is passed as a string of characters.
Before running the command, refer to Used Ports, page 130 to ensure that portnum is not being used by any other TCP/UDP protocols or processes.
An error is logged in the /usr/Syslog/FWLog.txt file if the specified port number is already in use.
To limit the number of open sockets, the changeModbusPort command can only be run twice.
A power cycle of the logic controller returns the Modbus port number to the default value (502). The changeModbusPort command must therefore be executed after each power cycle.
NOTE: After changing the port number, protocol active selection for the Modbus Server in the Security Parameters group on the Ethernet Configuration window, page 88 is no longer valid.
Running the Command from an SD Card Script
Step 1
2 3 4
Action Create a script file, page 169, for example: ; Change Modbus slave port changeModbusPort "1502"; Name the script file Script.cmd. Copy the script file to the SD card. Insert the SD card in the controller.
Running the Command Using ExecuteScript Function Block
The changeModbusPort command can be run from within an application using the ExecuteScript function block (see Modicon M241 Logic Controller, System Functions and Variables, PLCSystem Library Guide).
The following sample code changes the Modbus TCP slave port from the default (502) to 1502. IF (myBExe = FALSE AND (PortNum <> 502)) THEN
myExecSc( // falling edge for a second change xExecute:=FALSE , sCmd:=myCmd , xDone=>myBDone , xBusy=> myBBusy, xError=> myBErr, eError=> myIerr); string1 := 'changeModbusPort "'; string2 := WORD_TO_STRING(PortNum); myCmd := concat(string1,string2);
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myCmd := concat(myCmd,'"'); myBExe := TRUE; END_IF
myExecSc( xExecute:=myBExe , sCmd:=myCmd , xDone=>myBDone , xBusy=> myBBusy, xError=> myBErr, eError=> myIerr);
Ethernet Configuration
Firewall Configuration
Introduction
This section describes how to configure the firewall of the Modicon M241 Logic Controller.
Introduction
Firewall Presentation
In general, firewalls help protect network security zone perimeters by blocking unauthorized access and permitting authorized access. A firewall is a device or set of devices configured to permit, deny, encrypt, decrypt, or proxy traffic between different security zones based upon a set of rules and other criteria.
Process control devices and high-speed manufacturing machines require fast data throughput and often cannot tolerate the latency introduced by an aggressive security strategy inside the control network. Firewalls, therefore, play a significant role in a security strategy by providing levels of protection at the perimeters of the network. Firewalls are an important part of an overall, system level strategy. By default, firewall rules do not allow the transfer of incoming IP telegrams from a controller network to a fieldbus network.
NOTE: Schneider Electric adheres to industry best practices in the development and implementation of control systems. This includes a "Defense-in-Depth" approach to secure an Industrial Control System. This approach places the controllers behind one or more firewalls to restrict access to authorized personnel and protocols only.
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Ethernet Configuration
WARNING
UNAUTHENTICATED ACCESS AND SUBSEQUENT UNAUTHORIZED MACHINE OPERATION
� Evaluate whether your environment or your machines are connected to your critical infrastructure and, if so, take appropriate steps in terms of prevention, based on Defense-in-Depth, before connecting the automation system to any network.
� Limit the number of devices connected to a network to the minimum necessary.
� 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.
� Monitor activities within your systems.
� Prevent subject devices from direct access or direct link by unauthorized parties or unauthenticated actions.
� Prepare a recovery plan including backup of your system and process information.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Firewall Configuration
There are three ways to manage the controller firewall configuration: � Static configuration � Dynamic changes � Application settings
Script files are used in the static configuration and for dynamic changes.
Static Configuration
The static configuration is loaded at the controller boot. The controller firewall can be statically configured by managing a default script file located in the controller. The path to this file is /usr/Cfg/FirewallDefault.cmd.
Dynamic Changes
After the controller boot, the controller firewall configuration can be changed by the use of script files. There are two ways to load these dynamic changes using:
� A physical SD card, page 125. � A function block, page 126 in the application.
Application Settings
See Ethernet Configuration, page 88.
Dynamic Changes Procedure Using an SD Card
This table describes the procedure to execute a script file from an SD card:
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Ethernet Configuration
Step 1 2 3
4
Action Create a valid script file, page 128. For example, name the script file FirewallMaintenance.cmd. Load the script file on the SD card. For example, load the script file in the usr/Cfg folder. In the file Sys/Cmd/Script.cmd, add a code line with the command Firewall_install "/pathname/FileName" For example, the code line is Firewall_install "/sd0/usr/Cfg/FirewallMaintenance.cmd" Insert the SD card on the controller.
Using a Function Block in the Application
This table describes the procedure to execute a script file from an application:
Step 1
2
3
Action Create a valid script file, page 128. For example, name the script file FirewallMaintenance.cmd.
Load the script file in the controller memory. For example, load the script file in the usr/Syslog folder with FTP.
Use an ExecuteScript (see Modicon M241 Logic Controller, System Functions and Variables, PLCSystem Library Guide) function block. For example, the [SCmd] input is `Firewall_install "/usr/Syslog/ FirewallMaintenance.cmd"'
Firewall Behavior
Introduction
The firewall configuration depends on the action done on the controller and the initial configuration state. There are five possible initial states:
� There is no default script file in the controller. � A correct script file is present. � An incorrect script file is present. � There is no default script file and the application has configured the firewall. � A dynamic script file configuration has already been executed.
No Default Script File
If... Boot of the controller Execute dynamic script file Execute dynamic incorrect script file Download application
Then ... Firewall is not configured. No protection is activated. Firewall is configured according to the dynamic script file. Firewall is not configured. No protection is activated. Firewall is configured according to the application settings.
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Ethernet Configuration
Default Script File Present
If... Boot of the controller Execute dynamic script file
Execute dynamic incorrect script file
Download application
Then ... Firewall is configured according to the default script file. The whole configuration of the default script file is deleted. Firewall is configured according to the dynamic script file. Firewall is configured according to the default script file. The dynamic script file is not taken into account. The whole configuration of the application is ignored. Firewall is configured according to the default script file.
Incorrect Default Script File Present
If... Boot of the controller Execute dynamic script file Execute dynamic incorrect script file Download application
Then ... Firewall is not configured. No protection is activated Firewall is configured according to the dynamic script file. Firewall is not configured. No protection is activated. Firewall is configured according to the application settings.
Application Settings with No Default Script File
If... Boot of the controller
Then ... Firewall is configured according to the application settings.
Execute dynamic script file
The whole configuration of the application settings is deleted.
Firewall is configured according to the dynamic script file.
Execute dynamic incorrect script file Download application
Firewall is configured according to the application settings. The dynamic script file is not taken into account.
The whole configuration of the previous application is deleted.
Firewall is configured according to the new application settings.
Execute Dynamic Script File Already Executed
If... Boot of the controller
Then ... Firewall is configured according to the dynamic script file configuration (see note).
Execute dynamic script file
The whole configuration of the previous dynamic script file is deleted.
Firewall is configured according to the new dynamic script file.
Execute dynamic incorrect script file Firewall is configured according to the previous dynamic script file configuration. The dynamic incorrect script file is not taken into account.
Download application
The whole configuration of the application is ignored
Firewall is configured according to the dynamic script file.
NOTE: If an SD card containing a cybersecurity script is inserted into the controller, booting is blocked. First remove the SD card to correctly boot the controller.
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Ethernet Configuration
Firewall Script Commands
Overview
This section describes how script files (default script files or dynamic script files) are written so that they can be executed during the booting of the controller or during a specific command triggered.
NOTE: The MAC layer rules are managed separately and have more priority over other packet filter rules.
Script File Syntax
The syntax of script files is described in Script Syntax Guidelines, page 169.
General Firewall Commands
The following commands are available to manage the Ethernet firewall of the M241 Logic Controller:
Command Firewall Enable
Firewall Disable Firewall Ethx Default Allow (1) Firewall Ethx Default Reject(1)
(1)Where Ethx = � Eth1: Ethernet_1 � Eth2: TM4ES4
Description
Blocks the frames from the Ethernet interfaces. If no specific IP address is authorized, it is not possible to communicate on the Ethernet interfaces.
NOTE: By default, when the firewall is enabled, the frames are rejected.
Firewall rules are not applied. Frames are not blocked
Frames are accepted by the controller.
Frames are rejected by the controller. NOTE: By default, if this line is not present, it corresponds to the command Firewall Eth1 Default Reject.
Specific Firewall Commands
The following commands are available to configure firewall rules for specific ports and addresses:
Command
Firewall Eth1 Allow IP �.�. �.�
Range � = 0...255
Firewall Eth1 Reject IP �.�. � = 0...255 �.�
Firewall Eth1 Allow IPs �.�. � = 0...255 �.� to �.�.�.�
Firewall Eth1 Reject IPs �. �.�.� to �.�.�.�
� = 0...255
Firewall Eth1 Allow port_ type port Y
Y = (destination port numbers, page 130)
Firewall Eth1 Reject port_ type port Y
Y = (destination port numbers, page 130)
Firewall Eth1 Allow port_ type ports Y1 to Y2
Firewall Eth1 Reject port_ type ports Y1 to Y2
Y = (destination port numbers, page 130)
Y = (destination port numbers, page 130)
Description
Frames from the specified IP address are allowed on all port numbers and port types.
Frames from the specified IP address are rejected on all port numbers and port types.
Frames from the IP addresses in the specified range are allowed for all port numbers and port types.
Frames from the IP addresses in the specified range are rejected for all port numbers and port types.
Frames with the specified destination port number are allowed.
Frames with the specified destination port number are rejected. NOTE: When IP forwarding is activated, rules with reject port only filter frames with current controller as destination. They are not applied for the frames routed by the current controller.
Frames with a destination port number in the specified range are allowed.
Frames with a destination port number in the specified range are rejected.
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Ethernet Configuration
Command Firewall Eth1 Allow IP �.�. �.� on port_type port Y
Firewall Eth1 Reject IP �.�. �.� on port_type port Y
Firewall Eth1 Allow IP �.�. �.� on port_type ports Y1 to Y2
Firewall Eth1 Reject IP �.�. �.� on port_type ports Y1 to Y2
Firewall Eth1 Allow IPs �1. �1.�1.�1 to �2.�2.�2.�2 on port_type port Y
Firewall Eth1 Reject IPs �1. �1.�1.�1 to �2.�2.�2.�2 on port_type port Y
Firewall Eth1 Allow IPs �1. �1.�1.�1 to �2.�2.�2.�2 on port_type ports Y1 to Y2
Firewall Eth1 Reject IPs �1. �1.�1.�1 to �2.�2.�2.�2 on port_type ports Y1 to Y2
Firewall Eth1 Allow MAC ��: ��:��:��:��:��
Range
� = 0...255
Y = (destination port numbers, page 130)
� = 0...255
Y = (destination port numbers, page 130)
� = 0...255
Y = (destination port numbers, page 130)
� = 0...255
Y = (destination port numbers, page 130)
� = 0...255
Y = (destination port numbers, page 130)
� = 0...255
Y = (destination port numbers, page 130)
� = 0...255
Y = (destination port numbers, page 130)
� = 0...255
Y = (destination port numbers, page 130)
� = 0...F
Firewall Eth1 Reject MAC ��: � = 0...F ��:��:��:��:��
Description Frames from the specified IP address and with the specified destination port number are allowed.
Frames from the specified IP address and with the specified destination port number are rejected.
Frames from the specified IP address and with a destination port number in the specified range are allowed.
Frames from the specified IP address and with a destination port number in the specified range are rejected.
Frames from an IP address in the specified range and with the specified destination port number are allowed.
Frames from an IP address in the specified range and with the specified destination port number are rejected.
Frames from an IP address in the specified range and with a destination port number in the specified range are allowed.
Frames from an IP address in the specified range and with a destination port number in the specified range are rejected.
Frames from the specified MAC address ��:��:��:��:�� are allowed. NOTE: When the rules to allow the MAC address are applied, only the listed MAC addresses can communicate with the controller, even if other rules are allowed.
Frames with the specified MAC address ��:��:��:��:�� are rejected.
NOTE: The port_type can be TCP or UDP.
Script Example
; Enable FireWall. All frames are rejected; FireWall Enable; ; Allow frames on Eth1 FireWall Eth1 Default Allow; ; Block all Modbus Requests on all IP address Firewall Eth1 Reject tcp port 502; ; Reject frames on Eth2 FireWall Eth2 Default Reject; ; Allow FTP active connection for IP address 85.16.0.17 FireWall Eth2 Allow IP 85.16.0.17 on tcp ports 20 to 21;
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Ethernet Configuration
NOTE: IP addresses are converted to CIDR format.
For example:
"FireWall Eth2 Allow IPs 192.168.100.66 to 192.168.100.99 on tcp port 44818;", is separated into 7:
� 192.168.100.66/31 � 192.168.100.68/30 � 192.168.100.72/29 � 192.168.100.80/28 � 192.168.100.96/27 � 192.168.100.128/26 � 192.168.100.192/29 To prevent a firewall error, use the entire subnet configuration. NOTE: Characters are limited to 200 per line, including comments.
Ports Used
Protocol Machine Expert
Destination Port Numbers UDP 1740, 1741, 1742, 1743
FTP HTTP / HTTPS
TCP 1105 TCP 21 TCP 80, 443 (Web server)
TCP 8080 (Web visualization)
Modbus
TCP 502 (1)
OPC UA Machine Expert Discovery
TCP 4840 UDP 27126, 27127
SNMP
UDP 161, 162
NVL EtherNet/IP
UDP Default value: 1202 UDP 2222
TFTP
TCP 44818 UDP 69 (used for FDR server only)
(1) The default value can be changed using the change ModbusPort command, page 123.
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Industrial Ethernet Manager
Industrial Ethernet Manager
Introduction
This chapter describes how to add and configure the Industrial Ethernet.
Industrial Ethernet
Overview
Industrial Ethernet is the term used to represent the industrial protocols that use the standard Ethernet physical layer and standard Ethernet protocols.
On an Industrial Ethernet network, you can connect: � Industrial devices (industrial protocols) � Non-industrial devices (other Ethernet protocols)
For more information, refer to Industrial Ethernet User Guide.
Industrial Ethernet Architecture
This figure presents a typical Industrial Ethernet architecture:
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A B 1
2 3 4 5 6 2, 4, and 5
Control network Device network Logic controller (see EcoStruxure Machine Expert Industrial Ethernet Overview, User Guide) Daisy-chained devices Ethernet switch I/O island (Modbus TCP) Vision sensor (EtherNet/IP) PC and HMI (TCP/UDP) Industrial Ethernet slave devices (EtherNet/IP / Modbus TCP)
131
Industrial Ethernet Manager
This architecture is configurable with EcoStruxure Machine Expert.
The M241 Logic Controller can be connected simultaneously to the control network and the device network. To use this functionality, you must make a second Ethernet port available by adding a TM4ES4 expansion module to your configuration. The Ethernet port embedded on the logic controller then connects to the device network and the Ethernet port on the TM4ES4 connects to the control network.
If no TM4ES4 expansion module is added, the embedded Ethernet port on the M241 Logic Controller can be connected to either the control network or the device network.
Industrial Ethernet Description
M241 Logic Controller Features Topology Bandwidth EtherNet/IP Scanner Performance Number of connections Number of input words Number of output words I/O communications
Modbus TCP IOScanner Performance Number of connections Number of input words Number of output words I/O communications
Other services
Description Daisy chain and Star via switches 10/100 Mbit/s
Up to 16 EtherNet/IP target devices managed by the logic controller, monitored within a timeslot of 10 ms. 0...16 0...1024 0...1024 EtherNet/IP scanner service Function block for configuration and data transfer Originator/Target
Up to 64 Modbus TCP server devices managed by the logic controller, monitored within a timeslot of 35 ms. 0...64 0...2048 0...2048 Modbus TCP IOScanner service Function block for data transfer Client/Server FDT/DTM/EDS management FDR (Fast Device Replacement) DHCP server Security management (refer to Security Parameters, page 89 and Firewall Configuration, page 124) Modbus TCP server Modbus TCP client Web server, page 91 FTP Server (FTP and TFTP protocols), page 101 OPC UA, page 155 SNMP, page 102 EtherNet/IP adapter (controller as a target on EtherNet/IP)(1) EtherNet/IP Originator Modbus TCP server (controller as a slave on Modbus TCP)(1) IEC VAR ACCESS
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Industrial Ethernet Manager
M241 Logic Controller
Features
Description
Additional features
Possible to mix up to 16 EtherNet/IP and Modbus TCP server devices.
Devices can be directly accessed for configuration, monitoring, and management purposes.
Network transparency between control network and device network (logic controller can be used as a gateway).
NOTE: Using the logic controller as a gateway can impact the performance of the logic controller.
(1) You must add a TM4ES4 expansion module to your logic controller to use this service in addition to the EtherNet/IP Scanner or Modbus TCP IOScanner features.
EtherNet/IP Overview
EtherNet/IP is the implementation of the CIP protocol over standard Ethernet. The EtherNet/IP protocol uses an originator/target architecture for data exchange. Originators are devices that initiate data exchanges with target devices on the network. This applies to both I/O communications and service messaging. This is the equivalent of the role of a client in a Modbus network. Targets are devices that respond to data requests generated by originators. This applies to both I/O communications and service messaging. This is the equivalent of the role of a server in a Modbus network. EtherNet/IP Adapter is an end-device in an EtherNet/IP network. I/O blocks and drives can be EtherNet/IP Adapter devices. The communication between an EtherNet/IP originator and target is accomplished using an EtherNet/IP connection.
Modbus TCP Overview
The Modbus TCP protocol uses a client/server architecture for data exchange. Modbus TCP explicit (non-cyclic) data exchanges are managed by the application. Modbus TCP implicit (cyclic) data exchanges are managed by the Modbus TCP IOScanner. The Modbus TCP IOScanner is a service based on Ethernet that polls slave devices continuously to exchange data, status, and diagnostic information. This process monitors inputs and controls outputs of slave devices. Clients are devices that initiate data exchange with other devices on the network. This applies to both I/O communications and service messaging. Servers are devices that address any data requests generated by a Client. This applies to both I/O communications and service messaging. The communication between the Modbus TCP IOScanner and the slave device is accomplished using Modbus TCP channels.
Adding the Industrial Ethernet Manager
The Industrial_Ethernet_manager must be present on the Ethernet_1 (Ethernet Network) node of the Devices tree to activate these functions and services:
� EtherNet/IP Scanner � Modbus TCP IOScanner If Ethernet_1 (Ethernet Network) is already in use, you must add a TM4ES4 expansion module to your controller and move the EthernetIP or Modbus TCP slave device nodes from Ethernet_1 (Ethernet Network) to the TM4ES4 node. The Industrial_Ethernet_manager is automatically added when a slave device is added on the Ethernet_1 (Ethernet Network) node.
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Industrial Ethernet Manager
To manually add the Industrial_Ethernet_manager to the Ethernet_1 (Ethernet Network):
Step 1
2 3 4
Action In the Devices tree, select Ethernet_1 (Ethernet Network) and click the green plus button of the node or right-click Ethernet_1 (Ethernet Network) and execute the Add Device command from the contextual menu. Result: The Add Device dialog box opens.
In the Add Device dialog box, select Protocol Managers > Industrial Ethernet
manager. Click the Add Device button. Click the Close button.
For more information, refer to Industrial Ethernet Manager Configuration, EtherNet/IP Target Settings and Modbus TCP Settings (see EcoStruxure Machine Expert Modbus TCP, User Guide).
DHCP Server
Overview
It is possible to configure a DHCP server on the Ethernet_1 network of the M241 Logic Controller.
The DHCP server offers addresses to the devices connected on the Ethernet_1 network. The DHCP server only delivers static addresses. Each slave identified is assigned a unique address. DHCP slave devices are identified either by their MAC address or their DHCP device name. The DHCP server configuration table defines the relation between addresses and identified slave devices.
The DHCP server addresses are given with an infinite lease time. There is no need for the slave devices to refresh the leased IP address.
For more information, refer to IP Addressing Methods (see EcoStruxure Machine Expert Modbus TCP, User Guide).
Fast Device Replacement
Overview
The Fast Device Replacement (FDR) helps facilitate replacing and reconfiguring a network device. This function is available on the Ethernet_1 port of the M241 Logic Controller.
For more information, refer to Slave Device Replacement with FDR (see EcoStruxure Machine Expert Modbus TCP, User Guide).
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Serial Line Configuration
Serial Line Configuration
Introduction
This chapter describes how to configure the serial line communication of the Modicon M241 Logic Controller.
The Modicon M241 Logic Controller has 2 Serial Line ports. These ports are configured to use the following protocols when new or after a controller firmware update:
� Serial Line 1: Machine Expert Network Manager.
� Serial Line 2: Modbus Manager.
Serial Line Configuration
Introduction
The Serial Line configuration window allows you to configure the physical parameters of a serial line (baud rate, parity, and so on).
Serial Line Configuration
To configure a Serial Line, double-click Serial line in the Devices tree. The Configuration window is displayed as below:
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The following parameters must be identical for each serial device connected to the port.
Element Baud rate Parity Data bits Stop bits Physical Medium
Polarization Resistor
Description Transmission speed in bits/s
Used for error detection
Number of bits for transmitting data
Number of stop bits
Specify the medium to use: � RS485 (using polarisation resistor or not) � RS232 (only available on Serial Line 1)
Polarization resistors are integrated in the controller. They are switched on or off by this parameter.
135
Serial Line Configuration
The serial line ports of your controller are configured for the Machine Expert protocol by default when new or when you update the controller firmware. The Machine Expert protocol is incompatible with that of other protocols such as Modbus Serial Line. Connecting a new controller to, or updating the firmware of a controller connected to, an active Modbus configured serial line can cause the other devices on the serial line to stop communicating. Make sure that the controller is not connected to an active Modbus serial line network before first downloading a valid application having the concerned port or ports properly configured for the intended protocol.
NOTICE
INTERRUPTION OF SERIAL LINE COMMUNICATIONS
Be sure that your application has the serial line ports properly configured for Modbus before physically connecting the controller to an operational Modbus Serial Line network.
Failure to follow these instructions can result in equipment damage.
This table indicates the maximum baud rate value of the managers:
Manager Machine Expert Network Manager Modbus Manager ASCII Manager Modbus IOScanner
Maximum Baud Rate (Bits/S) 115200
Machine Expert Network Manager
Introduction
Use the Machine Expert Network Manager to exchange variables with a XBTGT/ XBTGK Advanced Panel with Machine Expert software protocol, or when the Serial Line is used for EcoStruxure Machine Expert programming.
Adding the Manager
To add a Machine Expert Network Manager to your controller, select the Machine Expert-Network Manager in the Hardware Catalog, drag it to the Devices tree, and drop it on one of the highlighted nodes.
For more information on adding a device to your project, refer to:
� Using the Hardware Catalog (see EcoStruxure Machine Expert, Programming Guide)
� Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming Guide)
Configuring the Manager
There is no configuration for Machine Expert Network Manager.
Adding a Modem
To add a modem to the Machine Expert Network Manager, refer to Adding a Modem to a Manager, page 147.
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Serial Line Configuration
Modbus Manager
Introduction
The Modbus Manager is used for Modbus RTU or ASCII protocol in master or slave mode.
Adding the Manager
To add a Modbus manager to your controller, select the Modbus Manager in the Hardware Catalog, drag it to the Devices tree, and drop it on one of the highlighted nodes.
For more information on adding a device to your project, refer to:
� Using the Hardware Catalog (see EcoStruxure Machine Expert, Programming Guide)
� Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming Guide)
Modbus Manager Configuration
To configure the Modbus Manager of your controller, double-click Modbus Manager in the Devices tree. The Modbus Manager configuration window is displayed as below:
Modbus_Manager Configuration Status Information
Modbus
Transmission Mode:
RTU
ASCII
Addressing:
Slave
Address [1...247]:
1
Time between Frames (ms): 10 Serial Line Settings
Baud Rate:
38400
Parity:
None
Data Bits:
8
Stop Bits:
1
Physical Medium: RS485
Set the parameters as described in this table:
Element Transmission Mode
Addressing
Address Time between Frames (ms) Serial Line Settings
Description
Specify the transmission mode to use: � RTU: uses binary coding and CRC error-checking (8 data bits) � ASCII: messages are in ASCII format, LRC error-checking (7 data bits)
Set this parameter identical for each Modbus device on the link.
Specify the device type: � Master � Slave
Modbus address of the device, when slave is selected.
Time to avoid bus-collision.
Set this parameter identical for each Modbus device on the link.
Parameters specified in the Serial Line configuration window.
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Modbus Master Modbus Slave
Serial Line Configuration
When the controller is configured as a Modbus Master, the following function blocks are supported from the PLCCommunication Library:
� ADDM � READ_VAR � SEND_RECV_MSG � SINGLE_WRITE � WRITE_READ_VAR � WRITE_VAR For further information, see Function Block Descriptions (see EcoStruxure Machine Expert, Modbus and ASCII Read/Write Functions, PLCCommunication Library Guide) of the PLCCommunication Library.
When the controller is configured as Modbus Slave, the following Modbus requests are supported:
Function Code Sub-Function
Dec (Hex)
Dec (Hex)
1 (1 hex)
�
2 (2 hex)
�
3 (3 hex)
�
6 (6 hex)
�
8 (8 hex)
�
15 (F hex)
�
16 (10 hex)
�
23 (17 hex)
�
43 (2B hex)
14 (E hex)
Function
Read digital outputs (%Q) Read digital inputs (%I) Read multiple register (%MW) Write single register (%MW) Diagnostic Write multiple digital outputs (%Q) Write multiple registers (%MW) Read/write multiple registers (%MW) Read device identification
This table contains the sub-function codes supported by the diagnostic Modbus request 08:
Sub-Function Code
Dec
Hex
10
0A
11
0B
12
0C
13
0D
14
0E
15
0F
16
10
17
11
18
12
Function
Clears Counters and Diagnostic Register Returns Bus Message Count Returns Bus Communication Error Count Returns Bus Exception Error Count Returns Slave Message Count Returns Slave No Response Count Returns Slave NAK Count Returns Slave Busy Count Returns Bus Character Overrun Count
This table lists the objects that can be read with a read device identification request (basic identification level):
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Object ID 00 hex 01 hex
Object Name Vendor code Product code
02 hex
Major / Minor revision
Type ASCII String ASCII String
ASCII String
Value Schneider Electric Controller reference eg: TM241CE24T aa.bb.cc.dd (same as device descriptor)
The following section describes the differences between the Modbus memory mapping of the controller and HMI Modbus mapping. If you do not program your application to recognize these differences in mapping, your controller and HMI will not communicate correctly. Thus it will be possible for incorrect values to be written to memory areas responsible for output operations.
WARNING
UNINTENDED EQUIPMENT OPERATION
Program your application to translate between the Modbus memory mapping used by the controller and that used by any attached HMI devices.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
When the controller and the Magelis HMI are connected via Modbus (HMI is master of Modbus requests), the data exchange uses simple word requests.
There is an overlap on simple words of the HMI memory while using double words but not for the controller memory (see following diagram). In order to have a match between the HMI memory area and the controller memory area, the ratio between double words of HMI memory and the double words of controller memory has to be 2.
Adding a Modem
The following gives examples of memory match for the double words: � %MD2 memory area of the HMI corresponds to %MD1 memory area of the controller because the same simple words are used by the Modbus request. � %MD20 memory area of the HMI corresponds to %MD10 memory area of the controller because the same simple words are used by the Modbus request.
The following gives examples of memory match for the bits: � %MW0:X9 memory area of the HMI corresponds to %MX1.1 memory area of the controller because the simple words are split in 2 distinct bytes in the controller memory.
To add a Modem to the Modbus Manager, refer to Adding a Modem to a Manager, page 147.
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ASCII Manager
Introduction
Serial Line Configuration
The ASCII manager is used on a Serial Line, to transmit and/or receive data with a simple device.
Adding the Manager
To add an ASCII manager to your controller, select the ASCII Manager in the Hardware Catalog, drag it to the Devices tree, and drop it on one of the highlighted nodes.
For more information on adding a device to your project, refer to:
� Using the Hardware Catalog (see EcoStruxure Machine Expert, Programming Guide)
� Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming Guide)
ASCII Manager Configuration
To configure the ASCII manager of your controller, double-click ASCII Manager in the Devices tree. The ASCII Manager configuration window is displayed as below:
Set the parameters as described in this table:
Parameter
Description
Start Character
If 0, no start character is used in the frame. Otherwise, in Receiving Mode, the corresponding character in ASCII is used to detect the beginning of a frame. In Sending Mode, this character is added at the beginning of the frame.
First End Character
If 0, no first end character is used in the frame. Otherwise, in Receiving Mode, the corresponding character in ASCII is used to detect the end of a frame. In Sending Mode, this character is added at the end of the frame.
Second End Character
If 0, no second end character is used in the frame. Otherwise, in Receiving Mode, the corresponding character in ASCII is used to detect the end of a frame. In Sending Mode, this character is added at the end of the frame.
Frame Length If 0, this parameter is not used. This parameter allows the system to conclude an
Received
end of frame at reception when the controller received the specified number of
characters.
Note: This parameter cannot be used simultaneously with Frame Received Timeout (ms).
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Adding a Modem
Parameter Frame Received Timeout (ms) Serial Line Settings
Description If 0, this parameter is not used. This parameter allows the system to conclude the end of frame at reception after a silence of the specified number of ms.
Parameters specified in the Serial Line configuration window, page 135.
NOTE: In the case of using several frame termination conditions, the first condition to be TRUE terminates the exchange.
To add a Modem to the ASCII manager, refer to Adding a Modem to a Manager, page 147.
Modbus Serial IOScanner
Introduction
The Modbus IOScanner is used to simplify exchanges with Modbus slave devices.
Add a Modbus IOScanner
To add a Modbus IOScanner on a Serial Line, select the Modbus_IOScanner in the Hardware Catalog, drag it to the Devices tree, and drop it on one of the highlighted nodes.
For more information on adding a device to your project, refer to:
� Using the Hardware Catalog (see EcoStruxure Machine Expert, Programming Guide)
� Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming Guide)
Modbus IOScanner Configuration
To configure a Modbus IOScanner on a Serial Line, double-click Modbus IOScanner in the Devices tree. The configuration window is displayed as below:
Modbus Master Configuration
Modbus-RTU/ ASCII
Transmission Mode
Modbus Master I/O Mapping Status Information
RTU
ASCII
Response Timeout (ms)
1000
Time between Frames (ms)
10
Set the parameters as described in this table:
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Element Transmission Mode
Response Timeout (ms) Time between Frames (ms)
Description Specifies the transmission mode to use:
� RTU: uses binary coding and CRC error-checking (8 data bits) � ASCII: messages are in ASCII format, LRC error-checking (7 data bits) Set this parameter identical for each Modbus device on the network. Timeout used in the exchanges.
Delay to reduce data collision on the bus. Set this parameter identical for each Modbus device on the network.
NOTE: Do not use function blocks of the PLCCommunication library on a serial line with a Modbus IOScanner configured. This disrupts the Modbus IOScanner exchange.
Bus Cycle Task Selection
The Modbus IOScanner and the devices exchange data at each cycle of the chosen application task.
To select this task, select the Modbus Master IO Mapping tab. The configuration window is displayed as below:
The Bus cycle task parameter allows you to select the application task that manages the scanner:
� Use parent bus cycle setting: associate the scanner with the application task that manages the controller.
� MAST: associate the scanner with the MAST task.
� Another existing task: you can select an existing task and associate it to the scanner. For more information about the application tasks, refer to the EcoStruxure Machine Expert Programming Guide (see EcoStruxure Machine Expert, Programming Guide).
The scan time of the task associated with the scanner must be less than 500 ms.
Adding a Device on the Modbus Serial IOScanner
Introduction
This section describes how to add a device on the Modbus IOScanner.
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Adding a Device on the Modbus IOScanner
To add a device on the Modbus IOScanner, select the Generic Modbus Slave in the Hardware Catalog, drag it to the Devices tree, and drop it on the Modbus_ IOScanner node of the Devices tree. For more information on adding a device to your project, refer to: � Using the Hardware Catalog (see EcoStruxure Machine Expert, Programming Guide) � Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming Guide)
NOTE: The variable for the exchange is automatically created in the %IWx and %QWx of the Modbus Serial Master I/O Mapping tab.
Configuring a Device Added on the Modbus IOScanner
To configure the device added on the Modbus IOScanner, proceed as follows:
Step 1
Action In the Devices tree, double-click Generic Modbus Slave. Result: The configuration window is displayed.
Generic_Modbus_Slave General Modbus Slave Channel Modbus Slave Init
Modbus-RTU/ASCII
Slave Address [1..247]
1
Response Timeout [ms]
1000
Modbus Master I/O Mapping Status
Information
2
Enter a Slave Address value for your device (choose a value from 1 to 247).
3
Choose a value for the Response Timeout (in ms).
To configure the Modbus Channels, proceed as follows:
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Step 1
Action Click the Modbus Slave Channels tab:
Serial Line Configuration
2 Click the Add Channel button: ModbusChannel
Channel Name Access Type Trigger Comment
Channel 0
Read Holding Registers (Function Code 3)
Cyclic
Cycle Time (ms) 100
READ Register Offset Length Error Handling
0x0000 1 Keep last Value
WRITE Register Offset Length
0x0000 1
OK
Cancel
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Step 3
4
Action
Configure an exchange:
In the area Channel, you can add the following values: � Name: Enter a name for your channel. � Access Type: Choose the exchange type: Read or Write or Read/Write multiple requests. See Access Types, page 147. � Trigger: Choose the trigger of the exchange. It can be CYCLIC with the period defined in Cycle Time (ms) field, started by a RISING EDGE on a boolean variable (this boolean variable is then created in the Modbus Master I/O Mapping tab), or by the Application. � Comment: Add a comment about this channel.
In the area READ Register (if your channel is Read or Read/Write one), you can configure the %MW to be read on the Modbus slave. Those are mapped on %IW (see Modbus Master I/O Mapping tab):
� Offset: Offset of the %MW to read. 0 means that the first object that is read is %MW0. � Length: Number of %MW to be read. For example, if 'Offset' = 2 and 'Length' = 3, the channel reads %MW2, %MW3 and
%MW4. � Error Handling: choose the behavior of the related %IW in case of loss of communication. In the area WRITE Register (if your channel is Write or Read/Write one), you can configure the %MW to be written to the Modbus slave. Those are mapped on %QW (see Modbus Master I/O Mapping tab): � Offset: Offset of the %MW to write. 0 means that the first object that is written is %MW0. � Length: Number of %MW to be written. For example, if Offset = 2 and Length = 3, the channel writes %MW2, %MW3
and %MW4.
Click OK to validate the configuration of this channel. NOTE: You can also: � Click the Delete button to remove a channel. � Click the Edit button to change the parameters of a channel.
To configure your Modbus Initialization Value, proceed as follows:
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Step 1
Action Click the Modbus Slave Init tab:
Serial Line Configuration
2 Click New to create a new initialization value:
The Initialization Value window contains the following parameters: � Access Type: Enter the exchange type: Write requests , page 147. � Register Offset: Register number of register to be initialized. � Length: Number of %MW to be read. For example, if 'Offset' = 2 and 'Length' = 3, the channel reads %MW2, %MW3 and %MW4. � Initialization Value: Value the registers are initialized with. � Comment: Add a comment about this channel.
3
Click OK to create a new Initialization Value.
NOTE: You can also:
� Click Move up or Move down to change the position of a value in the list.
� Click Delete to remove a value in the list.
� Click Edit to change the parameters of a value.
To configure your Modbus Master I/O Mapping, proceed as follows:
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Step 1
Action Click the Modbus Master I/O Mapping tab:
2
Double-click in a cell of the Variable column to open a text field.
Enter the name of a variable or click the browse button [...] and chose a variable with the Input Assistant.
3
For more information on I/O mapping, refer to EcoStruxure Machine Expert Programming Guide.
Access Types
This table describes the different access types available:
Function Read Coils Read Discrete Inputs Read Holding Registers (default setting for the channel configuration) Read Input Registers Write Single Coil
Write Single Register
Write Multiple Coils
Write Multiple Registers (default setting for the slave initialization)
Read/Write Multiple Registers
Function Code 1 2 3 4 5
6
15
16
23
Availability ModbusChannel ModbusChannel ModbusChannel
ModbusChannel ModbusChannel Initialization Value ModbusChannel Initialization Value ModbusChannel Initialization Value ModbusChannel Initialization Value ModbusChannel
Adding a Modem to a Manager
Introduction
A modem can be added to the following managers: � ASCII Manager � Modbus Manager � Machine Expert Network Manager NOTE: Use a modem which implements Hayes commands if you need a modem connection with Machine Expert Network Manager.
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Serial Line Configuration
Adding a Modem to a Manager
To add a modem to your controller, select the modem you want in the Hardware Catalog, drag it to the Devices tree, and drop it on the manager node. For more information on adding a device to your project, refer to: � Using the Hardware Catalog (see EcoStruxure Machine Expert, Programming Guide) � Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming Guide) For further information, refer to Modem Library Guide (see EcoStruxure Machine Expert, Modem Functions, Modem Library Guide).
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CANopen Configuration
CANopen Configuration
Introduction
This chapter describes how to configure the CAN interface offered within the controller.
In order to use the CANopen interface, the M241 Logic Controller has 1 CAN connection (CAN0) that supports a CANopen manager.
CANopen Interface Configuration
CAN Bus Configuration
To configure the CAN bus of your controller, proceed as follows:
Step 1 2
Action In the Devices tree, double-click CAN_1.
Configure the baudrate (by default: 250000 bits/s):
NOTE: The Online Bus Access option allows you to block SDO, DTM, and NMT sending through the status screen.
When connecting a DTM to a device using the network, the DTM communicates in parallel with the running application. The overall performance of the system is impacted and may overload the network, and therefore have consequences for the coherency of data across devices under control.
WARNING
UNINTENDED EQUIPMENT OPERATION Place your machine or process in a state such that DTM communications will not impact its performance. Failure to follow these instructions can result in death, serious injury, or equipment damage.
CANopen Manager Creation and Configuration
If the CANopen Manager is not already present below the CAN node, proceed as follows to create and configure it:
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CANopen Configuration
Step Action 1 Click the Plus Button next to the CAN_1 node in the Devices tree. In the Add Device window, select CANopen Performance and click the Add Device button. For more information on adding a device to your project, refer to: � Using the Hardware Catalog (see EcoStruxure Machine Expert, Programming Guide) � Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming Guide) For more information on adding a device to your project, refer to: 2 Double-click CANopen_Performance. Result: The CANopen Manager configuration window appears:
NOTE: If Enable Sync Producing is checked, the CAN_x_Sync task is added to the Application > Task Configuration node in the Applications tree tab. Do not delete or change the Type or External event attributes of CAN_x_ Sync tasks. If you do so, EcoStruxure Machine Expert will detect an error when you attempt to build the application, and you will not be able to download it to the controller. If you uncheck the Enable Sync Producing option on the CANopen Manager subtab of the CANopen_Performance tab, the CAN0_Sync task is automatically deleted from your program.
Adding a CANopen Device
Refer to the EcoStruxure Machine Expert Programming Guide for more information on Adding Communication Managers and Adding Slave Devices to a Communication Manager.
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CANopen Operating Limits
The Modicon M241 Logic Controller CANopen master has the following operating limits:
Maximum number of slave devices
63
Maximum number of Receive PDO (RPDO) 252
Maximum number of Transmit PDO (TPDO) 252
WARNING
UNINTENDED EQUIPMENT OPERATION � Do not connect more than 63 CANopen slave devices to the controller. � Program your application to use 252 or fewer Transmit PDO (TPDO). � Program your application to use 252 or fewer Receive PDO (RPDO). Failure to follow these instructions can result in death, serious injury, or equipment damage.
CAN Bus Format
The CAN bus format is CAN2.0A for CANopen.
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J1939 Configuration
J1939 Configuration
J1939 Interface Configuration
CAN Bus Configuration
To configure the CAN bus of your controller, refer to CAN Bus Configuration, page 149. The CAN bus format is CAN2.0B for J1939.
J1939 Manager Creation and Configuration
Proceed as follows to create and configure a J1939 Manager, if not already present, below the CAN_1 node:
Step 1 2
3 4
Action
Click the Plus button next to the CAN_1 node in the Devices tree. In the Add Device window, select J1939_Manager and click the Add Device button. For more information on adding a device to your project, refer to: � Using the Hardware Catalog (see EcoStruxure Machine Expert, Programming Guide) � Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming Guide) Close the Add Device window. Double-click J1939_Manager (J1939_Manager). Result: The J1939_Manager configuration window appears:
5
To configure the J1939_Manager, refer to Programming with EcoStruxure Machine
Expert / Device Editors / J1939 Configuration Editor / J1939 Manager Editor / Manager
Editor found in the EcoStruxure Machine Expert online help.
ECU Creation and Configuration
Proceed as follows to create and configure Electronic Control Units (ECUs):
Step 1 2
3
Action
Click the Plus button Devices tree.
next to the J1939_Manager (J1939_Manager) node in the
In the Add Device window, select J1939_ECU and click the Add Device button.
For more information on adding a device to your project, refer to:
� Using the Hardware Catalog (see EcoStruxure Machine Expert, Programming Guide)
� Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming Guide)
Close the Add Device window.
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Step 4
Action Double-click J1939_ECU (J1939_ECU). Result: The J1939_ECU configuration window appears:
5
To configure the J1939_ECU, refer to Configuring J1939 ECUs, page 153.
Configuring J1939 ECUs
As an overview, the following tasks must be generally accomplished:
� Add one J1939_ECU node for each physical J1939 device connected on the CAN bus.
� For each J1939 device, specify a unique Preferred Address in the range 1...253.
� For each J1939 device, configure the signals (SPNs) in the TX Signals tab. These signals are broadcast by the J1939 device to the other J1939 devices.
Refer to the device documentation for information on the supported SPNs.
� Associate the SPN signals with variables in the J1939 I/O Mapping tab so that they can be processed by the application.
� When signals have been added, verify their settings in the Conversion window of the TX signals tab, for example, Scaling, Offset, and Unit. The J1939 protocol does not directly support REAL values, which are instead encoded in the protocol and so must be converted in the application. Similarly, in J1939 units are defined according to the International System of Units (SI) and therefore may need to be converted to values of other unit systems.
Examples:
The Engine Speed signal of parameter group EEC1 has a property Scaling=0.125 that is encoded into a raw variable of type ARRAY[0..1] OF BYTE. Use the following ST code to convert this to a REAL variable:
rRPM:=(Engine_Speed[1]*256 + Engine_Speed[0])*0.125; The Total Vehicle Distance signal has properties Scaling=0.125 and
Unit=km, which are received in a (raw) variable of type ARRAY[0..3] OF BYTE. Use the following ST code to convert this to a REAL variable in mile units:
rTVD := (Total_Vehicle_Distance[3]*EXPT(256,3) +
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Total_Vehicle_Distance[2]*EXPT(256,2) + Total_Vehicle_ Distance[1]*256 +
Total_Vehicle_Distance[0])*0.125*0.621371;
The Engine Coolant Temperature signal of parameter group ET1 has properties Offset=-40 and Unit=C(Celsius), which are received in a (raw) variable of type BYTE. Use the following ST code to convert it to a REAL variable in Fahrenheit units:
rEngineCoolantTemperature := (Engine_Coolant_ Temperature - 40)*1.8 + 32; For more details on how to configure the J1939_ECU, refer to Programming with EcoStruxure Machine Expert / Device Editors / J1939 Configuration Editor / J1939 ECU Editor / ECU Editor found in the EcoStruxure Machine Expert online help.
Configuring the M241 Logic Controller as an ECU Device
The controller can also be configured as a J1939 ECU device:
Step 1 2 3
4 5 6
Action Add a J1393_ECU node to the J1939_Manager. Refer to ECU Creation and Configuration, page 152. Select the Local Device option in the General tab. Configure signals sent from the controller to other J1939 devices in the TX Signals tab. Parameter groups are either of type Broadcast, that is, sent to all devices, or P2P (Peer-to-Peer), that is, sent to one specified device. For P2P signals, configure the Destination Address of the receiving J1939 ECU device in the parameter group properties window. Add P2P signals sent by another J1939 device to the controller in the RX Signals (P2P) tab of the J1939 (local) device representing the controller. Configure the Source Address of the parameter group by specifying the address of the sending J1939 device.
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OPC UA Server Configuration
OPC UA Server Configuration
Introduction
This chapter describes how to configure the OPC UA server of the M241 Logic Controller.
OPC UA Server Overview
Overview
The OPC Unified Architecture server (OPC UA server) allows the M241 Logic Controller to exchange data with OPC UA clients. Server and client communicate through sessions.
The monitored items of data (also referred to as symbols) to be shared by the OPC UA server are manually selected from a list of the IEC variables used in the application.
OPC UA uses a subscription model; clients subscribe to symbols. The OPC UA server reads the values of symbols from devices at a fixed sampling rate, places the data in a queue, then sends them to clients as notifications at a regular publishing interval. The sampling interval can be shorter than the publishing interval, in which case notifications may be queued until the publishing interval elapses.
Symbols that have not changed value since the previous sample are not republished. Instead, the OPC UA server sends regular KeepAlive messages to indicate to the client that the connection is still active.
User and Group Access Rights
Access to the OPC UA server is controlled by user rights. Refer to Users Rights, page 58.
OPC UA Services
The following table describes the supported OPC UA services:
OPC UA Service Address Space Model Session services Attribute services Monitored item services Queued items Subscription services Publishing method
Description Yes Yes Yes Yes Yes Yes Yes
OPC UA Server Configuration
Introduction
The OPC UA Server Configuration window allows you to configure the OPC UA server.
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Accessing the OPC UA Server Configuration Tab
To configure the OPC UA Server:
Step 1 2
Action In the Devices tree, double-click MyController. Select the OPC UA Server Configuration tab.
OPC UA Server Configuration
OPC UA Server Configuration Tab
The following figure shows the OPC UA Server Configuration window:
OPC UA Server Configuration Description
This table describes the OPC UA Server Configuration parameters:
Parameter Security Settings Disable anonymous login
Value
Enabled/ Disabled
Server Configuration Server port
0...65535
Max. subscriptions per session Min. publishing interval
1...100 200...5000
Max. monitored items per subscription Min. KeepAlive interval
1...1000 500...5000
Default value Description
Disabled
By default, this checkbox is cleared, meaning that OPC UA clients can
connect to the server anonymously. Select this checkbox to require that clients provide a valid user name and password to connect to the OPC UA server.
4840 20 1000 100 500
The port number of the OPC UA server. OPC UA clients must append this port number to the TCP URL of the controller to connect to the OPC UA server.
Specify the maximum number of subscriptions allowed within each session.
The publishing interval defines how frequently the OPC UA server sends notification packages to clients. Specify the minimum time that must elapse between notifications, in ms.
The maximum number of monitored items in each subscription that the server assembles into a notification package.
The OPC UA server only sends notifications when the values of monitored items of data are modified. A KeepAlive notification is an empty notification sent by the server to inform the client that although
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Parameter
Value
Max. number of sessions 1...4
Identifier type
Numeric String
Diagnostic Enable trace
Enabled/ disabled
Sampling rates (ms)
200...5000
Default value Description
no data has been modified, the subscription is still active. Specify the minimum interval between KeepAlive notifications, in ms.
2
The maximum number of clients that can connect simultaneously to
the OPC UA server.
Numeric
Certain OPC UA clients require a specific format of unique symbol identifier (node ID). Select the format of the identifiers:
� Numeric values
� Text strings
Enabled
500 1000 2000
Select this checkbox to include OPC UA diagnostic messages in the controller log file (see EcoStruxure Machine Expert, Programming Guide). Traces are available from the Log tab or from the System Log File of the Web Server.
You can select the category of events to write to the log file: � None � Error � Warning � System � Information � Debug � Content � All (default)
The sampling rate indicates a time interval, in milliseconds (ms). When this interval has elapsed, the server sends the notification package to the client. The sampling rate can be shorter than the publishing interval, in which case notifications are queued until the publishing interval has elapsed.
Sampling rates must be in the range 200...5000 (ms).
Up to 3 different sampling rates can be configured.
Double-click on a sampling rate to edit its value.
To add a sampling rate to the list, right-click and choose Add a new rate.
To remove a sampling rate from the list, select the value and click
Click Reset to default to return the configuration parameters on this window to their default values.
OPC UA Server Symbols Configuration
Introduction
Symbols are the items of data shared with OPC UA clients. Symbols are selected from a list of all the IEC variables used in the application. The selected symbols are then sent to the logic controller as part of the application download.
Each symbol is assigned a unique identifier. As certain client types may require a specific format, identifiers can be configured to be in either string or numeric format.
The OPC UA server supports the following IEC variable types:
� Boolean
� Byte
� Int16, Int32, Int64
� UInt16, UInt32, UInt64
� Float
� Double
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� String (255 bytes) � Sbyte Bit memory variables (%MX) cannot be selected.
Displaying the List of Variables
To display the list of variables:
Step 1
2
Action
On the Applications tree tab, right-click Application and choose Add object > OPC
UA Symbol Configuration. Result: The OPC UA Symbols window is displayed. The logic controller starts the OPC UA server. Click Add.
NOTE: The IEC objects %MX, %IX, %QX are not directly accessible. To access IEC objects you must first group their contents in located registers (refer to Relocation Table, page 26).
Selecting OPC UA Server Symbols
The OPC UA Symbols window displays the variables available for selection as symbols:
Select IoConfig_Globals_Mapping to select all the available variables. Otherwise, select individual symbols to share with OPC UA clients. A maximum of 1000 symbols can be selected.
Each symbol has the following properties:
Name Symbols Type Access type
Comment
Description The variable name followed by the address of the variable. The data type of the variable. Click repeatedly to specify the access rights of the symbol: read-only (
) (default), write-only ( ), or read/write ( ). NOTE: Click in the Access type column of IoConfig_Globals_ Mapping to set the access rights of all the symbols at once. An optional comment.
Click Refresh to update the list of available variables.
OPC UA Server Performance
Overview
As an example, the following provides capacity and performance information for the OPC UA server of the M241 Logic Controller. Design considerations are also provided to help you consider the optimal conditions for the performance of the
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OPC UA server. Of course, the performance realized by your application depend on many variables and conditions, and may differ from this example.
System Configurations Used to Evaluate Performance
OPC UA server performance is determined by the system configuration, the number of symbols being published, and the percentage of symbols being refreshed.
The following table presents the number of elements in small, medium, and large sample configurations used for evaluating OPC UA server performance:
Elements EtherNet/IP adapters Expansion modules CANopen slave devices PTO functions HSC functions Profibus connections Modbus TCP slave devices
Small 0 0 0 0 0 0 0
Medium 7 5 1 4 8 0 6
Large 0 7 63 4 8 1 64
This table presents average read/write request times for each of the sample configurations and for different numbers of symbols:
Average Read/Write Request Times
Configuration Small
Number of Symbols
50 42 ms
100 70 ms
Medium Large
73 ms 520 ms
121 ms 895 ms
250 151 ms 265 ms 2045 ms
400 232 ms 412 ms 3257 ms
500 284 ms 514 ms 4071 ms
1000 554 ms 1024 ms 7153 ms
The following tables present the average time required to refresh a monitored set of symbols using a sampling rate of 200 ms and a publishing interval of 200 ms.
This table presents the average time required to refresh 100% of symbols for each of the sample configurations:
Average Time to Refresh 100% of Symbols
Configuration Small
Number of Symbols
100 214 ms
400 227 ms
Medium
224 ms
250 ms
Large
324 ms
330 ms
1000 254 ms 292 ms 800 ms
This table presents the average time required to refresh 50% of symbols for each of the sample configurations:
Average Time to Refresh 50% of Symbols
Configuration Small Medium
Number of Symbols
100 211 ms 219 ms
400 220 ms 234 ms
Large
284 ms
300 ms
1000 234 ms 254 ms 660 ms
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This table presents the average time required to refresh 1% of symbols for each of the sample configurations:
Average Time to Refresh 1% of Symbols
Configuration Small
Number of Symbols
100 210 ms
400 210 ms
Medium Large
215 ms 270 ms
217 ms 277 ms
1000 212 ms 220 ms 495 ms
Optimizing OPC UA Server Performance
The OPC UA server functionality is dependent on external communication networks, external device performance, and other external parameters. Data transmitted may be delayed or other possible communication errors may arise that impose practical limits on machine control. Do not use the OPC UA server functionality for safety-related data or other time-dependent purposes.
WARNING
UNINTENDED EQUIPMENT OPERATION
� Do not allow safety-related data in OPC UA server data exchanges.
� Do not use OPC UA server data exchanges for any critical or timedependent purposes.
� Do not use OPC UA server data exchanges to change equipment states without having done a risk analysis and implementing appropriate safetyrelated measures.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
The above tables can be useful in determining whether OPC UA server performance is within acceptable limits. Be aware, however, that other external factors influence overall system performance, such as the volume of Ethernet traffic, or the use of jitter, page 70.
To optimize OPC UA server performance, consider the following:
� Minimize Ethernet traffic by setting the Min. publishing interval to the lowest value that yields an acceptable response time.
� The task cycle time, page 30 configured for the M241 Logic Controller must be less than the configured Min. publishing interval value.
� Configuring a Max. number of sessions (the number of OPC UA clients that can simultaneously connect to the OPC UA server) value of greater than 1 decreases the performance of all sessions.
� The sampling rate determines the frequency at which data is exchanged. Tune the Sampling rates (ms) value to product the lowest response time that does not adversely affect the overall performance of the logic controller.
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Post Configuration
Post Configuration
Introduction
This chapter describes how to generate and configure the post configuration file of the Modicon M241 Logic Controller.
Post Configuration Presentation
Introduction
Post configuration is an option that allows you to modify some parameters of the application without changing the application. Post configuration parameters are defined in a file called Machine.cfg, which is stored in the controller.
By default, all parameters are set in the application.The parameters defined in the Post Configuration file are used instead of the corresponding parameters defined in the application. Not all parameters have to be specified in the Post Configuration file (for example: one parameter can change the IP address without changing the Gateway Address).
Parameters
The Post Configuration file allows you to change network parameters.
Ethernet parameters: � IP Address � Subnet Mask � Gateway Address � Transfer Rate � IP Config Mode � Device Name � IP Master Address, page 120
Serial Line parameters, for each serial line in the application (embedded port or PCI module):
� Baud rate � Parity � Data bits � Stop bit FTP: � FTP encryption setting parameter Profibus parameters, for each Profibus in the application (TM4 module): � Station address � Baud rate
NOTE: Parameter updates with a Post Configuration file that impacts parameters used by other devices via a communication port are not updated in the other devices. For example, if the IP address used by an HMI is updated in the configuration with a Post Configuration file, the HMI uses the previous address. You must update the address used by the HMI independently.
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Operating Mode
Post Configuration
The Post Configuration file is read after: � A Reset Warm command, page 46 � A Reset Cold command, page 46 � A reboot, page 48 � An application download, page 50
Refer to Controller States and Behaviors, page 36 for further details on controller states and transitions.
Post Configuration File Management
Introduction
The file Machine.cfg is located in the directory /usr/cfg.
Each parameter is specified by a variable type, variable ID, and value. The format is:
id[moduleType].pos[param1Id].id[param2Id].param[param3Id]. paramField=value
Each parameter is defined on three lines in the Post Configuration file: � The first line describes the internal 'path' for this parameter. � The second line is a comment describing the parameter. � The third line is the definition of the parameter (as described above) with its value.
Post Configuration File Generation
The Post Configuration file (Machine.cfg) is generated by EcoStruxure Machine Expert. To generate the file, proceed as follows:
Step 1
2 3
Action
In the menu bar, choose Build > Post Configuration > Generate...
Result: An explorer window is displayed. Select the destination folder of the Post Configuration file. Click OK.
When you use EcoStruxure Machine Expert to create a Post Configuration file (Generate), it reads the value of each parameter assigned in your application program and then writes the values to the Machine.cfg Post Configuration file. After generating a Post Configuration file, review the file and remove any parameter assignments that you wish to remain under the control of your application. Keep only those parameter assignments that you wish changed by the Post Configuration function that are necessary to make your application portable and then modify those values appropriately.
Post Configuration File Transfer
After creating and modifying your Post Configuration file, transfer it to the /usr/ cfg directory of the controller. The controller does not read the Machine.cfg file unless it is in this directory. You can transfer the Post Configuration file by the following methods:
� SD card, page 169 (with the proper script)
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Post Configuration
� Download through the FTP server, page 101 � Download with EcoStruxure Machine Expert controller device editor, page 54
Modifying a Post Configuration File
If the Post Configuration file is located in the PC, use a text editor to modify it. NOTE: Do not change the text file encoding. The default encoding is ANSI.
To modify the Post Configuration file directly in the controller, use the Setup menu of the Web server, page 91.
To modify the Post Configuration file in the controller with EcoStruxure Machine Expert in online mode:
Step 1 2
3 4
5 6
Action In the Devices tree, click the controller name.
Click Build > Post Configuration > Edit...
Result: The Post Configuration file opens in a text editor. Edit the file. If you want to apply the modifications after saving them, select Reset device after sending. Click Save as. Click Close.
NOTE: If the parameters are invalid, they are ignored.
Deleting the Post Configuration File
You can delete the Post Configuration file by the following methods: � SD card (with the delete script) � Through the FTP server, page 101 � Online with EcoStruxure Machine Expert controller device editor, page 54, Files tab
For more information on Files tab of the Device Editor, refer to EcoStruxure Machine Expert Programming Guide.
NOTE: The parameters defined in the application are used instead of the corresponding parameters defined in the Post Configuration file after:
� A Reset Warm command, page 46 � A Reset Cold command, page 46 � A reboot, page 48 � An application download, page 50
Post Configuration Example
Post Configuration File Example
# TM241CEC24T/U / FTP Encryption # 1=encryption enforced, 0 otherwise .param[1106] = 1
# TM241CEC24T /U / Ethernet_1 / IPAddress # Ethernet IP address
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Post Configuration id[45000].pos[7].id[111].param[0] = [172, 30, 3, 99]]
# TM241CEC24T /U / Ethernet_1 / SubnetMask # Ethernet IP mask id[45000].pos[7].id[111].param[1] = [255, 255, 0, 0]]
# TM241CEC24T /U / Ethernet_1 / GatewayAddress # Ethernet IP gateway address id[45000].pos[7].id[111].param[2] = [0, 0, 0, 0]]
# TM241CEC24T /U / Ethernet_1 / IPConfigMode # IP configuration mode: 0:FIXED 1:BOOTP 2:DHCP id[45000].pos[7].id[111].param[4] = 0
# TM241CEC24T /U / Ethernet_1 / DeviceName # Name of the device on the Ethernet network id[45000].pos[7].id[111].param[5] = 'my_Device'
# TM241CEC24T /U / Serial_Line_1 / Serial Line Configuration / Baudrate
# Serial Line Baud Rate in bit/s
id[45000].pos[8].id[40101].param[10000].Bauds = 115200
# TM241CEC24T /U / Serial_Line_1 / Serial Line Configuration / Parity
# Serial Line Parity (0=None, 1=Odd, 2=Even)
id[45000].pos[8].id[40101].param[10000].Parity = 0
# TM241CEC24T /U / Serial_Line_1 / Serial Line Configuration / DataBits
# Serial Line Data bits (7 or 8)
id[45000].pos[8].id[40101].param[10000].DataFormat = 8
# TM241CEC24T /U / Serial_Line_1 / Serial Line Configuration / StopBits
# Serial Line Stop bits (1 or 2)
id[45000].pos[8].id[40101].param[10000].StopBit = 1
# TM241CEC24T /U / Serial_Line_2 / Serial Line Configuration / Baudrate
# Serial Line Baud Rate in bit/s
id[45000].pos[9].id[40102].param[10000].Bauds = 19200
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Post Configuration
# TM241CEC24T /U / Serial_Line_2 / Serial Line Configuration / Parity # Serial Line Parity (0=None, 1=Odd, 2=Even) id[45000].pos[9].id[40102].param[10000].Parity = 2
# TM241CEC24T /U / Serial_Line_2 / Serial Line Configuration / DataBits # Serial Line Data bits (7 or 8) id[45000].pos[9].id[40102].param[10000].DataFormat = 8
# TM241CEC24T /U / Serial_Line_2 / Serial Line Configuration / StopBits # Serial Line Stop bits (1 or 2) id[45000].pos[9].id[40102].param[10000].StopBit = 1
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Connecting a Modicon M241 Logic Controller to a PC
Connecting a Modicon M241 Logic Controller to a PC
Introduction
This chapter shows how to connect a Modicon M241 Logic Controller to a PC.
Connecting the Controller to a PC
Overview
To transfer, run, and monitor the applications, connect the controller to a computer, that has EcoStruxure Machine Expert installed, using either a USB cable or an Ethernet connection (for those references that support an Ethernet port).
NOTICE
INOPERABLE EQUIPMENT
Always connect the communication cable to the PC before connecting it to the controller.
Failure to follow these instructions can result in equipment damage.
USB Powered Download
In order to execute limited operations, the M241 Logic Controller has the capability to be powered through the USB Mini-B port. A diode mechanism avoids having the logic controller both powered by USB and by the normal power supply, or to supply voltage on the USB port.
When powered only by USB, the logic controller executes the firmware and the boot project (if any) and the I/O board is not powered during boot (same duration as a normal boot). USB powered download initializes the internal non-volatile memory with some firmware or some application and parameters when the controller is powered by USB. The preferred tool to connect to the controller is the Controller Assistant. Refer to the EcoStruxure Machine Expert Controller Assistant User Guide.
The controller packaging allows easy access to USB Mini-B port with minimum opening of the packaging. You can connect the controller to the PC with a USB cable. Long cables are not suitable for the USB powered download.
WARNING
INSUFFICENT POWER FOR USB DOWNLOAD
Do not use a USB cable longer than 3m (9.8 ft) for USB powered download.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: It is not intended that you use the USB Powered Download on an installed controller. Depending on the number of I/O expansion modules in the physical configuration of the installed controller, there may be insufficient power from your PC USB port to accomplish the download.
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Connecting a Modicon M241 Logic Controller to a PC
USB Mini-B Port Connection
Cable Reference BMXXCAUSBH018:
TCSXCNAMUM3P:
Details
Grounded and shielded, this USB cable is suitable for long duration connections.
This USB cable is suitable for short duration connections such as quick updates or retrieving data values.
NOTE: You can only connect 1 controller or any other device associated with EcoStruxure Machine Expert and its component to the PC at any one time.
The USB Mini-B Port is the programming port you can use to connect a PC with a USB host port using EcoStruxure Machine Expert software. Using a typical USB cable, this connection is suitable for quick updates of the program or short duration connections to perform maintenance and inspect data values. It is not suitable for long-term connections such as commissioning or monitoring without the use of specially adapted cables to help minimize electromagnetic interference.
WARNING
UNINTENDED EQUIPMENT OPERATION OR INOPERABLE EQUIPMENT
� You must use a shielded USB cable such as a BMX XCAUSBH0�� secured to the functional ground (FE) of the system for any long-term connection.
� Do not connect more than one controller or bus coupler at a time using USB connections.
� Do not use the USB port(s), if so equipped, unless the location is known to be non-hazardous.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
The communication cable should be connected to the PC first to minimize the possibility of electrostatic discharge affecting the controller.
To connect the USB cable to your controller, follow the steps below:
Step 1
2 3 4
Action
1a If making a long-term connection using the cable BMXXCAUSBH018, or other cable with a ground shield connection, be sure to securely connect the shield connector to the functional ground (FE) or protective ground (PE) of your system before connecting the cable to your controller and your PC.
1b If making a short-term connection using the cable TCSXCNAMUM3P or other nongrounded USB cable, proceed to step 2.
Connect your USB cable to the computer.
Open the protective cover for the USB mini-B slot on the controller.
Connect the mini-B connector of your USB cable to the controller.
Ethernet Port Connection
You can also connect the controller to a PC using an Ethernet cable.
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Connecting a Modicon M241 Logic Controller to a PC
To connect the controller to the PC, do the following:
Step 1 2
Action Connect the Ethernet cable to the PC. Connect the Ethernet cable to the Ethernet port on the controller.
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SD Card
SD Card
Introduction
This chapter describes how to transfer firmware, application, using an SD card to the Modicon M241 Logic Controller.
Script Files
Overview
The following describes how to write script files (default script file or dynamic script file) to be executed from an SD card or by an application using the ExecScript function block (see Modicon M241 Logic Controller, System Functions and Variables, PLCSystem Library Guide).
Script files can be used to:
� Configure the Ethernet firewall, page 128.
� Perform file transfer operations. The script files for these commands can be generated automatically and the necessary files copied to the SD card using the Mass Storage (USB or SD Card) command.
� Change the Modbus slave port, page 123 for Modbus TCP data exchanges.
Script Syntax Guidelines
The following describes the script syntax guidelines: � End every line of a command in the script with a ";". � If the line begins with a ";", the line is a comment. � The maximum number of lines in a script file is 50. � The syntax is not case-sensitive. � If the syntax is not respected in the script file, the script file is not executed. This means, for example, that the firewall configuration remains in the previous state. NOTE: If the script file is not executed, a log file is generated. The log file location in the controller is /usr/Syslog/FWLog.txt.
SD Card Commands
Introduction
The Modicon M241 Logic Controller allows file transfers with an SD card.
To upload or download files to the controller with an SD card, use one of the following methods:
� The clone function, page 170 (use of an empty SD card) � A script stored in the SD card When an SD card is inserted into the SD card slot of the controller, the firmware searches and executes the script contained in the SD card (/sys/cmd/Script.cmd).
NOTE: The controller operation is not modified during file transfer. For file transfer commands, the Mass Storage (USB or SDCard) editor lets you generate and copy the script and all necessary files into the SD card.
NOTE: The Modicon M241 Logic Controller accepts only SD cards formatted in FAT or FAT32.
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Clone Function
SD Card
The SD card must have a label. To add a label, insert the SD card in your PC, right-click on the drive in Windows Explorer and choose Properties.
WARNING
UNINTENDED EQUIPMENT OPERATION � You must have operational knowledge of your machine or process before
connecting this device to your controller. � Ensure that guards are in place so that any potential unintended equipment
operation will not cause injury to personnel or damage to equipment. Failure to follow these instructions can result in death, serious injury, or equipment damage.
If you remove power to the device, or there is a power outage or communication interruption during the transfer of the application, your device may become inoperative. If a communication interruption or a power outage occurs, reattempt the transfer. If there is a power outage or communication interruption during a firmware update, or if an invalid firmware is used, your device will become inoperative. In this case, use a valid firmware and reattempt the firmware update.
NOTICE
INOPERABLE EQUIPMENT � Do not interrupt the transfer of the application program or a firmware change
once the transfer has begun. � Re-initiate the transfer if the transfer is interrupted for any reason. � Do not attempt to place the device into service until the file transfer has
completed successfully. Failure to follow these instructions can result in equipment damage.
The clone function allows you to upload the application from one controller and to download it only to a same controller reference.
This function clones every parameter of the controller (for example applications, firmware, data file, post configuration). Refer to Memory Mapping, page 21.
NOTE: User access rights can only be copied if the Include User Rights button has previously been clicked on the Clone Management subpage of the Web server, page 100. By default, clone is allowed without using the function block FB_ControlClone. If you want to restrict access to the clone feature, you can remove the access rights of the ExternalCmd object on ExternalMedia group. Refer to Default users and groups, page 59. As a result, cloning will be not allowed without using FB_ ControlClone. For more details about this function block, refer to the Modicon M241 Logic Controller, System Functions and Variables, PLCSystem Library Guide (see Modicon M241 Logic Controller, System Functions and Variables, PLCSystem Library Guide). For more details about Access Rights, refer to the EcoStruxure Machine Expert Programming Guide.
If you wish to control access to the cloned application in the target controller, you must use the Include users rights button (on the Clone Management subpage of the Web Server, page 100) of the source controller before doing the clone operation. For more details about Access Rights, refer to the EcoStruxure Machine Expert Programming Guide.
This procedure describes how to upload the application stored in the source controller to your SD card:
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SD Card
Step 1
2 3 4 5
6
Action
Erase an SD card and set the card label as follows:
CLONExxx NOTE: The label must begin with `CLONE' (not case sensitive), optionally followed by up to 6 unaccented alphanumeric characters (a...z, A...Z, 0...9).
Select if you want to clone the Users Rights. Refer to the Clone Management subpage, page 100 of the web server.
Remove power from the controller.
Insert the prepared SD card in the controller.
Restore power to the controller.
Result: The clone procedure starts automatically. During the clone procedure, the PWR and I/O LEDs are ON and the SD LED flashes regularly.
NOTE: The clone procedure lasts 2 or 3 minutes. Result: At the end of the clone procedure, the SD LED is ON and the controller starts in normal application mode. If an error was detected, the ERR LED is ON and the controller is in STOPPED state. Remove the SD card from the controller.
This procedure describes how to download the application stored in the SD card to your target controller:
Step 1 2 3
4
5
Action Remove power from the controller. Insert the SD card into the controller. Restore power to the controller. Result: The download procedure starts and the SD LED is flashing during this procedure. Wait until the end of the download:
� If the SD LED (green) is ON, and the ERR LED (red) flashes regularly, the download ended successfully.
� If the SD LED (green) is OFF, and the ERR and I/O LEDs (red) flash regularly, an error is detected.
Remove the SD card to restart the controller.
NOTE: If you wish to control access to the cloned application in the target controller, you will need to enable and establish user access-rights, and any Web Server/FTP passwords, which are controller-specific. For more details about Access Rights, refer to the EcoStruxure Machine Expert Programming Guide.
NOTE: Downloading a cloned application to the controller will first remove the existing application from controller memory, regardless of any user accessrights that may be enabled in the target controller.
Script and Files Generation with Mass Storage
Click Project > Mass Storage (USB or SDCard) in the main menu:
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SD Card
Element New Open Macros
Generate Command Source Destination Add New Move Up/ Down Delete
Description Create a new script. Open a script. Insert a Macro. A macro is a sequence of unitary commands. A macro helps to perform many common operations such as upload application, download application, and so on. Generate the script and all necessary files on the SD card. Basic instructions. Source file path on the PC or the controller. Destination directory on the PC or the controller. Add a script command. Change the script commands order.
Delete a script command.
Commands descriptions:
Command Download
SetNodeName
Upload Delete
Description
Downloads a file from the SD card to the controller.
Sets the node name of the controller.
Resets the node name of the controller. Uploads files contained in a controller directory to the SD card.
Deletes files contained in a controller directory.
NOTE: Delete "*" does not delete system files.
Removes the UserRights from the controller.
Source Select the file to download.
New node name. Default node name. Select the directory.
Destination
Select the controller destination directory.
Controller node name
Controller node name
-
Select the directory and enter a specific file name Important: by default, all directory files are selected.
-
-
Syntax 'Download "/usr/Cfg/*"'
'SetNodeName "Name_PLC"' 'SetNodeName ""' 'Upload "/usr/*"' 'Delete "/usr/SysLog/*"'
'Delete "/usr/*"'
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SD Card Command
Reboot
Description
Deletes the files contained in the SD card or a folder of the SD card
Source -
Restarts the controller (only
-
available at the end of the script).
Destination -
-
Syntax 'Delete "/sd0/*"'
or 'Delete "/sd0/folder name"' 'Reboot'
NOTE: When User Rights are activated on a controller and if the user is not allowed to read/write/delete file system, scripts used to Upload/Download/ Delete files are disabled. It includes the clone operation. This table describes the macros:
Macros
Description
Directory/Files
Download App Upload App
Download the application from the SD card to the controller.
Upload the application from the controller to the SD card.
/usr/App/*.app /usr/App/*.crc /usr/App/*.map
/usr/App/*.conf (1)
Download Sources
Download the project archive from the SD card /usr/App/*.prj to the controller.
Upload Sources
Upload the project archive from the controller to the SD card.
Download Multi-files
Download multiple files from the SD card to a controller directory.
Defined by user
Upload Log
Upload the log files from the controller to the SD card.
/usr/Log/*.log
(1) If OPC UA, page 155 is configured.
Reset the User Rights to Default
You can manually create a script to remove the user rights, along with the application, from the controller. This script must contain this command:
Format "/usr/"
Reboot NOTE: This command also removes user application and data.
Step 1 2 3
4
5
Action Remove power from the controller.
Insert the prepared SD card in the source controller.
Restore power to the source controller. Result: The operation starts automatically. During the operation, the PWR and I/O LEDs are ON and the SD LED flashes regularly. Wait until the operation is completed. Result:
� The SD LED is ON if the operation is successful. � The ERR LED is ON and the controller does not start if an error is detected. Remove the SD card from the controller.
NOTE: The controller reboots with the default user rights.
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Transfer Procedure
SD Card
WARNING
UNINTENDED EQUIPMENT OPERATION
� You must have operational knowledge of your machine or process before connecting this device to your controller.
� Ensure that guards are in place so that any potential unintended equipment operation will not cause injury to personnel or damage to equipment.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Step 1 2 3 4
5
Action Create the script with the Mass Storage (USB or SDCard) editor. Click Generate... and select the SD card root directory. Result: The script and files are transferred on the SD card. Insert the SD card into the controller. Result: The transfer procedure starts and the SD LED is flashing during this procedure. Wait until the end of the download:
� If the SD LED (green) is ON, and the ERR LED (red) flashes regularly, the download ended successfully.
� If the SD LED (green) is OFF, and the ERR and I/O LEDs (red) flash regularly, an error is detected.
Remove the SD card from the controller. NOTE: Changes will be applied after next restart.
When the controller has executed the script, the result is logged on the SD card (file /sys/cmd/Cmd.log).
WARNING
UNINTENDED EQUIPMENT OPERATION
Consult the controller state and behavior diagram in this document to understand the state that will be assumed by the controller after you cycle power.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Firmware Management
Firmware Management
Overview
The firmware update for the controller and the expansion modules are available on the Schneider Electric website (in .zip or .seco format).
Updating Modicon M241 Logic Controller Firmware
Introduction
Updating the firmware is possible by:
� Using an SD card with a compatible script file
� Using the Controller Assistant Performing a firmware update deletes the application program in the device, including the configuration files, the user management, the user rights, the certificates and the Boot Application in non-volatile memory.
NOTICE
LOSS OF APPLICATION DATA � Perform a backup of the application program to the hard disk of the PC
before attempting a firmware update.
� Restore the application program to the device after a successful firmware update.
Failure to follow these instructions can result in equipment damage.
If you remove power to the device, or there is a power outage or communication interruption during the transfer of the application, your device may become inoperative. If a communication interruption or a power outage occurs, reattempt the transfer. If there is a power outage or communication interruption during a firmware update, or if an invalid firmware is used, your device will become inoperative. In this case, use a valid firmware and reattempt the firmware update.
NOTICE
INOPERABLE EQUIPMENT
� Do not interrupt the transfer of the application program or a firmware change once the transfer has begun.
� Re-initiate the transfer if the transfer is interrupted for any reason.
� Do not attempt to place the device into service until the file transfer has completed successfully.
Failure to follow these instructions can result in equipment damage.
The serial line ports of your controller are configured for the Machine Expert protocol by default when new or when you update the controller firmware. The Machine Expert protocol is incompatible with that of other protocols such as Modbus Serial Line. Connecting a new controller to, or updating the firmware of a controller connected to, an active Modbus configured serial line can cause the other devices on the serial line to stop communicating. Make sure that the controller is not connected to an active Modbus serial line network before first downloading a valid application having the concerned port or ports properly configured for the intended protocol.
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Firmware Management
NOTICE
INTERRUPTION OF SERIAL LINE COMMUNICATIONS Be sure that your application has the serial line ports properly configured for Modbus before physically connecting the controller to an operational Modbus Serial Line network. Failure to follow these instructions can result in equipment damage.
Updating Firmware by SD Card
Follow these steps to update the firmware by an SD card:
Step 1 2 3 4 5
6
Action Extract the .zip file to the root of the SD card.
NOTE: The SD card folder \sys\cmd\ contains the download script file.
Remove power from the controller.
Insert the SD card into the controller. Restore power to the controller.
NOTE: The SD LED (green) is flashing during the operation.
Wait until the end of the download: � If the SD LED (green) is ON, and the ERR LED (red) flashes regularly, the download ended successfully. � If the SD LED (green) is OFF, and the ERR and I/O LEDs (red) flash regularly, an error is detected.
Remove the SD card from the controller. Result: The controller restarts automatically with new firmware if the download ended successfully.
Updating Firmware by Controller Assistant
To update the firmware, you must open the Controller Assistant. Click Tools > External Tools > Open Controller Assistant.
To execute a complete firmware update of a controller without replacing the Boot application and data, proceed as follows:
Step 1 2
3 4
5
Action
On the Home dialog box, click the Read from.... controller button. Result: The Controller selection dialog box opens.
Select the required connection type and controller and click the Reading button. Result: The image is transmitted from the controller to the computer. After this has been accomplished successfully, you are automatically redirected to the Home dialog box.
Click the button New / Process... and then Update firmware.... Result: The dialog box for updating the firmware opens.
Execute individual steps for updating the firmware in the current image (Changes are only effected in the image on your computer). In the final step, you can decide whether you want to create a backup copy of the image read by the controller. Result: Following the update of the firmware, you are automatically returned to the Home dialog box.
On the Home dialog box, click the Write on.... controller button. Result: The Controller selection dialog box opens.
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Firmware Management
Step 6 7
8
Action Select the required connection type and controller and click the Write button. Result: The Write Device User Rights Management dialog box opens. On the Write Device User Rights Management dialog box, select an option to handle the user rights management on the controller: 7a: Keep existing user rights management on the controller option. 7b: Overwriting existing user rights management on the controller by the one on the current image option. 7c: Reset user rights management on the controller to default (factory settings) option. Click OK. Result: The image is transmitted from your computer to the controller. After the transmission, you are automatically returned to the Home dialog box automatic reboot.
For more information about the firmware update and creating a new flash disk with firmware, refer to Project Settings - Firmware Update and Non-volatile Memory Organization, page 23.
Updating TM3 Expansion Modules Firmware
Downloading Firmware to TM3 Expansion Modules
The firmware can be updated in:
� TM3XHSC202 and TM3XHSC202G
� TM3D� with firmware version (SV) 2.0
� TM3A� and TM3T� with firmware version (SV) 2.0
NOTE: The firmware version (SV) is found on the packaging and product labels.
Firmware updates are performed if, during a power on, at least one firmware file is present in the /usr/TM3fwupdate/ directory of controller. You can download the file(s) to the controller using the SD card, an FTP file transfer or through EcoStruxure Machine Expert.
The controller updates the firmware of the TM3 expansion modules on the I/O bus, including those that are:
� Connected remotely, using a TM3 Transmitter/Receiver module.
� In configurations comprising a mix of TM3 and TM2 expansion modules.
The following table describes how to download firmware to one or more TM3 expansion modules using an SD card:
Step 1 2 3
4
5 6 7
Action Insert an empty SD card into the PC. Create the folder path /sys/Cmd and create a file called Script.cmd. Edit the file and insert the following command for each firmware file you wish to transfer to the controller: Download "usr/TM3fwupdate/<filename>" Create the folder path /usr/TM3fwupdate/ in the SD card root directory and copy the firmware files to the TM3fwupdate folder. Ensure that power is removed from controller. Remove the SD card from the PC and insert it into the SD card slot of the controller. Restore power to the controller. Wait until the end of the operation (until the SD LED is green ON).
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Firmware Management
Step Action
Result: The controller begins transferring the firmware file(s) from the SD card to the /usr/TM3fwupdate in the controller. During this operation, the SD LED on the controller is flashing. A SCRIPT.log file is created on the SD card and contains the result of the file transfer. If an error is detected, the SD and ERR LEDs flash and the detected error is logged in SCRIPT.log file.
8
Remove power from the controller.
9
Remove SD card from the controller.
10
Restore power to the controller.
Result: The controller transfers the firmware file(s) to the appropriate TM3 I/O module (s).
NOTE: The TM3 update process adds approximatively 15 seconds to the controller boot duration.
11
Verify in the message logger of the controller that the firmware is successfully updated:
Your TM3 Module X successfully updated. X corresponds to the position of the
module on the bus.
NOTE: You can also obtain the logger information in the PlcLog.txt file in the /usr/ Syslog/ directory of the controller file system.
NOTE: If the controller encounters an error during the update, the update terminates with that module.
12
If all targeted modules were successfully updated, delete the firmware file(s) from /usr/
TM3fwupdate/ folder on the controller.
You can delete the files directly using EcoStruxure Machine Expert or by creating and executing a script containing the following command:
Delete "usr/TM3fwupdate/*"
NOTE: If a targeted module was not updated successfully, or there are no message logger messages for all the targeted modules, see the Recovery Procedure, page 178 below.
Recovery Procedure
If you remove power to the device, or there is a power outage or communication interruption during the transfer of the application, your device may become inoperative. If a communication interruption or a power outage occurs, reattempt the transfer. If there is a power outage or communication interruption during a firmware update, or if an invalid firmware is used, your device will become inoperative. In this case, use a valid firmware and reattempt the firmware update.
NOTICE
INOPERABLE EQUIPMENT
� Do not interrupt the transfer of the application program or a firmware change once the transfer has begun.
� Re-initiate the transfer if the transfer is interrupted for any reason.
� Do not attempt to place the device into service until the file transfer has completed successfully.
Failure to follow these instructions can result in equipment damage.
If, during the reattempted firmware update, the update prematurely terminates with an error, it means that the communication interruption or power outage had damaged the firmware of one of your modules in your configuration, and that module must be reinitialized.
NOTE: Once the firmware update process detects an error with the firmware in the destination module, the update process is terminated. After you have reinitialized the damaged module following the recovery procedure, any modules that followed the damaged module remain unchanged and will need to have their firmware updated.
The following table describes how to reinitialize the firmware on TM3 expansion modules:
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Firmware Management
Step 1 2 3 4 5 6 7 8
9
10
Action
Ensure that the correct firmware is present in the /usr/TM3fwupdate/ directory of the controller.
Remove power from the controller.
Disassemble from the controller all TM3 expansion modules that are functioning normally, up to the first module to recover. Refer to the hardware guides of the modules for disassembly instructions.
Apply power to the controller. NOTE: The TM3 update process adds approximatively 15 seconds to the controller boot duration.
Verify in the message logger of the controller that the firmware is successfully updated: Your TM3 Module X successfully updated. X corresponds to the position of the module on the bus.
Remove power from the controller.
Reassemble the TM3 expansion module configuration to the controller. Refer to the hardware guides of the modules for assembly instructions.
Restore power to the controller.
Result: The controller transfers the firmware file(s) to the appropriate and yet to be updated TM3 I/O module(s).
NOTE: The TM3 update process adds approximatively 15 seconds to the controller boot duration.
Verify in the message logger of the controller that the firmware is successfully updated: Your TM3 Module X successfully updated. X corresponds to the position of the module on the bus.
NOTE: You can also obtain the logger information in the Sys.log file in the /usr/Log directory of the controller file system.
Delete the firmware file(s) from /usr/TM3fwupdate/ folder on the controller.
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Compatibility
Compatibility
Software and Firmware Compatibilities
EcoStruxure Machine Expert Compatibility and Migration
Software and Firmware compatibilities are described in the EcoStruxure Machine Expert Compatibility and Migration User Guide.
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Appendices
What's in This Part
How to Change the IP Address of the Controller.............................................. 182 Functions to Get/Set Serial Line Configuration in User Program....................... 184 Controller Performance................................................................................. 188
Overview
This appendix lists the documents necessary for technical understanding of the Modicon M241 Logic Controller Programming Guide.
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How to Change the IP Address of the Controller
How to Change the IP Address of the Controller
What's in This Chapter
changeIPAddress: Change the IP address of the controller............................. 182
changeIPAddress: Change the IP address of the controller
Function Block Description
The changeIPAddress function block provides the capability to change dynamically a controller IP address, its subnet mask and its gateway address. The function block can also save the IP address so that it is used in subsequent reboots of the controller.
NOTE: Changing the IP addresses is only possible if the IP mode is configured to fixed IP address. For more details, refer to IP Address Configuration, page 86. NOTE: For more information on the function block, use the Documentation tab of EcoStruxure Machine Expert Library Manager Editor. For the use of this editor, refer to EcoStruxure Machine Expert Functions and Libraries User Guide.
Graphical Representation
Parameter Description
Input xExecute
xSave eChannel
i_abyIPAddress i_abyIPMask i_abyIPGateway
Type
Comment
BOOL
� Rising edge: action starts.
� Falling edge: resets outputs. If a falling edge occurs before the function block has completed its action, the outputs operate in the usual manner and are only reset if either the action is completed or in the event that an error is detected. In this case, the corresponding output values (xDone, xError, iError) are present at the outputs for exactly one cycle.
BOOL
TRUE: save configuration for subsequent reboots of the controller.
changeIPAddress_Channel
The input eChannel is the Ethernet port to be configured. Depending on the number of the ports available on the controller in changeIPAddress_Channel (0 or 1). See changeIPAddress_Channel: Ethernet port to be configured, page 183.
ARRAY[0..3] OF BYTE
The new IP Address to be configured. Format: 0.0.0.0. NOTE: If this input is set to 0.0.0.0 then the controller default IP addresses, page 88is configured.
ARRAY[0..3] OF BYTE
The new subnet mask. Format: 0.0.0.0
ARRAY[0..3] OF BYTE
The new gateway IP address. Format: 0.0.0.0
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Output xDone
Type BOOL
xBusy xError
BOOL BOOL
eError xSaved q_abyIPAddress q_abyIPMask q_abyIPGateway
changeIPAddress_Error BOOL ARRAY[0..3] OF BYTE ARRAY[0..3] OF BYTE ARRAY[0..3] OF BYTE
Comment
TRUE: if IP Addresses have been successfully configured or if default IP Addresses have been successfully configured because input i_abyIPAddress is set to 0.0.0.0. Function block active.
� TRUE: error detected, function block aborts action. � FALSE: no error has been detected. Error code of the detected error, page 183.
Configuration saved for the subsequent reboots of the controller.
Current controller IP address. Format: 0.0.0.0.
Current subnet mask. Format: 0.0.0.0.
Current gateway IP address. Format: 0.0.0.0.
changeIPAddress_Channel: Ethernet port to be configured
The changeIPAddress_Channel enumeration data type contains the following values:
Enumerator CHANNEL_ETHERNET_NETWORK
Value 0
CHANNEL_DEVICE_NETWORK
1
Description M241, M251MESC, M258, LMC058, LMC078: Ethernet port M251MESE: Ethernet_2 port M241: TM4ES4 Ethernet port M251MESE: Ethernet_1 port
changeIPAddress_Error: Error Codes
The changeIPAddress_Error enumeration data type contains the following values:
Enumerator ERR_NO_ERROR ERR_UNKNOWN ERR_INVALID_MODE ERR_INVALID_IP ERR_DUPLICATE_IP ERR_WRONG_CHANNEL ERR_IP_BEING_SET ERR_SAVING ERR_DHCP_SERVER
Value 00 hex 01 hex 02 hex 03 hex 04 hex 05 hex 06 hex 07 hex 08 hex
Description No error detected. Internal error detected. IP address is not configured as a fixed IP address. Invalid IP address. The new IP address is already used in the network. Incorrect Ethernet communication port. IP address is already being changed. IP addresses not saved due to a detected error or no non-volatile memory present. A DHCP server is configured on this Ethernet communication port.
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Functions to Get/Set Serial Line Configuration in User Program
Functions to Get/Set Serial Line Configuration in User Program
What's in This Chapter
GetSerialConf: Get the Serial Line Configuration ........................................... 184 SetSerialConf: Change the Serial Line Configuration ..................................... 185 SERIAL_CONF: Structure of the Serial Line Configuration Data Type ............. 186
Overview
This section describes the functions to get/set the serial line configuration in your program.
To use these functions, add the M2xx Communication library.
For further information on adding a library, refer to the EcoStruxure Machine Expert Programming Guide.
GetSerialConf: Get the Serial Line Configuration
Function Description
GetSerialConf returns the configuration parameters for a specific serial line communication port.
Graphical Representation
Parameter Description
Input Link
PointerToSerialConf
Type
LinkNumber (see EcoStruxure Machine Expert, Modbus and ASCII Read/Write Functions, PLCCommunication Library Guide)
PointerToSerialConf, page 186
Comment Link is the communication port number.
PointerToSerialConf is the address of the configuration structure (variable of SERIAL_CONF type) in which the configuration parameters are stored. The ADR standard function must be used to define the associated pointer. (See the example below.)
Output
GetSerialConf
Type WORD
Comment
This function returns: � 0: The configuration parameters are returned � 255: The configuration parameters are not returned because: the function was not successful the function is in progress
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Functions to Get/Set Serial Line Configuration in User Program
Example
Refer to the SetSerialConf, page 185 example.
SetSerialConf: Change the Serial Line Configuration
Function Description
SetSerialConf is used to change the serial line configuration.
Graphical Representation
NOTE: Changing the configuration of the Serial Line(s) port(s) during programming execution can interrupt ongoing communications with other connected devices.
WARNING
LOSS OF CONTROL DUE TO CONFIGURATION CHANGE
Validate and test all the parameters of the SetSerialConf function before putting your program into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Parameter Description
Input Link
PointerToSerialConf
Type
LinkNumber (see EcoStruxure Machine Expert, Modbus and ASCII Read/Write Functions, PLCCommunication Library Guide)
PointerToSerialConf, page 186
Comment LinkNumber is the communication port number.
PointerToSerialConf is the address of the configuration structure (variable of SERIAL_CONF type) in which the new configuration parameters are stored. The ADR standard function must be used to define the associated pointer. (See the example below.) If 0, set the application default configuration to the serial line.
Output SetSerialConf
Type WORD
Comment
This function returns: � 0: The new configuration is set � 255: The new configuration is refused because: the function is in progress the input parameters are not valid
Example
VAR MySerialConf: SERIAL_CONF result: WORD;
END_VAR (*Get current configuration of serial line 1*)
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Functions to Get/Set Serial Line Configuration in User Program
GetSerialConf(1, ADR(MySerialConf));
(*Change to modbus RTU slave address 9*)
MySerialConf.Protocol := 0;
(*Modbus RTU/Machine
Expert protocol (in this case CodesysCompliant selects the
protocol)*)
MySerialConf.CodesysCompliant := 0; (*Modbus RTU*)
MySerialConf.address := 9;
(*Set modbus address to
9*)
(*Reconfigure the serial line 1*)
result := SetSerialConf(1, ADR(MySerialConf));
SERIAL_CONF: Structure of the Serial Line Configuration Data Type
Structure Description
The SERIAL_CONF structure contains configuration information about the serial line port. It contains these variables:
Variable Bauds InterframeDelay FrameReceivedTimeout
FrameLengthReceived
Protocol
Type DWORD WORD WORD
WORD
BYTE
Address Parity
BYTE BYTE
Rs485
BYTE
ModPol (polarization resistor)
BYTE
DataFormat StopBit
BYTE BYTE
CharFrameStart
BYTE
CharFrameEnd1 CharFrameEnd2
BYTE BYTE
Description
baud rate
minimum time (in ms) between 2 frames in Modbus (RTU, ASCII)
In the ASCII protocol, FrameReceivedTimeout allows the system to conclude the end of a frame at reception after a silence of the specified number of ms. If 0 this parameter is not used.
In the ASCII protocol, FrameLengthReceived allows the system to conclude the end of a frame at reception, when the controller received the specified number of characters. If 0, this parameter is not used.
0: Modbus RTU or Machine Expert (see CodesysCompliant)
1: Modbus ASCII
2: ASCII
Modbus address 0 to 255 (0 for Master)
0: none
1: odd
2: even
0: RS232
1: RS485
0: no
1: yes
7 bits or 8 bits
1: 1 stop bit
2: 2 stop bits
In the ASCII protocol, 0 means there is no start character in the frame. Otherwise, the corresponding ASCII character is used to detect the beginning of a frame in receiving mode. In sending mode, this character is added at the beginning of the user frame.
In the ASCII protocol, 0 means there is no end character in the frame. Otherwise, the corresponding ASCII character is used to detect the end of a frame in receiving mode. In sending mode, this character is added at the end of the user frame.
In the ASCII protocol, 0 means there is no second end character in the frame. Otherwise, the corresponding ASCII character is used (along with CharFrameEnd1) to detect the end of a frame in receiving mode. In sending mode, this character is added at the end of the user frame.
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Variable CodesysCompliant
CodesysNetType
Type BYTE
BYTE
Description 0: Modbus RTU 1: Machine Expert (when Protocol = 0) not used
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Controller Performance
Controller Performance
What's in This Chapter
Processing Performance.............................................................................. 188
This chapter provides information about the Modicon M241 Logic Controller processing performance
Processing Performance
Introduction
This chapter provides information about the M241 processing performance.
Logic Processing
This table presents logic processing performance for various logical instructions:
IL Instruction Type
Duration for 1000 Instructions
Addition/subtraction/multiplication of INT
42 s
Addition/subtraction/multiplication of DINT
41 s
Addition/subtraction/multiplication of REAL
336 s
Division of REAL
678 s
Operation on BOOLEAN, for example, Status:= Status and value
LD INT + ST INT
75 s 64 s
LD DINT + ST DINT
49 s
LD REAL + ST REAL
50 s
Communication and System Processing Time
The communication processing time varies, depending on the number of sent/ received requests.
Response Time on Event
The response time presented in the following table represents the time between a signal rising edge on an input triggering an external task and the edge of an output set by this task. The event task also process 100 IL instructions before setting the output:
Minimum 120 s
Typical 200 s
Maximum 500 s
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Glossary
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A
analog input:
Converts received voltage or current levels into numerical values. You can store and process these values within the logic controller.
analog output:
Converts numerical values within the logic controller and sends out proportional voltage or current levels.
application source:
The collection of human-readable controller instructions, configuration data, HMI instructions, symbols, and other program documentation. The application source file is saved on the PC and you can download the application source file to most logic controllers. The application source file is used to build the executable program that runs in the logic controller.
application:
A program including configuration data, symbols, and documentation.
ARP: (address resolution protocol) An IP network layer protocol for Ethernet that maps an IP address to a MAC (hardware) address.
ASIC: (application specific integrated circuit) A silicon processor (chip) custom designed especially for an application.
B
BCD: (binary coded decimal) The format that represents decimal numbers between 0 and 9 with a set of 4 bits (a nybble/nibble, also titled as half byte). In this format, the 4 bits used to encode decimal numbers have an unused range of combinations.
For example, the number 2,450 is encoded as 0010 0100 0101 0000.
BOOL: (boolean) A basic data type in computing. A BOOL variable can have one of these values: 0 (FALSE), 1 (TRUE). A bit that is extracted from a word is of type BOOL; for example, %MW10.4 is a fifth bit of memory word number 10.
Boot application: (boot application) The binary file that contains the application. Usually, it is stored in the controller and allows the controller to boot on the application that the user has generated.
BOOTP: (bootstrap protocol) A UDP network protocol that can be used by a network client to automatically obtain an IP address (and possibly other data) from a server. The client identifies itself to the server using the client MAC address. The server, which maintains a pre-configured table of client device MAC addresses and associated IP addresses, sends the client its pre-configured IP address. BOOTP was originally used as a method that enabled diskless hosts to be remotely booted over a network. The BOOTP process assigns an infinite lease of an IP address. The BOOTP service utilizes UDP ports 67 and 68.
byte:
189
A type that is encoded in an 8-bit format, ranging from 00 hex to FF hex.
C
CFC: (continuous function chart) A graphical programming language (an extension of the IEC 61131-3 standard) based on the function block diagram language that works like a flowchart. However, no networks are used and free positioning of graphic elements is possible, which allows feedback loops. For each block, the inputs are on the left and the outputs on the right. You can link the block outputs to the inputs of other blocks to create complex expressions.
configuration:
The arrangement and interconnection of hardware components within a system and the hardware and software parameters that determine the operating characteristics of the system.
continuous function chart language:
A graphical programming language (an extension of the IEC61131-3 standard) based on the function block diagram language that works like a flowchart. However, no networks are used and free positioning of graphic elements is possible, which allows feedback loops. For each block, the inputs are on the left and the outputs on the right. You can link the block outputs to inputs of other blocks to create complex expressions.
control network:
A network containing logic controllers, SCADA systems, PCs, HMI, switches, ...
Two kinds of topologies are supported: � flat: all modules and devices in this network belong to same subnet. � 2 levels: the network is split into an operation network and an inter-controller network.
These two networks can be physically independent, but are generally linked by a routing device.
controller:
Automates industrial processes (also known as programmable logic controller or programmable controller).
CRC: (cyclical redundancy check) A method used to determine the validity of a communication transmission. The transmission contains a bit field that constitutes a checksum. The message is used to calculate the checksum by the transmitter according to the content of the message. Receiving nodes, then recalculate the field in the same manner. Any discrepancy in the value of the 2 CRC calculations indicates that the transmitted message and the received message are different.
cyclic task:
The cyclic scan time has a fixed duration (interval) specified by the user. If the current scan time is shorter than the cyclic scan time, the controller waits until the cyclic scan time has elapsed before starting a new scan.
D
data log: The controller logs events relative to the user application in a data log.
device network:
A network that contains devices connected to a specific communication port of a logic controller. This controller is seen as a master from the devices point of view.
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DHCP: (dynamic host configuration protocol) An advanced extension of BOOTP. DHCP is more advanced, but both DHCP and BOOTP are common. (DHCP can handle BOOTP client requests.)
DINT: (double integer type) Encoded in 32-bit format.
DNS: (domain name system) The naming system for computers and devices connected to a LAN or the Internet.
DTM: (device type manager) Classified into 2 categories: � Device DTMs connect to the field device configuration components. � CommDTMs connect to the software communication components. The DTM provides a unified structure for accessing device parameters and configuring, operating, and diagnosing the devices. DTMs can range from a simple graphical user interface for setting device parameters to a highly sophisticated application capable of performing complex real-time calculations for diagnosis and maintenance purposes.
DWORD: (double word) Encoded in 32-bit format.
E
EDS: (electronic data sheet) A file for fieldbus device description that contains, for example, the properties of a device such as parameters and settings.
encoder:
A device for length or angular measurement (linear or rotary encoders).
equipment:
A part of a machine including sub-assemblies such as conveyors, turntables, and so on.
Ethernet:
A physical and data link layer technology for LANs, also known as IEEE 802.3.
expansion bus:
An electronic communication bus between expansion I/O modules and a controller or bus coupler.
F
FBD: (function block diagram) One of 5 languages for logic or control supported by the standard IEC 61131-3 for control systems. Function block diagram is a graphically oriented programming language. It works with a list of networks, where each network contains a graphical structure of boxes and connection lines, which represents either a logical or arithmetic expression, the call of a function block, a jump, or a return instruction.
FE: (functional Earth) A common grounding connection to enhance or otherwise allow normal operation of electrically sensitive equipment (also referred to as functional ground in North America).
191
In contrast to a protective Earth (protective ground), a functional earth connection serves a purpose other than shock protection, and may normally carry current. Examples of devices that use functional earth connections include surge suppressors and electromagnetic interference filters, certain antennas, and measurement instruments.
firmware:
Represents the BIOS, data parameters, and programming instructions that constitute the operating system on a controller. The firmware is stored in nonvolatile memory within the controller.
freewheeling:
When a logic controller is in freewheeling scan mode, a new task scan starts as soon as the previous scan has been completed. Contrast with periodic scan mode.
FreqGen: (frequency generator) A function that generates a square wave signal with programmable frequency.
FTP: (file transfer protocol) A standard network protocol built on a client-server architecture to exchange and manipulate files over TCP/IP based networks regardless of their size.
G
GRAFCET:
The functioning of a sequential operation in a structured and graphic form.
This is an analytical method that divides any sequential control system into a series of steps, with which actions, transitions, and conditions are associated.
H
HE10:
Rectangular connector for electrical signals with frequencies below 3 MHz, complying with IEC 60807-2.
HSC: (high-speed counter) A function that counts pulses on the controller or on expansion module inputs.
I
ICMP: (Internet control message protocol) Reports errors detected and provides information related to datagram processing.
IEC 61131-3:
Part 3 of a 3-part IEC standard for industrial automation equipment. IEC 61131-3 is concerned with controller programming languages and defines 2 graphical and 2 textual programming language standards. The graphical programming languages are ladder diagram and function block diagram. The textual programming languages include structured text and instruction list.
IEC: (international electrotechnical commission) A non-profit and non-governmental international standards organization that prepares and publishes international standards for electrical, electronic, and related technologies.
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IL: (instruction list) A program written in the language that is composed of a series of text-based instructions executed sequentially by the controller. Each instruction includes a line number, an instruction code, and an operand (refer to IEC 611313).
instruction list language:
A program written in the instruction list language that is composed of a series of text-based instructions executed sequentially by the controller. Each instruction includes a line number, an instruction code, and an operand (see IEC 61131-3).
I/O: (input/output)
INT: (integer) A whole number encoded in 16 bits.
IP: (Internet protocol Part of the TCP/IP protocol family that tracks the Internet addresses of devices, routes outgoing messages, and recognizes incoming messages.
K
KeepAlive:
Messages sent by the OPC UA server to keep a subscription active. This is necessary when none of the monitored items of data have been updated since the previous publication.
L
ladder diagram language:
A graphical representation of the instructions of a controller program with symbols for contacts, coils, and blocks in a series of rungs executed sequentially by a controller (see IEC 61131-3).
LD: (ladder diagram) A graphical representation of the instructions of a controller program with symbols for contacts, coils, and blocks in a series of rungs executed sequentially by a controller (refer to IEC 61131-3).
LED: (light emitting diode) An indicator that illuminates under a low-level electrical charge.
LINT: (long integer) A whole number encoded in a 64-bit format (4 times INT or 2 times DINT).
LRC: (longitudinal redundancy checking) An error-detection method for determining the correctness of transmitted and stored data.
LREAL: (long real) A floating-point number encoded in a 64-bit format.
LWORD: (long word) A data type encoded in a 64-bit format.
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M
MAC address: (media access control address) A unique 48-bit number associated with a specific piece of hardware. The MAC address is programmed into each network card or device when it is manufactured.
MAST:
A processor task that is run through its programming software. The MAST task has 2 sections:
� IN: Inputs are copied to the IN section before execution of the MAST task. � OUT: Outputs are copied to the OUT section after execution of the MAST
task. NOTE: MDT: (master data telegram) On Sercos bus, an MDT telegram is sent by the master once during each transmission cycle to transmit data (command values) to the servo drives (slaves).
MIB: (management information base) An object database that is monitored by a network management system like SNMP. SNMP monitors devices are defined by their MIBs. Schneider Electric has obtained a private MIB, groupeschneider (3833).
Modbus:
The protocol that allows communications between many devices connected to the same network.
monitored items:
In OPC UA, the items of data (samples) made available by the OPC UA server that clients subscribe to.
MSB: (most significant bit/byte The part of a number, address, or field that is written as the left-most single value in conventional hexadecimal or binary notation.
ms: (millisecond)
%MW:
According to the IEC standard, %MW represents a memory word register (for example, a language object of type memory word).
N
network:
A system of interconnected devices that share a common data path and protocol for communications.
NMT: (network management) CANopen protocols that provide services for network initialization, detected error control, and device status control.
node:
An addressable device on a communication network.
notifications:
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In OPC UA, messages sent by the OPC UA server to inform clients that new items of data are available.
NVM:
(Non-volatile memory) A non-volatile memory that can be overwritten. It is stored on a special EEPROM that can be erased and reprogrammed.
O
open loop:
Open loop control refers to a motion control system with no external sensors to provide position or velocity correction signals. See also: closed loop.
OS: (operating system) A collection of software that manages computer hardware resources and provides common services for computer programs.
P
PCI: (peripheral component interconnect) An industry-standard bus for attaching peripherals.
PDO: (process data object) An unconfirmed broadcast message or sent from a producer device to a consumer device in a CAN-based network. The transmit PDO from the producer device has a specific identifier that corresponds to the receive PDO of the consumer devices.
PE: (Protective Earth) A common grounding connection to help avoid the hazard of electric shock by keeping any exposed conductive surface of a device at earth potential. To avoid possible voltage drop, no current is allowed to flow in this conductor (also referred to as protective ground in North America or as an equipment grounding conductor in the US national electrical code).
post configuration: (post configuration) An option that allows to modify some parameters of the application without changing the application. Post configuration parameters are defined in a file that is stored in the controller. They are overloading the configuration parameters of the application.
program:
The component of an application that consists of compiled source code capable of being installed in the memory of a logic controller.
protocol:
A convention or standard definition that controls or enables the connection, communication, and data transfer between 2 computing system and devices.
PTO: (pulse train outputs) A fast output that oscillates between off and on in a fixed 5050 duty cycle, producing a square wave form. PTO is especially well suited for applications such as stepper motors, frequency converters, and servo motor control, among others.
publishing interval:
In OPC UA, the frequency at which the OPC_UA server sends notifications to clients informing them that data updates are available.
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PWM: (pulse width modulation) A fast output that oscillates between off and on in an adjustable duty cycle, producing a rectangular wave form (though you can adjust it to produce a square wave).
R
REAL:
A data type that is defined as a floating-point number encoded in a 32-bit format.
RJ45:
A standard type of 8-pin connector for network cables defined for Ethernet.
RPDO: (receive process data object) An unconfirmed broadcast message or sent from a producer device to a consumer device in a CAN-based network. The transmit PDO from the producer device has a specific identifier that corresponds to the receive PDO of the consumer devices.
RPI: (requested packet interval) The time period between cyclic data exchanges requested by the scanner. EtherNet/IP devices publish data at the rate specified by the RPI assigned to them by the scanner, and they receive message requests from the scanner with a period equal to RPI.
RSTP: (rapid spanning tree protocol) A high-speed network protocol that builds a loopfree logical topology for Ethernet networks.
RTC: (real-time clock) A battery-backed time-of-day and calender clock that operates continuously, even when the controller is not powered for the life of the battery.
RTP: (real-time process) The real-time process is the most important system task. It is responsible for executing all real-time tasks at the correct time. Real-time processing is triggered by the Sercos real-time bus cycle.
run:
A command that causes the controller to scan the application program, read the physical inputs, and write to the physical outputs according to solution of the logic of the program.
S
sampling rate:
In OPC UA, the frequency at which the OPC UA server reads items of data from connected devices.
scan:
A function that includes: � reading inputs and placing the values in memory � executing the application program 1 instruction at a time and storing the results in memory � using the results to update outputs
SDO:
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(service data object) A message used by the field bus master to access (read/ write) the object directories of network nodes in CAN-based networks. SDO types include service SDOs (SSDOs) and client SDOs (CSDOs).
SFC: (sequential function chart) A language that is composed of steps with associated actions, transitions with associated logic condition, and directed links between steps and transitions. (The SFC standard is defined in IEC 848. It is IEC 61131-3 compliant.)
SINT: (signed integer) A 15-bit value plus sign.
SNMP: (simple network management protocol) A protocol that can control a network remotely by polling the devices for their status and viewing information related to data transmission. You can also use it to manage software and databases remotely. The protocol also permits active management tasks, such as modifying and applying a new configuration.
STOP:
A command that causes the controller to stop running an application program.
string:
A variable that is a series of ASCII characters.
ST: (structured text) A language that includes complex statements and nested instructions (such as iteration loops, conditional executions, or functions). ST is compliant with IEC 61131-3.
symbol:
A string of a maximum of 32 alphanumeric characters, of which the first character is alphabetic. It allows you to personalize a controller object to facilitate the maintainability of the application.
system variable:
A variable that provides controller data and diagnostic information and allows sending commands to the controller.
T
task:
A group of sections and subroutines, executed cyclically or periodically for the MAST task or periodically for the FAST task.
A task possesses a level of priority and is linked to inputs and outputs of the controller. These I/O are refreshed in relation to the task.
A controller can have several tasks. NOTE:
TCP: (transmission control protocol) A connection-based transport layer protocol that provides a simultaneous bi-directional transmission of data. TCP is part of the TCP/IP protocol suite.
terminal block: (terminal block) The component that mounts in an electronic module and provides electrical connections between the controller and the field devices.
TPDO:
197
(transmit process data object) An unconfirmed broadcast message or sent from a producer device to a consumer device in a CAN-based network. The transmit PDO from the producer device has a specific identifier that corresponds to the receive PDO of the consumer devices.
U
UDINT: (unsigned double integer) Encoded in 32 bits.
UDP: (user datagram protocol) A connectionless mode protocol (defined by IETF RFC 768) in which messages are delivered in a datagram (data telegram) to a destination computer on an IP network. The UDP protocol is typically bundled with the Internet protocol. UDP/IP messages do not expect a response, and are therefore ideal for applications in which dropped packets do not require retransmission (such as streaming video and networks that demand real-time performance).
UINT: (unsigned integer) Encoded in 16 bits.
V
variable:
A memory unit that is addressed and modified by a program.
W
watchdog:
A watchdog is a special timer used to ensure that programs do not overrun their allocated scan time. The watchdog timer is usually set to a higher value than the scan time and reset to 0 at the end of each scan cycle. If the watchdog timer reaches the preset value, for example, because the program is caught in an endless loop, an error is declared and the program stopped.
WORD:
A type encoded in a 16-bit format.
198
EIO0000003059.03
Index
getting the serial line configuration .................... 184
A
ASCII Manager ................................................... 140
C
changeIPAddress ................................................ 182 changing the controller IP address .................... 182
changeModbusPort command syntax.............................................. 123 script example ................................................. 123
Controller Configuration Communication Settings.....................................55 PLC Settings .....................................................56 Services ............................................................56
cyclic data exchanges, generating EDS file for....... 104
D
DHCP server ...................................................... 134 Download application ............................................50
E
ECU, creating for J1939....................................... 152 EDS file, generating............................................. 104 embedded functions configuration
embedded pulse generators configuration ...........74 Embedded Functions Configuration
Embedded HSC Configuration ............................73 Embedded I/O Configuration...............................67 Ethernet changeIPAddress function block........................ 182 FTP Server...................................................... 101 Modbus TCP Client/Server .................................90 Modbus TCP slave device ................................ 119 Services ............................................................85 SNMP ............................................................. 102 Web server........................................................91 EtherNet EtherNet/IP device ........................................... 103 EtherNet/IP Adapter............................................. 103 ExecuteScript example ........................................ 123 External Event ......................................................32
F
Fast Device Replacement .................................... 134 features
key features.......................................................13 file transfer with SD card ...................................... 169 firewall
configuration.................................................... 126 default script file............................................... 126 script commands.............................................. 128 FTP client ........................................................... 102 FTP Server Ethernet .......................................................... 101 FTPRemoteFileHandling library............................ 102
H
Hardware Initialization Values.................................43
I
Industrial Ethernet overview.......................................................... 131
I/O bus configuration .............................................81 I/O configuration general information
general practices ...............................................78 IP address
changeIPAddress............................................. 182
J
J1939 creating ECU for .............................................. 152 interface configuration ...................................... 152
K
KeepAlive (OPC UA) ........................................... 155 KeepAlive interval (OPC UA)................................ 156
L
libraries ................................................................19 Libraries
FTPRemoteFileHandling .................................. 102
M
M2�� communication GetSerialConf.................................................. 184 SetSerialConf .................................................. 185
Memory Mapping ..................................................21 Modbus
Protocols ........................................................... 90 Modbus Ioscanner............................................... 141 Modbus Manager ................................................ 137 Modbus TCP Client/Server
Ethernet ............................................................90 Modbus TCP port, changing................................. 123 monitored items (OPC UA)................................... 155
O
OPC UA server configuration.................................................... 155 KeepAlive interval ............................................ 156 overview.......................................................... 155 publishing interval ............................................ 156 sampling interval.............................................. 156 selecting symbols ............................................ 158 symbols configuration....................................... 157
Output Behavior .............................................. 43�44 Output Forcing ......................................................44
G
GetSerialConf
EIO0000003059.03
P
Post Configuration............................................... 161 baud rate......................................................... 161
199
data bits .......................................................... 161 device name .................................................... 161 Example.......................................................... 163 file management .............................................. 162 FTP ................................................................ 161 gateway address.............................................. 161 IP address ....................................................... 161 IP configuration mode ...................................... 161 IP master name ............................................... 161 parity............................................................... 161 presentation .................................................... 161 station address ................................................ 161 stop bit ............................................................ 161 subnet mask .................................................... 161 transfer rate..................................................... 161 programming languages IL, LD, Grafcet ...................................................13 protocols SNMP ............................................................. 102 Protocols ..............................................................85 IP...................................................................... 86 Modbus .............................................................90 publishing interval (OPC UA).........................155�156
Watchdogs ........................................................32
U
updating the firmware of TM3 expansion modules............................................................ 177
W
Web server Ethernet ............................................................91
R
Reboot .................................................................48 Remanent variables ..............................................52 Reset cold ............................................................46 Reset origin ..........................................................47 Reset origin device ................................................47 Reset warm ..........................................................46 Run command ......................................................45
S
sampling interval (OPC UA) ..........................155�156 script commands
firewall ............................................................ 128 script file
syntax rules ..................................................... 169 SD card
commands ...................................................... 169 serial line
ASCII Manager ................................................ 140 GetSerialConf.................................................. 184 Modbus Manager ............................................. 137 SetSerialConf .................................................. 185 SERIAL_CONF ................................................... 186 SetSerialConf ..................................................... 185 setting the serial line configuration..................... 185 SNMP Ethernet .......................................................... 102 protocols ......................................................... 102 Software Initialization Values ..................................44 State diagram .......................................................36 Stop command......................................................45 symbols (OPC UA) .............................................. 157
T
Task Cyclic task .........................................................30 Event task .........................................................31 External Event Task ...........................................32 Freewheeling task..............................................31 Types ................................................................ 30
200
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� 2021 � Schneider Electric. All rights reserved. EIO0000003059.03
Modicon M241 Logic Controller EIO0000003065 12/2019
Modicon M241
Logic Controller
System Functions and Variables PLC System Library Guide
12/2019
www.schneider-electric.com
EIO0000003065.01
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.
� 2019 Schneider Electric. All rights reserved.
2
EIO0000003065 12/2019
Table of Contents
Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
Chapter 1 M241 System Variables . . . . . . . . . . . . . . . . . . . . . . . . .
11
1.1 System Variables: Definition and Use . . . . . . . . . . . . . . . . . . . . . . . . .
12
Understanding System Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
Using System Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
1.2 PLC_R and PLC_W Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17
PLC_R: Controller Read-Only System Variables . . . . . . . . . . . . . . . . .
18
PLC_W: Controller Read/Write System Variables . . . . . . . . . . . . . . . .
23
1.3 SERIAL_R and SERIAL_W Structures . . . . . . . . . . . . . . . . . . . . . . . .
24
SERIAL_R[0...1]: Serial Line Read-Only System Variables . . . . .
25
SERIAL_W[0...1]: Serial Line Read/Write System Variables . . . . .
26
1.4 ETH_R and ETH_W Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
27
ETH_R: Ethernet Port Read-Only System Variables . . . . . . . . . . . . .
28
ETH_W: Ethernet Port Read/Write System Variables. . . . . . . . . . . . . .
33
1.5 TM3_MODULE_R Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
34
TM3_MODULE_R[0...13]: TM3 Modules Read-Only System
Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
34
1.6 TM3_BUS_W Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
35
TM3_BUS_W: TM3 Bus System Variables . . . . . . . . . . . . . . . . . . . . . .
35
1.7 PROFIBUS_R Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
36
PROFIBUS_R: PROFIBUS Read-Only System Variables . . . . . . . . .
36
1.8 CART_R Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
37
CART_R_STRUCT: Cartridge Read-Only System Variables . . . . . . .
37
Chapter 2 M241 System Functions . . . . . . . . . . . . . . . . . . . . . . . . .
39
2.1 M241 Read Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
40
GetImmediateFastInput: Read Input of an Embedded Expert I/O
41
GetRtc: Get Real Time Clock. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
42
IsFirstMastColdCycle: Indicate if this Cycle is the First MAST
Cold Start Cycle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
43
IsFirstMastCycle: Indicate if this Cycle is the First MAST Cycle .
44
IsFirstMastWarmCycle: Indicate if this Cycle is the First MAST
Warm Start Cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
46
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2.2 M241 Write Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
47
PhysicalWriteFastOutputs: Write Fast Output of an Embedded
Expert I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
48
SetRTCDrift: Set Compensation Value to the RTC . . . . . . . . . . . . .
49
2.3 M241 User Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
51
FB_ControlClone: Clone the Controller. . . . . . . . . . . . . . . . . . . . . .
52
DataFileCopy: Copy File Commands. . . . . . . . . . . . . . . . . . . . . . . .
53
ExecuteScript: Run Script Commands . . . . . . . . . . . . . . . . . . . . . .
56
2.4 M241 Disk Space Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
58
FC_GetFreeDiskSpace: Gets the Free Memory Space . . . . . . . . . .
59
FC_GetLabel: Gets the Label of Memory . . . . . . . . . . . . . . . . . . . . .
60
FC_GetTotalDiskSpace: Gets the Size of Memory . . . . . . . . . . . .
61
2.5 TM3 Read Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
62
TM3_GetModuleBusStatus: Get TM3 Module Bus Status. . . . . . . .
63
TM3_GetModuleFWVersion: Get TM3 Module Firmware Version . .
64
TM3_GetModuleInternalStatus: Get TM3 Module Internal Status
65
Chapter 3 M241 Library Data Types . . . . . . . . . . . . . . . . . . . . . . . . . 67
3.1 PLC_RW System Variables Data Types . . . . . . . . . . . . . . . . . . . . . . .
68
PLC_R_APPLICATION_ERROR: Detected Application Error Status
Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
69
PLC_R_BOOT_PROJECT_STATUS: Boot Project Status Codes . . . .
71
PLC_R_IO_STATUS: I/O Status Codes. . . . . . . . . . . . . . . . . . . . . . . .
72
PLC_R_SDCARD_STATUS: SD Card Slot Status Codes . . . . . . . . . .
73
PLC_R_STATUS: Controller Status Codes . . . . . . . . . . . . . . . . . . . . .
74
PLC_R_STOP_CAUSE: From RUN State to Other State Transition
Cause Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
75
PLC_R_TERMINAL_PORT_STATUS: Programming Port Connection
Status Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
77
PLC_R_TM3_BUS_STATE: TM3 Bus Status Codes . . . . . . . . . . . . . .
78
PLC_W_COMMAND: Control Command Codes . . . . . . . . . . . . . . . . .
79
3.2 DataFileCopy System Variables Data Types . . . . . . . . . . . . . . . . . . . .
80
DataFileCopyError: Detected Error Codes. . . . . . . . . . . . . . . . . . . . . .
81
DataFileCopyLocation: Location Codes. . . . . . . . . . . . . . . . . . . . . . . .
82
3.3 ExecScript System Variables Data Types . . . . . . . . . . . . . . . . . . . . . .
83
ExecuteScriptError: Detected Error Codes . . . . . . . . . . . . . . . . . . . . .
83
3.4 ETH_RW System Variables Data Types . . . . . . . . . . . . . . . . . . . . . . .
84
ETH_R_FRAME_PROTOCOL: Frame Transmission Protocol Codes .
85
ETH_R_IP_MODE: IP Address Source Codes . . . . . . . . . . . . . . . . . .
86
ETH_R_PORT_DUPLEX_STATUS: Transmission Mode Codes . . . . .
87
4
EIO0000003065 12/2019
ETH_R_PORT_IP_STATUS: Ethernet TCP/IP Port Status Codes . . .
88
ETH_R_PORT_LINK_STATUS: Communication Link Status Codes .
89
ETH_R_PORT_SPEED: Communication Speed of the Ethernet Port
Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
90
ETH_R_RUN_IDLE: Ethernet/IP Run and Idle States Codes . . . . . . .
91
3.5 TM3_MODULE_RW System Variables Data Types . . . . . . . . . . . . . .
92
TM3_ERR_CODE: TM3 Expansion Module Detected Error Codes . .
93
TM3_MODULE_R_ARRAY_TYPE: TM3 Expansion Module Read
Array Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
94
TM3_MODULE_STATE: TM3 Expansion Module State Codes . . . . .
95
TM3_BUS_W_IOBUSERRMOD: TM3 bus error mode . . . . . . . . . . . .
96
3.6 Cartridge System Variables Data Types . . . . . . . . . . . . . . . . . . . . . . .
97
CART_R_ARRAY_TYPE: Cartridge Read Array Type . . . . . . . . . . . .
98
CART_R_MODULE_ID: Cartridge Read Module Identifier . . . . . . . . .
99
CART_R_STATE: Cartridge Read State . . . . . . . . . . . . . . . . . . . . . . .
100
3.7 System Function Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
101
IMMEDIATE_ERR_TYPE: GetImmediateFastInput Read Input of
Embedded Expert I/O Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
102
RTCSETDRIFT_ERROR: SetRTCDrift Function Detected Error
Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
103
Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Appendix A Function and Function Block Representation . . . . . . . . 107
Differences Between a Function and a Function Block . . . . . . . . . . . .
108
How to Use a Function or a Function Block in IL Language . . . . . . . .
109
How to Use a Function or a Function Block in ST Language . . . . . . .
112
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
EIO0000003065 12/2019
5
6
EIO0000003065 12/2019
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.
EIO0000003065 12/2019
7
PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material.
A qualified person is one who has skills and knowledge related to the construction and operation of electrical equipment and its installation, and has received safety training to recognize and avoid the hazards involved.
8
EIO0000003065 12/2019
About the Book
At a Glance
Document Scope
This document will acquaint you with the system functions and variables offered within the Modicon M241 Logic Controller. The M241 PLCSystem library contains functions and variables to get information from and send commands to the controller system.
This document describes the data type functions and variables of the M241 PLCSystem library.
The following knowledge is required: Basic information on the functionality, structure, and configuration of the M241 Logic Controller. Programming in the FBD, LD, ST, IL, or CFC language. system variables (global variables).
Validity Note This document has been updated for the release of EcoStruxureTM Machine Expert V1.2.
Related Documents
Title of Documentation EcoStruxure Machine Expert Programming Guide
Modicon M241 Logic Controller Hardware Guide
Modicon M241 Logic Controller Programming Guide
Reference Number
EIO0000002854 (ENG); EIO0000002855 (FRE); EIO0000002856 (GER); EIO0000002858 (SPA); EIO0000002857 (ITA); EIO0000002859 (CHS)
EIO0000003083 (ENG); EIO0000003084 (FRE); EIO0000003085 (GER); EIO0000003086 (SPA); EIO0000003087 (ITA); EIO0000003088 (CHS)
EIO0000003059 (ENG); EIO0000003060 (FRE); EIO0000003061 (GER); EIO0000003062 (SPA); EIO0000003063 (ITA); EIO0000003064 (CHS)
EIO0000003065 12/2019
9
You can download these technical publications and other technical information from our website at https://www.se.com/ww/en/download/ .
Product Related Information
WARNING
LOSS OF CONTROL The designer of any control scheme must consider the potential failure modes of control paths
and, for certain critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop and overtravel stop, power outage and restart. Separate or redundant control paths must be provided for critical control functions. System control paths may include communication links. Consideration must be given to the implications of unanticipated transmission delays or failures of the link. Observe all accident prevention regulations and local safety guidelines.1 Each implementation of this equipment must be individually and thoroughly tested for proper operation before being placed into service. Failure to follow these instructions can result in death, serious injury, or equipment damage.
1 For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems" or their equivalent governing your particular location.
WARNING
UNINTENDED EQUIPMENT OPERATION Only use software approved by Schneider Electric for use with this equipment. Update your application program every time you change the physical hardware configuration. Failure to follow these instructions can result in death, serious injury, or equipment damage.
10
EIO0000003065 12/2019
Modicon M241 Logic Controller M241 System Variables EIO0000003065 12/2019
M241 System Variables
Chapter 1
M241 System Variables
Overview
This chapter: gives an introduction to the system variables (see page 12) describes the system variables (see page 18) included with the M241 PLCSystem library
What Is in This Chapter? This chapter contains the following sections:
Section 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8
Topic System Variables: Definition and Use PLC_R and PLC_W Structures SERIAL_R and SERIAL_W Structures ETH_R and ETH_W Structures TM3_MODULE_R Structure TM3_BUS_W Structure PROFIBUS_R Structure CART_R Structure
Page 12 17 24 27 34 35 36 37
EIO0000003065 12/2019
11
M241 System Variables
System Variables: Definition and Use
Section 1.1
System Variables: Definition and Use
Overview
This section defines system variables and how to implement them in the Modicon M241 Logic Controller.
What Is in This Section? This section contains the following topics:
Understanding System Variables Using System Variables
Topic
Page 13 15
12
EIO0000003065 12/2019
M241 System Variables
Understanding System Variables
Introduction This section describes how system variables are implemented. System variables: allow you to access general system information, perform system diagnostics, and command simple actions. are structured variables conforming to IEC 61131-3 definitions and naming conventions. You can access the system variables using the IEC symbolic name PLC_GVL. Some of the PLC_GVL variables are read-only (for example, PLC_R) and some are read/write (for example, PLC_W). are automatically declared as global variables. They have system-wide scope and can be accessed by any Program Organization Unit (POU) in any task.
Naming Convention The system variables are identified by: a structure name that represents the category of system variable. For example, PLC_R represents a structure name of read-only variables used for the controller diagnostic. a set of component names that identifies the purpose of the variable. For example, i_wVendorID represents the controller vendor ID.
You can access the system variables by typing the structure name of the variables followed by the name of the component. Here is an example of system variable implementation: VAR
myCtr_Serial : DWORD; myCtr_ID : DWORD; myCtr_FramesRx : UDINT; END_VAR
myCtr_Serial := PLC_GVL.PLC_R.i_dwSerialNumber; myCtr_ID := PLC_GVL.PLC.R.i_wVendorID; myCtr_FramesRx := SERIAL_R[0].i_udiFramesReceivedOK
NOTE: The fully-qualified name of the system variable in the example above is PLC_GVL.PLC.R. The PLC_GVL is implicit when declaring a variable using the Input Assistant, but it may also be entered in full. Good programming practice often dictates the use of the fully-qualified variable name in declarations.
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13
M241 System Variables
System Variables Location
2 kinds of system variables are defined for use when programming the controller: located variables unlocated variables
The located variables: have a fixed location in a static %MW area: %MW60000 to %MW60199 for read-only system
variables. are accessible through Modbus TCP, Modbus serial, and EtherNet/IP requests both in
RUNNING and STOPPED states. are used in EcoStruxure Machine Expert programs according to the
structure_name.component_name convention explained previously. %MW addresses from 0 to 59999 can be accessed directly. Addresses greater than this are considered out of range by EcoStruxure Machine Expert and can only be accessed through the structure_name.component_name convention.
The unlocated variables: are not physically located in the %MW area. are not accessible through any fieldbus or network requests unless you locate them in the
relocation table, and only then these variables can be accessed in RUNNING and STOPPED states. The relocation table uses the following dynamic %MW areas: %MW60200 to %MW61999 for read-only variables %MW62200 to %MW63999 for read/write variables
are used in EcoStruxure Machine Expert programs according to the structure_name.component_name convention explained previously. %MW addresses from 0 to 59999 can be accessed directly. Addresses greater than this are considered out of range by EcoStruxure Machine Expert and can only be accessed through the structure_name.component_name convention.
14
EIO0000003065 12/2019
M241 System Variables
Using System Variables
Introduction This section describes the steps required to program and to use system variables in EcoStruxure Machine Expert. System variables are global in scope, and you can use them in all the Program Organization Units (POUs) of the application. System variables do not need to be declared in the Global Variable List (GVL). They are automatically declared from the controller system library.
Using System Variables in a POU EcoStruxure Machine Expert has an auto-completion feature. In a POU, start by entering the system variable structure name (PLC_R, PLC_W...) followed by a dot. The system variables appear in the Input Assistant. You can select the desired variable or enter the full name manually.
NOTE: In the example above, after you type the structure name PLC_R., EcoStruxure Machine Expert offers a pop-up menu of possible component names/variables.
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15
M241 System Variables
Example The following example shows the use of some system variables: VAR myCtr_Serial : DWORD; myCtr_ID : WORD; myCtr_FramesRx : UDINT; END_VAR
myCtr_Serial := PLC_R.i_dwSerialNumber; myCtr_ID := PLC_R.i_wVendorID; myCtr_FramesRx := SERIAL_R[0].i_udiFramesReceivedOK;
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PLC_R and PLC_W Structures
Section 1.2
PLC_R and PLC_W Structures
M241 System Variables
Overview
This section lists and describes the different system variables included in the PLC_R and PLC_W structures.
What Is in This Section? This section contains the following topics:
Topic PLC_R: Controller Read-Only System Variables PLC_W: Controller Read/Write System Variables
Page 18 23
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M241 System Variables
PLC_R: Controller Read-Only System Variables
Variable Structure This table describes the parameters of the PLC_R system variable (PLC_R_STRUCT type):
Modbus Address (1) 60000 60001
60002 60004
60006
60008 60010 60012 60013 60014 60015
Var Name i_wVendorID i_wProductID
i_dwSerialNumber i_byFirmVersion
i_byBootVersion
i_dwHardVersion i_dwChipVersion i_wStatus i_wBootProjectStatus i_wLastStopCause i_wLastApplicationError
Type
WORD
WORD
DWORD ARRAY[0..3] OF BYTE
ARRAY[0..3] OF BYTE
DWORD DWORD PLC_R_STATUS (see page 74) PLC_R_BOOT_ PROJECT_STATUS (see page 71) PLC_R_STOP_CAUSE (see page 75) PLC_R_ APPLICATION_ ERROR (see page 69)
Comment
Controller Vendor ID. 101A hex = Schneider Electric
Controller Reference ID.
NOTE: Vendor ID and
Reference ID are the components of the Target ID of the controller displayed in the communication settings view (Target ID = 101A XXXX hex).
Controller Serial Number
Controller Firmware Version [aa.bb.cc.dd]: i_byFirmVersion[0] = aa ... i_byFirmVersion[3] = dd
Controller Boot Version [aa.bb.cc.dd]: i_byBootVersion[0] = aa ... i_byBootVersion[3] = dd
Controller Hardware Version.
Controller Coprocessor Version.
State of the controller.
Returns information about the boot application stored in FLASH memory.
Cause of the last transition from RUN to another state.
Cause of the last controller exception.
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Modbus Address (1)
60016
Var Name i_lwSystemFault_1
Type LWORD
60020
i_lwSystemFault_2
LWORD
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M241 System Variables
Comment
Bit field FFFF FFFF FFFF FFFF hex indicates no error detected. A bit at low level means that an error has been detected: bit 0 = Expert I/O error
detected bit 1 = TM3 error detected bit 2 = Ethernet IF1 error
detected bit 3 = Ethernet IF2 error
detected bit 4 = Serial 1 in overcurrent
error detected bit 5 = Serial 2 error detected bit 6 = CAN 1 error detected bit 7 = Cartridge 1 error
detected bit 8 = Cartridge 2 error
detected bit 9 = TM4 error detected bit 10 = SD Card error
detected bit 11 = Firewall error detected bit 12 = DHCP server error
detected bit 13 = OPC UA server error
detected
Bit field FFFF hex indicates no error detected. If i_wIOStatus1 = PLC_R_IO_SHORTCUT_FAULT, the meaning of i_lwSystemFault_2 is: bit 0 = 0: short-circuit detected
in output group 0 (Q0...Q1) bit 1 = 0: short-circuit detected
in output group 1 (Q2...Q3) bit 2 = 0: short-circuit detected
in output group 2 (Q4...Q7) bit 3 = 0: short-circuit detected
in output group 3 (Q8...Q11) bit 4 = 0: short-circuit detected
in output group 4 (Q12...Q15)
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M241 System Variables
Modbus Address (1)
60024
Var Name i_wIOStatus1
60025
i_wIOStatus2
60026
i_wClockBatterystatus
60028
i_dwAppliSignature1
60030
i_dwAppliSignature2
60032
i_dwAppliSignature3
60034
i_dwAppliSignature4
(1) Not accessible through the application.
Type PLC_R_IO_STATUS (see page 72) PLC_R_IO_STATUS (see page 72) WORD
DWORD
DWORD
DWORD
DWORD
Comment
Embedded Expert I/O status.
TM3 I/O status.
Status of the battery of the RTC: 0 = Battery change needed 100 = Battery fully charged
Other values (1...99) represents the percentage of charge. For example, if the value is 75, it represents that the battery charge is 75%.
First DWORD of 4 DWORD signature (16 bytes total). The application signature is generated by the software during build.
Second DWORD of 4 DWORD signature (16 bytes total). The application signature is generated by the software during build.
Third DWORD of 4 DWORD signature (16 bytes total). The application signature is generated by the software during build.
Fourth DWORD of 4 DWORD signature (16 bytes total). The application signature is generated by the software during build.
n/a
i_sVendorName
n/a
i_sProductRef
n/a
i_sNodeName
STRING(31) STRING(31) STRING(99)
n/a
i_dwLastStopTime
DWORD
20
Name of the vendor: "Schneider Electric". Reference of the controller. Node name on EcoStruxure Machine Expert Network. The time of the last detected STOP in seconds beginning with January 1, 1970 at 00:00 UTC.
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M241 System Variables
n/a
i_dwLastPowerOffDate DWORD
The date and time of the last detected power off in seconds beginning with January 1, 1970 at 00:00 UTC.
NOTE: Convert this value into date and time
by using the function SysTimeRtcConvertUtcToDate. For
more information about Time and Date conversion, refer to the Systime Library Guide (see EcoStruxure Machine Expert, Getting & Setting Real Time Clock, SysTimeRtc and SysTimeCore Library Guide).
n/a
i_uiEventsCounter
UINT
Number of external events detected on inputs configured for external event detection since the last cold start. Reset by a Cold Start or by the PLC_W.q_wResetCounterEvent
command.
n/a
i_wTerminalPort
Status
PLC_R_ TERMINAL_PORT_ STATUS (see page 77)
Status of the USB Programming Port (USB Mini-B).
n/a
i_wSdCardStatus
PLC_R_SDCARD_ STATUS (see page 73)
Status of the SD card.
n/a
i_wUsrFreeFileHdl
WORD
Number of available File Handles. A File Handle is the resource allocated by the system when you open a file.
n/a
i_udiUsrFsTotalBytes UDINT
User FileSystem total memory size (in bytes). It is the size of the flash memory for the directory "/usr/".
n/a
i_udiUsrFsFreeBytes UDINT
User FileSystem free memory size (in bytes).
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M241 System Variables
n/a
i_uiTM3BusState
PLC_R_TM3_BUS_ STATE (see page 78)
TM3 bus state. i_uiTM3BusState can have the following
values: 1: TM3_CONF_ERROR
Configuration mismatch between physical configuration and EcoStruxure Machine Expert configuration. 3: TM3_OK
Physical configuration matches EcoStruxure Machine Expert configuration. 4: TM3_POWER_SUPPLY_ERROR
TM3 bus is not powered (for example when the Logic Controller is powered by USB).
n/a
i_ExpertIO_RunStop_ BYTE
Input
Run/Stop input location is: 16...FF hex if the expert I/O is not
configured 0 for %IX0.0 1 for %IX0.1 2 for %IX0.2 ...and so on.
n/a
i_x10msClk
BOOL
TimeBase bit of 10 ms. This variable is toggling On/Off with period = 10 ms. The value toggles when the logic controller is in Stop and in Run state.
n/a
i_x100msClk
BOOL
TimeBase bit of 100 ms. This variable is toggling On/Off with period = 100 ms. The value toggles when the logic controller is in Stop and in Run state.
n/a
i_x1sClk
BOOL
TimeBase bit of 1 s. This variable is toggling On/Off with period = 1 s. The value toggles when the logic controller is in Stop and in Run state.
NOTE: n/a means that there is no pre-defined Modbus address mapping for this system variable.
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M241 System Variables
PLC_W: Controller Read/Write System Variables
Variable Structure This table describes the parameters of the PLC_W system variable (PLC_W_STRUCT type):
%MW Var Name
n/a
q_wResetCounterEvent
n/a
q_uiOpenPLCControl
n/a
q_wPLCControl
Type WORD
UINT
PLC_W_COMMAND (see page 79)
Comment
Transition from 0 to 1 resets the events counter (PLC_R.i_uiEventsCounter). To reset the counter again, it is necessary to write 0 to this variable before another transition from 0 to 1 can take place.
When Value passes from 0 to 6699, the command previously written in the following PLC_W.q_wPLCControl is executed.
Controller RUN / STOP command executed when the system variable PLC_W.q_uiOpenPLCControl value passes from 0 to 6699.
NOTE: n/a means that there is no pre-defined %MW mapping for this system variable.
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M241 System Variables
SERIAL_R and SERIAL_W Structures
Section 1.3
SERIAL_R and SERIAL_W Structures
Overview
This section lists and describes the different system variables included in the SERIAL_R and SERIAL_W structures.
What Is in This Section? This section contains the following topics:
Topic SERIAL_R[0...1]: Serial Line Read-Only System Variables SERIAL_W[0...1]: Serial Line Read/Write System Variables
Page 25 26
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M241 System Variables
SERIAL_R[0...1]: Serial Line Read-Only System Variables
Introduction
SERIAL_R is an array of 2 SERIAL_R_STRUCT type. Each element of the array returns diagnostic system variables for the corresponding serial line.
For the M241 Logic Controller: Serial_R[0] refers to the serial line 1 Serial_R[1] refers to the serial line 2
Variable Structure This table describes the parameters of the SERIAL_R[0...1] system variables:
%MW Var Name
Type
Comment
Serial Line
n/a
i_udiFramesTransmittedOK UDINT
Number of frames successfully transmitted.
n/a
i_udiFramesReceivedOK
UDINT
Number of frames received without any errors detected.
n/a
i_udiRX_MessagesError
UDINT
Number of frames received with errors detected (checksum, parity).
Modbus Specific
n/a
i_uiSlaveExceptionCount
UINT
Number of Modbus exception responses returned by the logic controller.
n/a
i_udiSlaveMsgCount
UINT
Number of messages received from the Master and addressed to the logic controller.
n/a
i_uiSlaveNoRespCount
UINT
Number of Modbus broadcast requests received by the logic controller.
n/a
i_uiSlaveNakCount
UINT
Not used
n/a
i_uiSlaveBusyCount
UINT
Not used
n/a
i_uiCharOverrunCount
UINT
Number of character overruns.
n/a means that there is no predefined %MW mapping for this system variable. Not used means that the variable is not maintained by the system, and that if the value of the variable is nonzero, it should be considered extraneous.
The SERIAL_R counters are reset on: Download. Controller reset. SERIAL_W[x].q_wResetCounter command. Reset command by Modbus request function code number 8.
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M241 System Variables
SERIAL_W[0...1]: Serial Line Read/Write System Variables
Introduction
SERIAL_W is an array of 2 SERIAL_W_STRUCT type. Each element of the array resets the SERIAL_R system variables for the corresponding serial line to be reset.
For the M241 Logic Controller: Serial_W[0] refers to the serial line 1 Serial_W[1] refers to the serial line 2
Variable Structure This table describes the parameters of the SERIAL_W[0...1] system variable:
%MW n/a
Var Name q_wResetCounter
Type WORD
Comment
Transition from 0 to 1 resets all SERIAL_R[0...1] counters. To reset the counters again, it is necessary to write 0 to this variable before another transition from 0 to 1 can take place.
NOTE: n/a means that there is no predefined %MW mapping for this system variable.
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ETH_R and ETH_W Structures
Section 1.4
ETH_R and ETH_W Structures
M241 System Variables
Overview
This section lists and describes the different system variables included in the ETH_R and ETH_W structures.
What Is in This Section? This section contains the following topics:
Topic ETH_R: Ethernet Port Read-Only System Variables ETH_W: Ethernet Port Read/Write System Variables
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M241 System Variables
ETH_R: Ethernet Port Read-Only System Variables
Variable Structure This table describes the parameters of the ETH_R system variable (ETH_R_STRUCT type):
%MW Var Name
Type
Comment
60050 i_byIPAddress
ARRAY[0..3] OF BYTE
IP address [aaa.bbb.ccc.ddd]: i_byIPAddress[0] = aaa ... i_byIPAddress[3] = ddd
60052 i_bySubNetMask
ARRAY[0..3] OF BYTE
Subnet Mask [aaa.bbb.ccc.ddd]: i_bySub-netMask[0] = aaa ... i_bySub-netMask[3] = ddd
60054 i_byGateway
ARRAY[0..3] OF BYTE
Gateway address [aaa.bbb.ccc.ddd]: i_byGateway[0] = aaa ... i_byGateway[3] = ddd
60056 i_byMACAddress
ARRAY[0..5] OF BYTE
MAC address [aa.bb.cc.dd.ee.ff]: i_byMACAddress[0] = aa ... i_byMACAddress[5] = ff
60059 i_sDeviceName
STRING(15)
Name used to get IP address from server.
n/a
i_wIpMode
ETH_R_IP_MODE (see page 86)
Method used to obtain an IP address.
n/a
i_byFDRServerIPAddress
ARRAY[0..3] OF BYTE The IP address
[aaa.bbb.ccc.ddd] of the
DHCP or BootP server:
i_byFDRServerIPAddress[0] =
aaa
...
i_byFDRServerIPAddress[3] =
ddd
Equals 0.0.0.0 if Stored IP or Default IP used.
n/a
i_udiOpenTcpConnections UDINT
Number of open TCP connections.
n/a means that there is no predefined %MW mapping for this system variable.
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M241 System Variables
%MW Var Name
Type
Comment
n/a
i_udiFramesTransmittedOK UDINT
Number of frames successfully transmitted. Reset at Power ON or with reset command ETH_W.q_wResetCounter.
n/a
i_udiFramedReceivedOK
UDINT
Number of frames successfully received. Reset at Power ON or with reset command ETH_W.q_wResetCounter.
n/a
i_udiTransmitBufferErrors UDINT
Numbers of frames transmitted with detected errors. Reset at Power ON or with reset command ETH_W.q_wResetCounter.
n/a
i_udiReceiveBufferErrors UDINT
Numbers of frames received with detected errors. Reset at Power ON or with reset command ETH_W.q_wResetCounter.
n/a
i_wFrameSendingProtocol ETH_R_FRAME_
PROTOCOL
(see page 85)
Ethernet protocol configured for frames sending (IEEE 802.3 or Ethernet II).
n/a
i_wPortALinkStatus
ETH_R_PORT_LINK_ STATUS (see page 89)
Link of the Ethernet Port (0 = No Link, 1 = Link connected to another Ethernet device).
n/a
i_wPortASpeed
ETH_R_PORT_SPEED (see page 90)
Ethernet Port network speed (10Mb/s, 100Mb/s).
n/a
i_wPortADuplexStatus
ETH_R_PORT_DUPLEX_ Ethernet Port duplex status (0 = STATUS (see page 87) Half or 1 = Full duplex).
n/a
i_udiPortACollisions
UDINT
Number of frames involved in one or more collisions and subsequently transmitted successfully. Reset at Power ON or with reset command ETH_W.q_wResetCounter.
n/a
i_byIPAddress_If2
ARRAY[0..3] OF BYTE IP address of the TM4 expansion module.
n/a
i_bySubNetMask_If2
ARRAY[0..3] OF BYTE Subnet Mask of the TM4 expansion module.
n/a
i_byGateway_If2
ARRAY[0..3] OF BYTE Gateway address of the TM4 expansion module.
n/a
i_byMACAddress_If2
ARRAY[0..5] OF BYTE MAC address of theTM4 expansion module.
n/a means that there is no predefined %MW mapping for this system variable.
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M241 System Variables
%MW Var Name
Type
Comment
n/a
i_sDeviceName_If2
STRING(15)
Name used to get IP address of the TM4 expansion module.
n/a
i_wIpMode_If2
ETH_R_IP_MODE (see page 86)
Method used to obtain the IP address of the TM4 expansion module.
n/a
i_wPortALinkStatus_If2
ETH_R_PORT_LINK_
Link of the TM4 expansion module
STATUS (see page 89) Ethernet Port:
0: No link
1: Link connected to another
Ethernet device
n/a
i_wPortASpeed_If2
ETH_R_PORT_SPEED (see page 90)
Ethernet Port network speed of the TM4 expansion module (10Mb/s or 100Mb/s).
n/a
i_wPortADuplexStatus_If2 ETH_R_PORT_DUPLEX_ Ethernet Port duplex status of the
STATUS (see page 87) TM4 expansion module:
0: Half
1: Full duplex
n/a
i_wPortAIpStatus_If2
ETH_R_PORT_IP_ STATUS (see page 88)
Ethernet TCP/IP port stack status of the TM4 expansion module.
Modbus TCP/IP Specific
n/a
i_udiModbusMessage
Transmitted
UDINT
Number of Modbus messages transmitted. Reset at Power ON or with reset command ETH_W.q_wResetCounter.
n/a
i_udiModbusMessage
Received
UDINT
Number of Modbus messages received. Reset at Power ON or with reset command ETH_W.q_wResetCounter.
n/a
i_udiModbusErrorMessage UDINT
Modbus detected error messages transmitted and received. Reset at Power ON or with reset command ETH_W.q_wResetCounter.
n/a means that there is no predefined %MW mapping for this system variable.
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M241 System Variables
%MW Var Name
Type
Comment
EtherNet/IP Specific
n/a
i_udiETHIP_IOMessaging
Transmitted
UDINT
EtherNet/IP Class 1 frames transmitted. Reset at Power ON or with reset command ETH_W.q_wResetCounter.
n/a
i_udiETHIP_IOMessagingReceived UDINT
EtherNet/IP Class 1 frames received. Reset at Power ON or with reset command ETH_W.q_wResetCounter.
n/a
i_udiUCMM_Request
UDINT
EtherNet/IP Unconnected Messages received. Reset at Power ON or with reset command ETH_W.q_wResetCounter.
n/a
i_udiUCMM_Error
UDINT
EtherNet/IP invalid Unconnected Messages received. Reset at Power ON or with reset command ETH_W.q_wResetCounter.
n/a
i_udiClass3_Request
UDINT
EtherNet/IP Class 3 requests received. Reset at Power ON or with reset command ETH_W.q_wResetCounter.
n/a
i_udiClass3_Error
UDINT
EtherNet/IP invalid class 3 requests received. Reset at Power ON or with reset command ETH_W.q_wResetCounter.
n/a
i_uiAssemblyInstanceInput
UINT
Input Assembly Instance number. See the appropriate Programming Guide of your controller for more information.
n/a
i_uiAssemblyInstanceInputSize UINT
Input Assembly Instance size. See the appropriate Programming Guide of your controller for more information.
n/a
i_uiAssemblyInstanceOutput
UINT
Output Assembly Instance number. See the appropriate Programming Guide of your controller for more information.
n/a means that there is no predefined %MW mapping for this system variable. Not used means that the variable is not maintained by the system, and that if the value of the variable is nonzero, it should be considered extraneous.
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M241 System Variables
%MW Var Name
Type
Comment
n/a
i_uiAssemblyInstanceOutputSize UINT
Output Assembly Instance size. See the appropriate Programming Guide of your controller for more information.
n/a
i_uiETHIP_ConnectionTimeouts
UINT
Number of connection timeouts. Reset at Power ON or with reset command ETH_W.q_wResetCounter.
n/a
i_ucEipRunIdle
ETH_R_
Run (value = 1)/Idle(value = 0) flag for
RUN_IDLE EtherNet/IP class 1 connection.
(see page 91)
n/a
i_byMasterIpTimeouts
BYTE
Ethernet Modbus TCP Master timeout events counter. Reset at Power ON or with reset command ETH_W.q_wResetCounter.
n/a
i_byMasterIpLost
BYTE
Ethernet Modbus TCP Master link status: 0 = link OK, 1 = link lost.
n/a
i_wPortAIpStatus
ETH_R_
Ethernet TCP/IP port stack status.
PORT_IP_
STATUS
(see page 88)
n/a means that there is no predefined %MW mapping for this system variable. Not used means that the variable is not maintained by the system, and that if the value of the variable is nonzero, it should be considered extraneous.
NOTE: n/a means that there is no predefined %MW mapping for this system variable.
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ETH_W: Ethernet Port Read/Write System Variables
Variable Structure This table describes the parameters of the ETH_W system variable (ETH_W_STRUCT type):
%MW n/a
Var Name q_wResetCounter
Type WORD
Comment
Transition from 0 to 1 resets all ETH_R counters. To reset again, it is necessary to write 0 to this variable before another transition from 0 to 1 can take place.
NOTE: n/a means that there is no predefined %MW mapping for this system variable.
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M241 System Variables
TM3_MODULE_R Structure
Section 1.5
TM3_MODULE_R Structure
TM3_MODULE_R[0...13]: TM3 Modules Read-Only System Variables
Introduction
The TM3_MODULE_R is an array of 14 TM3_MODULE_R_STRUCT type. Each element of the array returns diagnostic system variables for the corresponding TM3 expansion module.
For the Modicon M241 Logic Controller: TM3_MODULE_R[0] refers to the TM3 expansion module 0 ... TM3_MODULE_R[13] refers to the TM3 expansion module 13
Variable Structure The following table describes the parameters of the TM3_MODULE_R[0...13] system variable:
%MW n/a n/a
Var Name i_wProductID i_wModuleState
Type WORD
TM3_MODULE_STATE (see page 95)
Comment TM3 expansion module ID. Describes the state of the TM3 module.
NOTE: n/a means that there is no predefined %MW mapping for this system variable.
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TM3_BUS_W Structure
Section 1.6
TM3_BUS_W Structure
M241 System Variables
TM3_BUS_W: TM3 Bus System Variables
Variable Structure
This table describes the parameters of the TM3_BUS_W system variable (TM3_BUS_W_STRUCT type):
Var Name
Type
q_wIOBusErrPassiv TM3_BUS_W_IOBUSERRMOD
q_wIOBusRestart TM3_BUS_W_IOBUSINIT
Comment
When set to ERR_ACTIVE (the default), bus errors detected on TM3 expansion modules stop all I/O exchanges. When set to ERR_PASSIVE, passive I/O error handing is used: the controller attempts to continue data bus exchanges.
When set to 1, restarts the I/O expansion bus. This is only necessary when q_wIOBusErrPassiv is set to ERR_ACTIVE and at least one bit of TM3_MODULE_R[i] .i_wModuleState is set to TM3_BUS_ERROR.
For more information, refer to I/O Configuration General Description (see Modicon M241 Logic Controller, Programming Guide).
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M241 System Variables
PROFIBUS_R Structure
Section 1.7
PROFIBUS_R Structure
PROFIBUS_R: PROFIBUS Read-Only System Variables
Variable Structure
This table describes the parameters of the PROFIBUS_R system variable (PROFIBUS_R_STRUCT type):
%MW n/a n/a n/a
Var Name i_wPNOIdentifier i_wBusAdr i_CommState
n/a
i_CommError
n/a
i_ErrorCount
Type WORD UINT UDINT
UDINT UDINT
Comment
Slave identification code.
PROFIBUS slave address.
Value representing the state of the PROFIBUS module: 0x00: Unknown 0x01: Not configured 0x02: Stop 0x03: Idle 0x04: Operate
Communication error code.
Communication error counter.
NOTE: n/a means that there is no predefined %MW mapping for this system variable.
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CART_R Structure
Section 1.8
CART_R Structure
M241 System Variables
CART_R_STRUCT: Cartridge Read-Only System Variables
Variable Structure The following table describes the parameters of the CART_R_STRUCT system variable:
%MW n/a
Var Name i_uiModuleId
n/a
i_uifirmwareVersion
n/a
i_udiCartState
Type
CART_R_MODULE_ID (see page 99) UINT
CART_R_STATE (see page 100)
Comment Module ID
Firmware version Cartridge state
NOTE: n/a means that there is no predefined %MW mapping for this system variable.
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M241 System Variables
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Modicon M241 Logic Controller M241, System Functions EIO0000003065 12/2019
M241 System Functions
Chapter 2
M241 System Functions
Overview This chapter describes the system functions included in the M241 PLCSystem library.
What Is in This Chapter? This chapter contains the following sections:
Section 2.1
M241 Read Functions
2.2
M241 Write Functions
2.3
M241 User Functions
2.4
M241 Disk Space Functions
2.5
TM3 Read Functions
Topic
Page 40 47 51 58 62
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M241, System Functions
M241 Read Functions
Section 2.1
M241 Read Functions
Overview This section describes the read functions included in the M241 PLCSystem library.
What Is in This Section? This section contains the following topics:
Topic GetImmediateFastInput: Read Input of an Embedded Expert I/O GetRtc: Get Real Time Clock IsFirstMastColdCycle: Indicate if this Cycle is the First MAST Cold Start Cycle IsFirstMastCycle: Indicate if this Cycle is the First MAST Cycle IsFirstMastWarmCycle: Indicate if this Cycle is the First MAST Warm Start Cycle
Page 41 42 43 44 46
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M241, System Functions
GetImmediateFastInput: Read Input of an Embedded Expert I/O
Function Description This function returns the current physical value of the input, which may be different from the current logical value of that input. The value is read immediately from the hardware at function call time. Only I0 to I7 can be accessed through this function.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 107).
I/O Variable Description The following table describes the input variables:
Input Block Input
Type INT INT
Comment Not used. Input Index to read from 0...7.
The following table describes the output variable:
Output
Type
GetImmediateFastInput BOOL
Comment Value of the input <Input> � FALSE/TRUE.
The following table describes the input/output variables:
Input/Output Error
ErrID
Type
Comment
BOOL
FALSE= operation is successful. TRUE= operation error, the function returns an invalid value.
IMMEDIATE_ERR_TYPE Operation error code when Error is TRUE. (see page 102)
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M241, System Functions
GetRtc: Get Real Time Clock
Function Description This function returns RTC time in seconds in UNIX format (time expired in seconds since January 1, 1970 at 00:00 UTC).
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 107).
I/O Variable Description The following table describes the I/O variable:
Output GetRtc
Type DINT
Comment RTC in seconds in UNIX format.
Example The following example describes how to get the RTC value: VAR MyRTC : DINT := 0; END_VAR
MyRTC := GetRtc();
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M241, System Functions
IsFirstMastColdCycle: Indicate if this Cycle is the First MAST Cold Start Cycle
Function Description This function returns TRUE during the first MAST cycle after a cold start (first cycle after download or reset cold).
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 107).
I/O Variable Description The table describes the output variable:
Output IsFirstMastColdCycle
Type BOOL
Comment
TRUE during the first MAST task cycle after a cold start.
Example Refer to the function IsFirstMastCycle (see page 44).
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M241, System Functions
IsFirstMastCycle: Indicate if this Cycle is the First MAST Cycle
Function Description This function returns TRUE during the first MAST cycle after a start.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 107).
I/O Variable Description
Output IsFirstMastCycle
Type BOOL
Comment
TRUE during the first MAST task cycle after a start.
Example This example describes the three functions IsFirstMastCycle, IsFirstMastColdCycle and IsFirstMastWarmCycle used together.
Use this example in MAST task. Otherwise, it may run several times or possibly never (an additional task might be called several times or not called during 1 MAST task cycle): VAR MyIsFirstMastCycle : BOOL; MyIsFirstMastWarmCycle : BOOL; MyIsFirstMastColdCycle : BOOL; END_VAR
MyIsFirstMastWarmCycle := IsFirstMastWarmCycle(); MyIsFirstMastColdCycle := IsFirstMastColdCycle(); MyIsFirstMastCycle := IsFirstMastCycle();
IF (MyIsFirstMastWarmCycle) THEN
(*This is the first Mast Cycle after a Warm Start: all variables are set to their initialization values except the Retain variables*)
(*=> initialize the needed variables so that your application runs as expected in this case*)
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M241, System Functions
END_IF; IF (MyIsFirstMastColdCycle) THEN (*This is the first Mast Cycle after a Cold Start: all variables are set to their initialization values including the Retain Variables*) (*=> initialize the needed variables so that your application runs as expected in this case*) END_IF; IF (MyIsFirstMastCycle) THEN (*This is the first Mast Cycle after a Start, i.e. after a Warm or Cold Start as well as STOP/RUN commands*) (*=> initialize the needed variables so that your application runs as expected in this case*) END_IF;
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M241, System Functions
IsFirstMastWarmCycle: Indicate if this Cycle is the First MAST Warm Start Cycle
Function Description This function returns TRUE during the first MAST cycle after a warm start.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 107).
I/O Variable Description This table describes the output variable:
Output IsFirstMastWarmCycle
Type BOOL
Comment
TRUE during the first MAST task cycle after a warm start.
Example Refer to the function IsFirstMastCycle (see page 44).
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M241 Write Functions
Section 2.2
M241 Write Functions
M241, System Functions
Overview This section describes the write functions included in the M241 PLCSystem library.
What Is in This Section? This section contains the following topics:
Topic PhysicalWriteFastOutputs: Write Fast Output of an Embedded Expert I/O SetRTCDrift: Set Compensation Value to the RTC
Page 48 49
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M241, System Functions
PhysicalWriteFastOutputs: Write Fast Output of an Embedded Expert I/O
Function Description This function writes a physical state to the Q0 to Q3 outputs at function call time.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 107).
I/O Variable Description The following table describes the input variables:
Input Q0Value Q1Value Q2Value Q3Value
Type BOOL BOOL BOOL BOOL
Comment Requested value for the output 0. Requested value for the output 1. Requested value for the output 2. Requested value for the output 3.
The following table describes the output variable:
Output
Type
PhysicalWriteFastOutputs WORD
Comment Output value of the function.
NOTE: Only the first 4 bits of the output value are significant and used as a bit field to indicate if the output is written. If the bit corresponding to the output is 1, the output is written successfully. If the bit corresponding to the output is 0, the output is not written because it is already used by an expert function. If the bit corresponding to the output is 1111 bin, all of the 4 outputs are written correctly. If the bit corresponding to the output is 1110 bin, Q0 is not written because it is used by a frequency generator.
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M241, System Functions
SetRTCDrift: Set Compensation Value to the RTC
Function Description This function accelerates or slows down the frequency of the RTC to give control to the application for RTC compensation, depending on the operating environment (temperature, ...). The compensation value is given in seconds per week. It can be positive (accelerate) or negative (slow down). NOTE: The SetRTCDrift function must be called only once. Each new call replaces the compensation value by the new one. The value is kept in the controller hardware while the RTC is powered by the main supply or by the battery. If both battery and power supply are removed, the RTC compensation value is not available.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 107).
I/O Variables Description This table describes the input parameters:
Inputs RtcDrift
Type SINT(-36...+73)
Comment Correction in seconds per week (-36 ... +73).
NOTE: The parameters Day, Hour, and Minute are used only to ensure backwards compatibility.
NOTE: If the value entered for RtcDrift exceeds the limit value, the controller firmware sets the value to its maximum value. This table describes the output variable:
Output SetRTCDrift
Type
RTCSETDRIFT_ERROR (see page 103)
Comment
Returns RTC_OK (00 hex) if command is correct otherwise returns the ID code of the detected error.
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M241, System Functions
Example In this example, the function is called only once during the first MAST task cycle. It accelerates the RTC by 4 seconds a week (18 seconds a month). VAR MyRTCDrift : SINT (-36...+73) := 0; MyDay : DAY_OF_WEEK; MyHour : HOUR; MyMinute : MINUTE; END_VAR
IF IsFirstMastCycle() THEN MyRTCDrift := 4; MyDay := 0; MyHour := 0; MyMinute := 0; SetRTCDrift(MyRTCDrift, MyDay, MyHour, MyMinute);
END_IF
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M241 User Functions
Section 2.3
M241 User Functions
M241, System Functions
Overview
This section describes the FB_Control_Clone, DataFileCopy and ExecuteScript functions included in the M241 PLCSystem library.
What Is in This Section? This section contains the following topics:
Topic FB_ControlClone: Clone the Controller DataFileCopy: Copy File Commands ExecuteScript: Run Script Commands
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M241, System Functions
FB_ControlClone: Clone the Controller
Function Block Description
Cloning is possible by SD card or Controller Assistant. When user rights are enabled, the cloning function is not allowed, and the function block enables cloning functionality one time on the next controller power on.
NOTE: You can choose whether user rights are included in the clone on the Clone Management page of the Web server (see Modicon M241 Logic Controller, Programming Guide).
This table shows how to set the function block and the user rights:
Function block setting xEnable = 1 xEnable = 0
When user rights enabled Cloning is allowed Cloning is not allowed
When user rights disabled Cloning is still allowed Cloning is not allowed
Read from controller with Controller Assistant is also affected by FB_ControlClone.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 107).
I/O Variable Description The following table describes the input variables:
Input xEnable
Type BOOL
Comment
If TRUE, enables the cloning functionality one time. If FALSE, disables the cloning functionality.
The following table describes the output variables:
Output xError
Type BOOL
Comment
TRUE indicates that an error is detected and the function block aborted the action.
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M241, System Functions
DataFileCopy: Copy File Commands
Function Block Description This function block copies memory data to a file and vice versa. The file is located either within the internal file system or an external file system (SD card). The DataFileCopy function block can: Read data from a formatted file or Copy data from memory to a formatted file. For further information, refer to Flash Memory Organization (see Modicon M241 Logic Controller, Programming Guide).
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 107).
I/O Variable Description This table describes the input variables:
Input xExecute
Type BOOL
sFileName STRING
xRead
BOOL
Comment
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when any ongoing execution terminates.
NOTE: With the falling edge, the function continues until it concludes its
execution and updates its outputs. The outputs are retained for one cycle and reset.
File name without extension (the extension .DTA is automatically added). Use only a...z, A...Z, 0...9 alphanumeric characters.
TRUE: copy data from the file identified by sFileName to the internal memory of the controller. FALSE: copy data from the internal memory of the controller to the file identified by sFileName.
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M241, System Functions
Input xSecure
Type BOOL
iLocation INT
uiSize
UINT
dwAdd
DWORD
Comment
TRUE: The MAC address is always stored in the file. Only a controller with the same MAC address can read from the file. FALSE: Another controller with the same type of memory can read from the file.
0: the file location is /usr/DTA in internal file system. 1: the file location is /usr/DTA in external file system (SD card).
NOTE: If the file does not already exist in the directory, the file is created.
Indicates the size in bytes. Maximum is 65534 bytes. Only use addresses of variables conforming to IEC 61131-3 (variables, arrays, structures), for example: Variable : int;
uiSize := SIZEOF (Variable);
Indicates the address in the memory that the function will read from or write to. Only use addresses of variables conforming to IEC 61131-3 (variables, arrays, structures), for example: Variable : int;
dwAdd := ADR (Variable);
WARNING
UNINTENDED EQUIPMENT OPERATION
Verify that the memory location is of the correct size and the file is of the correct type before copying the file to memory.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
This table describes the output variables:
Output xDone xBusy xError
Type BOOL BOOL BOOL
eError
DataFileCopyError (see page 81)
Comment TRUE = indicates that the action is successfully completed. TRUE = indicates that the function block is running. TRUE = indicates that an error is detected and the function block aborted the action. Indicates the type of the data file copy detected error.
NOTE: If you write to memory variable within the area of the file write, a CRC integrity error results.
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Example
This example describes how to copy file commands:
VAR LocalArray : ARRAY [0..29] OF BYTE; myFileName: STRING := 'exportfile'; EXEC_FLAG: BOOL; DataFileCopy: DataFileCopy; END_VAR DataFileCopy( xExecute:= EXEC_FLAG, sFileName:= myFileName, xRead:= FALSE, xSecure:= FALSE, iLocation:= DFCL_INTERNAL, uiSize:= SIZEOF(LocalArray), dwAdd:= ADR(LocalArray), xDone=> , xBusy=> , xError=> , eError=> );
M241, System Functions
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M241, System Functions
ExecuteScript: Run Script Commands
Function Block Description This function block can run the following SD card script commands: Download Upload SetNodeName Delete Reboot ChangeModbusPort For information on the required script file format, refer to Script Files for SD Cards (see Modicon M241 Logic Controller, Programming Guide).
Graphical Representation
IL and ST Representation To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 107).
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I/O Variable Description This table describes the input variables:
Input xExecute
Type BOOL
sCmd
STRING
Comment
On detection of a rising edge, starts the function block execution. On detection of a falling edge, resets the outputs of the function block when any on-going execution terminates.
NOTE: With the falling edge, the function continues until it concludes its
execution and updates its outputs. The outputs are retained for one cycle and reset.
SD card script command syntax. Simultaneous command executions are not allowed: if a command is being executed from another function block or from an SD card script then the function block queues the command and does not execute it immediately.
NOTE: An SD card script executed from an SD card is considered as
being executed until the SD card has been removed.
This table describes the output variables:
Output xDone xBusy xError
eError
Type
Comment
BOOL
TRUE indicates that the action is successfully completed.
BOOL
TRUE indicates that the function block is running.
BOOL
TRUE indicates error detection; the function block aborts the action.
ExecuteScriptError Indicates the type of the execute script detected error. (see page 83)
Example This example describes how to execute an Upload script command:
VAR EXEC_FLAG: BOOL; ExecuteScript: ExecuteScript; END_VAR ExecuteScript( xExecute:= EXEC_FLAG, sCmd:= 'Upload "/usr/Syslog/*"', xDone=> , xBusy=> , xError=> , eError=> );
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M241 Disk Space Functions
Section 2.4
M241 Disk Space Functions
Overview This section describes the disk space functions included in the SystemInterface library.
What Is in This Section? This section contains the following topics:
Topic FC_GetFreeDiskSpace: Gets the Free Memory Space FC_GetLabel: Gets the Label of Memory FC_GetTotalDiskSpace: Gets the Size of Memory
Page 59 60 61
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M241, System Functions
FC_GetFreeDiskSpace: Gets the Free Memory Space
Function Description This function retrieves the amount of free memory space of a memory medium (flash disk, RAM disk, SD card) in bytes. The name of the memory medium is transferred: Flash disk = "ide0:" RAM disk = "ram0:" SD card = "sd0:" The free memory space of a remote device cannot be accessed. If a remote device is specified as parameter, then the function returns "-1".
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 107).
I/O Variable Description This table describes the input variables:
Input i_sVolumeName
Data type STRING[80]
iq_uliFreeDiskSpace
ULINT
Description
Name of the device whose free memory space must be accessed
Free memory space in bytes
This table describes the output variables:
Output FC_GetFreeDiskSpace
Data type DINT
Description
0: The amount of free memory space was retrieved successfully -1: Error when attempting to access the amount of free memory. For example, an invalid device or remote device was selected -318: Invalid parameter (i_sVolumeName)
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FC_GetLabel: Gets the Label of Memory
Function Description This function retrieves the label of a memory medium. If a device has no label, then an empty string is returned.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 107).
I/O Variable Description This table describes the input variables:
Input i_sVolumeName iq_sLabel
Data type STRING[80] STRING[11]
Description Name of the device whose label must be accessed Label of the device
This table describes the output variables:
Output FC_GetLabel
Data type DINT
Description
0: The label was retrieved successfully -1: Error when accessing the label -318: Invalid parameter
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M241, System Functions
FC_GetTotalDiskSpace: Gets the Size of Memory
Function Description This function retrieves the size of a memory medium (flash disk, RAM disk, SD card) in bytes. The name of the memory medium is transferred: Flash disk = "ide0:" RAM disk = "ram0:" SD card = "sd0:" The size of a remote device cannot be accessed. If a remote device is specified as parameter, then the function returns "-1".
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 107).
I/O Variable Description This table describes the input variables:
Input i_sVolumeName
Data type STRING[80]
iq_uliTotalDiskSpace ULINT
Description
Name of the device whose memory size must be accessed
Size of the memory medium in byte
This table describes the output variables:
Output FC_GetTotalDiskSpace
Data type DINT
Description
0: Size was retrieved successfully -1: Error when reading the size -318: At least one of the parameters is invalid
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TM3 Read Functions
Section 2.5
TM3 Read Functions
Overview This section describes the TM3 read functions included in the M241 PLCSystem library.
What Is in This Section? This section contains the following topics:
Topic TM3_GetModuleBusStatus: Get TM3 Module Bus Status TM3_GetModuleFWVersion: Get TM3 Module Firmware Version TM3_GetModuleInternalStatus: Get TM3 Module Internal Status
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M241, System Functions
TM3_GetModuleBusStatus: Get TM3 Module Bus Status
Function Description This function returns the bus status of the module. The index of the module is given as an input parameter.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 107).
I/O Variable Description The following table describes the input variable:
Input ModuleIndex
Type BYTE
Comment
Index of the expansion module (0 for the module closest to the controller, 1 for the second closest, and so on).
The following table describes the output variable:
Output
Type
TM3_GetModuleBusStatus TM3_ERR_COD E (see page 93)
Comment
Returns TM3_NO_ERR (00 hex) if command is correct otherwise returns the ID code of the detected error.
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TM3_GetModuleFWVersion: Get TM3 Module Firmware Version
Function Description This function returns the firmware version of a specified TM3 module.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 107).
I/O Variable Description The following table describes the input variables:
Input ModuleIndex
Type BYTE
Comment
Index of the module (0 for the first expansion, 1 for the second, and so on).
The following table describes the output variable:
Output TM3_GetModuleFWVersion
Type UINT
Comment
Returns the firmware version of the module, or FFFF hex if the information cannot be read. For example, 001A hex indicates firmware version 26.
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M241, System Functions
TM3_GetModuleInternalStatus: Get TM3 Module Internal Status
Function Description This function fills the pStatusBuffer with the status table of the module ModuleIndex.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 107).
I/O Variable Description
WARNING
UNINTENDED EQUIPMENT OPERATION Ensure that pStatusBuffer is sufficiently allocated for the number of bytes to be read. Failure to follow these instructions can result in death, serious injury, or equipment damage.
The following table describes the input variables:
Input ModuleIndex
StatusOffset StatusSize pStatusBuffer
Type BYTE
BYTE BYTE POINTER TO BYTE
Comment
Index of the expansion module (0 for the module closest to the controller, 1 for the second closest, and so on)
Offset of the first status to be read in the status table.
Number of bytes to be read in the status table.
Buffer containing the read status table.
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The following table describes the output variable:
Output TM3_GetModuleInternalStatus
Type
TM3_ERR_CODE (see page 93)
Comment
Returns TM3_NO_ERR (00 hex) if command is correct otherwise returns the ID code of the error.
Example The following example describes how to get the module internal status: VAR AMM3HT_Channel1_Input_Status: BYTE; END_VAR
TM3_GetModuleInternalStatus(0, 1, 1, ADR(AMM3HT_Channel1_Input_Status));
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Modicon M241 Logic Controller M241 Library Data Types EIO0000003065 12/2019
M241 Library Data Types
Chapter 3
M241 Library Data Types
Overview
This chapter describes the data types of the M241 PLCSystem library.
There are 2 kinds of data types available: System variable data types are used by the system variables (see page 11) of the M241
PLCSystem Library (PLC_R, PLC_W,...). System function data types are used by the read/write system functions (see page 39) of the
M241 PLCSystem Library.
What Is in This Chapter? This chapter contains the following sections:
Section 3.1 3.2 3.3 3.4 3.5 3.6 3.7
Topic PLC_RW System Variables Data Types DataFileCopy System Variables Data Types ExecScript System Variables Data Types ETH_RW System Variables Data Types TM3_MODULE_RW System Variables Data Types Cartridge System Variables Data Types System Function Data Types
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M241 Library Data Types
PLC_RW System Variables Data Types
Section 3.1
PLC_RW System Variables Data Types
Overview
This section lists and describes the system variable data types included in the PLC_R and PLC_W structures.
What Is in This Section? This section contains the following topics:
Topic PLC_R_APPLICATION_ERROR: Detected Application Error Status Codes PLC_R_BOOT_PROJECT_STATUS: Boot Project Status Codes PLC_R_IO_STATUS: I/O Status Codes PLC_R_SDCARD_STATUS: SD Card Slot Status Codes PLC_R_STATUS: Controller Status Codes PLC_R_STOP_CAUSE: From RUN State to Other State Transition Cause Codes PLC_R_TERMINAL_PORT_STATUS: Programming Port Connection Status Codes PLC_R_TM3_BUS_STATE: TM3 Bus Status Codes PLC_W_COMMAND: Control Command Codes
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M241 Library Data Types
PLC_R_APPLICATION_ERROR: Detected Application Error Status Codes
Enumerated Type Description The PLC_R_APPLICATION_ERROR enumeration data type contains the following values:
Enumerator PLC_R_APP_ERR_UNKNOWN PLC_R_APP_ERR_NOEXCEPTION PLC_R_APP_ERR_WATCHDOG
PLC_R_APP_ERR_ HARDWAREWATCHDOG
PLC_R_APP_ERR_IO_CONFIG_ ERROR
PLC_R_APP_ERR_UNRESOLVED_ EXTREFS
Value FFFF hex 0000 hex 0010 hex 0011 hex
0012 hex
0018 hex
Comment Undefined error detected. No error detected. Task watchdog expired. System watchdog expired.
Incorrect I/O configuration parameters detected.
Undefined functions detected.
What to do
Contact your Schneider Electric service representative.
�
Check your application (see Modicon M241 Logic Controller, Programming Guide). A reset is needed to enter Run mode.
If the problem is reproducible, verify that there are no configured but disconnected communication ports. If the problem persists, update the firmware. If the problem still persists, contact your Schneider Electric service representative.
Your application might be corrupted. To resolve this issue, use one of the methods: 1. Build Clean All 2. Export/Import your
application. 3. Upgrade EcoStruxure
Machine Expert to the latest version.
Delete the unresolved functions from the application.
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M241 Library Data Types
Enumerator PLC_R_APP_ERR_IEC_TASK_ CONFIG_ERROR
Value 0025 hex
PLC_R_APP_ERR_ILLEGAL_ INSTRUCTION
0050 hex
PLC_R_APP_ERR_ACCESS_ VIOLATION
0051 hex
PLC_R_APP_ERR_DIVIDE_BY_ ZERO 0102 hex
PLC_R_APP_ERR_PROCESSORLOAD_ 0105 hex WATCHDOG
PLC_R_APP_ERR_DIVIDE_REAL_ BY_ZERO
PLC_R_APP_ERR_EXPIO_EVENTS_ COUNT_EXCEEDED
PLC_R_APP_ERR_APPLICATION_ VERSION_MISMATCH
0152 hex 4E20 hex 4E21 hex
Comment
What to do
Incorrect Task configuration parameters detected.
Your application might be corrupted. To resolve this issue, use one of the methods: 1. Build Clean All 2. Export/Import your
application. 3. Upgrade EcoStruxure
Machine Expert to the latest version.
Undefined instruction detected. Debug your application to resolve the problem.
Attempted access to reserved Debug your application to
memory area.
resolve the problem.
Integer division by zero detected.
Debug your application to resolve the problem.
Processor overloaded by Application Tasks.
Reduce the application workload by improving the application architecture. Increase the task cycle duration. Reduce event frequency.
Real division by zero detected. Debug your application to resolve the problem.
Too many events on expert I/Os Reduce the number of event
are detected.
tasks.
Mismatch in the application version detected.
The application version in the logic controller does not match the version in EcoStruxure Machine Expert. Refer to Applications (see EcoStruxure Machine Expert, Programming Guide).
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M241 Library Data Types
PLC_R_BOOT_PROJECT_STATUS: Boot Project Status Codes
Enumerated Type Description The PLC_R_BOOT_PROJECT_STATUS enumeration data type contains the following values:
Enumerator PLC_R_NO_BOOT_PROJECT
PLC_R_BOOT_PROJECT_CREATION_IN_ PROGRESS PLC_R_DIFFERENT_BOOT_PROJECT
PLC_R_VALID_BOOT_PROJECT
Value 0000 hex
0001 hex
Comment
Boot project does not exist in nonvolatile memory.
Boot project is being created.
0002 hex FFFF hex
Boot project in non-volatile is different from the project loaded in memory.
Boot project in non-volatile memory is the same as the project loaded in memory.
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M241 Library Data Types
PLC_R_IO_STATUS: I/O Status Codes
Enumerated Type Description The PLC_R_IO_STATUS enumeration data type contains the following values:
Enumerator PLC_R_IO_OK PLC_R_IO_NO_INIT PLC_R_IO_CONF_FAULT
PLC_R_IO_SHORTCUT_FAULT PLC_R_IO_POWER_SUPPLY_FAULT
Value FFFF hex 0001 hex 0002 hex
0003 hex 0004 hex
Comment
Inputs/Outputs are operational.
Inputs/Outputs are not initialized.
Incorrect I/O configuration parameters detected.
Inputs/Outputs short-circuit detected.
Inputs/Outputs power supply error detected.
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M241 Library Data Types
PLC_R_SDCARD_STATUS: SD Card Slot Status Codes
Enumerated Type Description The PLC_R_SDCARD_STATUS enumeration data type contains the following values:
Enumerator NO_SDCARD SDCARD_READONLY SDCARD_READWRITE SDCARD_ERROR
Value 0000 hex 0001 hex 0002 hex 0003 hex
Comment No SD card detected in the slot or the slot is not connected. SD card is in read-only mode. SD card is in read/write mode. Error detected in the SD card. More details on the error that occurred are written to the file FwLog.txt.
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M241 Library Data Types
PLC_R_STATUS: Controller Status Codes
Enumerated Type Description The PLC_R_STATUS enumeration data type contains the following values:
Enumerator PLC_R_EMPTY PLC_R_STOPPED PLC_R_RUNNING PLC_R_HALT
PLC_R_BREAKPOINT
Value 0000 hex 0001 hex 0002 hex 0004 hex
0008 hex
Comment
Controller does not contain an application.
Controller is stopped.
Controller is running.
Controller is in a HALT state (see the controller state diagram in your controller programming guide (see Modicon M241 Logic Controller, Programming Guide)).
Controller has paused at a breakpoint.
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M241 Library Data Types
PLC_R_STOP_CAUSE: From RUN State to Other State Transition Cause Codes
Enumerated Type Description The PLC_R_STOP_CAUSE enumeration data type contains the following values:
Enumerator PLC_R_STOP_REASON_ UNKNOWN
Value 00 hex
PLC_R_STOP_REASON_HW_ 01 hex WATCHDOG
PLC_R_STOP_REASON_ RESET
PLC_R_STOP_REASON_ EXCEPTION
02 hex 03 hex
PLC_R_STOP_REASON_ USER
04 hex
PLC_R_STOP_REASON_ IECPROGRAM
05 hex
PLC_R_STOP_REASON_ DELETE
06 hex
PLC_R_STOP_REASON_ DEBUGGING
PLC_R_STOP_FROM_ NETWORK_REQUEST
07 hex 0A hex
PLC_R_STOP_FROM_INPUT 0B hex
Comment
What to do
Initial value or stop cause is indeterminable.
Contact your local Schneider Electric representative.
Stopped after hardware watchdog timeout. Contact your local Schneider Electric representative.
Stopped after reset.
See reset possibilities in Controller State Diagram.
Stopped after exception.
Verify your application, and correct if necessary. See System and Task Watchdogs (see Modicon M241 Logic Controller, Programming Guide). A reset is needed to enter Run mode.
Stopped after a user request.
Refer to Stop Command in
Commanding State Transitions (see Modicon M241 Logic Controller, Programming Guide).
Stopped after a program command
�
request (for example: control command
with parameter PLC_W.q_wPLCControl:=PLC_W_
COMMAND.PLC_W_STOP;).
Stopped after a remove application command.
See the Applications tab of
the Controller Device Editor (see Modicon M241 Logic Controller, Programming Guide).
Stopped after entering debug mode.
�
Stopped after a request from the network, � the controller Web server, or PLC_W
command.
Stop required by a controller input.
�
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M241 Library Data Types
Enumerator PLC_R_STOP_FROM_RUN_ STOP_SWITCH PLC_R_STOP_REASON_ RETAIN_MISMATCH
PLC_R_STOP_REASON_ BOOT_APPLI_MISMATCH
PLC_R_STOP_REASON_ POWERFAIL
Value 0C hex 0D hex
0E hex 0F hex
Comment Stop required by the controller switch.
What to do �
Stopped after an unsuccessful check context test during rebooting.
There are retained variables in non-volatile memory that do not exist in the executing application. Verify your application, correct if necessary, then reestablish the boot application.
Stopped after an unsuccessful compare between the boot application and the application that was in the memory before rebooting.
Create a valid boot application.
Stopped after a power interruption.
�
For more information for reasons the controller has stopped, refer to the Controller State Description.
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PLC_R_TERMINAL_PORT_STATUS: Programming Port Connection Status Codes
Enumerated Type Description The PLC_R_TERMINAL_PORT_STATUS enumeration data type contains the following values:
Enumerator TERMINAL_NOT_CONNECTED TERMINAL_CONNECTION_IN_PROGRESS TERMINAL_CONNECTED TERMINAL_ERROR
Value 00 hex 01 hex 02 hex 0F hex
Comment No PC is connected to the programming port. Connection is in progress. PC is connected to the programming port. Error detected during connection.
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M241 Library Data Types
PLC_R_TM3_BUS_STATE: TM3 Bus Status Codes
Enumerated Type Description The PLC_R_TM3_BUS_STATE enumeration data type contains the following values:
Enumerator TM3_CONF_ERROR
Value 01 hex
TM3_OK
03 hex
TM3_POWER_SUPPLY_ERROR 04 hex
Comment
Error detected due to mismatch in the physical configuration and the configuration in EcoStruxure Machine Expert.
The physical configuration and the configuration in EcoStruxure Machine Expert match.
Error detected in power supply.
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M241 Library Data Types
PLC_W_COMMAND: Control Command Codes
Enumerated Type Description The PLC_W_COMMAND enumeration data type contains the following values:
Enumerator PLC_W_STOP PLC_W_RUN PLC_W_RESET_COLD PLC_W_RESET_WARM
Value 0001 hex 0002 hex 0004 hex 0008 hex
Comment Command to stop the controller. Command to run the controller. Command to initiate a Controller cold reset. Command to initiate a Controller warm reset.
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M241 Library Data Types
DataFileCopy System Variables Data Types
Section
3.2
DataFileCopy System Variables Data Types
Overview
This section lists and describes the system variable data types included in the DataFileCopy structures.
What Is in This Section? This section contains the following topics:
Topic DataFileCopyError: Detected Error Codes DataFileCopyLocation: Location Codes
Page 81 82
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DataFileCopyError: Detected Error Codes
Enumerated Type Description The DataFileCopyError enumeration data type contains the following values:
Enumerator ERR_NO_ERR ERR_FILE_NOT_FOUND ERR_FILE_ACCESS_REFUSED ERR_INCORRECT_SIZE
ERR_CRC_ERR
ERR_INCORRECT_MAC
Value 00 hex 01 hex 02 hex 03 hex
04 hex
05 hex
Description
No error detected.
The file does not exist.
The file cannot be opened.
The request size is not the same as size read from file.
The CRC is not correct and the file is assumed to be corrupted.
The controller attempting to read from the file does not have the same MAC address as that contained in the file.
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M241 Library Data Types
DataFileCopyLocation: Location Codes
Enumerated Type Description The DataFileCopyLocation enumeration data type contains the following values:
Enumerator DFCL_INTERNAL
DFCL_EXTERNAL
DFCL_TBD
Value 00 hex
01 hex
02 hex
Description
Data file with DTA extension is located in /usr/Dta directory.
Data file with DTA extension is located in /sd0/usr/Dta directory.
Not used.
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ExecScript System Variables Data Types
Section 3.3
ExecScript System Variables Data Types
M241 Library Data Types
ExecuteScriptError: Detected Error Codes
Enumerated Type Description The ExecuteScriptError enumeration data type contains the following values:
Enumerator CMD_OK ERR_CMD_UNKNOWN ERR_SD_CARD_MISSING ERR_SEE_FWLOG
ERR_ONLY_ONE_COMMAND_ALLOWED
CMD_BEING_EXECUTED
Value 00 hex 01 hex 02 hex 03 hex
04 hex
05 hex
Description
No error detected.
The command is invalid.
SD card is not present.
There was an error detected during command execution, see FwLog.txt. For more information, refer to File Type (see Modicon M241 Logic Controller, Programming Guide).
An attempt was made to execute several scripts simultaneously.
A script is already in progress.
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M241 Library Data Types
ETH_RW System Variables Data Types
Section 3.4
ETH_RW System Variables Data Types
Overview
This section lists and describes the system variable data types included in the ETH_R and ETH_W structures.
What Is in This Section? This section contains the following topics:
Topic ETH_R_FRAME_PROTOCOL: Frame Transmission Protocol Codes ETH_R_IP_MODE: IP Address Source Codes ETH_R_PORT_DUPLEX_STATUS: Transmission Mode Codes ETH_R_PORT_IP_STATUS: Ethernet TCP/IP Port Status Codes ETH_R_PORT_LINK_STATUS: Communication Link Status Codes ETH_R_PORT_SPEED: Communication Speed of the Ethernet Port Codes ETH_R_RUN_IDLE: Ethernet/IP Run and Idle States Codes
Page 85 86 87 88 89 90 91
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M241 Library Data Types
ETH_R_FRAME_PROTOCOL: Frame Transmission Protocol Codes
Enumerated Type Description The ETH_R_FRAME_PROTOCOL enumeration data type contains the following values:
Enumerator ETH_R_802_3
ETH_R_ETHERNET_II
Value 00 hex
01 hex
Comment
The protocol used for frame transmission is IEEE 802.3.
The protocol used for frame transmission is Ethernet II.
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M241 Library Data Types
ETH_R_IP_MODE: IP Address Source Codes
Enumerated Type Description The ETH_R_IP_MODE enumeration data type contains the following values:
Enumerator ETH_R_STORED ETH_R_BOOTP
ETH_R_DHCP ETH_DEFAULT_IP
Value 00 hex 01 hex
02 hex FF hex
Comment Stored IP address is used. Bootstrap protocol (BOOTP) is used to get an IP address. DHCP protocol is used to get an IP address. Default IP address is used.
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ETH_R_PORT_DUPLEX_STATUS: Transmission Mode Codes
Enumerated Type Description The ETH_R_PORT_DUPLEX_STATUS enumeration data type contains the following values:
Enumerator ETH_R_PORT_HALF_DUPLEX ETH_R_FULL_DUPLEX ETH_R_PORT_NA_DUPLEX
Value 00 hex 01 hex 03 hex
Comment Half duplex transmission mode is used. Full duplex transmission mode is used. No duplex transmission mode is used.
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ETH_R_PORT_IP_STATUS: Ethernet TCP/IP Port Status Codes
Enumerated Type Description The ETH_R_PORT_IP_STATUS enumeration data type contains the following values:
Enumerator WAIT_FOR_PARAMS WAIT_FOR_CONF DATA_EXCHANGE ETH_ERROR
DUPLICATE_IP
Value 00 hex 01 hex 02 hex 03 hex
04 hex
Comment Waiting for parameters. Waiting for configuration. Ready for data exchange. Ethernet TCP/IP port error detected (cable disconnected, invalid configuration, and so on). IP address already used by another device.
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ETH_R_PORT_LINK_STATUS: Communication Link Status Codes
Enumerated Type Description The ETH_R_PORT_LINK_STATUS enumeration data type contains the following values:
Enumerator ETH_R_LINK_DOWN ETH_R_LINK_UP
Value 00 hex 01 hex
Comment Communication link not available to another device. Communication link available to another device.
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ETH_R_PORT_SPEED: Communication Speed of the Ethernet Port Codes
Enumerated Type Description The ETH_R_PORT_SPEED enumeration data type contains the following values:
Enumerator ETH_R_SPEED_NA ETH_R_SPEED_10_MB ETH_R_100_MB
Value 0 dec 10 dec 100 dec
Comment Network speed is 0 megabits per second. Network speed is 10 megabits per second. Network speed is 100 megabits per second.
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ETH_R_RUN_IDLE: Ethernet/IP Run and Idle States Codes
Enumerated Type Description The ETH_R_RUN_IDLE enumeration data type contains the following values:
Enumerator IDLE RUN
Value 00 hex 01 hex
Comment EtherNet/IP connection is idle. EtherNet/IP connection is running.
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M241 Library Data Types
TM3_MODULE_RW System Variables Data Types
Section
3.5
TM3_MODULE_RW System Variables Data Types
Overview
This section lists and describes the system variable data types included in the TM3_MODULE_R and TM3_MODULE_W structures.
What Is in This Section? This section contains the following topics:
Topic TM3_ERR_CODE: TM3 Expansion Module Detected Error Codes TM3_MODULE_R_ARRAY_TYPE: TM3 Expansion Module Read Array Type TM3_MODULE_STATE: TM3 Expansion Module State Codes TM3_BUS_W_IOBUSERRMOD: TM3 bus error mode
Page 93 94 95 96
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TM3_ERR_CODE: TM3 Expansion Module Detected Error Codes
Enumerated Type Description The TM3_ERR_CODE enumeration data type contains the following values:
Enumerator TM3_NO_ERR TM3_ERR_FAILED TM3_ERR_PARAMETER TM3_ERR_COK TM3_ERR_BUS
Value 00 hex 01 hex 02 hex 03 hex 04 hex
Comment
Last bus exchange with the expansion module was successful.
Error detected due to the last bus exchange with the expansion module was unsuccessful.
Parameter error detected in the last bus exchange with the module.
Temporary or permanent hardware error detected on one of the TM3 expansion modules.
Bus error detected in the last bus exchange with the expansion module.
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TM3_MODULE_R_ARRAY_TYPE: TM3 Expansion Module Read Array Type
Description The TM3_MODULE_R_ARRAY_TYPE is an array of 0...13 TM3_MODULE_R_STRUCT.
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TM3_MODULE_STATE: TM3 Expansion Module State Codes
Enumerated Type Description The TM3_MODULE_STATE enumeration data type contains the following values:
Enumerator TM3_EMPTY TM3_CONF_ERROR
TM3_BUS_ERROR TM3_OK TM3_MISSING_OPT_MOD
Value 00 hex 01 hex
02 hex 03 hex 05 hex
Comment No module.
Physical expansion module does not match with the one configured in EcoStruxure Machine Expert. Bus error detected in the last exchange with the module. Last bus exchange with this module was successful. Optional module is not physically present.
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TM3_BUS_W_IOBUSERRMOD: TM3 bus error mode
Enumerated Type Description The TM3_BUS_W_IOBUSERRMOD enumeration data type contains the following values:
Enumerator IOBUS_ERR_ACTIVE
IOBUS_ERR_PASSIVE
Value 00 hex
01 hex
Comment
Active mode. The logic controller stops all I/O exchanges on the TM3 bus on detection of a permanent error. Refer to I/O Configuration General Description (see Modicon M241 Logic Controller, Programming Guide).
Passive mode. I/O exchanges continue on the TM3 bus even if an error is detected.
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Cartridge System Variables Data Types
Section 3.6
Cartridge System Variables Data Types
M241 Library Data Types
Overview
This section lists and describes the system variable data types included in the Cartridge structure.
What Is in This Section? This section contains the following topics:
Topic CART_R_ARRAY_TYPE: Cartridge Read Array Type CART_R_MODULE_ID: Cartridge Read Module Identifier CART_R_STATE: Cartridge Read State
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CART_R_ARRAY_TYPE: Cartridge Read Array Type
Description The CART_R_ARRAY_TYPE is an array of 0..1 CART_R_STRUCT.
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CART_R_MODULE_ID: Cartridge Read Module Identifier
Enumerated Type Description The CART_R_MODULE_ID enumeration data type contains the following values:
Enumerator CART_R_MODULE_ID CART_R_MODULE_ID CART_R_MODULE_ID CART_R_MODULE_ID CART_R_MODULE_ID CART_R_MODULE_ID
Value 40 hex 41 hex 42 hex 48 hex 49 hex FF hex
Description TMC4AI2 TMC4AQ2 TMC4TI2 TMC4HOIS01 TMC4PACK01 None
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CART_R_STATE: Cartridge Read State
Enumerated Type Description The CART_R_STATE enumeration data type contains the following values:
Enumerator CONFIGURED INITIALIZED_NOT_CONFIGURED NOT_INITIALIZED
Value 00 hex 01 hex 02 hex
Comment Cartridge is configured. Cartridge is initialized but not configured. Cartridge is not initialized.
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System Function Data Types
Section 3.7
System Function Data Types
M241 Library Data Types
Overview This section describes the different system function data types of the M241 PLCSystem library.
What Is in This Section? This section contains the following topics:
Topic IMMEDIATE_ERR_TYPE: GetImmediateFastInput Read Input of Embedded Expert I/O Codes RTCSETDRIFT_ERROR: SetRTCDrift Function Detected Error Codes
Page 102
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IMMEDIATE_ERR_TYPE: GetImmediateFastInput Read Input of Embedded Expert I/O Codes
Enumerated Type Description The enumeration data type contains the following values:
Enumerator IMMEDIATE_NO_ERROR IMMEDIATE_UNKNOWN
Type Word Word
IMMEDIATE_UNKNOWN_PARAMETER Word
Comment No errors detected. The reference of Immediate function is incorrect or not configured. A parameter reference is incorrect.
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RTCSETDRIFT_ERROR: SetRTCDrift Function Detected Error Codes
Enumerated Type Description The RTCSETDRIFT_ERROR enumeration data type contains the following values:
Enumerator RTC_OK RTC_BAD_DAY RTC_BAD_HOUR RTC_BAD_MINUTE RTC_BAD_DRIFT RTC_INTERNAL_ERROR
Value 00 hex 01 hex 02 hex 03 hex 04 hex 05 hex
Comment RTC drift correctly configured. Not used. Not used. Not used. RTC Drift parameter out of range. RTC Drift settings rejected on internal error detected.
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Appendices
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Modicon M241 Logic Controller Function and Function Block Representation EIO0000003065 12/2019
Function and Function Block Representation
Appendix
A
Function and Function Block Representation
Overview
Each function can be represented in the following languages: IL: Instruction List ST: Structured Text LD: Ladder Diagram FBD: Function Block Diagram CFC: Continuous Function Chart
This chapter provides functions and function blocks representation examples and explains how to use them for IL and ST languages.
What Is in This Chapter? This chapter contains the following topics:
Topic Differences Between a Function and a Function Block How to Use a Function or a Function Block in IL Language How to Use a Function or a Function Block in ST Language
Page 108 109 112
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Differences Between a Function and a Function Block
Function A function: is a POU (Program Organization Unit) that returns one immediate result. is directly called with its name (not through an instance). has no persistent state from one call to the other. can be used as an operand in other expressions. Examples: boolean operators (AND), calculations, conversion (BYTE_TO_INT)
Function Block A function block: is a POU (Program Organization Unit) that returns one or more outputs. needs to be called by an instance (function block copy with dedicated name and variables). each instance has a persistent state (outputs and internal variables) from one call to the other from a function block or a program. Examples: timers, counters In the example, Timer_ON is an instance of the function block TON:
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How to Use a Function or a Function Block in IL Language
General Information This part explains how to implement a function and a function block in IL language.
Functions IsFirstMastCycle and SetRTCDrift and Function Block TON are used as examples to show implementations.
Using a Function in IL Language This procedure describes how to insert a function in IL language:
Step 1
2 3 4
5
6
Action
Open or create a new POU in Instruction List language.
NOTE: The procedure to create a POU is not detailed here. For more information, refer to Adding and Calling POUs (see EcoStruxure Machine Expert, Programming Guide).
Create the variables that the function requires.
If the function has 1 or more inputs, start loading the first input using LD instruction.
Insert a new line below and: type the name of the function in the operator column (left field), or use the Input Assistant to select the function (select Insert Box in the context menu).
If the function has more than 1 input and when Input Assistant is used, the necessary number of lines is automatically created with ??? in the fields on the right. Replace the ??? with the appropriate value or variable that corresponds to the order of inputs.
Insert a new line to store the result of the function into the appropriate variable: type ST instruction in the operator column (left field) and the variable name in the field on the right.
To illustrate the procedure, consider the Functions IsFirstMastCycle (without input parameter) and SetRTCDrift (with input parameters) graphically presented below:
Function
without input parameter: IsFirstMastCycle
Graphical Representation
with input parameters: SetRTCDrift
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In IL language, the function name is used directly in the operator column:
Function
Representation in POU IL Editor
IL example of a function without input parameter: IsFirstMastCycle
IL example of a function with input parameters: SetRTCDrift
Using a Function Block in IL Language This procedure describes how to insert a function block in IL language:
Step 1
Action
Open or create a new POU in Instruction List language.
NOTE: The procedure to create a POU is not detailed here. For more information, refer to Adding and Calling POUs (see EcoStruxure Machine Expert, Programming Guide).
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Step 2 3
4 5
Action
Create the variables that the function block requires, including the instance name.
Function Blocks are called using a CAL instruction: Use the Input Assistant to select the FB (right-click and select Insert Box in the context menu). Automatically, the CAL instruction and the necessary I/O are created.
Each parameter (I/O) is an instruction: Values to inputs are set by ":=". Values to outputs are set by "=>".
In the CAL right-side field, replace ??? with the instance name.
Replace other ??? with an appropriate variable or immediate value.
To illustrate the procedure, consider this example with the TON Function Block graphically presented below:
Function Block TON
Graphical Representation
In IL language, the function block name is used directly in the operator column:
Function Block TON
Representation in POU IL Editor
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Function and Function Block Representation
How to Use a Function or a Function Block in ST Language
General Information This part explains how to implement a Function and a Function Block in ST language. Function SetRTCDrift and Function Block TON are used as examples to show implementations.
Using a Function in ST Language This procedure describes how to insert a function in ST language:
Step 1
2 3
Action
Open or create a new POU in Structured Text language.
NOTE: The procedure to create a POU is not detailed here. For more information, refer to Adding and Calling POUs (see EcoStruxure Machine Expert, Programming Guide).
Create the variables that the function requires.
Use the general syntax in the POU ST Editor for the ST language of a function. The general syntax is: FunctionResult:= FunctionName(VarInput1, VarInput2,.. VarInputx);
To illustrate the procedure, consider the function SetRTCDrift graphically presented below:
Function SetRTCDrift
Graphical Representation
The ST language of this function is the following:
Function SetRTCDrift
Representation in POU ST Editor
PROGRAM MyProgram_ST VAR myDrift: SINT(-29..29) := 5; myDay: DAY_OF_WEEK := SUNDAY; myHour: HOUR := 12; myMinute: MINUTE; myRTCAdjust: RTCDRIFT_ERROR; END_VAR myRTCAdjust:= SetRTCDrift(myDrift, myDay, myHour, myMinute);
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Using a Function Block in ST Language This procedure describes how to insert a function block in ST language:
Step 1
2 3
Action
Open or create a new POU in Structured Text language.
NOTE: The procedure to create a POU is not detailed here. For more information on
adding, declaring and calling POUs, refer to the related documentation (see EcoStruxure Machine Expert, Programming Guide).
Create the input and output variables and the instance required for the function block: Input variables are the input parameters required by the function block Output variables receive the value returned by the function block
Use the general syntax in the POU ST Editor for the ST language of a Function Block. The general syntax is: FunctionBlock_InstanceName(Input1:=VarInput1, Input2:=VarInput2,... Ouput1=>VarOutput1, Ouput2=>VarOutput2,...);
To illustrate the procedure, consider this example with the TON function block graphically presented below:
Function Block Graphical Representation TON
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Function and Function Block Representation
This table shows examples of a function block call in ST language:
Function Block TON
Representation in POU ST Editor
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Glossary
!
%MW According to the IEC standard, %MW represents a memory word register (for example, a language object of type memory word).
A
application A program including configuration data, symbols, and documentation.
ARRAY The systematic arrangement of data objects of a single type in the form of a table defined in logic controller memory. The syntax is as follows: ARRAY [<dimension>] OF <Type>
Example 1: ARRAY [1..2] OF BOOL is a 1-dimensional table with 2 elements of type BOOL.
Example 2: ARRAY [1..10, 1..20] OF INT is a 2-dimensional table with 10 x 20 elements of type INT.
B
BOOL (boolean) A basic data type in computing. A BOOL variable can have one of these values: 0 (FALSE), 1 (TRUE). A bit that is extracted from a word is of type BOOL; for example, %MW10.4 is a fifth bit of memory word number 10.
Boot application (boot application) The binary file that contains the application. Usually, it is stored in the controller and allows the controller to boot on the application that the user has generated.
BOOTP (bootstrap protocol) A UDP network protocol that can be used by a network client to automatically obtain an IP address (and possibly other data) from a server. The client identifies itself to the server using the client MAC address. The server, which maintains a pre-configured table of client device MAC addresses and associated IP addresses, sends the client its pre-configured IP address. BOOTP was originally used as a method that enabled diskless hosts to be remotely booted over a network. The BOOTP process assigns an infinite lease of an IP address. The BOOTP service utilizes UDP ports 67 and 68.
byte A type that is encoded in an 8-bit format, ranging from 00 hex to FF hex.
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Glossary
C
CFC
(continuous function chart) A graphical programming language (an extension of the IEC 61131-3 standard) based on the function block diagram language that works like a flowchart. However, no networks are used and free positioning of graphic elements is possible, which allows feedback loops. For each block, the inputs are on the left and the outputs on the right. You can link the block outputs to the inputs of other blocks to create complex expressions.
configuration The arrangement and interconnection of hardware components within a system and the hardware and software parameters that determine the operating characteristics of the system.
control network A network containing logic controllers, SCADA systems, PCs, HMI, switches, ...
Two kinds of topologies are supported: flat: all modules and devices in this network belong to same subnet. 2 levels: the network is split into an operation network and an inter-controller network.
These two networks can be physically independent, but are generally linked by a routing device.
CRC
(cyclical redundancy check) A method used to determine the validity of a communication transmission. The transmission contains a bit field that constitutes a checksum. The message is used to calculate the checksum by the transmitter according to the content of the message. Receiving nodes, then recalculate the field in the same manner. Any discrepancy in the value of the 2 CRC calculations indicates that the transmitted message and the received message are different.
D
DHCP (dynamic host configuration protocol) An advanced extension of BOOTP. DHCP is more advanced, but both DHCP and BOOTP are common. (DHCP can handle BOOTP client requests.)
DWORD (double word) Encoded in 32-bit format.
E
element The short name of the ARRAY element.
Ethernet A physical and data link layer technology for LANs, also known as IEEE 802.3.
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Glossary
EtherNet/IP (Ethernet industrial protocol) An open communications protocol for manufacturing automation solutions in industrial systems. EtherNet/IP is in a family of networks that implement the common industrial protocol at its upper layers. The supporting organization (ODVA) specifies EtherNet/IP to accomplish global adaptability and media independence.
F
FB (function block) A convenient programming mechanism that consolidates a group of programming instructions to perform a specific and normalized action, such as speed control, interval control, or counting. A function block may comprise configuration data, a set of internal or external operating parameters and usually 1 or more data inputs and outputs.
firmware Represents the BIOS, data parameters, and programming instructions that constitute the operating system on a controller. The firmware is stored in non-volatile memory within the controller.
flash memory A non-volatile memory that can be overwritten. It is stored on a special EEPROM that can be erased and reprogrammed.
function A programming unit that has 1 input and returns 1 immediate result. However, unlike FBs, it is directly called with its name (as opposed to through an instance), has no persistent state from one call to the next and can be used as an operand in other programming expressions.
Examples: boolean (AND) operators, calculations, conversions (BYTE_TO_INT)
function block A programming unit that has 1 or more inputs and returns 1 or more outputs. FBs are called through an instance (function block copy with dedicated name and variables) and each instance has a persistent state (outputs and internal variables) from 1 call to the other.
Examples: timers, counters
function block diagram One of the 5 languages for logic or control supported by the standard IEC 61131-3 for control systems. Function block diagram is a graphically oriented programming language. It works with a list of networks where each network contains a graphical structure of boxes and connection lines representing either a logical or arithmetic expression, the call of a function block, a jump, or a return instruction.
G
GVL (global variable list) Manages global variables within an EcoStruxure Machine Expert project.
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Glossary
H
hex (hexadecimal)
I
I/O (input/output)
ID (identifier/identification)
IEC (international electrotechnical commission) A non-profit and non-governmental international standards organization that prepares and publishes international standards for electrical, electronic, and related technologies.
IEC 61131-3 Part 3 of a 3-part IEC standard for industrial automation equipment. IEC 61131-3 is concerned with controller programming languages and defines 2 graphical and 2 textual programming language standards. The graphical programming languages are ladder diagram and function block diagram. The textual programming languages include structured text and instruction list.
IEEE 802.3 A collection of IEEE standards defining the physical layer, and the media access control sublayer of the data link layer, of wired Ethernet.
IL (instruction list) A program written in the language that is composed of a series of text-based instructions executed sequentially by the controller. Each instruction includes a line number, an instruction code, and an operand (refer to IEC 61131-3).
INT (integer) A whole number encoded in 16 bits.
IP (Internet protocol Part of the TCP/IP protocol family that tracks the Internet addresses of devices, routes outgoing messages, and recognizes incoming messages.
L
LD (ladder diagram) A graphical representation of the instructions of a controller program with symbols for contacts, coils, and blocks in a series of rungs executed sequentially by a controller (refer to IEC 61131-3).
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LWORD (long word) A data type encoded in a 64-bit format.
Glossary
M
MAC address (media access control address) A unique 48-bit number associated with a specific piece of hardware. The MAC address is programmed into each network card or device when it is manufactured.
MAST A processor task that is run through its programming software. The MAST task has 2 sections: IN: Inputs are copied to the IN section before execution of the MAST task. OUT: Outputs are copied to the OUT section after execution of the MAST task.
N
network A system of interconnected devices that share a common data path and protocol for communications.
P
PLC (programmable logic controller) An industrial computer used to automate manufacturing, industrial, and other electromechanical processes. PLCs are different from common computers in that they are designed to have multiple input and output arrays and adhere to more robust specifications for shock, vibration, temperature, and electrical interference among other things.
POU
(program organization unit) A variable declaration in source code and a corresponding instruction set. POUs facilitate the modular re-use of software programs, functions, and function blocks. Once declared, POUs are available to one another.
program The component of an application that consists of compiled source code capable of being installed in the memory of a logic controller.
protocol A convention or standard definition that controls or enables the connection, communication, and data transfer between 2 computing system and devices.
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Glossary
R
run A command that causes the controller to scan the application program, read the physical inputs, and write to the physical outputs according to solution of the logic of the program.
S
ST (structured text) A language that includes complex statements and nested instructions (such as iteration loops, conditional executions, or functions). ST is compliant with IEC 61131-3.
STOP A command that causes the controller to stop running an application program.
string A variable that is a series of ASCII characters.
system variable A variable that provides controller data and diagnostic information and allows sending commands to the controller.
T
task TCP
A group of sections and subroutines, executed cyclically or periodically for the MAST task or periodically for the FAST task. A task possesses a level of priority and is linked to inputs and outputs of the controller. These I/O are refreshed in relation to the task. A controller can have several tasks.
(transmission control protocol) A connection-based transport layer protocol that provides a simultaneous bi-directional transmission of data. TCP is part of the TCP/IP protocol suite.
U
UDINT (unsigned double integer) Encoded in 32 bits.
UINT (unsigned integer) Encoded in 16 bits.
unlocated variable A variable that does not have an address (refer to located variable).
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Glossary
V
variable A memory unit that is addressed and modified by a program.
W
watchdog A watchdog is a special timer used to ensure that programs do not overrun their allocated scan time. The watchdog timer is usually set to a higher value than the scan time and reset to 0 at the end of each scan cycle. If the watchdog timer reaches the preset value, for example, because the program is caught in an endless loop, an error is declared and the program stopped.
WORD A type encoded in a 16-bit format.
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121
Glossary
122
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Modicon M241 Logic Controller Index EIO0000003065 12/2019
Index
Specials C
CART_R_ARRAY_TYPE Data Types, 98
CART_R_MODULE_ID Data Types, 99
CART_R_STATE Data Types, 100
CART_R_STRUCT System Variable, 37
cycle IsFirstMastColdCycle, 43 IsFirstMastCycle, 44 IsFirstMastWarmCycle, 46
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D
Data Types CART_R_ARRAY_TYPE, 98 CART_R_MODULE_ID, 99 CART_R_STATE, 100 DataFileCopyError, 81 DataFileCopyLocation, 82 ETH_R_FRAME_PROTOCOL, 85 ETH_R_IP_MODE, 86 ETH_R_PORT_DUPLEX_STATUS, 87 ETH_R_PORT_IP_STATUS, 88 ETH_R_PORT_LINK_STATUS, 89 ETH_R_PORT_SPEED, 90 ETH_R_RUN_IDLE, 91 ExecuteScriptError, 83 IMMEDIATE_ERR_TYPE, 102 PLC_R_APPLICATION_ERROR, 69 PLC_R_BOOT_PROJECT_STATUS, 71 PLC_R_IO_STATUS, 72 PLC_R_SDCARD_STATUS, 73 PLC_R_STATUS, 74 PLC_R_STOP_CAUSE, 75 PLC_R_TERMINAL_PORT_STATUS, 77 PLC_R_TM3_BUS_STATE, 78 PLC_W_COMMAND, 79 RTCSETDRIFT_ERROR, 103 TM3_BUS_W_IOBUSERRMOD, 96 TM3_ERR_CODE, 93 TM3_MODULE_R_ARRAY_TYPE, 94 TM3_MODULE_STATE, 95
DataFileCopy copying data to or from a file, 53
DataFileCopyError Data Types, 81
DataFileCopyLocation Data Types, 82
123
Index
E
embedded I/O GetImmediateFastInput, 41 PhysicalWriteFastOutputs, 48
ETH_R System Variable, 28
ETH_R_FRAME_PROTOCOL Data Types, 85
ETH_R_IP_MODE Data Types, 86
ETH_R_PORT_DUPLEX_STATUS Data Types, 87
ETH_R_PORT_LINK_STATUS Data Types, 89
ETH_R_PORT_SPEED Data Types, 90
ETH_W System Variable, 33
ExecuteScript running script commands, 56
ExecuteScriptError Data Types, 83
F
FB_ControlClone function block, 52
FC_GetFreeDiskSpace, 59 FC_GetLabel, 60 FC_GetTotalDiskSpace, 61 file copy commands
DataFileCopy, 53 functions
differences between a function and a function block, 108 how to use a function or a function block in IL language, 109 how to use a function or a function block in ST language, 112
G
GetImmediateFastInput getting the value of a fast input, 41
124
GetRtc getting real time clock (RTC) value, 42
I
IMMEDIATE_ERR_TYPE Data Types, 102
IsFirstMastColdCycle first cold start cycle, 43
IsFirstMastCycle first mast cycle, 44
IsFirstMastWarmCycle first warm start cycle, 46
M
M241 PLCSystem DataFileCopy, 53 ExecuteScript, 56 GetImmediateFastInput, 41 GetRtc, 42 IsFirstMastColdCycle, 43 IsFirstMastCycle, 44 IsFirstMastWarmCycle, 46 PhysicalWriteFastOutputs, 48 SetRTCDrift, 49 TM3_GetModuleBusStatus, 63, 65 TM3_GetModuleFWVersion, 64
P
PhysicalWriteFastOutputs writing output of an embedded expert I/O, 48
PLC_R System Variable, 18
PLC_R_APPLICATION_ERROR Data Types, 69
PLC_R_BOOT_PROJECT_STATUS Data Types, 71
PLC_R_IO_STATUS Data Types, 72
PLC_R_SDCARD_STATUS Data Types, 73
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PLC_R_STATUS Data Types, 74
PLC_R_STOP_CAUSE Data Types, 75
PLC_R_TERMINAL_PORT_STATUS Data Types, 77
PLC_R_TM3_BUS_STATE Data Types, 78
PLC_W System Variable, 23
PLC_W_COMMAND Data Types, 79
PROFIBUS_R System Variable, 36
R
real time clock GetRtc, 42 SetRTCDrift, 49
RTC GetRtc, 42 SetRTCDrift, 49
RTCSETDRIFT_ERROR Data Types, 103
S
script commands ExecuteScript, 56
SERIAL_R System Variable, 25
SERIAL_W System Variable, 26
SetRTCDrift accelerating or slowing the RTC frequency, 49
System Variable CART_R_STRUCT, 37 ETH_R, 28 ETH_W, 33 PLC_R, 18 PLC_W, 23
System variable PROFIBUS_R, 36
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System Variable SERIAL_R, 25 SERIAL_W, 26 TM3_BUS_W, 35 TM3_MODULE_R, 34
System Variables Definition, 13 Using, 15
Index
T
TM3 module bus status TM3_GetModuleBusStatus, 63
TM3 module firmware version TM3_GetModuleFWVersion, 64
TM3 module internal status TM3_GetModuleInternalStatus, 65
TM3_BUS_W system variable, 35
TM3_BUS_W_IOBUSERRMOD Data Types, 96
TM3_ERR_CODE Data Types, 93
TM3_GetModuleBusStatus getting the bus status of a TM3 module, 63
TM3_GetModuleFWVersion
getting the firmware version of a TM3 module, 64 TM3_GetModuleInternalStatus getting the internal status of a TM3 module, 65 TM3_MODULE_R System Variable, 34 TM3_MODULE_R_ARRAY_TYPE Data Types, 94 TM3_MODULE_STATE Data Types, 95
U
unction blocks FB_ControlClone, 52
125
Index
126
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Modicon M241 Logic Controller EIO0000003071 12/2019
Modicon M241
Logic Controller
High Speed Counting HSC Library Guide
12/2019
www.schneider-electric.com
EIO0000003071.01
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.
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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.
� 2019 Schneider Electric. All rights reserved.
2
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Table of Contents
Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
Part I Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Chapter 1 Expert Function Introduction. . . . . . . . . . . . . . . . . . . . . .
13
Expert Functions Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
Embedded Expert I/O Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . .
17
Chapter 2 High Speed Counter Types . . . . . . . . . . . . . . . . . . . . . .
21
Choosing Your Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22
Simple Type Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25
Main Type Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26
Frequency Meter Type Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . .
27
Period Meter Type Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
28
Part II One-shot Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Chapter 3 One-shot Mode Principle . . . . . . . . . . . . . . . . . . . . . . . .
31
One-shot Mode Principle Description . . . . . . . . . . . . . . . . . . . . . . . . .
31
Chapter 4 One-shot with a Simple Type . . . . . . . . . . . . . . . . . . . . .
33
Synopsis Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
34
Configuration of the Simple Type in One-Shot Mode . . . . . . . . . . . . .
35
Programming the Simple Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
36
Adjusting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
38
Chapter 5 One-shot with a Main Type. . . . . . . . . . . . . . . . . . . . . . .
39
Synopsis Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
40
Configuration of the Main Type Single Phase in One-Shot Mode . . . .
41
Programming the Main Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
42
Adjusting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
Part III Modulo-loop Mode . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Chapter 6 Modulo-loop Principle . . . . . . . . . . . . . . . . . . . . . . . . . . .
49
Modulo-loop Mode Principle Description . . . . . . . . . . . . . . . . . . . . . . .
49
Chapter 7 Modulo-loop with a Simple Type. . . . . . . . . . . . . . . . . . .
53
Synopsis Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
54
Configuration of the Simple Type in Modulo-Loop Mode . . . . . . . . . .
55
Programming the Simple Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
56
Adjusting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
58
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Chapter 8 Modulo-loop with a Main Type . . . . . . . . . . . . . . . . . . . . . 59
Synopsis Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
60
Configuration of the Main Type Single Phase in Modulo-Loop Mode .
61
Configuration of the Main Type Dual Phase in Modulo-Loop Mode. . .
62
Programming the Main Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
63
Adjusting Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
66
Part IV Free-large Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Chapter 9 Free-large Mode Principle . . . . . . . . . . . . . . . . . . . . . . . . 69
Free-large Mode Principle Description. . . . . . . . . . . . . . . . . . . . . . . . .
70
Limits Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
73
Chapter 10 Free-large with a Main Type. . . . . . . . . . . . . . . . . . . . . . . 75
Synopsis Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
76
Configuration of the Main Type Dual Phase in Free-Large Mode . . . .
77
Programming the Main Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
78
Adjusting Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
81
Part V Event Counting Mode. . . . . . . . . . . . . . . . . . . . . . . . 83
Chapter 11 Event Counting Principle . . . . . . . . . . . . . . . . . . . . . . . . . 85
Event Counting Mode Principle Description. . . . . . . . . . . . . . . . . . . . .
85
Chapter 12 Event Counting with a Main Type. . . . . . . . . . . . . . . . . . . 87
Synopsis Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
88
Configuration of the Main Type Single Phase in Event Counting Mode
89
Programming the Main Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
90
Adjusting Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
93
Part VI Frequency Meter Type . . . . . . . . . . . . . . . . . . . . . . . 95
Chapter 13 Frequency Meter Principle . . . . . . . . . . . . . . . . . . . . . . . . 97
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
97
Chapter 14 Frequency Meter with a Main Type . . . . . . . . . . . . . . . . . 99
Synopsis Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Configuration of the Frequency Meter Type. . . . . . . . . . . . . . . . . . . . . 101
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Part VII Period Meter Type . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Chapter 15 Period Meter Type Principle . . . . . . . . . . . . . . . . . . . . . . . 107
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
4
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Chapter 16 Period Meter with a Main Type . . . . . . . . . . . . . . . . . . . . 109
Synopsis Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
110
Configuration of the Period Meter Type in Edge to Edge Mode . . . . .
111
Configuration of the Period Meter Type in Edge to Opposite Mode . .
112
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
113
Adjusting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
116
Part VIII Optional Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Chapter 17 Comparison Function . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Comparison Principle with a Main type . . . . . . . . . . . . . . . . . . . . . . . .
120
Configuration of the Comparison on a Main Type . . . . . . . . . . . . . . .
125
External Event Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
126
Chapter 18 Capture Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Capture Principle with a Main Type. . . . . . . . . . . . . . . . . . . . . . . . . . .
130
Configuration of the Capture on a Main Type . . . . . . . . . . . . . . . . . . .
132
Chapter 19 Preset and Enable Functions . . . . . . . . . . . . . . . . . . . . . 133
Preset Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
134
Free-large or Period Meter Preset Conditions . . . . . . . . . . . . . . . . . . .
136
Enable: Authorize Counting Operation . . . . . . . . . . . . . . . . . . . . . . . .
137
Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Appendix A General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Dedicated Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
142
General Information on Administrative and Motion Function Block Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
143
Appendix B Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
EXPERT_DIAG_TYPE: Type for EXPERTGetDiag Diagnostics . . . . .
146
EXPERT_ERR_TYPE: Type for Error Variable of EXPERT Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
147
EXPERT_FREQMETER_TIMEBASE_TYPE: Type for Frequency Meter Time Base Variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
148
EXPERT_HSCMAIN_TIMEBASE_TYPE: Type for HSC Main Time Base Variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
149
EXPERT_IMMEDIATE_ERR_TYPE: Type for Error Variable of the GetImmediateValue Function Block . . . . . . . . . . . . . . . . . . . . . . . . . .
150
EXPERT_PARAMETER_TYPE: Type for Parameters to Get or to Set on EXPERT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
151
EXPERT_PERIODMETER_RESOLUTION_TYPE: Type for Period Meter Time Base Variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
152
EXPERT_REF: EXPERT Reference Value . . . . . . . . . . . . . . . . . . . . .
153
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Appendix C Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 EXPERTGetCapturedValue: Read Value of Capture Registers . . . . . 156 EXPERTGetDiag: Return Detail of a Detected HSC Error . . . . . . . . . 158 EXPERTGetImmediateValue: Read Counter Value of HSC . . . . . . . . 160 EXPERTGetParam: Returns Parameters of HSC . . . . . . . . . . . . . . . . 162 EXPERTSetParam: Adjust Parameters of a HSC . . . . . . . . . . . . . . . . 164 HSCMain_M241: Control a Main Type Counter for M241 . . . . . . . . . . 166 HSCSimple_M241: Control a Simple Type Counter for M241 . . . . . . . 170
Appendix D Function and Function Block Representation . . . . . . . . . 173 Differences Between a Function and a Function Block . . . . . . . . . . . . 174 How to Use a Function or a Function Block in IL Language . . . . . . . . 175 How to Use a Function or a Function Block in ST Language. . . . . . . . 178
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
6
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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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7
PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material.
A qualified person is one who has skills and knowledge related to the construction and operation of electrical equipment and its installation, and has received safety training to recognize and avoid the hazards involved.
8
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About the Book
At a Glance
Document Scope
This documentation will acquaint you with the High Speed Counter (HSC) functions and variables offered within the M241 logic controller.
This documentation describes the functions and variables of the M241 HSC library.
In order to use this manual, you must: Have a thorough understanding of the M241, including its design, functionality, and implemen-
tation within control systems. Be proficient in the use of the following IEC 61131-3 PLC programming languages:
Function Block Diagram (FBD) Ladder Diagram (LD) Structured Text (ST) Instruction List (IL) Sequential Function Chart (SFC)
EcoStruxure Machine Expert software can also be used to program these controllers using CFC (Continuous Function Chart) language.
Validity Note This document has been updated for the release of EcoStruxureTM Machine Expert V1.2.
Related Documents
Title of Documentation EcoStruxure Machine Expert Programming Guide
Modicon M241 Logic Controller Programming Guide
Reference Number
EIO0000002854 (ENG), EIO0000002855 (FRE), EIO0000002856 (GER), EIO0000002858 (SPA), EIO0000002857 (ITA), EIO0000002859 (CHS)
EIO0000003059 (ENG), EIO0000003060 (FRE), EIO0000003061 (GER), EIO0000003062 (SPA), EIO0000003063 (ITA), EIO0000003064 (CHS)
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9
You can download these technical publications and other technical information from our website at https://www.se.com/ww/en/download/ .
Product Related Information
WARNING
LOSS OF CONTROL The designer of any control scheme must consider the potential failure modes of control paths
and, for certain critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop and overtravel stop, power outage and restart. Separate or redundant control paths must be provided for critical control functions. System control paths may include communication links. Consideration must be given to the implications of unanticipated transmission delays or failures of the link. Observe all accident prevention regulations and local safety guidelines.1 Each implementation of this equipment must be individually and thoroughly tested for proper operation before being placed into service. Failure to follow these instructions can result in death, serious injury, or equipment damage.
1 For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems" or their equivalent governing your particular location.
WARNING
UNINTENDED EQUIPMENT OPERATION Only use software approved by Schneider Electric for use with this equipment. Update your application program every time you change the physical hardware configuration. Failure to follow these instructions can result in death, serious injury, or equipment damage.
10
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Modicon M241 Logic Controller Introduction EIO0000003071 12/2019
Introduction
Part I
Introduction
Overview
This part provides an overview description, available modes, functionality and performances of the different functions.
What Is in This Part? This part contains the following chapters:
Chapter 1 2
Expert Function Introduction High Speed Counter Types
Chapter Name
Page 13 21
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Introduction
12
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Modicon M241 Logic Controller EIO0000003071 12/2019
Expert Function Introduction
Chapter 1
Expert Function Introduction
Overview
This chapter provides an overview description, functionality, and performances of: High Speed Counter (HSC) Pulse Train Output (PTO) Pulse Width Modulation (PWM) Frequency Generator (FreqGen)
What Is in This Chapter? This chapter contains the following topics:
Expert Functions Overview Embedded Expert I/O Assignment
Topic
Page 14 17
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13
Expert Functions Overview
Introduction The inputs and outputs available on the M241 logic controller can be connected to expert functions. The M241 logic controller supports the following expert functions:
Functions Counters
Pulse Generators
HSC Simple HSC Main Single Phase HSC Main Dual Phase Frequency Meter Period Meter PTO
PWM
Frequency Generator
Description
The HSC functions can execute fast counts of pulses from sensors, switches, etc. that are connected to the fast or regular inputs. HSC functions connected to regular inputs operate at a maximum frequency of 1 kHz. For more information about the HSC functions, refer to High Speed Counter types (see page 21).
The PTO function provides 2 pulse train output channels to control 2 independent linear single-axis stepper or servo drives in open loop mode. The PTO function connected to regular transistor outputs operates at a maximum frequency of 1 kHz.
The PWM function generates a square wave signal on dedicated output channels with a variable duty cycle. The PWM function connected to regular transistor outputs operates at a maximum frequency of 1 kHz.
The frequency generator function generates a square wave signal on dedicated output channels with a fixed duty cycle (50%). The Frequency Generator function connected to regular transistor outputs operates at a maximum frequency of 1 kHz.
As of the release of EcoStruxure Machine Expert, any regular I/O not already in use can be configured for use by any of the expert function types, in the same way as fast I/Os.
NOTE: When an input is used as Run/Stop, it cannot be used by an expert function. When an output is used as Alarm, it cannot be used by an expert function.
For more details, refer to Embedded Functions Configuration.
Maximum Number of Expert Functions
The maximum number of expert functions that can be configured depends on: 1. The logic controller reference. 2. The expert function types and number of optional functions (see page 117) configured. Refer to
Embedded Expert I/O Assignment (see page 17). 3. The number of I/Os that are available.
14
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Maximum number of expert functions by logic controller reference:
Expert Function Type
24 I/O References (TM241�24�) 40 I/O References (TM241�40�)
Total number of HSC functions
14
16
HSC
Simple
14
16
Main Single Phase
4
Main Dual Phase
Frequency Meter(1)
Period Meter
PTO
PWM
FreqGen
(1) When the maximum number is configured, only 12 additional HSC Simple functions can be added.
The maximum number of expert functions possible may be further limited by the number of I/Os used by each expert function.
Example configurations: 4 PTO(2) + 14 HSC Simple on 24 I/O controller references 4 FreqGen(2) + 16 HSC Simple on 40 I/O controller references 4 HSC Main Single Phase + 10 HSC Simple on 24 I/O controller references 4 HSC Main Dual Phase + 8 HSC Simple on 40 I/O controller references 2 PTO(2) + 2 HSC Main Single Phase + 14 HSC Simple on 40 I/O controller references
(2) With no optional I/O configured
The performance of the expert function is limited by the I/Os used: HSC with fast inputs: 100 kHz/200 kHz HSC with regular inputs: 1 kHz
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Configuring an Expert Function To configure an expert function, proceed as follows:
Step 1
Description
Double-click the Counters or Pulse_Generators node in the Devices Tree. Result: The Counters or Pulse_Generators configuration window appears:
2
Double-click None in the Value column and choose the expert function type to assign.
Result: The default configuration of the expert function appears when you click anywhere in the
configuration window.
3
Configure the expert function parameters, as described in the following chapters.
4
To configure an additional expert function, click the + tab.
NOTE: If the maximum number of expert functions is already configured, a message appears at the
bottom of the configuration window informing you that you can now add only HSC Simple functions.
Regular I/O Configured as Expert Function
When regular I/Os are configured as expert functions, note the following: Inputs can be read through memory variables. An input cannot be configured as an expert function if it has already been configured as a
Run/Stop input. An output cannot be configured in an expert function if it has already been configured as an
alarm. Short-Circuit management applies on the outputs. Status of outputs are available. The I/O that are not used by expert functions can be used as any other regular I/O. When inputs are used in expert functions (Latch, HSC,...), integrator filter is replaced by anti-
bounce filter. Filter value is configured in the configuration screen.
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Embedded Expert I/O Assignment
I/O Assignment The following regular or fast I/Os can be configured for use by expert functions:
24 I/O References TM241�24T, TM241�24U TM241�24R
Inputs Outputs
8 fast inputs (I0...I7) 6 regular inputs (I8...I13)
4 fast outputs (Q0...Q3) 4 regular outputs (Q4...Q7)
4 fast outputs (Q0...Q3)
40 I/O References
TM241�40T, TM241�40U
TM241�40R
8 fast inputs (I0...I7) 8 regular inputs (I8...I15)
4 fast outputs (Q0...Q3) 4 regular outputs (Q4...Q7)
4 fast outputs (Q0...Q3)
When an I/O has been assigned to an expert function, it is no longer available for selection with other expert functions.
NOTE: All I/Os are by default disabled in the configuration window.
The following table shows the I/Os that can be configured for expert functions:
Expert Function
Name
HSC Simple
Input
HSC Main
Input A
Input B/EN
SYNC
CAP
Reflex 0
Reflex 1
Frequency Meter/Period Meter Input A
EN
PWM/FreqGen
Output A
SYNC
EN
M Mandatory C Optionally configurable
Input (Fast or Regular) M M C C C
M C
C C
Output (Fast or Regular)
C C M
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Expert Function PTO
M Mandatory C Optionally configurable
Name
Output A/CW/Pulse Output B/CCW/Dir REF (Origin) INDEX (Proximity) PROBE
Input (Fast or Regular)
C C C
Output (Fast or Regular) M C
Using Regular I/O with Expert Functions
Expert function I/O within regular I/O: Inputs can be read through standard memory variables even if configured as expert functions. All I/Os that are not used by expert functions can be used as regular I/Os. An I/O can only be used by one expert function; once configured, the I/O is no longer available
for other expert functions. If no more fast I/Os are available, a regular I/O can be configured instead. In this case, however,
the maximum frequency of the expert function is limited to 1 kHz. You cannot configure an input in an expert function and use it as a Run/Stop, Event, or Latch
input at a same time. An output cannot be configured in an expert function if it has already been configured as an
alarm. Short-circuit management still applies on all outputs. Status of outputs are available. For more
information, refer to Output Management (see Modicon M241 Logic Controller, Hardware Guide). When inputs are used in expert functions (PTO, HSC,...), the integrator filter is replaced by an anti-bounce filter (see page 142). The filter value is configured in the configuration window.
For more details, refer to Embedded Functions Configuration (see Modicon M241 Logic Controller, Programming Guide).
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I/O Summary The IO Summary window displays the I/Os used by the expert functions. To display the IO Summary window:
Step 1
Action In the Devices tree tab, right-click the MyController node and choose IO Summary.
Example of IO Summary window:
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Modicon M241 Logic Controller High Speed Counter Types EIO0000003071 12/2019
High Speed Counter Types
Chapter 2
High Speed Counter Types
Overview This chapter provides an overview of the different types of HSC.
What Is in This Chapter? This chapter contains the following topics:
Choosing Your Counter Simple Type Overview Main Type Overview Frequency Meter Type Overview Period Meter Type Overview
Topic
Page 22 25 26 27 28
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High Speed Counter Types
Choosing Your Counter
Overview
Start the HSC configuration by choosing a counter type according to the type of sensor you are using and the application need.
In the Counters editor, select a Counting function from the list that offers the following types of counters (for more information, refer to the Counter Function (see Modicon M241 Logic Controller, Programming Guide)): HSC Simple HSC Main Single Phase HSC Main Dual Phase Frequency Meter Period Meter
The Frequency Meter type and the Period Meter type are both based on an HSC Main type.
For each counter defined in the Counters editor, a default Instance name is assigned by EcoStruxure Machine Expert. This default Instance name is editable. You must use exactly the same instance name as an input to the function blocks dealing with the counter.
Type and Mode Matrix This table presents the different types and modes available:
Type Mode One-shot Modulo-loop Event Counting Free-large Edge to Edge Edge to Opposite
HSC Simple
X X � � � �
HSC Main Single Phase
X X X � � �
HSC Main Dual Frequency
Phase
Meter
�
�
X
�
�
�
X
�
�
�
�
�
Period Meter
� � � � X X
HSC Simple
This table presents an overview of the specifications available in HSC Simple type according to the mode requested:
Feature
Function
One-shot Mode
Counting mode
Count down
Enable with an HSC physical input No
Modulo-loop Mode Count up No
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High Speed Counter Types
Feature
Synchronization / preset with an HSC physical input Comparison function Capture function
Function One-shot Mode No
No No
Modulo-loop Mode No
No No
HSC Main Single Phase
This table presents an overview of the specifications available in HSC Main Single Phase type according to the mode requested:
Feature Counting mode
Function One-shot Mode Count down
Enable with an HSC physical input Synchronization / preset with an HSC physical input Comparison function
Capture function
Yes
Yes
Yes, 4 thresholds, 2 outputs, and 4 events Yes, 1 capture register
Modulo-loop Mode Count up
Yes Yes
Yes, 4 thresholds, 2 outputs, and 4 events Yes, 1 capture register
Event Counting Mode Pulse counting during given time base (10 ms, 100 ms, or 1000 ms) No
Yes
No
No
HSC Main Dual Phase
This table presents an overview of the specifications available in HSC Main Dual Phase type according to the mode requested:
Feature
Function
Modulo-Loop Mode
Free-Large Mode
Counting mode
Count up / down Pulse / direction Quadrature
Count up / down Pulse / direction Quadrature
Enable with an HSC physical input No
No
Synchronization / preset with an Yes
Yes
HSC physical input
Comparison function
Yes, 4 thresholds, 2 outputs, and 4 Yes, 4 thresholds, 2 outputs, and 4
events
events
Capture function
Yes, 1 capture register
Yes, 1 capture register
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High Speed Counter Types
Frequency Meter This table presents an overview of the specifications available in Frequency Meter type:
Feature Counting mode
Enable with an HSC physical input Synchronization / preset with an HSC physical input Comparison function Capture function
Function Pulse frequency in Hz with updated value available every time base value (10 ms, 100 ms, or 1000 ms) Yes No No No
Period Meter
This table presents an overview of the specifications available in Period Meter type according to the mode requested:
Feature Counting modes
Enable with an HSC physical input Synchronization / preset with an HSC physical input Comparison function Capture function Resolution
Timeout
Function Edge to edge: Measure the time between two events Edge to opposite: Measure the duration of an event Yes No
No No Duration counting with configurable resolution (0.1 �s, 1 �s, 100 �s, or 1000 �s) 0...858993459, calculated using resolution units 0 means no timeout
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High Speed Counter Types
Simple Type Overview
Overview The Simple type is a single input counter. Any operation on the counter (enable, sync) and any action triggered (when count value is reached) is executed in the context of a task. With the Simple type, you cannot trigger an event or a reflex output.
Simple Type Modes The Simple type supports 2 configurable counting modes on single-phase pulses: One-shot (see page 33). In this mode, the counter current value register decrements (from a userdefined value) for each pulse applied to A input, until the counter reaches 0. Modulo-loop (see page 53). In this mode, the counter repeatedly counts from 0 to a user-defined modulo value then returns to 0 and restarts counting.
Performance The maximum frequency admissible on a fast input is 100 kHz if the bounce filter value is 0.005 ms (default value for configuration). If the bounce filter value is 0.002 ms, the maximum frequency is 200 kHz. The maximum frequency admissible on a regular input is 1 kHz if the bounce filter value is 0.5 ms. If the bounce filter value is 1 ms, the maximum frequency is 500 Hz. For more information about the bounce filter, refer to Dedicated Features (see page 142).
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High Speed Counter Types
Main Type Overview
Overview The Main type is a counter that uses up to 4 fast or regular inputs and 2 reflex outputs. The M241 Logic Controller can have up to 4 Main type High Speed Counters.
Main Type Modes The Main type supports the following counting modes on single phase (1 input) or dual-phase (2 inputs) pulses: One-shot (see page 39): In this mode, the counter current value register decrements (from a userdefined value) for each pulse applied to the A input until the counter reaches 0. Modulo-loop (see page 59): In this mode, the counter repeatedly counts up from 0 to a userdefined modulo value, then returns to 0 and restarts counting. In reverse, the counter counts down from the modulo value to 0, then presets to the modulo value and restarts counting. Free-large (see page 75): In this mode, the counter behaves like a high range up and down counter. Event Counting (see page 87): In this mode, the counter accumulates the number of events that are received during a user-configured time base.
Optional Features Optional features can be configured depending on the selected mode: Hardware inputs to operate the counter (enable, preset) or capture the current counting value Up to 4 thresholds, the values of which can be compared. Up to 4 events (1 for each threshold) can be associated with external tasks Up to 2 reflex outputs
Performance The maximum frequency admissible on an Expert I/O interface is 100 kHz if the bounce filter value is 0.005 ms (default value for configuration). If the bounce filter value is 0.002 ms, the maximum frequency is 200 kHz. If the expert function is configured with a regular I/O, the minimum period admissible is 0.4 ms.
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High Speed Counter Types
Frequency Meter Type Overview
Overview The Frequency Meter type is a counter that uses up to 2 fast or regular inputs. The M241 Logic Controller can have up to 4 Frequency Meter type High Speed Counters.
Frequency Meter Type Mode The Frequency meter (see page 99) counter measures the frequency of events. Frequency is the number of events per second (Hz).
Performance The maximum frequency admissible on a fast input is 100 kHz if the bounce filter value is 0.005 ms (default value for configuration). If the bounce filter value is 0.002 ms, the maximum frequency is 200 kHz. The maximum frequency admissible on a regular input is 1 kHz if the bounce filter value is 0.5 ms. If the bounce filter value is 1 ms, the maximum frequency is 500 Hz.
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High Speed Counter Types
Period Meter Type Overview
Overview The Period Meter type is a counter that uses up to 2 fast or regular inputs. The M241 Logic Controller can have up to 4 Period Meter type High Speed Counters.
Period Meter Type Mode Use the Period meter counting mode to: Determine the duration of an event Measure the time between 2 events Set and measure the execution time for a process
Performance The minimum period admissible on a fast input is 0.005 ms. If the expert function is configured with a regular I/O, the minimum period admissible is 0.4 ms. For more information about the bounce filter, refer to Dedicated Features (see page 142).
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Modicon M241 Logic Controller One-shot Mode EIO0000003071 12/2019
One-shot Mode
Part II
One-shot Mode
Overview This part describes the use of a HSC in One-shot Mode.
What Is in This Part? This part contains the following chapters:
Chapter 3 4 5
Chapter Name One-shot Mode Principle One-shot with a Simple Type One-shot with a Main Type
Page 31 33 39
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One-shot Mode
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Modicon M241 Logic Controller One-shot Mode Principle EIO0000003071 12/2019
One-shot Mode Principle
Chapter 3
One-shot Mode Principle
One-shot Mode Principle Description
Overview The counter is activated by a synchronization edge, and the preset value is loaded. When counting is enabled, each pulse applied to the input decrements the current value. The counter stops when its current value reaches 0. The counter value remains at 0 even if new pulses are applied to the input. A new synchronization is needed to activate the counter again.
Principle Diagram
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One-shot Mode Principle
This table explains the stages from the preceding graphic:
Stage 1 2 3 4
Action
On the rising edge of the Sync condition, the preset value is loaded in the counter (regardless of the current value) and the counter is activated.
When the Enable condition = 1, the current counter value decrements on each pulse on input A until it reaches 0.
The counter waits until the next rising edge of the Sync condition. Note: At this point, pulses on input A have no effect on the counter.
When the Enable condition = 0, the counter ignores the pulses from input A and retains its current value until the Enable condition again = 1. The counter resumes counting pulses from input A on the rising edge of the Enable input from the held value.
NOTE: Enable and Sync conditions depends on configuration. These are described in the Enable (see page 137) and Preset (see page 134) function.
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Modicon M241 Logic Controller One-shot With a Simple Type EIO0000003071 12/2019
One-shot with a Simple Type
Chapter 4
One-shot with a Simple Type
Overview
This chapter describes how to implement a High Speed Counter in One-shot mode using a Simple type.
What Is in This Chapter? This chapter contains the following topics:
Topic Synopsis Diagram Configuration of the Simple Type in One-Shot Mode Programming the Simple Type Adjusting Parameters
Page 34 35 36 38
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One-shot With a Simple Type
Synopsis Diagram
Synopsis Diagram This diagram provides an overview of the Simple type in One-shot mode:
A is the counting input of the High Speed Counter. Simple type counting for One-shot mode always counts down.
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One-shot With a Simple Type
Configuration of the Simple Type in One-Shot Mode
Procedure Follow this procedure to configure a Simple type in One-shot mode:
Step 1 2 3
4 5
6
7 8
Action
Double-click MyController Counters. Result: The Counters editor tab opens for HSC configuration.
In the Counters editor tab, set the value of the Counting function parameter to HSC Simple, then click anywhere in the configuration area. Result: The configuration parameters appear in the Counters editor tab.
If necessary, modify the value of the General Instance name parameter.
NOTE: Instance name is automatically given by the software and can be used as it is for the
counter function block.
Set the value of the General Counting Mode parameter to One-shot.
In Counting inputs A input Location select the fast or regular input to use as the A input.
NOTE: A message is displayed at the bottom of the configuration window if no more I/Os are
available for configuration. Free up one or more I/Os before continuing configuration of this function.
Set the value of the Counting inputs A input Bounce filter parameter to reduce the bounce effect on the input. The filtering value determines the counter maximum frequency as shown in the Bounce Filter table (see page 142).
Enter the value of the Range Preset parameter to set the counting initial value.
With a expansion module, you can specify the name of an external event. When this event is triggered in a task, the counter is stopped. Set the value of Stop Stop event to Yes, then modify the Stop Event Name to the name of the external event.
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One-shot With a Simple Type
Programming the Simple Type
Overview A Simple type counter is always managed by an HSCSimple_M241 (see page 170) function block.
NOTE: At build time, an error is detected if the HSCSimple_M241 function block is used to manage a different HSC type.
Adding an HSCSimple Function Block
Step 1
2
Description
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 HSC HSC HSCSimple_M241 in the list, drag-anddrop the item onto the POU window.
Type the Simple type instance name (defined in configuration) or select the function block
instance by clicking: Using the input assistant, the HSC instance can be selected at the following path: <MyController> Counters.
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One-shot With a Simple Type
I/O Variables Usage The tables below describe how the different pins of the function block are used in One-shot mode. This table describes the input variables:
Input Sync ACK_Modulo
Type BOOL BOOL
Comment On rising edge, presets and starts the counter Not used in one-shot mode.
This table describes the output variables:
Output HSC_REF
HSC_Err
Type EXPERT_REF (see page 153) BOOL
Validity Run
BOOL BOOL
Modulo_Flag CurrentValue
BOOL DWORD
Comment
Reference to the HSC. To be used as input of Administrative function blocks.
TRUE = indicates that an error was detected. Use the EXPERTGetDiag (see page 158) function block to get more information about this detected error.
TRUE = indicates that the output values on the function block are valid.
Set to 1 when the counter is running. Switches to 0 when CurrentValue reaches 0. A synchronization is needed to restart the counter.
Not used in one-shot mode.
Current count value of the counter.
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One-shot With a Simple Type
Adjusting Parameters
Overview
The list of parameters described in the table can be read or modified by using the EXPERTGetParam (see page 162) or EXPERTSetParam (see page 164) function blocks.
NOTE: Parameters set via the program override the parameters values configured in the HSC configuration window. Initial configuration parameters are restored on a cold or warm start of the controller (see Modicon M241 Logic Controller, Programming Guide).
Adjustable Parameters
This table provides the list of parameters from the EXPERT_PARAMETER_TYPE (see page 151) that can be read or modified while the program is running:
Parameter EXPERT_PRESET
Description to get or set the Preset value of an HSC
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Modicon M241 Logic Controller One-shot with a Main Type EIO0000003071 12/2019
One-shot with a Main Type
Chapter 5
One-shot with a Main Type
Overview
This chapter describes how to implement a High Speed Counter in One-shot mode using a Main type.
What Is in This Chapter? This chapter contains the following topics:
Topic Synopsis Diagram Configuration of the Main Type Single Phase in One-Shot Mode Programming the Main Type Adjusting Parameters
Page 40 41 42 45
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One-shot with a Main Type
Synopsis Diagram
Synopsis Diagram This diagram provides an overview of the Main type in One-shot mode:
A is the counting input of the counter. EN is the enable input of the counter. SYNC is the synchronization input of the counter. CAP is the capture input of the counter. Optional Function In addition to the One-shot mode, the Main type can provide the following functions: Preset function (see page 134) Enable function (see page 137) Capture function (see page 129) Comparison function (see page 119)
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One-shot with a Main Type
Configuration of the Main Type Single Phase in One-Shot Mode
Procedure Follow this procedure to configure a Main type single phase in One-shot mode:
Step 1
2 3 4 5
6 7 8
9
Action
Double-click MyController Counters. Result: The Counters editor tab opens for HSC configuration.
NOTE: A message appears at the bottom of the configuration screen if the maximum number
of HSC Main functions has already been configured. Consider using an HSC Simple function instead.
In the Counters editor tab, set the value of the Counting function parameter to HSC Main Single Phase and click anywhere in the configuration window. Result: The configuration parameters appear in the Counters tab.
If necessary, enter the value of the General Instance name parameter.
NOTE: Instance name is automatically given by the software and can be used as it is for the
counter function block.
Set the value of the General Counting Mode parameter to One-shot.
In Counting Inputs A input Location select the regular or fast input to use as the A input.
NOTE: A message is displayed at the bottom of the configuration window if no more I/Os are
available for configuration. Free up one or more I/Os before continuing configuration of this function.
Set the value of the Counting inputs A input Bounce filter parameter to reduce the bounce effect on the input. The filtering value determines the counter maximum frequency as shown in the Bounce Filter table (see page 142).
Enter the value of the Range Preset parameter to set the initial counting value of the Preset function (see page 134).
Optionally, you can enable these functions: Preset function (see page 134) Enable function (see page 137) Capture function (see page 129) Comparison function (see page 119)
Optionally, set the value of the Events Stop Event parameter to Yes to enable the External Event function (see page 126).
NOTE: This option is only available for TM3XF� expansion modules, which support external
events.
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One-shot with a Main Type
Programming the Main Type
Overview The Main type is always managed by an HSCMain_M241 function block.
NOTE: At build time, an error is detected if the HSCMain_M241 function block is used to manage a different HSC type.
Adding the HSCMain Function Block
Step 1
2
Description
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 HSC HSC HSCMain_M241 in the list, drag-and-drop the item onto the POU window.
Type the Main type instance name (defined in configuration) or select the function block instance by clicking:
Using the input assistant, the HSC instance can be selected at the following path: <MyController> Counters.
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One-shot with a Main Type
I/O Variables Usage The tables below describe how the different pins of the function block are used in One-shot mode. This table describes the input variables:
Input EN_Enable EN_Preset EN_Cap EN_Compare
Type BOOL BOOL BOOL BOOL
EN_Out0
EN_Out1
F_Enable F_Preset F_Out0
F_Out1
ACK_Preset ACK_Cap SuspendCompare
BOOL
BOOL
BOOL BOOL BOOL
BOOL
BOOL BOOL BOOL
Description
When EN input is configured: if TRUE, authorizes enabling of the counter with the Enable input (see page 137).
When SYNC input is configured: if TRUE, authorizes the counter Preset via the Sync input (see page 134).
When CAP input is configured: if TRUE, enables the Capture input.
TRUE = enables the comparator operation (see page 119) (using Thresholds 0, 1, 2, 3): basic comparison (TH0, TH1, TH2, TH3 output bits) reflex (Reflex0, Reflex1 output bits) events (to trigger external tasks on threshold crossing)
NOTE: This option is only available for TM3XF� expansion
modules, which support external events.
TRUE = enables physical output Out_R0 to echo the Reflex0 value (if configured).
TRUE = enables physical output Out_R1 to echo the Reflex1 value (if configured).
TRUE = authorizes changes to the current counter value.
On rising edge, presets and starts the counter.
TRUE = forces Out_R0 to 1 (if Reflex0 is configured in HSC Embedded Function. Takes priority over EN_Out0.
TRUE = forces Out_R1 to 1 (if Reflex1 is configured in HSC Embedded Function. Takes priority over EN_Out1.
On rising edge, resets Preset_Flag.
On rising edge, resets Cap_Flag.
TRUE = compare results are suspended: TH0, TH1, TH2, TH3 , Reflex0, Reflex1, Out0, Out1 output
bits of the block maintain their last value. Hardware Outputs 0, 1 maintain their last value. Events are masked.
NOTE: EN_Compare, EN_ReflexO, EN_Reflex1,
F_Out0, F_Out1 remain operational while SuspendCompare is set.
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One-shot with a Main Type
This table describes the output variables:
Output HSC_REF
Validity
Run
TH0 TH1 TH2 TH3 Preset_Flag Cap_Flag
Reflex0
Reflex1
Out0 Out1 CurrentValue
Type EXPERT_REF (see page 153) BOOL
BOOL
BOOL BOOL BOOL BOOL BOOL BOOL
BOOL
BOOL
BOOL BOOL DINT
Comment Reference to the HSC. To be used as input of Administrative function blocks.
TRUE = indicates that output values on the function block are valid. TRUE = counter is running. Set to False when CurrentValue reaches 0.
Set to 1 when CurrentValue > Threshold 0 (see page 119). Set to 1 when CurrentValue > Threshold 1 (see page 119). Set to 1 when CurrentValue > Threshold 2 (see page 119). Set to 1 when CurrentValue > Threshold 3 (see page 119). Set to 1 by the preset of the counter (see page 134). Set to 1 when a new capture value is stored in the Capture register. This flag must be reset before a new capture can occur. State of Reflex0 (see page 120). Only active when EN_Compare is set.
State of Reflex1 (see page 120). Only active when EN_Compare is set.
State of physical output Out_R0 (if Reflex0 configured).
State of physical output Out_R1 (if Reflex1 configured).
Current value of the counter.
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One-shot with a Main Type
Adjusting Parameters
Overview
The list of parameters described in the table can be read or modified by using the EXPERTGetParam (see page 162) or EXPERTSetParam (see page 164) function blocks.
NOTE: Parameters set via the program override the parameters values configured in the HSC configuration window. Initial configuration parameters are restored on a cold or warm start of the controller (see Modicon M241 Logic Controller, Programming Guide).
Adjustable Parameters
This table provides the list of parameters from the EXPERT_PARAMETER_TYPE (see page 151) which can be read or modified while the program is running:
Parameter EXPERT_PRESET EXPERT_THRESHOLD0 EXPERT_THRESHOLD1 EXPERT_THRESHOLD2 EXPERT_THRESHOLD3 EXPERT_REFLEX0 EXPERT_REFLEX1
Description to get or set the Preset value of an HSC to get or set the Threshold 0 value of an HSC to get or set the Threshold 1 value of an HSC to get or set the Threshold 2 value of an HSC to get or set the Threshold 3 value of an HSC to get or set output 0 reflex mode of an EXPERT function to get or set output 1 reflex mode of an EXPERT function
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One-shot with a Main Type
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Modicon M241 Logic Controller Modulo-loop Mode EIO0000003071 12/2019
Modulo-loop Mode
Part III
Modulo-loop Mode
Overview This part describes the use of a HSC in Modulo-loop mode.
What Is in This Part? This part contains the following chapters:
Chapter 6 7 8
Chapter Name Modulo-loop Principle Modulo-loop with a Simple Type Modulo-loop with a Main Type
Page 49 53 59
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Modulo-loop Mode
48
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Modicon M241 Logic Controller Modulo-loop Principle EIO0000003071 12/2019
Modulo-loop Principle
Chapter 6
Modulo-loop Principle
Modulo-loop Mode Principle Description
Overview
The Modulo-loop mode can be used for repeated actions on a series of moving objects, such as packaging and labeling applications.
Principle
On a rising edge of the Sync condition (see page 134), the counter is activated and the current value is reset to 0.
When counting is enabled (see page 137): Incrementing direction: the counter increments until it reaches the modulo value -1. At the next
pulse, the counter is reset to 0, a modulo flag is set to 1, and the counting continues. Decrementing direction: the counter decrements until it reaches 0. At the next pulse, the counter
is set to the modulo value, a modulo flag is set to 1, and the counting continues.
Input Modes This table shows the 8 types of input modes available:
Input Mode A = Up, B = Down
A = Impulse, B = Direction
Normal Quadrature X1 Normal Quadrature X2 Normal Quadrature X4 Reverse Quadrature X1 Reverse Quadrature X2 Reverse Quadrature X4
Comment
default mode The counter increments on A and decrements on B.
If there is a rising edge on A and B is true, then the counter decrements. If there is a rising edge on A and B is false, then the counter increments.
A physical encoder always provides 2 signals 90� shift that first allows the counter to count pulses and detect direction: X1: 1 count by Encoder cycle X2: 2 counts by Encoder cycle X4: 4 counts by Encoder cycle
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Modulo-loop Principle
Up Down Principle Diagram
Stage 1 2 3
4 5 6
7 8
Action On the rising edge of Sync condition, the current value is reset to 0 and the counter is activated. When Enable condition = 1, each pulses on A increments the counter value. When the counter reaches the (modulo-1) value, the counter loops to 0 at the next pulse and the counting continues. Modulo_Flag is set to 1.
On the rising edge of Sync condition, the current counter value is reset to 0. When Enable condition = 1, each pulse on B decrements the counter. When the counter reaches 0, the counter loops to (modulo-1) at the next pulse and the counting continues. When Enable condition = 0, the pulses on the inputs are ignored. On the rising edge of Sync condition, the current counter value is reset to 0.
NOTE: Enable and Sync conditions depends on configuration. These are described in the Enable (see page 137) and Preset (see page 134) function.
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Modulo-loop Principle
Quadrature Principle Diagram The encoder signal is counted according to the input mode selected, as shown below:
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Modulo-loop Principle
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Modicon M241 Logic Controller Modulo-loop with a Simple Type EIO0000003071 12/2019
Modulo-loop with a Simple Type
Chapter 7
Modulo-loop with a Simple Type
Overview
This chapter describes how to implement a High Speed Counter in Modulo-loop mode using a Simple type.
What Is in This Chapter? This chapter contains the following topics:
Topic Synopsis Diagram Configuration of the Simple Type in Modulo-Loop Mode Programming the Simple Type Adjusting Parameters
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Modulo-loop with a Simple Type
Synopsis Diagram
Synopsis Diagram This diagram provides an overview of the Simple type in Modulo-loop mode:
A Simple type counting for Modulo-loop mode only counts up.
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Configuration of the Simple Type in Modulo-Loop Mode
Procedure Follow this procedure to configure a Simple type in Modulo-loop mode:
Step 1
2 3 4 5
6
7
Action
Double-click MyController Counters. Result: The Counters editor tab opens for HSC configuration.
NOTE: A message appears at the bottom of the configuration screen if the maximum number
of HSC Main functions has already been configured. Consider using an HSC Simple function instead.
In the Counters editor tab, set the value of the Counting function parameter to HSC Simple. Result: The configuration parameters appear in the Counters editor tab.
If necessary, enter the value of the General Instance name parameter.
NOTE: Instance name is automatically given by the software and can be used as it is for the
counter function block.
Set the value of the General Counting Mode parameter to Modulo-loop.
In Counting Inputs A input Location select the regular or fast input to use as the A input.
NOTE: A message is displayed at the bottom of the configuration window if no more I/Os are
available for configuration. Free up one or more I/Os before continuing configuration of this function.
Set the value of the Counting inputs A input Bounce filter parameter to reduce the bounce effect on the input. The filtering value determines the counter maximum frequency as shown in the Bounce Filter table (see page 142).
Enter the value of the Range Modulo parameter to set the counting modulo value.
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Modulo-loop with a Simple Type
Programming the Simple Type
Overview A Simple type is always managed by an HSCSimple_M241 (see page 170) function block.
NOTE: At build time, an error is detected if the HSCSimple_M241 function block is used to manage a different HSC type.
Adding a HSCSimple Function Block
Step 1
2
Description
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 HSC HSC HSCSimple_M241 in the list, drag-anddrop the item onto the POU window.
Type the Simple type instance name (defined in configuration) or select the function block instance by clicking:
Using the input assistant, the HSC instance can be selected at the following path: <MyController> Counters.
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I/O Variables Usage The tables below describe how the different pins of the function block are used in Modulo-loop mode.
This table describes the input variables:
Input Enable
Sync ACK_Modulo
Type BOOL
BOOL BOOL
Comment TRUE = authorizes changes to the current counter value. On rising edge, resets and starts the counter. On rising edge, resets Modulo_Flag.
This table describes the output variables:
Output HSC_REF
Type
EXPERT_REF (see page 153)
HSC_Err
BOOL
Validity
Run Modulo_Flag
CurrentValue
BOOL
BOOL BOOL
DWORD
Comment
Reference to the HSC. To be used as input of the Administrative function blocks.
TRUE = indicates that an error was detected. Use the EXPERTGetDiag (see page 158) function block to get more information about this detected error.
TRUE = indicates that the output values on the function block are valid.
Not relevant
Set to TRUE when the counter rolls over the Modulo value.
Current value of the counter.
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Modulo-loop with a Simple Type
Adjusting Parameters
Overview
The list of parameters described in the table can be read or modified by using the EXPERTGetParam (see page 162) or EXPERTSetParam (see page 164) function blocks.
NOTE: Parameters set via the program override the parameters values configured in the HSC configuration window. Initial configuration parameters are restored on a cold or warm start of the controller (see Modicon M241 Logic Controller, Programming Guide).
Adjustable Parameters
This table provides the list of parameters from the EXPERT_PARAMETER_TYPE (see page 151) that can be read or modified while the program is running:
Parameter EXPERT_MODULO
Description to get or set the modulo value of an HSC
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Modicon M241 Logic Controller Modulo-loop with a Main Type EIO0000003071 12/2019
Modulo-loop with a Main Type
Chapter 8
Modulo-loop with a Main Type
Overview
This chapter describes how to implement a High Speed Counter in Modulo-loop mode using a Main type.
What Is in This Chapter? This chapter contains the following topics:
Topic Synopsis Diagram Configuration of the Main Type Single Phase in Modulo-Loop Mode Configuration of the Main Type Dual Phase in Modulo-Loop Mode Programming the Main Type Adjusting Parameters
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Modulo-loop with a Main Type
Synopsis Diagram
Synopsis Diagram This diagram provides an overview of the Main type in Modulo-loop mode:
A and B are the counting inputs of the counter. EN not configurable when B input is used. SYNC is the synchronization input of the counter. CAP is the capture input of the counter. Optional Functions In addition to the Modulo-loop mode, the Main type can provide the following functions: Enable function (see page 137) Capture function (see page 129) Comparison function (see page 119) NOTE: The Preset value is 0 and cannot be modified.
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Configuration of the Main Type Single Phase in Modulo-Loop Mode
Procedure Follow this procedure to configure a Main type single phase in Modulo-loop mode:
Step 1
2 3 4 5
6
7 8
Action
Double-click MyController Counters. Result: Counters editor tab opens for HSC configuration.
NOTE: A message appears at the bottom of the configuration screen if the maximum number
of HSC Main functions has already been configured. Consider using an HSC Simple function instead.
In the Counters editor tab, set the value of the Counting function parameter to HSC Main Single Phase. Result: The configuration parameters appear in the Counters editor tab.
If necessary, enter the value of the General Instance name parameter.
NOTE: Instance name is automatically given by the software and can be used as it is for the
counter function block.
Set the value of the General Counting Mode parameter to Modulo-loop.
In Counting Inputs A input Location select the regular or fast input to use as the A input.
NOTE: A message is displayed at the bottom of the configuration window if no more I/Os are
available for configuration. Free up one or more I/Os before continuing configuration of this function.
Set the value of the Counting inputs A input Bounce filter parameter to reduce the bounce effect on the input. The filtering value determines the counter maximum frequency as shown in the Bounce Filter table (see page 142).
Enter the value of the Range Modulo parameter to set the counting modulo value.
Optionally, you can enable these control functions: Enable function (see page 137) Capture function (see page 129) Comparison function (see page 119)
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Modulo-loop with a Main Type
Configuration of the Main Type Dual Phase in Modulo-Loop Mode
Procedure Follow this procedure to configure a Main type dual phase in Modulo-loop mode:
Step 1
2 3
4 5 6
7
8 9 10 11
Action
Double-click MyController Counters. Result: Counters editor tab opens for HSC configuration.
NOTE: A message appears at the bottom of the configuration screen if the maximum number
of HSC Main functions has already been configured. Consider using an HSC Simple function instead.
In the Counters editor tab, set the value of the Counting function parameter to HSC Main Dual Phase. Result: The configuration parameters appear in the Counters editor tab.
If necessary, enter the value of the General Instance name parameter.
NOTE: Instance name is automatically given by the software and can be used as it is for the
counter function block.
Set the value of the General Counting Mode parameter to Modulo-loop.
Set the value of the General Input mode parameter to select the modulo loop input mode (see page 49).
In Counting Inputs A input Location select the regular or fast input to use as the A input.
NOTE: A message is displayed at the bottom of the configuration window if no more I/Os are
available for configuration. Free up one or more I/Os before continuing configuration of this function.
Set the value of the Counting inputs A input Bounce filter parameter to reduce the bounce effect on the input. The filtering value determines the counter maximum frequency as shown in the Bounce Filter table (see page 142).
In Counting Inputs B input Location select the regular or fast input to use as the B input.
Set the value of the Counting inputs B input Bounce filter parameter to reduce the bounce effect on the input..
Enter the value of the Range Modulo parameter to set the counting modulo value.
Optionally, you can enable these control functions: Capture function (see page 129) Comparison function (see page 119)
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Programming the Main Type
Overview The Main type is always managed by an HSCMain_M241 function block.
NOTE: At build time, an error is detected if the HSCMain_M241 function block is used to manage a different HSC type.
Adding the HSCMain Function Block
Step 1
2
Description
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 HSC HSC HSCMain_M241 in the list, drag-and-drop the item onto the POU window.
Type the Main type instance name (defined in configuration) or select the function block instance by clicking:
Using the input assistant, the HSC instance can be selected at the following path: <MyController> Counters.
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I/O Variables Usage The tables below describe how the different pins of the function block are used in Modulo-loop mode.
This table describes the input variables:
Input EN_Enable EN_Preset EN_Cap EN_Compare
Type BOOL BOOL BOOL BOOL
EN_Out0
EN_Out1
F_Enable F_Preset F_Out0 F_Out1 ACK_Modulo ACK_Preset ACK_Cap SuspendCompare
BOOL
BOOL
BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL
Description
When EN input is configured: if TRUE, authorizes the counter enable via the Enable input (see page 137).
When SYNC input is configured: if TRUE, authorizes the counter Preset via the Sync input (see page 134).
When CAP input is configured: if TRUE, enables the Capture input. TRUE = enables the comparison function (see page 119) using Threshold 0, 1, 2, 3: basic comparison (TH0, TH1, TH2, TH3 output bits) reflex (Reflex0, Reflex1 output bits) events (to trigger external tasks on threshold crossing)
TRUE = enables physical output Out_R0 to echo the Reflex0 value (if configured).
TRUE = enables physical output Out_R1 to echo the Reflex1 value (if configured).
TRUE = authorizes changes to the current counter value.
On rising edge, resets, and starts the counter.
TRUE = forces Out_R0 to 1 (if Reflex0 is configured).
TRUE = forces Out_R1 to 1 (if Reflex1 is configured).
On rising edge, resets Modulo_Flag.
On rising edge, resets Preset_Flag.
On rising edge, resets Cap_Flag.
TRUE = compare results are suspended: TH0, TH1, TH2, TH3 , Reflex0, Reflex1, Out0, Out1
output bits of the block maintain their last value. Physical Outputs 0, 1 maintain their last value. Events are masked.
NOTE: EN_Compare, EN_ReflexO, EN_Reflex1,
F_Out0, F_Out1 remain operational while SuspendCompare is set.
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This table describes the output variables:
Output HSC_REF
HSC_Err
Validity
Run
TH0 TH1 TH2 TH3 Modulo_Flag Preset_Flag Cap_Flag
Reflex0
Reflex1
Out0 Out1 CurrentValue
Type EXPERT_REF (see page 153) BOOL
BOOL
BOOL
BOOL BOOL BOOL BOOL BOOL BOOL BOOL
BOOL
BOOL
BOOL BOOL DINT
Comment
Reference to the HSC. To be used as input of Administrative function blocks.
TRUE = indicates that an error was detected. Use the EXPERTGetDiag (see page 158) function block to get more information about this detected error.
TRUE = indicates that output values on the function block are valid.
TRUE = counter is running. The Run bit switches to 0 when CurrentValue reaches 0. A synchronization is needed to restart the counter. Set to 1 when CurrentValue > Threshold 0 (see page 119). Set to 1 when CurrentValue > Threshold 1 (see page 119). Set to 1 when CurrentValue > Threshold 2 (see page 119). Set to 1 when CurrentValue > Threshold 3 (see page 119).
Set to 1 when the counter roll overs the modulo or 0. Set to 1 by the preset of the counter (see page 134).
Set to 1 when a new capture value is stored in the Capture register (see page 130). This flag must be reset before a new capture can occur. State of Reflex0 (see page 122). Only active when EN_Compare is set.
State of Reflex1 (see page 122). Only active when EN_Compare is set.
State of physical output Out_R0 (if Reflex0 is configured).
State of physical output Out_R1 (if Reflex1 is configured).
Current value of the counter.
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Adjusting Parameters
Overview
The list of parameters described in the table can be read or modified by using the EXPERTGetParam (see page 162) or EXPERTSetParam (see page 162) function blocks.
NOTE: Parameters set via the program override the parameters values configured in the HSC configuration window. Initial configuration parameters are restored on a cold or warm start of the controller (see Modicon M241 Logic Controller, Programming Guide).
Adjustable Parameters
This table provides the list of parameters from the EXPERT_PARAMETER_TYPE (see page 151) that can be read or modified while the program is running:
Parameter EXPERT_MODULO EXPERT_THRESHOLD0 EXPERT_THRESHOLD1 EXPERT_THRESHOLD2 EXPERT_THRESHOLD3 EXPERT_REFLEX0 EXPERT_REFLEX1
Description to get or set the Modulo value of an HSC to get or set the Threshold 0 value of an HSC to get or set the Threshold 1 value of an HSC to get or set the Threshold 2 value of an HSC to get or set the Threshold 3 value of an HSC to get or set output 0 reflex mode of an EXPERT function to get or set output 1 reflex mode of an EXPERT function
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Free-large Mode
Part IV
Free-large Mode
Overview This part describes the use of an HSC in Free-large mode.
What Is in This Part? This part contains the following chapters:
Chapter 9
10
Free-large Mode Principle Free-large with a Main Type
Chapter Name
Page 69 75
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Free-large Mode
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Modicon M241 Logic Controller Free-large Mode Principle EIO0000003071 12/2019
Free-large Mode Principle
Chapter 9
Free-large Mode Principle
Overview This chapter describes the principle of the Free-large mode.
What Is in This Chapter? This chapter contains the following topics:
Free-large Mode Principle Description Limits Management
Topic
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Free-large Mode Principle
Free-large Mode Principle Description
Overview
The Free-large mode can be used for axis monitoring or labeling in cases where the incoming position of each part has to be known.
Principle
In the Free-large mode, the module behaves like a standard up and down counter.
When counting is enabled (see page 137), the counter counts as follows in: Incrementing direction: the counter increments. Decrementing direction: the counter decrements.
The counter is activated by a preset edge (see page 136) which loads the preset value.
The current counter is stored in the capture register by using the Capture (see page 129) function.
If the counter reaches the counting limits, the counter will react according to the Limits Management (see page 73) configuration.
Input Modes This table shows the 8 types of input modes available:
Input Mode A = Up, B = Down
A = Pulse, B = Direction
Normal Quadrature X1 Normal Quadrature X2 Normal Quadrature X4 Reverse Quadrature X1 Reverse Quadrature X2 Reverse Quadrature X4
Comment
default mode The counter increments on A and decrements on B.
If there is a rising edge on A and B is true, then the counter decrements. If there is a rising edge on A and B is false, then the counter increments.
A physical encoder always provides 2 signals 90� shift that first allows the counter to count pulses and detect direction: X1: 1 count for each Encoder cycle X2: 2 counts for each Encoder cycle X4: 4 counts for each Encoder cycle
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Up Down Principle Diagram The figures shows the A = Up, B = Down mode:
Free-large Mode Principle
Stage 1
2 3 4 5 6 7
Action On the rising edge of Preset condition, the current value is set to the preset value and the counter is activated. When Enable condition = 1, each pulse on A increment the counter value. On the rising edge of Preset condition, the current value is set to the preset value. When Enable condition = 1, each pulse on B decrements the counter value. When Enable condition = 0, the pulses on A or B are ignored. On the rising edge of Preset condition, the current value is set to the preset value. When Enable condition = 1, the pulses on B decrements the counter value.
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Free-large Mode Principle
Quadrature Principle Diagram The encoder signal is counted according to the input mode selected, as shown below:
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Limits Management
Overview When the counter limit is reached, the counter can have 2 behaviors depending on configuration: Lock on limits Rollover
Lock on Limits In the case of an overflow or underflow counter, the current counter value is maintained at the limit value, the validity bit goes to 0, and the Error bit indicates that this detected error until the counter is preset again.
2M value is given as: +2M = 2 (exp 31) -1 -2M = -2 (exp 31)
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Free-large Mode Principle
Rollover In the case of overflow or underflow of the counter, the current counter value goes automatically to the opposite limit value. Modulo_Flag output is set to
1.
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Modicon M241 Logic Controller Free-large with a Main Type EIO0000003071 12/2019
Free-large with a Main Type
Chapter 10
Free-large with a Main Type
Overview
This chapter describes how to implement a High Speed Counter in Free-large mode using a Main type.
What Is in This Chapter? This chapter contains the following topics:
Topic Synopsis Diagram Configuration of the Main Type Dual Phase in Free-Large Mode Programming the Main Type Adjusting Parameters
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Free-large with a Main Type
Synopsis Diagram
Synopsis Diagram This diagram provides an overview of the Main type in Free-large mode:
A and B are the counting inputs of the counter. EN is the enable input of the counter. SYNC is the synchronization input of the counter. CAP is the capture input of the counter. Optional Function In addition to the Free-large mode, the Main type can provide the following functions: Preset function (see page 134) Enable function (see page 137) Capture function (see page 129) Comparison function (see page 119)
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Configuration of the Main Type Dual Phase in Free-Large Mode
Procedure Follow this procedure to configure a Main type dual phase in Free-large mode:
Step 1
2 3
4 5 6
7
8
9 10 11 12
Action
Double-click MyController Counters. Result: Counters editor tab opens for HSC configuration.
NOTE: A message appears at the bottom of the configuration screen if the maximum number
of HSC Main functions has already been configured. Consider using an HSC Simple function instead.
In the Counters editor tab, set the value of the Counting function parameter to HSC Main Dual Phase. Result: The configuration parameters appear in the Counters editor tab.
If necessary, enter the value of the General Instance name parameter.
NOTE: Instance name is automatically given by the software and can be used as it is for the
counter function block.
Set the value of the General Counting Mode parameter to Free-large.
Set the value of the General Input mode parameter to select the input mode (see page 70).
In Counting Inputs A input Location select the regular or fast input to use as the A input.
NOTE: A message is displayed at the bottom of the configuration window if no more I/Os are
available for configuration. Free up one or more I/Os before continuing configuration of this function.
Set the value of the Counting inputs A input Bounce filter parameter to reduce the bounce effect on the input. The filtering value determines the counter maximum frequency as shown in the Bounce Filter table (see page 142).
In Counting Inputs B input Location select the regular or fast input to use as the B input.
NOTE: A message is displayed at the bottom of the configuration window if no more I/Os are
available for configuration. Free up one or more I/Os before continuing configuration of this function.
Set the value of the Counting inputs B input Bounce filter parameter.
Enter the value of the Range Preset parameter to set the counting initial value.
Enter the value of the Range Limits for limits management (see page 73).
Optionally, you can enable these functions: Preset function (see page 134) Enable function (see page 137) Capture function (see page 129) Comparison function (see page 119)
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Programming the Main Type
Overview The Main type is always managed by an HSCMain_M241 function block.
NOTE: At build time, an error is detected if the HSCMain_M241 function block is used to manage a different HSC type.
Adding the HSCMain Function Block
Step 1
2
Description
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 HSC HSC HSCMain_M241 in the list, drag-and-drop the item onto the POU window.
Type the Main type instance name (defined in configuration) or select the function block instance by clicking:
Using the input assistant, the HSC instance can be selected at the following path: <MyController> Counters.
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I/O Variables Usage The tables below describe how the different pins of the function block are used in Free-large mode. This table describes the input variables:
Input EN_Enable EN_Preset EN_Cap EN_Compare
Type BOOL BOOL BOOL BOOL
EN_Out0
EN_Out1
F_Enable F_Preset F_Out0 F_Out1 ACK_Modulo ACK_Preset ACK_Cap SuspendCompare
BOOL
BOOL
BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL
Description
When EN input is configured: if TRUE, authorizes the counter enable via the Enable input (see page 137).
When SYNC input is configured: if TRUE, authorizes the counter Preset via the Sync input (see page 134).
When CAP input is configured: if TRUE, enables the Capture input (see page 132). TRUE = enables the comparison operation (see page 119) (using Thresholds 0, 1, 2, 3): basic comparison (TH0, TH1, TH2, TH3 output bits) reflex (Reflex0, Reflex1 output bits) events (to trigger external tasks on threshold crossing)
TRUE = enables physical output Out_R0 to echo the Reflex0 value (if configured).
TRUE = enables physical output Out_R1 to echo the Reflex1 value (if configured).
TRUE = authorizes changes to the current counter value.
On rising edge, presets and starts the counter.
TRUE = forces Out_R0 to 1 (if Reflex0 is configured).
TRUE = forces Out_R1 to 1 (if Reflex1 is configured).
On rising edge, resets Modulo_Flag.
On rising edge, resets Preset_Flag.
On rising edge, resets Cap_Flag.
TRUE = compare results are suspended: TH0, TH1, TH2, TH3 , Reflex0, Reflex1, Out0, Out1
output bits of the block maintain their last value. Physical outputs 0, 1 maintain their last value. Events are masked.
NOTE: EN_Compare, EN_ReflexO,
EN_Reflex1,F_Out0, F_Out1 remain operational while SuspendCompare is set.
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This table describes the output variables:
Outputs HSC_REF
HSC_Err
Validity
Run TH0 TH1 TH2 TH3 Modulo_Flag Preset_Flag Cap_Flag
Reflex0
Reflex1
Out0
Out1
Type EXPERT_REF (see page 153) BOOL
BOOL
BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL
BOOL
BOOL
BOOL
BOOL
Comment
Reference to the HSC. To be used as input of Administrative function blocks.
TRUE = indicates that an error was detected. Use the EXPERTGetDiag (see page 158) function block to get more information about this detected error.
TRUE = indicates that output values on the function block are valid.
Not used.
Set to 1 when CurrentValue > Threshold 0 (see page 119). Set to 1 when CurrentValue > Threshold 1 (see page 119).
Set to 1 when CurrentValue > Threshold 2 (see page 119). Set to 1 when CurrentValue > Threshold 3 (see page 119).
Set to 1 when the counter rolls over its limits.
Set to 1 by the preset of the counter (see page 134)
Set to 1 when a new capture value is stored in the Capture register (see page 129). This flag must be reset before a new capture can occur.
State of Reflex0. Only active when EN_Compare is set.
State of Reflex1. Only active when EN_Compare is set.
State of physical outputs Out_R0 (if Reflex0 is configured in HSC Embedded Function, otherwise FALSE if not configured).
State of physical outputs Out_R1 (if Reflex1 is configured in HSC Embedded Function, otherwise FALSE if not configured).
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Adjusting Parameters
Overview
The list of parameters described in the table can be read or modified by using the EXPERTGetParam (see page 162) or EXPERTSetParam (see page 164) function blocks.
NOTE: Parameters set via the program override the parameters values configured in the HSC configuration window. Initial configuration parameters are restored on a cold or warm start of the controller (see Modicon M241 Logic Controller, Programming Guide).
Adjustable Parameters
This table provides the list of parameters from the EXPERT_PARAMETER_TYPE (see page 151) enumeration which can be read or modified while the program is running:
Parameter EXPERT_PRESET EXPERT_THRESHOLD0 EXPERT_THRESHOLD1 EXPERT_THRESHOLD2 EXPERT_THRESHOLD3 EXPERT_REFLEX0 EXPERT_REFLEX1
Description to get or set the Preset value of the HSC to get or set the Threshold 0 value of an HSC to get or set the Threshold 1 value of an HSC to get or set the Threshold 2 value of an HSC to get or set the Threshold 3 value of an HSC to get or set output 0 reflex mode of an expert function to get or set output 0 reflex mode of an expert function
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Modicon M241 Logic Controller Event Counting Mode EIO0000003071 12/2019
Event Counting Mode
Part V
Event Counting Mode
Overview This part describes the use of an HSC in Event Counting mode.
What Is in This Part? This part contains the following chapters:
Chapter 11 12
Chapter Name Event Counting Principle Event Counting with a Main Type
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Event Counting Mode
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Modicon M241 Logic Controller Event Counting Principle EIO0000003071 12/2019
Event Counting Principle
Chapter 11
Event Counting Principle
Event Counting Mode Principle Description
Overview The Event Counting mode allows you to count the number of events that occur during a given period of time.
Principle The counter assesses the number of pulses applied to the input for a predefined period of time. At the end of each period, the counting register is updated with the number of events received. Synchronization can be used over the time period. This restarts the counting event for a new predefined time period. The counting restarts at the edge Sync condition (see page 134).
Principle Diagram
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Event Counting Principle
Stage 1 2 3
4
Action
When Enable condition = 1, the counter accumulates the number of events (pulses) on the physical input during a predefined period of time. If Validity = 0, the current value is not relevant.
Once the first period of time has elapsed, the counter value is set to the number of events counted over the period and Validity is set to 1. The counting restarts for a new period of time.
On the rising edge of the Sync condition: the accumulated value is reset to 0 the current value is not updated the counting restarts for a new period of time
Once the period of time has elapsed, the counter value is set to the number of events counted over the period. The counting restarts for a new period of time.
NOTE: On the Main type, when the Enable condition is: Set to 0: the current counting is aborted and CurrentValue is maintained at the previous valid
value. Set to 1: the accumulated value is reset to 0, the CurrentValue remains unchanged, and the
counting restarts for a new period of time.
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Event Counting with a Main Type
Chapter 12
Event Counting with a Main Type
Overview
This chapter describes how to implement a High Speed Counter in Event Counting mode using a Main type.
What Is in This Chapter? This chapter contains the following topics:
Topic Synopsis Diagram Configuration of the Main Type Single Phase in Event Counting Mode Programming the Main Type Adjusting Parameters
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Synopsis Diagram
Synopsis Diagram This diagram provides an overview of the Main type in Event Counting mode.
A is the counting input of the counter. SYNC is the synchronization input of the counter. Optional Function In addition to the Event Counting mode, the Main type provides the Preset function (see page 134).
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Configuration of the Main Type Single Phase in Event Counting Mode
Procedure Follow this procedure to configure a Main type single phase in Event Counting mode:
Step 1
2 3 4 5 6 7
8
Action
Double-click MyController Counters. Result: Counters editor tab opens for HSC configuration.
NOTE: A message appears at the bottom of the configuration screen if the maximum number
of HSC Main functions has already been configured. Consider using an HSC Simple function instead.
In the Counters editor tab, set the value of the Counting function parameter to HSC Main Single Phase. Result: The configuration parameters appear in the Counters editor tab.
If necessary, enter the value of the General Instance name parameter.
NOTE: Instance name is automatically given by the software and can be used as it is for the
counter function block.
Set the value of the General Counting Mode parameter to Event Counting.
In Counting Inputs A input Location select the regular or fast input to use as the A input.
NOTE: A message is displayed at the bottom of the configuration window if no more I/Os are
available for configuration. Free up one or more I/Os before continuing configuration of this function.
Set the value of the Counting inputs A input Bounce filter parameter to reduce the bounce effect on the input. The filtering value determines the counter maximum frequency as shown in the Bounce Filter table (see page 142).
Set the value of the Range Time base parameter to determine the period during which the number of events is counted. Select the measurement of the update cycle time: 0.1 s 1 s (default value) 10 s 60 s
Optionally, set the value of the Control inputs SYNC input Location parameter to enable the Preset Function (see page 134).
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Programming the Main Type
Overview The Main type is always managed by an HSCMain_M241 function block.
NOTE: At build time, an error is detected if the HSCMain_M241 function block is used to manage a different HSC type.
Adding the HSCMain Function Block
Step 1
2
Description
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 HSC HSC HSCMain_M241 in the list, drag-and-drop the item onto the POU window.
Type the Main type instance name (defined in configuration) or select the function block instance by clicking:
Using the input assistant, the HSC instance can be selected at the following path: <MyController> Counters.
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I/O Variables Usage These tables describe how the different pins of the function block are used in the mode Event. This table describes the input variables:
Input EN_Enable EN_Preset
EN_Cap EN_Compare EN_Out0 EN_Out1 F_Enable F_Preset
F_Out0 F_Out1 ACK_Modulo ACK_Preset ACK_Cap SuspendCompare
Type BOOL BOOL
BOOL BOOL BOOL BOOL BOOL BOOL
BOOL BOOL BOOL BOOL BOOL BOOL
Description Not used. When SYNC input is configured: if TRUE, authorizes the counter Preset via the Sync input (see page 134). Not used. Not used. Not used. Not used. TRUE = authorizes changes to the current counter value.
On rising edge, restarts the internal timer relative to the time base. Not used. Not used. Not used. On rising edge, resets Preset_Flag.
Not used. Not used.
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This table describes the output variables:
Outputs HSC_REF
HSC_Err
Validity
Run TH0 TH1 TH2 TH3 Modulo_Flag Preset_Flag Cap_Flag Reflex0 Reflex1 Out0 Out1 CurrentValue
Type EXPERT_REF (see page 153)
BOOL
BOOL
BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL DINT
Comment Reference to the HSC. To be used with the EXPERT_REF_IN input pin of the Administrative function blocks. TRUE = indicates that an error was detected. EXPERTGetDiag (see page 158) function block may be used to get more information about this detected error. TRUE = indicates that output values on the function block are valid. Counter is running Not used. Not used. Not used. Not used. Not used. Set to 1 by the preset of the counter (see page 134). Not used. Not used. Not used. Not used. Not used. Current value of the counter.
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Adjusting Parameters
Overview
The list of parameters described in the table can be read or modified by using the EXPERTGetParam (see page 162) or EXPERTSetParam (see page 164) function blocks.
NOTE: Parameters set via the program override the parameters values configured in the HSC configuration window. Initial configuration parameters are restored on a cold or warm start of the controller (see Modicon M241 Logic Controller, Programming Guide).
Adjustable Parameters
This table provides the list of parameters from the EXPERT_PARAMETER_TYPE (see page 151) which can be read or modified while the program is running:
Parameter EXPERT_TIMEBASE
Type
Description
EXPERT_HSCMAIN_TIMEBASE_TYPE
To get or set the Timebase value
For more information, refer to Type for HSC of the HSC.
(see page 149).
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Modicon M241 Logic Controller Frequency Meter Type EIO0000003071 12/2019
Frequency Meter Type
Part VI
Frequency Meter Type
Overview This part describes the use of an HSC in Frequency meter type.
What Is in This Part? This part contains the following chapters:
Chapter 13 14
Chapter Name Frequency Meter Principle Frequency Meter with a Main Type
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Frequency Meter Type
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Frequency Meter Principle
Chapter 13
Frequency Meter Principle
Description
Overview The Frequency meter type measures an event frequency in Hz. The Frequency meter type calculates the number of pulses in time intervals of 1 s. An updated value in Hz is available for each time base value (10, 100, or 1000 ms). When there is a variation in the frequency, the value restoration time is 1 s with a value precision of 1 Hz.
Operation Limits The maximum frequency that the module can measure on the A input is 200 kHz. Beyond 200 kHz, the counting register value may decrease until it reaches 0. If the expert function is configured with a regular I/O, the minimum period admissible is 0.4 ms. The maximum duty cycle at 200 kHz is 60%.
Synopsis Diagram This diagram provides an overview of the Frequency meter principle:
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Frequency Meter Principle
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Frequency Meter with a Main Type
Chapter 14
Frequency Meter with a Main Type
Overview
This chapter describes how to implement a High Speed Counter in Frequency meter mode with a Main type.
What Is in This Chapter? This chapter contains the following topics:
Topic Synopsis Diagram Configuration of the Frequency Meter Type Programming
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Frequency Meter with a Main Type
Synopsis Diagram
Synopsis Diagram This diagram provides an overview of the Main type in Frequency meter type:
A is the counting input of the counter. EN is the enable input of the counter. Optional Function In addition to the Frequency meter type, the Main type can provide the following function: Enable function (see page 137)
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Configuration of the Frequency Meter Type
Procedure Follow this procedure to configure a Frequency Meter type:
Step 1
2 3 4 5 6
7
Action
Double-click MyController Counters. Result: Counters editor tab opens for HSC configuration.
NOTE: A message appears at the bottom of the configuration screen if the maximum number
of HSC Main functions has already been configured. Consider using an HSC Simple function instead.
In the Counters editor tab, set the value of the Counting function parameter to Frequency Meter. Result: The configuration parameters appear in the Counters editor tab.
If necessary, enter the value of the General Instance name parameter.
NOTE: Instance name is automatically given by the software and can be used as it is for the
counter function block.
In Counting Inputs A input Location select the regular or fast input to use as the A input.
NOTE: A message is displayed at the bottom of the configuration window if no more I/Os are
available for configuration. Free up one or more I/Os before continuing configuration of this function.
Set the value of the Counting inputs A input Bounce filter parameter to reduce the bounce effect on the input. The filtering value determines the counter maximum frequency as shown in the Bounce Filter table (see page 142).
Set the value of the Range Time base parameter to determine the period during which the number of events is counted. Select the measurement of the update cycle time: 10 ms 100 ms 1000 ms (default value)
Optionally, set the value of the Control inputs EN input Location parameter to enable the Enable Function (see page 137).
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Programming
Overview The Main type is always managed by an HSCMain_M241 function block.
NOTE: At build time, an error is detected if the HSCMain_M241 function block is used to manage a different HSC type.
Adding the HSCMain Function Block
Step 1
2
Description
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 HSC HSC HSCMain_M241 in the list, drag-and-drop the item onto the POU window.
Type the Main type instance name (defined in configuration) or select the function block instance by clicking:
Using the input assistant, the HSC instance can be selected at the following path: <MyController> Counters.
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I/O Variables Usage The tables below describe how the different pins of the function block are used in Frequency meter type.
This table describes the input variables:
Input EN_Enable
EN_Preset EN_Cap EN_Compare EN_Out0 EN_Out1 F_Enable F_Preset
F_Out0 F_Out1 ACK_Modulo ACK_Preset ACK_Cap SuspendCompare
Type BOOL
BOOL BOOL BOOL BOOL BOOL BOOL BOOL
BOOL BOOL BOOL BOOL BOOL BOOL
Description If TRUE and the EN input is configured, authorizes the counter to be enabled using the Enable input (see page 137). Not used. Not used. Not used. Not used. Not used. TRUE = authorizes changes to the current counter value.
On rising edge, restarts the internal timer relative to the time base. Not used. Not used. Not used. On rising edge, resets Preset_Flag.
Not used. Not used
This table describes the output variables:
Outputs HSC_REF
HSC_Err
Validity
Run TH0 TH1 TH2 TH3
Type EXPERT_REF (see page 153)
BOOL
BOOL
BOOL BOOL BOOL BOOL BOOL
Comment
Reference to the HSC. To be used with the EXPERT_REF_IN input pin of the Administrative function blocks.
TRUE = indicates that an error was detected. Use the EXPERTGetDiag (see page 158) function block to get more information about this detected error.
TRUE = indicates that output values on the function block are valid.
Counter is running
Not used.
Not used.
Not used.
Not used.
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Outputs Modulo_Flag Preset_Flag Cap_Flag Reflex0 Reflex1 Out0 Out1 CurrentValue
Type BOOL BOOL BOOL BOOL BOOL BOOL BOOL DINT
Comment Not used. Set to 1 by the preset of the counter (see page 134) Not used. Not used. Not used. Not used. Not used. Current value of the counter.
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Period Meter Type
Part VII
Period Meter Type
Overview This part describes the use of an HSC in Period meter type.
What Is in This Part? This part contains the following chapters:
Chapter 15 16
Chapter Name Period Meter Type Principle Period Meter with a Main Type
Page 107 109
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Period Meter Type
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Period Meter Type Principle
Chapter 15
Period Meter Type Principle
Description
Overview Use the Period meter type to: Determine the duration of an event Determine the time between two events Set and measure the execution time for a process. The Period meter can be used in two ways: Edge to opposite: Allows measurement of the duration of an event. Edge to edge: Allows measurement of the time between two events. The measurement is expressed in the units defined by the Resolution parameter (0.1 �s, 1 �s, 100 �s, 1000 �s). For example, if the current value CurrentValue = 100 and the Resolution parameter is: 0.0001 (0.1 �s) measurement = 0.01 ms 0.001 (1 �s) measurement = 0.1 ms 0.1 (100 �s) measurement = 10 ms 1 (1000 �s) measurement = 100 ms A timeout value can be specified in the configuration screen. Measurement is stopped if this timeout value is exceeded. In this case, the counting register is not valid until the next complete measurement.
Edge to Opposite Mode The Edge to Opposite mode measures the duration of an event. When the Enable condition = 1, the measurement is taken between the rising edge and the falling edge of the A input. The counting register is updated as soon as the falling edge is detected.
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Period Meter Type Principle
Edge to Edge Mode The Edge to Edge mode measures the elapsed time between two events. When the Enable condition = 1, the measurement is taken between two rising edges of the A input. The counting register is updated as soon as the second rising edge is detected.
Enable Condition Interruption Behavior The trend diagram below describes the behavior of the counting register when the Enable condition is interrupted:
Operating Limits The module can perform a maximum of one measurement every 5 ms.
The shortest pulse that can be measured is 100 s, even if the unit defined in the configuration is 1 s.
The maximum duration that can be measured is 1,073,741,823 units.
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Period Meter with a Main Type
Chapter 16
Period Meter with a Main Type
Overview
This chapter describes how to implement a High Speed Counter in Period meter mode with a Main type.
What Is in This Chapter? This chapter contains the following topics:
Topic Synopsis Diagram Configuration of the Period Meter Type in Edge to Edge Mode Configuration of the Period Meter Type in Edge to Opposite Mode Programming Adjusting Parameters
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Synopsis Diagram
Synopsis Diagram This diagram provides an overview of the Main type in Period meter type:
A is the counting input of the counter. EN is the enable input of the counter. Optional Function In addition to the Period meter type, the Main type can provide the following function: Enable function (see page 137)
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Configuration of the Period Meter Type in Edge to Edge Mode
Procedure Follow this procedure to configure a Period Meter type in Edge to Edge mode:
Step 1
2 3 4 5
6 7
8 9
Action
Double-click MyController Counters. Result: Counters editor tab opens for HSC configuration.
NOTE: A message appears at the bottom of the configuration screen if the maximum number
of HSC Main functions has already been configured. Consider using an HSC Simple function instead.
In the Counters editor tab, set the value of the Counting function parameter to Period Meter. Result: The configuration parameters appear in the Counters editor tab.
If necessary, enter the value of the General Instance name parameter.
NOTE: Instance name is automatically given by the software and can be used as it is for the
counter function block.
Set the value of the General PeriodMeter Mode parameter to Edge to Edge.
In Counting Inputs A input Location, select the regular or fast input to use as the A input.
NOTE: A message is displayed at the bottom of the configuration window if no more I/Os are
available for configuration. Free up one or more I/Os before continuing configuration of this function.
Set the value of the Counting inputs A input Bounce filter parameter to reduce the bounce effect on the inputs. The filtering value determines the counter maximum frequency as shown in the Bounce Filter table (see page 142).
Set the value of the Range Resolution parameter. Select the unit of measurement: 0.1 �s 1 �s (default value) 100 �s 1000 �s
Enter the value of the Range Timeout parameter to set the time value that a measured period must not exceed.
Optionally, you can enable these functions: Enable function (see page 137)
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Configuration of the Period Meter Type in Edge to Opposite Mode
Procedure Follow this procedure to configure a Period Meter type in Edge to Opposite mode:
Step 1
2 3 4 5
6 7
8 9
Action
Double-click MyController Counters. Result: Counters editor tab opens for HSC configuration.
NOTE: A message appears at the bottom of the configuration screen if the maximum number
of HSC Main functions has already been configured. Consider using an HSC Simple function instead.
In the Counters editor tab, set the value of the Counting function parameter to Period Meter. Result: The configuration parameters appear in the Counters editor tab.
If necessary, enter the value of the General Instance name parameter.
NOTE: Instance name is automatically given by the software and can be used as it is for the
counter function block.
Set the value of the General PeriodMeter Mode parameter to Edge to Opposite.
In Counting Inputs A input Location, select the regular or fast input to use as the A input.
NOTE: A message is displayed at the bottom of the configuration window if no more I/Os are
available for configuration. Free up one or more I/Os before continuing configuration of this function.
Set the value of the Counting inputs A input Bounce filter parameter to reduce the bounce effect on the inputs. The filtering value determines the counter maximum frequency as shown in the Bounce Filter table (see page 142).
Set the value of the Range Resolution parameter. Select the unit of measurement: 0.1 �s 1 �s (default value) 100 �s 1000 �s
Enter the value of the Range Timeout parameter to set the time value that a measured period must not exceed.
Optionally, you can enable these functions: Enable function (see page 137)
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Programming
Overview The Main type is always managed by an HSCMain_M241 function block.
NOTE: At build time, an error is detected if the HSCMain_M241 function block is used to manage a different HSC type.
Adding the HSCMain Function Block
Step 1
2
Description
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 HSC HSC HSCMain_M241 in the list, drag-and-drop the item onto the POU window.
Type the Main type instance name (defined in configuration) or select the function block instance by clicking:
Using the input assistant, the HSC instance can be selected at the following path: <MyController> Counters.
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I/O Variables Usage The tables below describe how the different pins of the function block are used in Period meter type.
This table describes the input variables:
Input EN_Enable
EN_Preset EN_Cap EN_Compare EN_Out0 EN_Out1 F_Enable F_Preset F_Out0 F_Out1 ACK_Modulo ACK_Preset ACK_Cap SuspendCompare
Type BOOL
BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL
Description When EN input is configured: if TRUE, authorizes the counter enable via the Enable input (see page 137). Not used. Not used. Not used. Not used Not used TRUE = authorizes changes to the current counter value. Not used. Not used. Not used. Not used. Not used. Not used. Not used
This table describes the output variables:
Outputs HSC_REF
HSC_Err
Validity
Run TH0 TH1 TH2
Type EXPERT_REF (see page 153) BOOL
BOOL
BOOL BOOL BOOL BOOL
Comment
Reference to the HSC. To be used with the EXPERT_REF_IN input pin of the Administrative function blocks.
TRUE = indicates that an error was detected. Use the EXPERTGetDiag (see page 158) function block used to get more information about this detected error.
TRUE = indicates that output values on the function block are valid. If the time-out value is exceeded, Validity = FALSE.
TRUE = Counter is running.
Not used.
Not used.
Not used.
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Outputs TH3 Modulo_Flag Preset_Flag Cap_Flag Reflex0 Reflex1 Out0 Out1 CurrentValue
Type BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL DINT
Period Meter with a Main Type
Comment Not used. Not used. Not used. Not used. Not used. Not used. Not relevant Not relevant Current value of the counter.
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Adjusting Parameters
Overview
The list of parameters described in the table below can be read or modified by using the EXPERTGetParam (see page 162) or EXPERTSetParam (see page 164) function blocks.
NOTE: Parameters set via the program override the parameters values configured in the HSC configuration window. Initial configuration parameters are restored on a cold or warm start of the controller (see Modicon M241 Logic Controller, Programming Guide).
Adjustable Parameters
This table provides the list of parameters from the EXPERT_PARAMETER_TYPE (see page 151) which can be read or modified while the program is running:
Parameter EXPERT_TIMEBASE
EXPERT_PERIODMETER_ RESOLUTION_TYPE
Description
To get or set the Resolution value of the HSC.
To dynamically read or modify the time base. For more information, refer to Type for period meter (see page 152).
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Optional Functions
Part VIII
Optional Functions
Overview This part provides information on optional functions for HSC.
What Is in This Part? This part contains the following chapters:
Chapter 17 18 19
Chapter Name Comparison Function Capture Function Preset and Enable Functions
Page 119 129 133
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Optional Functions
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Modicon M241 Logic Controller Comparison Function EIO0000003071 12/2019
Comparison Function
Chapter 17
Comparison Function
Overview This chapter provides information on the comparison function for the HSC.
What Is in This Chapter? This chapter contains the following topics:
Topic Comparison Principle with a Main type Configuration of the Comparison on a Main Type External Event Configuration
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Comparison Function
Comparison Principle with a Main type
Overview The compare block with the Main type manages thresholds, reflex outputs and events in the following modes: One-shot (see page 33) Modulo-loop (see page 47) Free-Large (see page 67) Comparison is configured in the Configuration screen (see page 125) by activating at least one threshold. Comparison can be used to trigger: a programming action on thresholds (see page 122) an event on a threshold associated with an external task (see page 121) NOTE: This option is only available for TM3XF� expansion modules, which support external events. reflex outputs (see page 122).
Principle of a Comparison The Main type can manage up to four thresholds. A threshold is a configured value that is compared to the current counting value. Thresholds are used to define up to five zones or to react to a value crossing the threshold value. Threshold values are defined in the configuration window and can also be adjusted in the application program by using the EXPERTSetParam (see page 164) function block. If Thresholdx (x= 0, 1, 2, 3) is configured and comparison is enabled (EN_Compare = 1), output pin THx of the HSCMain_M241 function block is: set when counter value >= Thresholdx reset when counter value < Thresholdx
NOTE: When EN_Compare is set to 0 on HSCMain_M241 function block, comparison functions are disabled, including external tasks triggered by a threshold event and Reflex outputs.
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The following example for Modulo loop with two thresholds shows comparison in the HSCMain_M241 function block:
Configuring Event Triggering in HSC Main Single or Dual Phase
Configuring an event on threshold crossing allows to trigger an external task (see page 126). You can choose to trigger an event when a configured threshold is crossed as follows: Upward Cross. The event is triggered when the measured value goes above the threshold
value. Downward Cross. The event is triggered when the measured value goes below the threshold
value. Both Cross. The event is triggered when the measured value goes above the threshold value
and when the measured value goes below the threshold value.
Configuring Event Triggering in Period Meter Mode
Configuring an event allows to trigger an external task (see page 126). You can choose to trigger an event as follows: Below threshold value. The event is triggered when the measured value is lower than the
threshold value. Above threshold value. The event is triggered when the measured value is higher than the
threshold value. Between threshold values. The event is triggered when the measured value is between two
threshold values.
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Threshold Behavior Using thresholds comparison status available in the task context (TH0 to TH2 output pins of the function block) is suitable for an application with a low time constant. It can be used, for example, to monitor the liquid level in a tank.
Reflex Output Behavior Configuring reflex outputs allows to trigger physical reflex outputs. These outputs are not controlled in the task context, reducing the reaction time to a minimum. This is convenient for operations that need fast execution. Outputs used by the High Speed Counter can only be accessed through the function block. They cannot be read or written directly within the application. The performance is directly linked with the type of output used: fast or regular. For more information, refer to Embedded Expert I/O Assignment (see page 17).
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Example of the reflex outputs triggered by threshold:
Comparison Function
NOTE: The state of the reflex outputs depends on the configuration.
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Comparison Function
Changing the Threshold Values
Care must be exercised when threshold compares are active to avoid unintended or unexpected results from the outputs or from sudden Event task execution. If the compare function is disabled, threshold values can be modified freely. However, if the compare function is enabled, suspend at least the threshold compare function while modifying the threshold values.
WARNING
UNINTENDED EQUIPMENT OPERATION
Do not change the Threshold values without using the SuspendCompare input if EN_Compare is equal to 1.
Verify that TH0 is less than TH1, that TH1 is less than TH2, and that TH2 is less than TH3 before reactivating the threshold compare function.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
While EN_Compare = 1, the comparison is active, and it is necessary to follow this procedure to apply changes to threshold values:
Step 1
2 3
Action
Set SuspendCompare to 1. The comparison is frozen at the current value: The TH0, TH1, Reflex0, Reflex1, Out0, and Out1 output bits of the function block
maintain their last value. Physical outputs 0, 1 maintain their last value Events are masked
NOTE: EN_Compare, EN_Out0, EN_Out1, F_Out0, and F_Out1 remain operational while
SuspendCompare is set.
Modify the threshold values as needed using the EXPERTSetParam (see page 162) function block.
NOTE: Follow this rule to configure the threshold values: TH0 < TH1 < TH2 < TH3.
Set SuspendCompare to 0. The new threshold values are applied and the comparison is resumed.
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Configuration of the Comparison on a Main Type
Configuration Procedure Follow this procedure to configure the comparison function on a Main type:
Step 1 2
3 4
5
Action
In the Devices tree, double-click MyController Counters.
Set the value of the Counting function parameter to HSC Main Single Phase or HSC Main Dual Phase.
In the Number of thresholds parameter, select the number of thresholds to use.
Set the value of each threshold.
NOTE: Follow this rule to configure the threshold values: TH0 < TH1 < TH2 < TH3
Optionally, define event conditions for the thresholds: 1. Configure external events (see page 126) associated with tasks. 2. In Events Threshold x, set a trigger type (Upward Cross, Downward Cross, Both Cross) 3. In HSC Main Id, select the group of external events (HSC0...HSC3) containing the external
event.
Result: External events in the selected group (HSCx_TH0, HSCx_TH1, HSCx_TH2, HSCx_TH3, HSCx_STOP) appear below Threshold x External Event.
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External Event Configuration
Procedure
The following procedure describes how to configure an external event (see Modicon M241 Logic Controller, Programming Guide) to activate a task:
Step 1 2 3 4
Action In the Applications tree tab, add a task. Double-click the task node to associate it with to an external event. In the Type dropdown menu, select External. In the External event dropdown menu, select the event to associate to the task (see the list below).
External Events This table provides a description of the possible external events to associate to a task:
Event Name I0 I1 I2 I3 I4 I5 I6 I7 HSC0_TH0 HSC0_TH1 HSC0_TH2 HSC0_TH3 HSC0_STOP HSC1_TH0 HSC1_TH1 HSC1_TH2 HSC1_TH3 HSC1_STOP HSC2_TH0 HSC2_TH1
Description Task is activated when the input I0 is set to 1. Task is activated when the input I1 is set to 1. Task is activated when the input I2 is set to 1. Task is activated when the input I3 is set to 1. Task is activated when the input I4 is set to 1. Task is activated when the input I5 is set to 1. Task is activated when the input I6 is set to 1. Task is activated when the input I7 is set to 1. Task is activated when the threshold TH0 of the HSC0 is set to 1. Task is activated when the threshold TH1 of the HSC0 is set to 1. Task is activated when the threshold TH2 of the HSC0 is set to 1. Task is activated when the threshold TH3 of the HSC0 is set to 1. Task is activated when the HSC0.Value is set to 0. Task is activated when the threshold TH0 of the HSC1 is set to 1. Task is activated when the threshold TH1 of the HSC1 is set to 1. Task is activated when the threshold TH2 of the HSC1 is set to 1. Task is activated when the threshold TH3 of the HSC1 is set to 1. Task is activated when the HSC1.Value is set to 0. Task is activated when the threshold TH0 of the HSC2 is set to 1. Task is activated when the threshold TH1 of the HSC2 is set to 1.
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Comparison Function
Event Name HSC2_TH2 HSC2_TH3 HSC2_STOP HSC3_TH0 HSC3_TH1 HSC3_TH2 HSC3_TH3 HSC3_STOP
Description Task is activated when the threshold TH2 of the HSC2 is set to 1. Task is activated when the threshold TH3 of the HSC2 is set to 1. Task is activated when the HSC2.Value is set to 0. Task is activated when the threshold TH0 of the HSC3 is set to 1. Task is activated when the threshold TH1 of the HSC3 is set to 1. Task is activated when the threshold TH2 of the HSC3 is set to 1. Task is activated when the threshold TH3 of the HSC3 is set to 1. Task is activated when the HSC3.Value is set to 0.
NOTE: The Stop event is only available on HSC Main Single Phase, One-shot mode.
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Capture Function
Chapter 18
Capture Function
Overview This chapter provides information on capture function for HSC.
What Is in This Chapter? This chapter contains the following topics:
Topic Capture Principle with a Main Type Configuration of the Capture on a Main Type
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Capture Function
Capture Principle with a Main Type
Overview The capture function stores the current counter value when an external input signal is detected. The capture function is available in Main type with the following modes: One-shot (see page 39) Modulo-loop (see page 59) Free-large (see page 75) To use this function: configure the optional Capture input CAP use the EXPERTGetCapturedValue (see page 156) function block to retrieve the captured value in your application.
Principle of a Capture This graphic illustrates how the capture works in Modulo-loop mode:
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Stage 1 2
3 4 5
Action When EN_Cap = 0, the function is not operational.
When EN_Cap = 1, the edge on CAP captures the current counter value, puts it into the Capture register, and triggers the rising edge of Cap_Flag.
Get the stored value using EXPERTGetCapturedValue (see page 156).
While Cap_Flag = 1, any new edge on the physical input CAP is ignored.
The rising edge of HSCMain_M241 (see page 166) function block input ACK_Cap triggers the falling edge Cap_Flag output. A new capture is authorized.
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Capture Function
Configuration of the Capture on a Main Type
Configuration Procedure Follow this procedure to configure the capture function on a Main type:
Step 1 2 3 4
5
Action
In the Devices tree, double-click MyController Counters.
Set the value of the Counting function parameter to HSC Main Single Phase or HSC Main Dual Phase.
Select a value for the Capture CAP input Location.
Select a value for the Capture CAP input Bounce filter parameter to reduce the bounce effect on the input. The filtering value determines the counter maximum frequency as shown in the Bounce Filter table (see page 142).
Select a triggering mode for the Capture Mode parameter: Preset (see page 134) (default value) CAP Rising CAP Falling CAP Both
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Preset and Enable Functions
Chapter 19
Preset and Enable Functions
Overview This chapter provides information on preset and enable functions for an HSC.
What Is in This Chapter? This chapter contains the following topics:
Topic Preset Function Free-large or Period Meter Preset Conditions Enable: Authorize Counting Operation
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Synchronization, Enable Functions
Preset Function
Overview The preset function is used to set/reset the counter operation. The preset function authorizes counting function, synchronization, and start in the following counting modes: One shot counter: preset and start the counter Modulo-loop counter: reset and start the counter Event counting: restart the internal time base at the beginning NOTE: Sync condition for a Simple HSC type corresponds to the function block input Sync.
Description This function is used to synchronize the counter depending on the status and the configuration of the optional SYNC physical input and the function block inputs F_Preset and EN_Preset. This diagram illustrates the Sync conditions of the HSC:
EN_Preset input of the HSC function block F_Preset input of the HSC function block SYNC physical input SYNC
The function block output Preset_Flag is set 1 when the Sync Condition is reached. Either of the following events trigger the capturing of the Sync Condition: Rising edge of the F_Preset input Rising edge, falling edge, or rising and falling edge, of the SYNC physical input (if the SYNC
input is configured, and the EN_Preset input is TRUE).
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Configuration This procedure describes how to configure a preset function:
Step 1 2
3 4 5
Action
In the Devices tree, double-click MyController Counters.
Set the value of the Counting function parameter to HSC Main Single Phase or HSC Main Dual Phase.
Select the value of the Control inputs SYNC input Location parameter.
Select the value of the Control inputs SYNC input Bounce filter parameter.
Select the value of the Control inputs SYNC input Preset condition parameter to specify the transition type of the SYNC physical input: SYNC Rising. Rising edge of the SYNC input SYNC Falling. Falling edge of the SYNC input SYNC Both. Both edges of the SYNC input
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Synchronization, Enable Functions
Free-large or Period Meter Preset Conditions
Overview In Free-large mode, the Preset condition is created by using one physical input: SYNC Preset condition available: At the edge of the input SYNC (rising)
At the Edge of the Input SYNC (Rising) The counter synchronizes upon the encoder reference point.
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Enable: Authorize Counting Operation
Overview The enable function is used to authorize the counting operation. The enable function is available in the following HSC modes: HSC Main Single Phase (One-shot) HSC Main Single Phase (Modulo Loop) Frequency Meter Period Meter
Description This function is used to authorize changes to the current counter value depending on the status of the optional EN physical input and the function block inputs F_Enable and EN_Enable. The following diagram illustrates the enable conditions:
EN_Enable input of the HSC function block F_Enable input of the HSC function block EN physical input Enable
As long as the function is not enabled, the counting pulses are ignored. NOTE: Enable condition for a Simple type corresponds to the function block input Enable.
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Synchronization, Enable Functions
Configuration This procedure describes how to configure an Enable function:
Step 1 2 3
4 5
Action
In the Devices tree, double-click MyController Counters.
Select the Counters tab.
Select a Counting function that supports the Enable function: HSC Main Single Phase (One-shot or Modulo-loop) Frequency Meter Period Meter
Set the value of the Control inputs EN input Location parameter.
Select the value of the Control inputs EN input Bounce filter parameter to reduce the bounce effect on the input. The filtering value determines the counter maximum frequency as shown in the Bounce Filter table (see page 142).
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Appendices
Overview
This appendix extracts parts of the programming guide for technical understanding of the library documentation.
What Is in This Appendix? The appendix contains the following chapters:
Chapter A B C D
Chapter Name General Information Data Types Function Blocks Function and Function Block Representation
Page 141 145 155 173
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General Information
Appendix A
General Information
What Is in This Chapter? This chapter contains the following topics:
Topic Dedicated Features General Information on Administrative and Motion Function Block Management
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General Information
Dedicated Features
Bounce Filter
This table shows the maximum counter frequencies determined by the filtering values used to reduce the bounce effect on the input:
Input
Bounce Filter Value (ms) Maximum Counter Frequency Expert
A
0.000
B
0.001
200 kHz 200 kHz
0.002
200 kHz
0.005
100 kHz
0.01
50 kHz
0.05
25 kHz
0.1
5 kHz
0.5
1 kHz
1
500 Hz
5
100 Hz
A is the counting input of the counter. B is the counting input of the dual phase counter.
Maximum Counter Frequency Regular 1 kHz 1 kHz 1 kHz 1 kHz 1 kHz 1 kHz 1 kHz 1 kHz 500 Hz 100 Hz
Dedicated Outputs
Outputs used by the high speed expert functions can only be accessed through the function block. They cannot be read or written directly within the application.
WARNING
UNINTENDED EQUIPMENT OPERATION
Do not use the same function block instance in different program tasks. Do not modify or otherwise change the function block reference (AXIS) while the function block
is executing.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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General Information on Administrative and Motion Function Block Management
Management of Input Variables At the Execute input rising edge, the function block starts.
Any further modifications of the input variables are not taken into account. Following the IEC 61131-3 standards, if any variable input to a function block is missing, that is, left open or unconnected, then the value from the previous invocation of the instance of the function block will be used. In the first invocation, the initial, configured value is applied in this case. Therefore, it is best that a function block always has known values attributed to its inputs to help avoid difficulties in debugging your program. For HSC and PTO function blocks, it is best to use the instance only once, and preferably the instance be in the main task.
Management of Output Variables The Done, InVelocity, or InFrequency output is mutually exclusive with Busy, CommandAborted, and Error outputs: only one of them can be TRUE on one function block. If the Execute input is TRUE, one of these outputs is TRUE.
At the rising edge of the Execute input, the Busy output is set. This Busy output remains set during the function block execution, and is reset at the rising edge of one of the other outputs (Done, InVelocity, InFrequency, CommandAborted, and Error).
The Done, InVelocity, or InFrequency output is set when the function block execution has been completed successfully. When a function block execution is interrupted by another one, the CommandAborted output is set instead. When a function block execution ends due to a detected error, the Error output is set and the detected error number is given through the ErrId output.
The Done, InVelocity, InFrequency, Error, ErrID, and CommandAborted outputs are reset with the falling edge of Execute. If Execute input is reset before the execution is finished, then the outputs are set for one task cycle at the execution ending. When an instance of a function block receives a new Execute before it is finished, the function block does not return any feedback, such as Done, for the previous action.
Handling a Detected Error All blocks have 2 outputs that can report a detected error during the execution of the function block: Error = TRUE when an error is detected. ErrID When Error = TRUE, returns the detected error ID.
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Data Types
Appendix B
Data Types
Overview This chapter describes the data types of the HSC Library.
What Is in This Chapter? This chapter contains the following topics:
Topic EXPERT_DIAG_TYPE: Type for EXPERTGetDiag Diagnostics EXPERT_ERR_TYPE: Type for Error Variable of EXPERT Function Block EXPERT_FREQMETER_TIMEBASE_TYPE: Type for Frequency Meter Time Base Variable EXPERT_HSCMAIN_TIMEBASE_TYPE: Type for HSC Main Time Base Variable EXPERT_IMMEDIATE_ERR_TYPE: Type for Error Variable of the GetImmediateValue Function Block EXPERT_PARAMETER_TYPE: Type for Parameters to Get or to Set on EXPERT EXPERT_PERIODMETER_RESOLUTION_TYPE: Type for Period Meter Time Base Variable EXPERT_REF: EXPERT Reference Value
Page 146 147 148 149 150
151 152 153
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Data Types
EXPERT_DIAG_TYPE: Type for EXPERTGetDiag Diagnostics
Enumerated Type Description
This enumeration describes the different counter errors that can be read by the EXPERTGetDiag function block:
Name EXPERT_NO_ERROR EXPERT_PERIODMETER_TIMEOUT_REACHED
EXPERT_SHORTCUT_DETECTED
EXPERT_CONFIGURATION_FAULT
Value 0 1
4
128
Comment
No error has occurred.
Timeout on period measure is reached.
Shortcut detected on HSC Main reflex output
Counter is incorrectly configured.
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EXPERT_ERR_TYPE: Type for Error Variable of EXPERT Function Block
Enumerated Type Description
The enumeration data type ENUM contains the different types of detected error with the following values:
Enumerator EXPERT_NO_ERROR EXPERT_UNKNOWN
EXPERT_UNKNOWN_PARAMETER
Value 00 hex 01 hex
02 hex
EXPERT_INVALID_PARAMETER
03 hex
EXPERT_COM_ERROR
04 hex
EXPERT_CAPTURE_NOT_CONFIGURED 05 hex
Description
No error detected.
The reference EXPERT is incorrect or not configured.
The parameter reference is incorrect. See PARAMETER_TYPE section for valid parameters (see page 151).
The value of the parameter is incorrect. For example, Preset Value is <TH1 or <TH0.
Communication error was detected with the EXPERT module.
Capture is not configured. It is impossible to get a captured value.
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Data Types
EXPERT_FREQMETER_TIMEBASE_TYPE: Type for Frequency Meter Time Base Variable
Enumerated Type Description
The enumeration data type ENUM contains the different time base values allowed for use with an EXPERT function block:
Name EXPERT_FREQMETER_10ms EXPERT_FREQMETER_100ms EXPERT_FREQMETER_1000ms
Value 10 100 1000
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Data Types
EXPERT_HSCMAIN_TIMEBASE_TYPE: Type for HSC Main Time Base Variable
Enumerated Type Description
The enumeration data type ENUM contains the different time base values allowed for use with an EXPERT Main function block:
Name EXPERT_HSCMAIN_100ms EXPERT_HSCMAIN_1s EXPERT_HSCMAIN_10s EXPERT_HSCMAIN_60s
Value 00 hex 01 hex 02 hex 03 hex
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Data Types
EXPERT_IMMEDIATE_ERR_TYPE: Type for Error Variable of the GetImmediateValue Function Block
Enumerated Type Description
The enumeration data type ENUM contains the different types of detected error with the following values:
Enumerator EXPERT_IMMEDIATE_FUNC_NO_ERROR EXPERT_IMMEDIATE_FUNC_UNKNOWN
EXPERT_IMMEDIATE_FUNC_UNKNOWN_ PARAMETER
Value 00 hex 01 hex
02 hex
Description No error detected The reference of IMMEDIATE function is incorrect or not configured A parameter reference is incorrect
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EXPERT_PARAMETER_TYPE: Type for Parameters to Get or to Set on EXPERT
Enumerated Type Description The enumeration data type ENUM contains the following values:
Enumerator EXPERT_PRESET
Value 00 hex
EXPERT_MODULO
01 hex
EXPERT_TIMEBASE
03 hex
EXPERT_THRESHOLD0 06 hex
EXPERT_THRESHOLD1 07 hex
EXPERT_THRESHOLD2 08 hex
EXPERT_THRESHOLD3 09 hex
EXPERT_REFLEX0
0A hex
EXPERT_REFLEX1
0B hex
Description
To get or set the Preset value of an EXPERT function.
To get or set the Modulo value of an EXPERT function.
To get or set the Timebase value (see page 149) of an EXPERT function.
To get or set the Threshold 0 value of an EXPERT function.
To get or set the Threshold 1 value of an EXPERT function.
To get or set the Threshold 2 value of an EXPERT function.
To get or set the Threshold 3 value of an EXPERT function.
To get or set output 0 reflex mode of an EXPERT function
To get or set output 1 reflex mode of an EXPERT function
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Data Types
EXPERT_PERIODMETER_RESOLUTION_TYPE: Type for Period Meter Time Base Variable
Enumerated Type Description
The enumeration data type ENUM contains the different time base values allowed for use with an EXPERT function block:
Name EXPERT_PERIODMETER_100ns EXPERT_PERIODMETER_1�s EXPERT_PERIODMETER_100�s EXPERT_PERIODMETER_1000�s
Value FFFFFFFF hex (-1 decimal) 00 hex (0 decimal) 01 hex (1 decimal) 02 hex (2 decimal)
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Data Types
EXPERT_REF: EXPERT Reference Value
Data Type Description The EXPERT_REF is a byte used to identify the EXPERT function associated with the administrative block.
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Data Types
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Function Blocks
Appendix C
Function Blocks
Overview This chapter describes the functions and the function blocks of the HSC Library.
What Is in This Chapter? This chapter contains the following topics:
Topic EXPERTGetCapturedValue: Read Value of Capture Registers EXPERTGetDiag: Return Detail of a Detected HSC Error EXPERTGetImmediateValue: Read Counter Value of HSC EXPERTGetParam: Returns Parameters of HSC EXPERTSetParam: Adjust Parameters of a HSC HSCMain_M241: Control a Main Type Counter for M241 HSCSimple_M241: Control a Simple Type Counter for M241
Page 156 158 160 162 164 166 170
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Function Blocks
EXPERTGetCapturedValue: Read Value of Capture Registers
Function Block Description This administrative function block returns the content of a capture register.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to Function and Function Block Representation (see page 173).
I/O Variables Description This table describes the input variables:
Inputs EXPERT_REF_IN
Execute
Type EXPERT_REF (see page 153) BOOL
CaptureNumber
BYTE
Comment
Reference to the EXPERT function block. Must not be changed during block execution.
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
Index of the capture register: 0
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This table describes the output variables:
Outputs EXPERT_REF_OUT
Done
Type EXPERT_REF (see page 153) BOOL
Busy
BOOL
Error
BOOL
ErrID CaptureValue
EXPERT_ERR_TYPE (see page 147)
DINT
Comment Reference to the EXPERT function block.
TRUE = indicates that CaptureValue is valid. Function block execution is finished. TRUE = indicates that the function block execution is in progress. TRUE = indicates that an error was detected. Function block execution is finished. When Error is TRUE: type of the detected error.
When Done is TRUE: Capture register value is valid.
NOTE: In case of detected error, variables take the last value captured.
NOTE: For more information about Done, Busy and Execution pins, refer to General Information on Function Block Management (see page 143).
Adding the EXPERTGetCapturedValue Function Block
Step 1
2
Description
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 HSC Administrative EXPERTGetCapturedValue in the list, drag-and-drop the item onto the POU window.
Link the EXPERT_REF_IN input to the HSC_REF output of the HSC.
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Function Blocks
EXPERTGetDiag: Return Detail of a Detected HSC Error
Function Block Description This administrative function block returns the details of a detected HSC error.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to Function and Function Block Representation (see page 173).
I/O Variables Description This table describes the input variables:
Inputs EXPERT_REF_IN
Execute
Type EXPERT_REF (see page 153) BOOL
Comment
Reference to the EXPERT function block. Must not be changed during block execution.
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
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This table describes the output variables:
Outputs EXPERT_REF_OUT
Done
Type EXPERT_REF (see page 153) BOOL
Busy
BOOL
Error
BOOL
ErrID EXPERTDiag
EXPERT_ERR_TYPE (see page 147)
DWORD
Comment Reference to the EXPERT function block.
TRUE = indicates that HSCDiag is valid. Function block execution is finished. TRUE = indicates that the function block execution is in progress. TRUE = indicates that an error was detected. Function block execution is finished. When Error is TRUE: type of the detected error.
When Done is TRUE: diagnostic value is valid, refer to the table below.
NOTE: For more information about Done, Busy and Execution pins, refer to General Information on Function Block Management (see page 143).
This table indicates the diagnostic values:
Bit
BASE (HSCMain or
Description
HSCSimple)
0
�
No error detected
1
�
Timeout reached on period meter
2
�
Shortcut detected on HSC Main expert output
7
�
Error detected in the configuration of the counter
Adding the EXPERTGetDiag Function Block
Step 1
2
Description
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 HSC Administrative EXPERTGetDiag in the list, drag-and-drop the item onto the POU window.
Link the EXPERT_REF_IN input to the HSC_REF output of the HSC.
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Function Blocks
EXPERTGetImmediateValue: Read Counter Value of HSC
Function Block Description This administrative function block permits to read the counter value of an HSC bypassing the controller cycle.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to Function and Function Block Representation (see page 173).
I/O Variables Description This table describes the input variables:
Inputs EXPERT_REF_IN
Execute
Type EXPERT_REF (see page 153) BOOL
Comment Reference to the EXPERT function block.
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
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This table describes the output variables:
Outputs EXPERT_REF_OUT
Done
Error ErrID
ImmediateValue
Type
Comment
EXPERT_REF (see page 153)
Reference to the EXPERT function block.
BOOL
TRUE = indicates that ExpertDiag is valid. Function block execution is finished.
BOOL
TRUE = indicates that an error was detected.
IMMEDIATE_FUNC_ERR_ When Error is TRUE: type of the detected
TYPE (see page 150)
error.
DINT
Contains the counter value.
Adding the EXPERTGetImmediateValue Function Block
Step 1
2
Description
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 HSC Administrative EXPERTGetImmediateValue in the list, drag-and-drop the item onto the POU window.
Link the EXPERT_REF_IN input to the HSC_REF output of the HSC.
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Function Blocks
EXPERTGetParam: Returns Parameters of HSC
Function Block Description This administrative function block returns a parameter value of an HSC.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to Function and Function Block Representation (see page 173).
I/O Variables Description This table describes the input variables:
Inputs EXPERT_REF_IN Execute
Param
Type EXPERT_REF (see page 153) BOOL
EXPERT_PARAMETER_ TYPE (see page 151)
Comment
Reference to the EXPERT function block. Must not be changed during block execution.
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
Parameter to read.
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This table describes the output variables:
Outputs EXPERT_REF_OUT
Done
Type EXPERT_REF (see page 153) BOOL
Busy Error
BOOL BOOL
ErrID ParamValue
EXPERT_ERR_TYPE (see page 147)
DINT
Comment Reference to the EXPERT function block.
TRUE = indicates that ParamValue is valid. Function block execution is finished. TRUE = indicates that the function block execution is in progress. TRUE = indicates that an error was detected. Function block execution is finished. When Error is TRUE: type of the detected error.
Value of the parameter that has been read.
NOTE: For more information about Done, Busy and Execution pins, refer to General Information on Function Block Management (see page 143).
Adding the EXPERTGetParam Function Block
Step 1
2
Description
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 HSC Administrative EXPERTGetParam in the list, drag-and-drop the item onto the POU window.
Link the EXPERT_REF_IN input to the HSC_REF output of the HSC.
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Function Blocks
EXPERTSetParam: Adjust Parameters of a HSC
Function Block Description This administrative function block modifies the value of a parameter of an HSC.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to Function and Function Block Representation (see page 173).
I/O Variables Description This table describes the input variables:
Inputs EXPERT_REF_IN Execute
Param ParamValue
Type
Comment
EXPERT_REF (see page 153) Reference to the EXPERT function block. Must not be changed during block execution.
BOOL
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
EXPERT_PARAMETER_TYPE Parameter to read. (see page 151)
DINT
Parameter value to write.
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This table describes the output variables:
Outputs EXPERT_REF_OUT
Done
Type EXPERT_REF (see page 153) BOOL
Busy Error ErrID
BOOL
BOOL
EXPERT_ERR_TYPE (see page 147)
Comment Reference to the EXPERT function block.
TRUE = indicates that the parameter was successfully written. Function block execution is finished. TRUE = indicates that the function block execution is in progress. TRUE = indicates that an error was detected. Function block execution is finished. When Error is TRUE: type of the detected error.
NOTE: For more information about Done, Busy, and Execution pins, refer to General Information on Function Block Management (see page 143).
Adding the EXPERTSetParam Function Block
Step 1
2
Description
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 HSC Administrative EXPERTSetParam in the list, drag-and-drop the item onto the POU window.
Link the EXPERT_REF_IN input to the HSC_REF output of the HSC.
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Function Blocks
HSCMain_M241: Control a Main Type Counter for M241
Function Block Description This function block controls a Main type counter with the following functions: up/down counting frequency meter thresholds events period meter dual phase The HSC Main function block is mandatory when using Main counter. The function block instance name must match the name defined by configuration. Hardware related information managed by this function block is synchronized with the MAST task cycle.
WARNING
UNINTENDED OUTPUT VALUES Only use the Function Block instance in the MAST task. Do not use the same Function Block instance in a different task. Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: Forcing the logical output values of the FB is allowed by EcoStruxure Machine Expert but it will have no impact on hardware related outputs if the function is active (executing).
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Graphical Representation
Function Blocks
IL and ST Representation
To see the general representation in IL or ST language, refer to Function and Function Block Representation (see page 173).
I/O Variables Description This table describes the input variables:
Input EN_Enable EN_Preset EN_Cap EN_Compare
EN_Out0 EN_Out1 F_Enable
Type BOOL BOOL BOOL BOOL
BOOL BOOL BOOL
Description
TRUE = authorizes enabling of the counter using the Enable input.
TRUE = authorizes counter synchronization and start using the Sync input.
TRUE = enables the Capture input (if configured in One shot, Modulo loop, Free large modes).
TRUE = enables the comparator operation (using Thresholds 0, 1, 2, 3): basic comparison (TH0, TH1, TH2, TH3 output bits) reflex (Reflex0, Reflex1 output bits) events (to trigger external tasks on threshold crossing)
TRUE = enables Output0 to echo the Reflex0 value (if configured in One shot, Modulo loop, Free large modes).
TRUE = enables Output1 to echo the Reflex1 value (if configured in One shot, Modulo loop, Free large modes).
TRUE = authorizes changes to the current counter value.
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Input F_Preset
Type BOOL
F_Out0
BOOL
F_Out1
BOOL
ACK_Modulo
BOOL
ACK_Preset ACK_Cap
BOOL BOOL
SuspendCompare BOOL
Description
On rising edge, authorizes counting function synchronization and start in the following counting modes: One-shot counter: to preset and start the counter Modulo loop counter: to reset and start the counter Free large counter: to preset and start the counter Event counter: to restart the internal time base at the beginning Frequency meter: to restart the internal timer relative to the time base.
TRUE = forces Output0 to 1 (if configured in One-shot, Modulo loop, Free large modes).
TRUE = forces Output1 to TRUE (if configured in One-shot, Modulo loop, Free large modes).
On rising edge, resets Modulo_Flag (Modulo loop and Free large modes).
On rising edge, resets Preset_Flag.
On rising edge, resets the Cap_Flag (One-shot, Modulo loop, Free large modes).
TRUE = compare results are suspended: TH0, TH1, TH2, TH3 , Reflex0, Reflex1, Out0, Out1 output bits of
the block maintain their last value. Physical Outputs 0, 1 maintain their last value. Compare events are masked.
NOTE: EN_Compare, EN_ReflexO,
EN_Reflex1,F_Out0,F_Out1 remain operational while SuspendCompare is set.
This table describes the output variables:
Outputs HSC_REF Validity
HSC_Err
Type EXPERT_REF (see page 153) BOOL
BOOL
Comment
Reference to the HSC.
TRUE = indicates that output values on the function block are valid. In the Period Meter Type, if the time-out value is exceeded, Validity = FALSE. In One-Shot mode, Validity is set to TRUE when a rising edge of Preset is detected.
TRUE = indicates that an error was detected. Use the HSCGetDiag (see page 158) function block to get more information about this detected error.
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Outputs Run
Type BOOL
TH0
BOOL
TH1
BOOL
TH2
BOOL
TH3
BOOL
Modulo_Flag
BOOL
Preset_Flag
BOOL
Cap_Flag
BOOL
Reflex0
BOOL
Reflex1
BOOL
Out0 Out1 CurrentValue
BOOL BOOL DINT
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Comment
TRUE = counter is running. In One-shot mode, the Run bit switches to 0 when CurrentValue reaches 0.
TRUE = current counter value > Threshold 0 (if configured in One shot, Modulo loop, Free large modes). Only active when EN_Compare is set.
TRUE = current counter value > Threshold 1 (if configured in One shot, Modulo loop, Free large modes). Only active when EN_Compare is set.
TRUE = current counter value > Threshold 2 (if configured in One-shot, Modulo loop, Free large modes). Only active when EN_Compare is set.
TRUE = current counter value > Threshold 3 (if configured in One-shot, Modulo loop, Free large modes). Only active when EN_Compare is set.
Set to TRUE when the counter rolls over its limits in the following modes: Modulo loop counter: when the counter rolls over to the
modulo or 0 Free large counter: when the counter roll overs its limits
Set to TRUE by the synchronization of: One-shot counter: when the counter presets and starts Modulo loop counter: when the counter resets Free large counter: when the counter presets Event counter: when the internal timer relative to the time
base restarts Frequency meter: when the internal timer relative to the time
base restarts
TRUE = indicates that a value has been latched in the capture register. This flag must be reset before a new capture can occur.
State of Reflex0 (if configured in One shot, Modulo loop, Free large modes). Only active when EN_Compare is set.
State of Reflex1 (if configured in One shot, Modulo loop, Free large modes). Only active when EN_Compare is set.
Indicates the state of Output0.
Indicates the state of Output1.
Current value of the counter.
169
Function Blocks
HSCSimple_M241: Control a Simple Type Counter for M241
Function Block Description This function block controls a Simple type counter with the following reduced functions: one-channel counting no threshold no event no capture no reflex The HSCSimple function block is mandatory when using a Simple counter type. The function block instance name must match the name defined by configuration. Hardware related information managed by this function block is synchronized with the MAST task cycle.
WARNING
UNINTENDED OUTPUT VALUES Only use the Function Block instance in the MAST task. Do not use the same Function Block instance in a different task. Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: Forcing the logical output values of the FB is allowed by EcoStruxure Machine Expert but it will have no impact on hardware related outputs if the function is active (executing).
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to Function and Function Block Representation (see page 173).
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I/O Variables Description This table describes the input variables:
Inputs Enable
Type BOOL
Sync ACK_Modulo
BOOL BOOL
This table describes the output variables:
Outputs HSC_REF
HSC_Err
Type EXPERT_REF (see page 153) BOOL
Validity Run
BOOL BOOL
Modulo_Flag CurrentValue
BOOL DWORD
Function Blocks
Comment TRUE = authorizes changes to the current counter value. On rising edge, presets and starts the counter. Modulo loop mode: On rising edge, resets the modulo flag Modulo_Flag.
Comment Reference to the HSC.
TRUE = indicates that an error was detected. Use the EXPERTGetDiag (see page 158) function block used to get more information about this detected error. TRUE = indicates that the output values on the function block are valid. TRUE = counter is running. In One-shot mode, switches to 0 when CurrentValue reaches 0. A rising edge on Sync is needed to restart the counter. Module loop mode: Set to TRUE when the counter rolls over the modulo value. Current count value of the counter.
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Function Blocks
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Function and Function Block Representation
Appendix
D
Function and Function Block Representation
Overview
Each function can be represented in the following languages: IL: Instruction List ST: Structured Text LD: Ladder Diagram FBD: Function Block Diagram CFC: Continuous Function Chart
This chapter provides functions and function blocks representation examples and explains how to use them for IL and ST languages.
What Is in This Chapter? This chapter contains the following topics:
Topic Differences Between a Function and a Function Block How to Use a Function or a Function Block in IL Language How to Use a Function or a Function Block in ST Language
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Function and Function Block Representation
Differences Between a Function and a Function Block
Function A function: is a POU (Program Organization Unit) that returns one immediate result. is directly called with its name (not through an instance). has no persistent state from one call to the other. can be used as an operand in other expressions. Examples: boolean operators (AND), calculations, conversion (BYTE_TO_INT)
Function Block A function block: is a POU (Program Organization Unit) that returns one or more outputs. needs to be called by an instance (function block copy with dedicated name and variables). each instance has a persistent state (outputs and internal variables) from one call to the other from a function block or a program. Examples: timers, counters In the example, Timer_ON is an instance of the function block TON:
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How to Use a Function or a Function Block in IL Language
General Information This part explains how to implement a function and a function block in IL language.
Functions IsFirstMastCycle and SetRTCDrift and Function Block TON are used as examples to show implementations.
Using a Function in IL Language This procedure describes how to insert a function in IL language:
Step 1
2 3 4
5
6
Action
Open or create a new POU in Instruction List language.
NOTE: The procedure to create a POU is not detailed here. For more information, refer to Adding and Calling POUs (see EcoStruxure Machine Expert, Programming Guide).
Create the variables that the function requires.
If the function has 1 or more inputs, start loading the first input using LD instruction.
Insert a new line below and: type the name of the function in the operator column (left field), or use the Input Assistant to select the function (select Insert Box in the context menu).
If the function has more than 1 input and when Input Assistant is used, the necessary number of lines is automatically created with ??? in the fields on the right. Replace the ??? with the appropriate value or variable that corresponds to the order of inputs.
Insert a new line to store the result of the function into the appropriate variable: type ST instruction in the operator column (left field) and the variable name in the field on the right.
To illustrate the procedure, consider the Functions IsFirstMastCycle (without input parameter) and SetRTCDrift (with input parameters) graphically presented below:
Function
without input parameter: IsFirstMastCycle
Graphical Representation
with input parameters: SetRTCDrift
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Function and Function Block Representation
In IL language, the function name is used directly in the operator column:
Function
Representation in POU IL Editor
IL example of a function without input parameter: IsFirstMastCycle
IL example of a function with input parameters: SetRTCDrift
Using a Function Block in IL Language This procedure describes how to insert a function block in IL language:
Step 1
2
Action
Open or create a new POU in Instruction List language.
NOTE: The procedure to create a POU is not detailed here. For more information, refer to Adding and Calling POUs (see EcoStruxure Machine Expert, Programming Guide).
Create the variables that the function block requires, including the instance name.
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Function and Function Block Representation
Step 3
4 5
Action
Function Blocks are called using a CAL instruction: Use the Input Assistant to select the FB (right-click and select Insert Box in the context menu). Automatically, the CAL instruction and the necessary I/O are created.
Each parameter (I/O) is an instruction: Values to inputs are set by ":=". Values to outputs are set by "=>".
In the CAL right-side field, replace ??? with the instance name.
Replace other ??? with an appropriate variable or immediate value.
To illustrate the procedure, consider this example with the TON Function Block graphically presented below:
Function Block TON
Graphical Representation
In IL language, the function block name is used directly in the operator column:
Function Block TON
Representation in POU IL Editor
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Function and Function Block Representation
How to Use a Function or a Function Block in ST Language
General Information This part explains how to implement a Function and a Function Block in ST language. Function SetRTCDrift and Function Block TON are used as examples to show implementations.
Using a Function in ST Language This procedure describes how to insert a function in ST language:
Step 1
2 3
Action
Open or create a new POU in Structured Text language.
NOTE: The procedure to create a POU is not detailed here. For more information, refer to Adding and Calling POUs (see EcoStruxure Machine Expert, Programming Guide).
Create the variables that the function requires.
Use the general syntax in the POU ST Editor for the ST language of a function. The general syntax is: FunctionResult:= FunctionName(VarInput1, VarInput2,.. VarInputx);
To illustrate the procedure, consider the function SetRTCDrift graphically presented below:
Function SetRTCDrift
Graphical Representation
The ST language of this function is the following:
Function SetRTCDrift
Representation in POU ST Editor
PROGRAM MyProgram_ST VAR myDrift: SINT(-29..29) := 5; myDay: DAY_OF_WEEK := SUNDAY; myHour: HOUR := 12; myMinute: MINUTE; myRTCAdjust: RTCDRIFT_ERROR; END_VAR myRTCAdjust:= SetRTCDrift(myDrift, myDay, myHour, myMinute);
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Function and Function Block Representation
Using a Function Block in ST Language This procedure describes how to insert a function block in ST language:
Step 1
2 3
Action
Open or create a new POU in Structured Text language.
NOTE: The procedure to create a POU is not detailed here. For more information on
adding, declaring and calling POUs, refer to the related documentation (see EcoStruxure Machine Expert, Programming Guide).
Create the input and output variables and the instance required for the function block: Input variables are the input parameters required by the function block Output variables receive the value returned by the function block
Use the general syntax in the POU ST Editor for the ST language of a Function Block. The general syntax is: FunctionBlock_InstanceName(Input1:=VarInput1, Input2:=VarInput2,... Ouput1=>VarOutput1, Ouput2=>VarOutput2,...);
To illustrate the procedure, consider this example with the TON function block graphically presented below:
Function Block TON
Graphical Representation
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Function and Function Block Representation
This table shows examples of a function block call in ST language:
Function Block TON
Representation in POU ST Editor
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Glossary
A
application A program including configuration data, symbols, and documentation.
B
byte A type that is encoded in an 8-bit format, ranging from 00 hex to FF hex.
C
CFC
(continuous function chart) A graphical programming language (an extension of the IEC 61131-3 standard) based on the function block diagram language that works like a flowchart. However, no networks are used and free positioning of graphic elements is possible, which allows feedback loops. For each block, the inputs are on the left and the outputs on the right. You can link the block outputs to the inputs of other blocks to create complex expressions.
controller Automates industrial processes (also known as programmable logic controller or programmable controller).
F
FB (function block) A convenient programming mechanism that consolidates a group of programming instructions to perform a specific and normalized action, such as speed control, interval control, or counting. A function block may comprise configuration data, a set of internal or external operating parameters and usually 1 or more data inputs and outputs.
function block diagram One of the 5 languages for logic or control supported by the standard IEC 61131-3 for control systems. Function block diagram is a graphically oriented programming language. It works with a list of networks where each network contains a graphical structure of boxes and connection lines representing either a logical or arithmetic expression, the call of a function block, a jump, or a return instruction.
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Glossary
I
ID (identifier/identification)
IEC 61131-3 Part 3 of a 3-part IEC standard for industrial automation equipment. IEC 61131-3 is concerned with controller programming languages and defines 2 graphical and 2 textual programming language standards. The graphical programming languages are ladder diagram and function block diagram. The textual programming languages include structured text and instruction list.
IL (instruction list) A program written in the language that is composed of a series of text-based instructions executed sequentially by the controller. Each instruction includes a line number, an instruction code, and an operand (refer to IEC 61131-3).
INT (integer) A whole number encoded in 16 bits.
L
LD (ladder diagram) A graphical representation of the instructions of a controller program with symbols for contacts, coils, and blocks in a series of rungs executed sequentially by a controller (refer to IEC 61131-3).
N
node An addressable device on a communication network.
P
POU
(program organization unit) A variable declaration in source code and a corresponding instruction set. POUs facilitate the modular re-use of software programs, functions, and function blocks. Once declared, POUs are available to one another.
program The component of an application that consists of compiled source code capable of being installed in the memory of a logic controller.
PTO
(pulse train outputs) A fast output that oscillates between off and on in a fixed 50-50 duty cycle, producing a square wave form. PTO is especially well suited for applications such as stepper motors, frequency converters, and servo motor control, among others.
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Glossary
S
ST (structured text) A language that includes complex statements and nested instructions (such as iteration loops, conditional executions, or functions). ST is compliant with IEC 61131-3.
V
variable A memory unit that is addressed and modified by a program.
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Glossary
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Index
B
Busy management of status variables, 143
C
Capture HSCMain, 130
capture register of HSC EXPERTGetCapturedValue, 156
CommandAborted management of status variables, 143
Comparison HSCMain, 120
D
data types EXPERT_DIAG_TYPE, 146 EXPERT_ERR_TYPE, 147 EXPERT_FREQMETER_TIMEBASE_TYPE, 148 EXPERT_HSCMAIN_TIMEBASE_TYPE, 149 EXPERT_IMMEDIATE_ERR_TYPE, 150 EXPERT_PARAMETER_TYPE, 151 EXPERT_PERIODMETER_RESOLUTION_TYPE, 152 HSC_REF, 153
dedicated features, 142 Done
management of status variables, 143
E
Enable authorize counting operation, 137
ErrID handling a detected error, 143 management of status variables, 143
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Error handling a detected error, 143 management of status variables, 143
Event Counting HSC Modes of Embedded HSC, 85
Execute management of status variables, 143
EXPERT_DIAG_TYPE data types, 146
EXPERT_ERR_TYPE, 147 EXPERT_FREQMETER_TIMEBASE_TYPE
data types, 148 EXPERT_HSCMAIN_TIMEBASE_TYPE
data types, 149 EXPERT_IMMEDIATE_ERR_TYPE, 150 EXPERT_PARAMETER_TYPE, 151 EXPERT_PERIODMETER_RESOLUTION_TYPE
data types, 152 EXPERTGetCapturedValue
getting a capture register value, 156 EXPERTGetDiag
getting the detected error on EXPERT I/O function, 158 EXPERTGetImmediateValue getting the counter value of an HSC, 160 EXPERTGetParam getting parameters values of an HSC, 162 EXPERTSetParam setting parameters values of an HSC, 164
F
Free-large HSC Modes of Embedded HSC, 70
frequency meter description, 97 programming, 102 synopsis, 100
functions differences between a function and a
185
Index
function block, 174 Enable, 137 how to use a function or a function block in IL language, 175 how to use a function or a function block in ST language, 178
H
handling a detected error ErrID, 143 Error, 143
high speed counter EXPERTGetDiag, 158 EXPERTGetImmediateValue, 160 EXPERTGetParam, 162 EXPERTSetParam, 164 HSCMain_M241, 166 HSCSimple_M241, 170
HSC EXPERTGetDiag, 158 EXPERTGetImmediateValue, 160 EXPERTGetParam, 162 EXPERTSetParam, 164 HSCMain_M241, 166 HSCSimple_M241, 170
HSC Modes of Embedded HSC Event Counting, 85 Free-large, 70 Modulo-loop, 49
HSC_REF, 153 HSCMain
Capture, 130 Comparison, 120 HSCMain_M241 controlling a main type high speed counter (M241), 166 HSCSimple_M241 controlling a simple type high speed counter (M241), 170
M
M241 HSC EXPERTGetCapturedValue, 156 EXPERTGetDiag, 158 EXPERTGetImmediateValue, 160 EXPERTGetParam, 162 EXPERTSetParam, 164 HSCMain_M241, 166 HSCSimple_M241, 170
management of status variables Busy, 143 CommandAborted, 143 Done, 143 ErrID, 143 Error, 143 Execute, 143
Modulo-loop HSC Modes of Embedded HSC, 49
P
period meter description, 107 parameters, 116 programming, 113 synopsis, 110
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Modicon M241
Logic Controller
PTOPWM Library Guide
12/2019
www.schneider-electric.com
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Table of Contents
Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
Part I Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 1 Expert Function Introduction. . . . . . . . . . . . . . . . . . . . . .
17
Expert Functions Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
Embedded Expert I/O Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . .
21
Chapter 2 Generalities. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25
Dedicated Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
27
General Information on Function Block Management . . . . . . . . . . . . .
28
Part II Pulse Train Output (PTO) . . . . . . . . . . . . . . . . . . . . . 29
Chapter 3 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
31
Pulse Train Output (PTO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
31
Chapter 4 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
35
4.1 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
36
PTO Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
37
Pulse Output Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
42
Acceleration / Deceleration Ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . .
44
Probe Event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
48
Backlash Compensation (Only Available in Quadrature Mode) . . . . .
51
Positioning Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
53
4.2 Home Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
56
Homing Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
57
Position Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
60
Long Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
61
Long Reference & Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
63
Short Reference Reversal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
65
Short Reference No Reversal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
67
Short Reference & Index Outside . . . . . . . . . . . . . . . . . . . . . . . . . . . .
69
Short Reference & Index Inside. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
73
Home Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
77
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3
Chapter 5
Chapter 6
6.1
6.2 6.3 6.4 6.5 6.6 6.7 6.8 6.9
Data Unit Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AXIS_REF_PTO Data Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MC_BUFFER_MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MC_DIRECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PTO_HOMING_MODE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PTO_PARAMETER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PTO_ERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motion Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . .
Operation Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motion State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Buffer Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Timing Diagram Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MC_Power_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MC_Power_PTO: Manage the Power of the Axis State . . . . . . . . . . . . MC_MoveVelocity_PTO Function Block. . . . . . . . . . . . . . . . . . . . . . . . Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MC_MoveVelocity_PTO: Control the Speed of the Axis . . . . . . . . . . . MC_MoveRelative_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MC_MoveRelative_PTO: Command Relative Axis Movement. . . . . . . MC_MoveAbsolute_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MC_MoveAbsolute_PTO: Command Movement to Absolute Position. MC_Home_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MC_Home_PTO: Command the Axis to Move to a Reference Position MC_SetPosition_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MC_SetPosition_PTO: Force the Reference Position of the Axis . . . . MC_Stop_PTO Function Block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MC_Stop_PTO: Command a Controlled Motion Stop . . . . . . . . . . . . . MC_Halt_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MC_Halt_PTO: Command a Controlled Motion Stop until the Velocity equals Zero . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
79 80 81 83 84 85 86 89 90 91 93 95 104 105 106 109 110 111 115 116 117 122 123 124 128 129 130 133 134 135 136 137 138 141 142
143
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6.10 Adding a Motion Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
146
Adding a Motion Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
146
Chapter 7 Administrative Function Blocks. . . . . . . . . . . . . . . . . . . . 147
7.1 Status Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
148
MC_ReadActualVelocity_PTO: Get the Commanded Velocity of the Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
149
MC_ReadActualPosition_PTO: Get the Position of the Axis . . . . . . . .
151
MC_ReadStatus_PTO: Get the State of the Axis . . . . . . . . . . . . . . . .
153
MC_ReadMotionState_PTO: Get the Motion Status of the Axis . . . . .
155
7.2 Parameters Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
157
MC_ReadParameter_PTO: Get Parameters from the PTO. . . . . . . . .
158
MC_WriteParameter_PTO: Write Parameters to the PTO . . . . . . . . .
160
MC_ReadBoolParameter_PTO: Get BOOL Parameters from the PTO
162
MC_WriteBoolParameter_PTO: Write BOOL Parameters to the PTO .
164
7.3 Probe Function Blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
166
MC_TouchProbe_PTO: Activate a Trigger Event . . . . . . . . . . . . . . . .
167
MC_AbortTrigger_PTO: Abort/Deactivate Function Blocks . . . . . . . . .
169
7.4 Error Handling Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
170
MC_ReadAxisError_PTO: Get the Axis Control Error . . . . . . . . . . . . .
171
MC_Reset_PTO: Reset All Axis-Related Errors . . . . . . . . . . . . . . . . .
173
7.5 Adding an Administrative Function Block . . . . . . . . . . . . . . . . . . . . . .
174
Adding an Administrative Function Block . . . . . . . . . . . . . . . . . . . . . .
174
Part III Pulse Width Modulation (PWM) . . . . . . . . . . . . . . . . 175
Chapter 8 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
178
FreqGen/PWM Naming Convention . . . . . . . . . . . . . . . . . . . . . . . . . .
180
Synchronization and Enable Functions . . . . . . . . . . . . . . . . . . . . . . . .
181
Chapter 9 Configuration and Programming. . . . . . . . . . . . . . . . . . . 183
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
184
PWM_M241: Command a Pulse Width Modulation Signal . . . . . . . . .
187
Programming the PWM Function Block. . . . . . . . . . . . . . . . . . . . . . . .
189
Chapter 10 Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
FREQGEN_PWM_ERR_TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
191
Part IV Frequency Generator (FreqGen) . . . . . . . . . . . . . . . 193
Chapter 11 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
196
FreqGen Naming Convention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
197
Synchronization and Enable Functions . . . . . . . . . . . . . . . . . . . . . . . .
198
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Chapter 12 Configuration and Programming. . . . . . . . . . . . . . . . . . . . 199
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
FrequencyGenerator_M241: Commanding a Square Wave Signal . .
203
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Appendix A Function and Function Block Representation . . . . . . . . . 209
Differences Between a Function and a Function Block . . . . . . . . . . . . 210
How to Use a Function or a Function Block in IL Language . . . . . . . . 211
How to Use a Function or a Function Block in ST Language. . . . . . . . 215
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
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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.
BEFORE YOU BEGIN
Do not use this product on machinery lacking effective point-of-operation guarding. Lack of effective point-of-operation guarding on a machine can result in serious injury to the operator of that machine.
WARNING
UNGUARDED EQUIPMENT
Do not use this software and related automation equipment on equipment which does not have point-of-operation protection.
Do not reach into machinery during operation.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
This automation equipment and related software is used to control a variety of industrial processes. The type or model of automation equipment suitable for each application will vary depending on factors such as the control function required, degree of protection required, production methods, unusual conditions, government regulations, etc. In some applications, more than one processor may be required, as when backup redundancy is needed.
Only you, the user, machine builder or system integrator can be aware of all the conditions and factors present during setup, operation, and maintenance of the machine and, therefore, can determine the automation equipment and the related safeties and interlocks which can be properly used. When selecting automation and control equipment and related software for a particular application, you should refer to the applicable local and national standards and regulations. The National Safety Council's Accident Prevention Manual (nationally recognized in the United States of America) also provides much useful information.
In some applications, such as packaging machinery, additional operator protection such as pointof-operation guarding must be provided. This is necessary if the operator's hands and other parts of the body are free to enter the pinch points or other hazardous areas and serious injury can occur. Software products alone cannot protect an operator from injury. For this reason the software cannot be substituted for or take the place of point-of-operation protection.
Ensure that appropriate safeties and mechanical/electrical interlocks related to point-of-operation protection have been installed and are operational before placing the equipment into service. All interlocks and safeties related to point-of-operation protection must be coordinated with the related automation equipment and software programming.
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NOTE: Coordination of safeties and mechanical/electrical interlocks for point-of-operation protection is outside the scope of the Function Block Library, System User Guide, or other implementation referenced in this documentation.
START-UP AND TEST Before using electrical control and automation equipment for regular operation after installation, the system should be given a start-up test by qualified personnel to verify correct operation of the equipment. It is important that arrangements for such a check be made and that enough time is allowed to perform complete and satisfactory testing.
WARNING
EQUIPMENT OPERATION HAZARD
Verify that all installation and set up procedures have been completed. Before operational tests are performed, remove all blocks or other temporary holding means
used for shipment from all component devices. Remove tools, meters, and debris from equipment.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Follow all start-up tests recommended in the equipment documentation. Store all equipment documentation for future references.
Software testing must be done in both simulated and real environments.
Verify that the completed system is free from all short circuits and temporary grounds that are not installed according to local regulations (according to the National Electrical Code in the U.S.A, for instance). If high-potential voltage testing is necessary, follow recommendations in equipment documentation to prevent accidental equipment damage.
Before energizing equipment: Remove tools, meters, and debris from equipment. Close the equipment enclosure door. Remove all temporary grounds from incoming power lines. Perform all start-up tests recommended by the manufacturer.
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OPERATION AND ADJUSTMENTS
The following precautions are from the NEMA Standards Publication ICS 7.1-1995 (English version prevails): Regardless of the care exercised in the design and manufacture of equipment or in the selection
and ratings of components, there are hazards that can be encountered if such equipment is improperly operated. It is sometimes possible to misadjust the equipment and thus produce unsatisfactory or unsafe operation. Always use the manufacturer's instructions as a guide for functional adjustments. Personnel who have access to these adjustments should be familiar with the equipment manufacturer's instructions and the machinery used with the electrical equipment. Only those operational adjustments actually required by the operator should be accessible to the operator. Access to other controls should be restricted to prevent unauthorized changes in operating characteristics.
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About the Book
At a Glance
Document Scope
This documentation acquaints you with the pulse train output (PTO), pulse width modulation (PWM) and frequency generator (FreqGen) functions offered within the Modicon M241 Logic Controller.
This document describes the data types and functions of the M241 PTOPWM Library.
In order to use this manual, you must: Have a thorough understanding of the M241, including its design, functionality, and implemen-
tation within control systems. Be proficient in the use of the following IEC 61131-3 PLC programming languages:
Function Block Diagram (FBD) Ladder Diagram (LD) Structured Text (ST) Instruction List (IL) Sequential Function Chart (SFC) Continuous Function Chart (CFC)
Validity Note This document has been updated for the release of EcoStruxureTM Machine Expert V1.2.
Related Documents
Title of Documentation Modicon M241 Logic Controller Programming Guide
Reference Number
EIO0000003059 (ENG), EIO0000003060 (FRE), EIO0000003061 (GER), EIO0000003062 (SPA), EIO0000003063 (ITA), EIO0000003064 (CHS)
You can download these technical publications and other technical information from our website at https://www.se.com/ww/en/download/ .
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Product Related Information
WARNING
LOSS OF CONTROL The designer of any control scheme must consider the potential failure modes of control paths
and, for certain critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop and overtravel stop, power outage and restart. Separate or redundant control paths must be provided for critical control functions. System control paths may include communication links. Consideration must be given to the implications of unanticipated transmission delays or failures of the link. Observe all accident prevention regulations and local safety guidelines.1 Each implementation of this equipment must be individually and thoroughly tested for proper operation before being placed into service. Failure to follow these instructions can result in death, serious injury, or equipment damage.
1 For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems" or their equivalent governing your particular location.
WARNING
UNINTENDED EQUIPMENT OPERATION Only use software approved by Schneider Electric for use with this equipment. Update your application program every time you change the physical hardware configuration.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Terminology Derived from Standards
The technical terms, terminology, symbols and the corresponding descriptions in this manual, or that appear in or on the products themselves, are generally derived from the terms or definitions of international standards.
In the area of functional safety systems, drives and general automation, this may include, but is not limited to, terms such as safety, safety function, safe state, fault, fault reset, malfunction, failure, error, error message, dangerous, etc.
Among others, these standards include:
Standard IEC 61131-2:2007 ISO 13849-1:2015 EN 61496-1:2013 ISO 12100:2010 EN 60204-1:2006 ISO 14119:2013 ISO 13850:2015 IEC 62061:2015 IEC 61508-1:2010 IEC 61508-2:2010
IEC 61508-3:2010 IEC 61784-3:2016 2006/42/EC 2014/30/EU 2014/35/EU
Description
Programmable controllers, part 2: Equipment requirements and tests.
Safety of machinery: Safety related parts of control systems. General principles for design.
Safety of machinery: Electro-sensitive protective equipment. Part 1: General requirements and tests.
Safety of machinery - General principles for design - Risk assessment and risk reduction
Safety of machinery - Electrical equipment of machines - Part 1: General requirements
Safety of machinery - Interlocking devices associated with guards - Principles for design and selection
Safety of machinery - Emergency stop - Principles for design
Safety of machinery - Functional safety of safety-related electrical, electronic, and electronic programmable control systems
Functional safety of electrical/electronic/programmable electronic safetyrelated systems: General requirements.
Functional safety of electrical/electronic/programmable electronic safetyrelated systems: Requirements for electrical/electronic/programmable electronic safety-related systems.
Functional safety of electrical/electronic/programmable electronic safetyrelated systems: Software requirements.
Industrial communication networks - Profiles - Part 3: Functional safety fieldbuses - General rules and profile definitions.
Machinery Directive
Electromagnetic Compatibility Directive
Low Voltage Directive
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In addition, terms used in the present document may tangentially be used as they are derived from other standards such as:
Standard IEC 60034 series IEC 61800 series IEC 61158 series
Description Rotating electrical machines Adjustable speed electrical power drive systems Digital data communications for measurement and control � Fieldbus for use in industrial control systems
Finally, the term zone of operation may be used in conjunction with the description of specific hazards, and is defined as it is for a hazard zone or danger zone in the Machinery Directive (2006/42/EC) and ISO 12100:2010.
NOTE: The aforementioned standards may or may not apply to the specific products cited in the present documentation. For more information concerning the individual standards applicable to the products described herein, see the characteristics tables for those product references.
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Modicon M241 Logic Controller Introduction EIO0000003077 12/2019
Introduction
Part I
Introduction
Overview
This part provides an overview description, available modes, functionality and performances of the different functions.
What Is in This Part? This part contains the following chapters:
Chapter 1 2
Expert Function Introduction Generalities
Chapter Name
Page 17 25
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Introduction
16
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Modicon M241 Logic Controller EIO0000003077 12/2019
Expert Function Introduction
Chapter 1
Expert Function Introduction
Overview
This chapter provides an overview description, functionality, and performances of: High Speed Counter (HSC) Pulse Train Output (PTO) Pulse Width Modulation (PWM) Frequency Generator (FreqGen)
What Is in This Chapter? This chapter contains the following topics:
Expert Functions Overview Embedded Expert I/O Assignment
Topic
Page 18 21
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Expert Functions Overview
Introduction
The inputs and outputs available on the M241 logic controller can be connected to expert functions.
As of the release of EcoStruxure Machine Expert, any regular I/O not already in use can be configured for use by any of the expert function types, in the same way as fast I/Os.
NOTE: When an input is used as Run/Stop, it cannot be used by an expert function. When an output is used as Alarm, it cannot be used by an expert function.
For more details, refer to Embedded Functions Configuration (see Modicon M241 Logic Controller, Programming Guide).
Maximum Number of Expert Functions
The maximum number of expert functions that can be configured depends on: 1. The logic controller reference. 2. The expert function types and number of optional functions (see Modicon M241 Logic
Controller, High Speed Counting, HSC Library Guide) configured. Refer to Embedded Expert I/O Assignment (see page 21). 3. The number of I/Os that are available.
Maximum number of expert functions by logic controller reference:
Expert Function Type
24 I/O References (TM241�24�) 40 I/O References (TM241�40�)
Total number of HSC functions
14
16
HSC
Simple
14
16
Main Single Phase
4
Main Dual Phase
Frequency Meter(1)
Period Meter
PTO
PWM
FreqGen
(1) When the maximum number is configured, only 12 additional HSC Simple functions can be added.
The maximum number of expert functions possible may be further limited by the number of I/Os used by each expert function.
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Example configurations: 4 PTO(2) + 14 HSC Simple on 24 I/O controller references 4 FreqGen(2) + 16 HSC Simple on 40 I/O controller references 4 HSC Main Single Phase + 10 HSC Simple on 24 I/O controller references 4 HSC Main Dual Phase + 8 HSC Simple on 40 I/O controller references 2 PTO(2) + 2 HSC Main Single Phase + 14 HSC Simple on 40 I/O controller references
(2) With no optional I/O configured
The performance of the expert function is limited by the I/Os used: HSC with fast inputs: 100 kHz/200 kHz HSC with regular inputs: 1 kHz
Configuring an Expert Function To configure an expert function, proceed as follows:
Step 1
Description
Double-click the Counters or Pulse_Generators node in the Devices Tree. Result: The Counters or Pulse_Generators configuration window appears:
2
Double-click None in the Value column and choose the expert function type to assign.
Result: The default configuration of the expert function appears when you click anywhere in the
configuration window.
3
Configure the expert function parameters, as described in the following chapters.
4
To configure an additional expert function, click the + tab.
NOTE: If the maximum number of expert functions is already configured, a message appears at the
bottom of the configuration window informing you that you can now add only HSC Simple functions.
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Regular I/O Configured as Expert Function
When regular I/Os are configured as expert functions, note the following: Inputs can be read through memory variables. An input cannot be configured as an expert function if it has already been configured as a
Run/Stop input. An output cannot be configured in an expert function if it has already been configured as an
alarm. Short-Circuit management applies on the outputs. Status of outputs are available. The I/O that are not used by expert functions can be used as any other regular I/O. When inputs are used in expert functions (Latch, HSC,...), integrator filter is replaced by anti-
bounce filter. Filter value is configured in the configuration screen.
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Embedded Expert I/O Assignment
I/O Assignment The following regular or fast I/Os can be configured for use by expert functions:
24 I/O References TM241�24T, TM241�24U TM241�24R
Inputs Outputs
8 fast inputs (I0...I7) 6 regular inputs (I8...I13)
4 fast outputs (Q0...Q3) 4 regular outputs (Q4...Q7)
4 fast outputs (Q0...Q3)
40 I/O References
TM241�40T, TM241�40U
TM241�40R
8 fast inputs (I0...I7) 8 regular inputs (I8...I15)
4 fast outputs (Q0...Q3) 4 regular outputs (Q4...Q7)
4 fast outputs (Q0...Q3)
When an I/O has been assigned to an expert function, it is no longer available for selection with other expert functions.
NOTE: All I/Os are by default disabled in the configuration window.
The following table shows the I/Os that can be configured for expert functions:
Expert Function
Name
HSC Simple
Input
HSC Main
Input A
Input B/EN
SYNC
CAP
Reflex 0
Reflex 1
Frequency Meter/Period Meter Input A
EN
PWM/FreqGen
Output A
SYNC
EN
M Mandatory C Optionally configurable
Input (Fast or Regular) M M C C C
M C
C C
Output (Fast or Regular)
C C M
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Expert Function PTO
M Mandatory C Optionally configurable
Name
Output A/CW/Pulse Output B/CCW/Dir REF (Origin) INDEX (Proximity) PROBE
Input (Fast or Regular)
C C C
Output (Fast or Regular) M C
Using Regular I/O with Expert Functions
Expert function I/O within regular I/O: Inputs can be read through standard memory variables even if configured as expert functions. All I/Os that are not used by expert functions can be used as regular I/Os. An I/O can only be used by one expert function; once configured, the I/O is no longer available
for other expert functions. If no more fast I/Os are available, a regular I/O can be configured instead. In this case, however,
the maximum frequency of the expert function is limited to 1 kHz. You cannot configure an input in an expert function and use it as a Run/Stop, Event, or Latch
input at a same time. An output cannot be configured in an expert function if it has already been configured as an
alarm. Short-circuit management still applies on all outputs. Status of outputs are available. For more
information, refer to Output Management. When inputs are used in expert functions (PTO, HSC,...), the integrator filter is replaced by an
anti-bounce filter (see page 27). The filter value is configured in the configuration window.
For more details, refer to Embedded Functions Configuration.
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I/O Summary The IO Summary window displays the I/Os used by the expert functions. To display the IO Summary window:
Step 1
Action In the Devices tree tab, right-click the MyController node and choose IO Summary.
Example of IO Summary window:
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Modicon M241 Logic Controller Generalities EIO0000003077 12/2019
Generalities
Chapter 2
Generalities
Overview This chapter provides general information of the Frequency Generator (FreqGen), Pulse Train Output (PTO), and Pulse Width Modulation (PWM) functions. The functions provide simple, yet powerful solutions for your application. In particular, they are useful for controlling movement. However, the use and application of the information contained herein require expertise in the design and programming of automated control systems. Only you, the user, machine builder or integrator, can be aware of all the conditions and factors present during installation and setup, operation, and maintenance of the machine or related processes, and can therefore determine the automation and associated equipment and the related safeties and interlocks which can be effectively and properly used. When selecting automation and control equipment, and any other related equipment or software, for a particular application, you must also consider any applicable local, regional, or national standards and/or regulations.
WARNING
REGULATORY INCOMPATIBILITY Ensure that all equipment applied and systems designed comply with all applicable local, regional, and national regulations and standards. Failure to follow these instructions can result in death, serious injury, or equipment damage.
The functions provided by the expert functions libraries were conceived and designed assuming that you incorporate the necessary safety hardware into your application architecture, such as, but not limited to, appropriate limit switches and emergency stop hardware and controlling circuitry. It is implicitly assumed that functional safety measures are present in your machine design to prevent undesirable machine behavior such as over-travel or other forms of uncontrolled movement. Further, it is assumed that you have performed a functional safety analysis and risk assessment appropriate to your machine or process.
WARNING
UNINTENDED EQUIPMENT OPERATION Ensure that a risk assessment is conducted and respected according to EN/ISO 12100 during the design of your machine. Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Generalities
What Is in This Chapter? This chapter contains the following topics:
Topic Dedicated Features General Information on Function Block Management
Page 27 28
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Generalities
Dedicated Features
Bounce Filter
This table shows the maximum counter frequencies determined by the filtering values used to reduce the bounce effect on the input:
Input
Bounce Filter Value (ms) Maximum Counter Frequency Expert
A
0.000
B
0.001
200 kHz 200 kHz
0.002
200 kHz
0.005
100 kHz
0.01
50 kHz
0.05
25 kHz
0.1
5 kHz
0.5
1 kHz
1
500 Hz
5
100 Hz
A is the counting input of the counter. B is the counting input of the dual phase counter.
Maximum Counter Frequency Regular 1 kHz 1 kHz 1 kHz 1 kHz 1 kHz 1 kHz 1 kHz 1 kHz 500 Hz 100 Hz
Dedicated Outputs
Outputs used by the high speed expert functions can only be accessed through the function block. They cannot be read or written directly within the application.
WARNING
UNINTENDED EQUIPMENT OPERATION
Do not use the same function block instance in different program tasks. Do not modify or otherwise change the function block reference (AXIS) while the function block
is executing.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Generalities
General Information on Function Block Management
Management of Input Variables The variables are used with the rising edge of the Execute input. To modify any variable, it is necessary to change the input variables and to trigger the function block again. The function blocks managed by an Enable input are executed when this input is true. The values of the function block inputs can be modified continuously, and the outputs are updated continuously. When the Enable input is false, the function block execution is terminated and its outputs are reseted. According to IEC 61131-3, if any variable of a function block input is missing (= open), then the value from the previous invocation of this instance will be used. In the first invocation the initial value is applied.
Management of Output Variables The Done, Error, Busy, and CommandAborted outputs are mutually exclusive; only one of them can be TRUE on one function block. When the Execute input is TRUE, one of these outputs is TRUE. At the rising edge of the Execute input, the Busy output is set. It remains set during the execution of the function block and is reset at the rising edge of one of the other outputs (Done, Error).
The Done output is set when the execution of the function block is successfully completed.
If an error is detected, the function block terminates by setting the Error output, and the error code is contained within the ErrId output.
The Done, Error, ErrID, and CommandAborted outputs are set or reset with the falling edge of Execute input: reset if the function block execution is finished. set for at least one task cycle if the function block execution is not finished. When an instance of a function block receives a new Execute before it is finished (as a series of commands on the same instance), the function block does not return any feedback, like Done, for the previous action.
Error Handling All blocks have two outputs that can report error detection during the execution of the function block: Error= The rising edge of this bit informs that an error was detected. ErrID= The error code of the error detected.
When an Error occurs, the other output signals, such as Done are reset.
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Modicon M241 Logic Controller PTO EIO0000003077 12/2019
Pulse Train Output (PTO)
Part II
Pulse Train Output (PTO)
Overview This part describes the Pulse Train Output function.
What Is in This Part? This part contains the following chapters:
Chapter 3 4 5 6 7
Chapter Name Overview Configuration Data Unit Types Motion Function Blocks Administrative Function Blocks
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PTO
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Modicon M241 Logic Controller PTO - Overview EIO0000003077 12/2019
Overview
Chapter 3
Overview
Pulse Train Output (PTO)
Introduction The PTO function provides up to four pulse train output channels for a specified number of pulses and a specified velocity (frequency). The PTO function is used to control the positioning or speed of up to four independent linear single-axis stepper or servo drives in open loop mode (for example, with Lexium 28). The PTO function does not have any position feedback information from the process. The PTO function can be configured on any output channel of the logic controller not already configured for use by another expert function. Each PTO channel can use up to: Six inputs, if optional interface signals for homing (ref/index), event (probe), limits (limP, limN), or drive interface (driveReady) are used, Three physical outputs, if optional drive interface signal is used (driveEnable). Automatic origin offset and backlash compensation are also managed to improve positioning accuracy. Diagnostics are available for status monitoring, providing comprehensive and quick troubleshooting.
Supported Functions The four PTO channels support the following functions: Four output modes, including quadrature Single axis moves (velocity and position) Relative and absolute positioning Automatic trapezoidal and S-curve acceleration and deceleration Homing (seven modes with offset compensation) Dynamic acceleration, deceleration, velocity, and position modification Switch from velocity to position mode and vice versa Move queuing (buffer of one move) Position capture and move trigger on event (using probe input) Backlash compensation (in quadrature mode) Limits (hardware and software) Diagnostics
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PTO - Overview
PTO Function Blocks
The PTO function is programmed in EcoStruxure Machine Expert using the following function blocks, available in the M241 PTOPWM library:
Category Motion (single axis)
Subcategory Power Discrete
Administrative
Continuous Homing Stopping Status
Parameters
Probe Error handling
Function Block MC_Power_PTO (see page 104) MC_MoveAbsolute_PTO (see page 122) MC_MoveRelative_PTO (see page 115) MC_Halt_PTO (see page 141) MC_SetPosition_PTO (see page 133) MC_MoveVelocity_PTO (see page 109) MC_Home_PTO (see page 128) MC_Stop_PTO (see page 136) MC_ReadActualVelocity_PTO (see page 149) MC_ReadActualPosition_PTO (see page 151) MC_ReadStatus_PTO (see page 153) MC_ReadMotionState_PTO (see page 155) MC_ReadParameter_PTO (see page 158) MC_WriteParameter_PTO (see page 160) MC_ReadBoolParameter_PTO (see page 162) MC_WriteBoolParameter_PTO (see page 164) MC_TouchProbe_PTO (see page 167) MC_AbortTrigger_PTO (see page 169) MC_ReadAxisError_PTO (see page 171) MC_Reset_PTO (see page 173)
NOTE: The motion function blocks act on the position of the axis according to the motion state diagram (see page 91). The administrative function blocks do not influence the motion state.
NOTE: MC_Power_PTO function block is mandatory before a move command can be issued.
WARNING
UNINTENDED EQUIPMENT OPERATION Do not use the same function block instance in different program tasks. Do not change the function block reference (AXIS) while the function block is executing.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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PTO Characteristics The PTO function has the following characteristics:
Characteristic Number of channels Number of axes Position range Minimum velocity Maximum velocity
Minimum step Acceleration / deceleration min Acceleration / deceleration max Start move IEC Start move on probe event Change move parameter Accuracy on velocity Accuracy in position
Value 4 1 per channel -2,147,483,648...2,147,483,647 (32 bits) 1 Hz For a 40/60 duty cycle and max. 200 mA: Fast outputs (Q0...Q3): 100 kHz Regular outputs (Q4...Q7): 1 kHz 1 Hz 1 Hz/ms 100,000 Hz/ms 300 �s + 1 pulse output time
0.5 % Depends on the pulse output time
PTO - Overview
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PTO - Overview
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Modicon M241 Logic Controller Configuration EIO0000003077 12/2019
Configuration
Chapter 4
Configuration
Overview This chapter describes how to configure a PTO channel and the associated parameters.
What Is in This Chapter? This chapter contains the following sections:
Section 4.1
Configuration
4.2
Home Modes
Topic
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Configuration
Configuration
Section 4.1
Configuration
Overview This section describes how to configure a PTO channel and the associated parameters.
What Is in This Section? This section contains the following topics:
PTO Configuration
Topic
Pulse Output Modes Acceleration / Deceleration Ramp Probe Event Backlash Compensation (Only Available in Quadrature Mode) Positioning Limits
Page 37 42 44 48 51 53
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Configuration
PTO Configuration
Hardware Configuration There are up to six inputs for a PTO channel: Three physical inputs are associated to the PTO function through configuration and are taken into account immediately on a rising edge on the input: REF input INDEX input PROBE input
Three inputs are associated with the MC_Power_PTO function block. They have no fixed assignment (they are freely assigned; that is, they are not configured in the configuration screen), and are read as any other input: Drive ready input Limit positive input Limit negative input
NOTE: These inputs are managed as any other input, but are used by the PTO controller when used by the MC_Power_PTO function block.
NOTE: The positive and negative limit inputs are required to help prevent over-travel.
WARNING
UNINTENDED EQUIPMENT OPERATION Ensure that controller hardware limit switches are integrated in the design and logic of your
application. Mount the controller hardware limit switches in a position that allows for an adequate braking
distance. Failure to follow these instructions can result in death, serious injury, or equipment damage.
There are up to three outputs for a PTO channel: Either one physical output to manage pulse only, or two physical outputs to manage both pulse
and direction; they must be enabled by configuration: A / CW / Pulse B / CCW / Direction
The other output, DriveEnable, is used through the MC_Power_PTO function block.
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Configuration
Configuration Window Description The figure provides an example of a configuration window on channel PTO_0:
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Configuration
The table describes each parameter available when the channel is configured in PTO mode:
Parameter
General
Instance name
Value -
Default PTO_0...PTO_3
Mechanics
Output Mode (see page 42)
A ClockWise / B CounterClockWise A Pulse / B Direction A Pulse Quadrature
A output location
Disabled Q0...Q3 (fast outputs) Q4...Q7 (regular outputs)(1)
B output location
Disabled Q0...Q3 (fast outputs) Q4...Q7 (regular outputs)(1)
Backlash Compensation (see page 51)
0...255
A ClockWise / B CounterClockWise
Disabled
Disabled
0
Position Limits / Software Limits
Enable Software Enabled
Limits
Disabled
(see page 54)
SW Low Limit
-2,147,483,648... 2,147,483,647
Enabled -2,147,483,648
SW High Limit
-2,147,483,648... 2,147,483,647
2,147,483,647
(1) Not available for M241 Logic Controller references with relay outputs.
Description Name of the axis controlled by this PTO channel. It is used as input of the PTO function blocks. Select the pulse output mode.
Select the controller output used for the signal A.
Select the controller output used for the signal B.
In quadrature mode, amount of motion needed to compensate the mechanical clearance when movement is reversed. Select whether to use the software limits.
Set the software limit position to be detected in the negative direction. Set the software limit position to be detected in the positive direction.
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Configuration
Parameter
Value
Default
Description
Motion / General
Maximum Velocity
0...100000 (fast outputs) 0...1000 (regular outputs)
100000 (fast outputs) Set the pulse output 1000 (regular outputs) maximum velocity (in Hz).
Start Velocity (see page 44)
Start Velocity...100000 0 (fast outputs) Start Velocity...1000 (regular outputs)
Set the pulse output start velocity (in Hz). 0 if not used.
Stop Velocity
0...100000 (fast
0
(see page 44) outputs)
0...1,000 (regular
outputs)
Set the pulse output stop velocity (in Hz). 0 if not used.
Acc./Dec. Unit (see page 45)
Hz/ms ms
Hz/ms
Set acceleration/deceleration as rates (Hz/ms) or as time constants from 0 to Maximum Velocity (ms).
Maximum Acceleration
1...100000
100000
Set the acceleration maximum value (in Acc./Dec. Unit).
Maximum Deceleration
1...100000
100000
Set the deceleration maximum value (in Acc./Dec. Unit).
Motion / Fast Stop
Fast Stop Deceleration
1...100000
5000
Set the deceleration value in case an error is detected (in Acc./Dec. Unit)
Homing / Location REF input
Disabled
Disabled
I0...I7 (fast inputs)
I8...I15 (regular inputs)
Select the controller input used for the REF signal (see page 56).
Bounce filter
0.000 0.001 0.002 0.005 0.010 0.05 0.1 0.5 1 5
0.005
Set the filtering value to reduce the bounce effect on the REF input (in ms).
Type
Normally opened Normally closed
Normally opened
Select whether the switch contact default state is open or closed.
(1) Not available for M241 Logic Controller references with relay outputs.
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Configuration
Parameter Homing / Location INDEX input
Bounce filter
Type
Value
Default
Disabled
Disabled
I0...I7 (fast inputs)
I8...I15 (regular inputs)
0.000 0.001 0.002 0.005 0.010 0.05 0.1 0.5 1 5
0.005
Normally opened Normally closed
Normally opened
Registration Location / PROBE input
Disabled
Disabled
I0...I7 (fast inputs)
I8...I15 (regular inputs)
Bounce filter
0.000 0.001 0.002 0.005 0.010 0.05 0.1 0.5 1 5
0.005
(1) Not available for M241 Logic Controller references with relay outputs.
Description Select the controller input used for the INDEX signal (see page 56). Set the filtering value to reduce the bounce effect on the INDEX input (in ms).
Select whether the switch contact default state is open or closed. Select the controller input used for the PROBE signal (see page 48). Set the filtering value to reduce the bounce effect on the PROBE input (in ms).
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Configuration
Pulse Output Modes
Overview There are four possible output modes: A ClockWise / B CounterClockwise A Pulse A Pulse / B direction Quadrature
A ClockWise (CW) / B CounterClockwise (CCW) Mode This mode generates a signal that defines the motor operating speed and direction. This signal is implemented either on the PTO output A or on PTO output B depending on the motor rotation direction.
A Pulse Mode This mode generates one signal on the PTO outputs: Output A: pulse which provides the motor operating speed. NOTE: The corresponding function block generates an "Invalid Direction" error if you specify a negative direction value.
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A Pulse / B Direction Mode
This mode generates two signals on the PTO outputs: Output A: pulse which provides the motor operating speed. Output B: direction which provides the motor rotation direction.
Configuration
Quadrature Mode
This mode generates two signals in quadrature phase on the PTO outputs (the phase sign depends on motor direction).
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Configuration
Acceleration / Deceleration Ramp
Start Velocity The Start Velocity is the minimum frequency at which a stepper motor can produce movement, with a load applied, without the loss of steps. Start Velocity parameter is used when starting a motion from velocity 0. Start Velocity must be in the range 0...MaxVelocityAppl (see page 85). Value 0 means that the Start Velocity parameter is not used. In this case, the motion starts at a velocity = acceleration rate x 1 ms.
Stop Velocity The Stop Velocity is the maximum frequency at which a stepper motor stops producing movement, with a load applied, without loss of steps. Stop Velocity is only used when moving from a higher velocity than Stop Velocity, down to velocity 0. Stop Velocity must be in the range 0...MaxVelocityAppl (see page 85). Value 0 means that the Stop Velocity parameter is not used. In this case, the motion stops at a velocity = deceleration rate x 1 ms.
Acceleration / Deceleration Acceleration is the rate of velocity change, starting from Start Velocity to target velocity. Deceleration is the rate of velocity change, starting from target velocity to Stop Velocity. These velocity changes are implicitly managed by the PTO function in accordance with Acceleration, Deceleration and JerkRatio parameters following a trapezoidal or an S-curve profile.
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Configuration
Acceleration / Deceleration Ramp with a Trapezoidal Profile When the jerk ratio parameter is set to 0, the acceleration / deceleration ramp has a trapezoidal profile. Expressed in Hz/ms, the acceleration and deceleration parameters represent the rate of velocity change. Expressed in ms, they represent the time to go from 0 to Maximum velocity.
JerkRatio 0%: Constant acceleration / deceleration.
Acceleration / Deceleration Ramp with an S-curve Profile When the jerk ratio parameter is greater than 0, the acceleration / deceleration ramp has an Scurve profile. The S-curve ramp is used in applications controlling high inertia, or in those that manipulate fragile objects or liquids. The S-curve ramp enables a smoother and progressive acceleration / deceleration, as demonstrated in the following graphics:
JerkRatio 66%: 2/3 of the acceleration and deceleration time is spent in increasing and decreasing the acceleration and deceleration value.
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Configuration JerkRatio 100%: The entire time is spent in increasing and decreasing the acceleration and deceleration value.
Example using 4 JerkRatio phases with a variable length.
Example using 2 JerkRatio phases with a variable length.
NOTE: The JerkRatio parameter value is common for acceleration and deceleration so that concave time and convex time are equal.
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Configuration
Affect of the S-Curve Ramp on Acceleration / Deceleration The duration for the acceleration / deceleration is maintained, whatever the JerkRatio parameter may be. To maintain this duration, the acceleration or deceleration is other than that configured in the function block (Acceleration or Deceleration parameters).
When the JerkRatio is applied, the acceleration / deceleration is affected.
When the JerkRatio is applied at 100%, the acceleration / deceleration is two times that of the configured Acceleration/Deceleration parameters.
NOTE: If the JerkRatio parameter value is invalid, the value is re-calculated to respect the MaxAccelerationAppl and MaxDecelerationAppl parameters. JerkRatio is invalid when: its value is greater than 100. In this case, a Jerkratio of 100 is applied. its value is less than 0. In this case, a Jerkratio of 0 is applied.
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Configuration
Probe Event
Description The Probe input is enabled by configuration, and activated using the MC_TouchProbe_PTO function block. The Probe input is used as an event to: capture the position, start a move independently of the task. Both functions can be active at the same time, that is, the same event captures the position and start a motion function block (see page 89). The Probe input event can be defined to be enabled within a predefined window that is demarcated by position limits (refer to MC_TouchProbe_PTO (see page 167). NOTE: Only the first event after the rising edge at the MC_TouchProbe_PTO function block Busy pin is valid. Once the Done output pin is set, subsequent events are ignored. The function block needs to be reactivated to respond to other events.
Position Capture The position captured is available in MC_TouchProbe_PTO.RecordedPosition.
Motion Trigger The BufferMode input of a motion function block must be set to seTrigger. This example illustrates a change target velocity with enable window:
1 Capture the position counter value 2 Trigger Move Velocity function block
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Configuration
This example illustrates a move of pre-programmed distance, with simple profile and no enable window:
1 Capture the position counter value 2 Trigger Move Relative function block
This example illustrates a move of pre-programmed distance, with complex profile and enable window:
1 Capture the position counter value 2 Trigger Move Relative function block
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Configuration
This example illustrates a trigger event out of enable window:
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Configuration
Backlash Compensation (Only Available in Quadrature Mode)
Description The Backlash Compensation parameter is defined as the amount of motion needed to compensate for the mechanical clearance in gears, when movement is reversed and the axis is homed:
NOTE: The function does not take into account any external sources of movement, such as inertia movement or other forms of induced movement. Backlash compensation is set in number of pulses (0...255, default value is 0). When set, at each direction reversal, the specified number of pulses is first output at start velocity, and then the programmed movement is executed. The backlash compensation pulses are not added to the position counter. This figure illustrates the backlash compensation:
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Configuration
NOTE: Before the initial movement is started, the function cannot determine the amount of backlash to
compensate for. Therefore, the backlash compensation is only active after a homing is successfully performed. If the homing is performed without movement, it is assumed that the initial movement applies no compensation, and the compensation is applied at the first direction reversal. Once started, the compensation pulses are output until completion, even if an aborting command is received in the meantime. In this case, the aborting command is buffered and will start as soon as compensation pulses are output. No additional buffered command is accepted in this case. If the axis is stopped by an error detected before all the compensation pulses are output, the backlash compensation is reset. A new homing procedure is needed to reinitialize the backlash compensation. Backlash timeout of 80 s: The system does not accept to configure a movement of more than 80 s. So if a backlash is configured, it may for example not be more than 80 pulses to 1 Hz. The error detected in case of this timeout is "Internal error" (code 1000).
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Configuration
Positioning Limits
Introduction Positive and negative limits can be set to control the movement boundaries in both directions. Both hardware and software limits are managed by the controller. Hardware and software limit switches are used to manage boundaries in the controller application only. They are not intended to replace any functional safety limit switches wired to the drive. The controller application limit switches must necessarily be activated before the functional safety limit switches wired to the drive. In any case, the type of functional safety architecture, which is beyond the scope of the present document, that you deploy depends on your safety analysis, including, but not limited to: risk assessment according to EN/ISO 12100 FMEA according to EN 60812
WARNING
UNINTENDED EQUIPMENT OPERATION Ensure that a risk assessment is conducted and respected according to EN/ISO 12100 during the design of your machine. Failure to follow these instructions can result in death, serious injury, or equipment damage.
The figure illustrates hardware and software limit switches:
Once either the controller hardware or software limits are crossed, an error is detected and a Fast stop deceleration is performed: the axis switches to ErrorStop state, with ErrorId 1002 to 1005 (PTO_ERROR (see page 86)),
the function block under execution detects the error state, status bits on other applicable function blocks are set to CommandAborted.
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Configuration
To clear the axis error state, and return to a Standstill state, execution of MC_Reset_PTO is required as any motion command will be rejected (refer to PTO parameters EnableDirPos or EnableDirNeg) while the axis remains outside the limits (function block terminates with ErrorId=InvalidDirectionValue). It is only possible to execute a motion command in the opposite direction under these circumstances.
Software Limits Software limits can be set to control the movement boundaries in both directions. Limit values are enabled and set in the configuration screen, such that: Positive limit > Negative limit Values in the range -2,147,483,648 to 2,147,483,647 They can also be enabled, disabled, or modified in the application program (MC_WriteParameter_PTO (see page 160) and PTO_PARAMETER (see page 85)). NOTE: When enabled, the software limits are valid after an initial homing is successfully performed (that is, the axis is homed, MC_Home_PTO (see page 128)). NOTE: An error is only detected when the software limit is physically reached, not at the initiation of the movement.
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Configuration
Hardware Limits Hardware limits are required for the homing procedure, and for helping to prevent damage to the machine. The appropriate inputs must be used on the MC_Power_PTO.LimP and MC_Power_PTO.LimN input bits. The hardware limit devices must be of a normally closed type such that the input to the function block is FALSE when the respective limit is reached. NOTE: The restrictions over movement are valid while the limit inputs are FALSE and regardless of the sense of direction. When they return to TRUE, movement restrictions are removed and the hardware limits are functionnally rearmed. Therefore, use falling edge contacts leading to RESET output instructions prior to the function block. Then use those bits to control these function block inputs. When operations are complete, SET the bits to restore normal operation.
WARNING
UNINTENDED EQUIPMENT OPERATION Ensure that controller hardware limit switches are integrated in the design and logic of your
application. Mount the controller hardware limit switches in a position that allows for an adequate braking
distance. Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: Adequate braking distance is dependent on the maximum velocity, maximum load (mass) of the equipment being moved, and the value of the Fast stop deceleration parameter.
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Configuration
Home Modes
Section 4.2
Home Modes
Overview This section describes the PTO home modes.
What Is in This Section? This section contains the following topics:
Homing Modes
Topic
Position Setting Long Reference Long Reference & Index Short Reference Reversal Short Reference No Reversal Short Reference & Index Outside Short Reference & Index Inside Home Offset
Page 57 60 61 63 65 67 69 73 77
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Configuration
Homing Modes
Description Homing is the method used to establish the reference point or origin for absolute movement. A homing movement can be made using different methods. The M241 PTO channels provide several standard homing movement types: position setting (see page 60), long reference (see page 61), long reference and index (see page 63), short reference reversal (see page 65), short reference no reversal (see page 67), short reference and index outside (see page 69), short reference and index inside (see page 73). A homing movement must be terminated without interruption for the new reference point to be valid. If the reference movement is interrupted, it needs to be started again. Refer to MC_Home_PTO (see page 128) and PTO_HOMING_MODE (see page 84).
Home Position Homing is done with an external switch and the homing position is defined on the switch edge. Then the motion is decelerated until stop. The actual position of the axis at the end of the motion sequence may therefore differ from the position parameter set on the function block:
REF (NO) Reference point (Normally Open) 1 Position at the end of motion = MC_HOME_PTO.Position + "deceleration to stop" distance.
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Configuration
To simplify the representation of a stop in the homing mode diagrams, the following presentation is made to represent the actual position of the axis:
REF (NO) Reference point (Normally Open)
Limits Hardware limits are necessary for the correct functioning of the MC_Home_PTO function block (Positioning Limits (see page 53) and MC_Power_PTO (see page 104)). Depending on the movement type you request with the homing mode, the hardware limits help assure that the end of travel is respected by the function block.
When a homing action is initiated in a direction away from the reference switch, the hardware limits serve to either: indicate a reversal of direction is required to move the axis toward the reference switch or, indicate that an error has been detected as the reference switch was not found before reaching
the end of travel.
For homing movement types that allow for reversal of direction, when the movement reaches the hardware limit the axis stops using the configured deceleration, and resumes motion in a reversed direction.
In homing movement types that do not allow for the reversal of direction, when the movement reaches the hardware limit, the homing procedure is aborted and the axis stops with the Fast stop deceleration.
WARNING
UNINTENDED EQUIPMENT OPERATION
Ensure that controller hardware limit switches are integrated in the design and logic of your application.
Mount the controller hardware limit switches in a position that allows for an adequate braking distance.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Configuration
NOTE: Adequate braking distance is dependent on the maximum velocity, maximum load (mass) of the equipment being moved, and the value of the Fast stop deceleration parameter.
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Configuration
Position Setting
Description In the case of position setting, the current position is set to the specified position value. No move is performed.
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Long Reference
Long Reference: Positive Direction Homes to the reference switch falling edge in reverse direction. The initial direction of motion is dependent on the state of the reference switch:
Configuration
REF (NO) Reference point (Normally Open)
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Configuration
Long Reference: Negative Direction Homes to the reference switch falling edge in forward direction. The initial direction of motion is dependent on the state of the reference switch:
REF (NO) Reference point (Normally Open)
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Configuration
Long Reference & Index
Long Reference & Index: Positive Direction Homes to the first index, after the reference switch falling edge in reverse direction. The initial direction of motion is dependent on the state of the reference switch:
REF (NO) Reference point (Normally Open)
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Configuration
Long Reference & Index: Negative Direction Homes to the first index, after the reference switch falling edge in forward direction. The initial direction of motion is dependent on the state of the reference switch:
REF (NO) Reference point (Normally Open)
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Short Reference Reversal
Short Reference Reversal: Positive Direction Homes to the reference switch rising edge in forward direction. The initial direction of motion is dependent on the state of the reference switch:
Configuration
REF (NO) Reference point (Normally Open)
REF (NO) Reference point (Normally Open)
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Configuration
Short Reference Reversal: Negative Direction Homes to the reference switch rising edge in forward direction. The initial direction of motion is dependent on the state of the reference switch:
REF (NO) Reference point (Normally Open)
REF (NO) Reference point (Normally Open) 66
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Configuration
Short Reference No Reversal
Short Reference No Reversal: Positive Direction Homes at low speed to the reference switch rising edge in forward direction, with no reversal:
REF (NO) Reference point (Normally Open)
REF (NO) Reference point (Normally Open)
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Configuration
Short Reference No Reversal: Negative Direction Homes at low speed to the reference switch falling edge in reverse direction, with no reversal:
REF (NO) Reference point (Normally Open)
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Short Reference & Index Outside
Short Reference & Index Outside: Positive Direction Homes to the first index, after the reference switch transitions on and off in forward direction. The initial direction of motion is dependent on the state of the reference switch:
REF (NO) Reference point (Normally Open)
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Configuration
REF (NO) Reference point (Normally Open)
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Configuration
Short Reference & Index Outside: Negative Direction Homes to the first index, after the reference switch transitions on and off in forward direction. The initial direction of motion is dependent on the state of the reference switch:
REF (NO) Reference point (Normally Open)
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Configuration
REF (NO) Reference point (Normally Open)
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Configuration
Short Reference & Index Inside
Short Reference & Index Inside: Positive Direction Homes to the first index, after the reference switch rising edge in forward direction. The initial direction of motion is dependent on the state of the reference switch:
REF (NO) Reference point (Normally Open)
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Configuration
REF (NO) Reference point (Normally Open)
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Short Reference & Index Inside: Negative Direction Homes to the first index, after the reference switch rising edge in forward direction. The initial direction of motion is dependent on the state of the reference switch:
REF (NO) Reference point (Normally Open)
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Configuration
REF (NO) Reference point (Normally Open)
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Configuration
Home Offset
Description If the origin cannot be defined by switches with enough accuracy, it is possible to make the axis move to a specific position away from the origin switch. Home offset allows making a difference between mechanical origin and electrical origin. Home offset is set in number of pulses (-2,147,483,648...2,147,483,647, default value 0). When set by configuration, the MC_Home_PTO (see page 128) command is executed first, and then the specified number of pulses is output at the home low velocity in the specified direction. The parameter is only effective during a reference movement without index pulse. NOTE: The wait time between MC_Home_PTO command stop on origin switch and start of offset movement is fixed, set to 500 ms. The MC_Home_PTO command busy flag is only released after origin offset has been completed.
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Data Unit Types
Chapter 5
Data Unit Types
Overview This chapter describes the data unit types of the M241 PTO Library.
What Is in This Chapter? This chapter contains the following topics:
AXIS_REF_PTO Data Type
Topic
MC_BUFFER_MODE MC_DIRECTION PTO_HOMING_MODE PTO_PARAMETER PTO_ERROR
Page 80 81 83 84 85 86
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AXIS_REF_PTO Data Type
Data Type Description The AXIS_REF_PTO type is a data type that contains information on the corresponding axis. It is used as a VAR_IN_OUT in all function blocks of the PTO library.
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MC_BUFFER_MODE
Buffer Mode Enumeration This table lists the values for the MC_BUFFER_MODE enumeration:
Enumerator mcAborting mcBuffered mcBlendingPrevious seTrigger
seBufferedDelay
Value 0 1 3 10
11
Description
Start FB immediately (default mode). Any ongoing motion is aborted. The move queue is cleared.
Start FB after current move has finished (Done or InVelocity bit is set). There is no blending.
The velocity is blended with the velocity of the first FB (blending with the velocity of FB1 at end-position of FB1).
Start FB immediately when an event on the probe input is detected. Any ongoing motion is aborted. The move queue is cleared.
Start FB after current motion has finished (Done or InVelocity bit is set) and the time delay has elapsed. There is no blending. The Delay parameter is set using MC_WriteParameter_PTO (see page 160), with ParameterNumber 1000.
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Examples The examples below show a movement executed by two motion commands. The axis moves from the position P0 to P1 and then P2. The second command is passed while the axis is executing the first command but before the stopping ramp is reached. For each motion profile below, P1 is the reference point for the blending calculation. The buffer mode determines whether velocity V1 or V2 is reached at position P1.
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MC_DIRECTION
Move Direction Enumeration This table lists the values for the MC_DIRECTION enumeration:
Enumerator mcPositiveDirection
mcNegativeDirection
mcCurrentDirection
Value 1
-1
2
Description
CW, forward, positive (according to Output Mode configuration setting).
CCW, backward, reverse, negative (according to Output Mode configuration setting).
Move in the last used direction.
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PTO_HOMING_MODE
Homing Mode Enumeration This table lists the values for the PTO_HOMING_MODE enumeration:
Enumerator PositionSetting LongReference LongReferenceAndIndex ShortReference_Reversal ShortReference_NoReversal ShortReferenceAndIndex_Outside ShortReferenceAndIndex_Inside
Value 0 1 10 20 21 30 31
Description Position. Long reference. Long reference and index. Short reference. Short reference no reversal. Short reference and index outside. Short reference and index inside.
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PTO_PARAMETER
PTO Parameter Enumeration This table lists the values for the PTO_PARAMETER enumeration:
Parameter Name
CommandedPosition SWLimitPos SWLimitNeg EnableLimitPos EnableLimitNeg MaxVelocityAppl
Parameter Number 1 2 3 4 5 9
Type
DINT DINT DINT BOOL BOOL DINT
ActualVelocity
10
CommandedVelocity 11
MaxAccelerationAppl 13
DINT DINT DINT
MaxDecelerationAppl 15
DINT
Reserved Delay
to 999 1000
DINT
Standard R/W
Mandatory R Optional R/W Optional R/W Optional R/W Optional R/W Mandatory R/W
Mandatory R Mandatory R Optional R/W
Optional R/W
-
-
Optional R/W
Description
Commanded position. Positive software limit switch position. Negative software limit switch position. Enable positive software limit switch. Enable negative software limit switch. Maximal allowed velocity of the axis in the application. Actual velocity. Commanded velocity. Maximal allowed acceleration of the axis in the application. Maximal allowed deceleration of the axis in the application. Reserved for the PLCopen standard. Time in ms (0...65,535) Default value: 0
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PTO_ERROR
PTO Error Enumeration This table lists the values for the PTO_ERROR enumeration:
Enumerator NoError Axis Control Alerts InternalError DisabledAxis
HwPositionLimitP HwPositionLimitN SwPositionLimitP SwPositionLimitN ApplicationStopped
OutputProtection
Axis Control Advisories WarningVelocityValue WarningAccelerationValue WarningDecelerationValue WarningDelayedMove
WarningJerkRatioValue
Motion State Advisories ErrorStopActive
StoppingActive
InvalidTransition
Value 0
Description No error detected.
1000 1001
1002 1003 1004 1005 1006
1007
Motion controller internal error detected. The move could not be started or has been aborted because the axis is not ready. Hardware positive position limit limP exceeded.
Hardware negative position limit limN exceeded.
Software positive position limit exceeded. Software negative position limit exceeded. Application execution has been stoppped (power cycle, controller in STOPPED or HALT state).
Short-circuit output protection is active on the PTO channels.
1100 1101 1102 1103
1104
Commanded Velocity parameter is out of range.
Commanded Acceleration parameter is out of range.
Commanded Deceleration parameter is out of range.
Not enough time to stop the active move, so the requested move is delayed.
Commanded jerk ratio parameter is limited by the configured maximum acceleration or deceleration. In this case, the jerk ratio is recalculated to respect these maximums.
2000 2001 2002
The move could not be started or has been aborted because motion is prohibited by an ErrorStop condition.
The move could not be started because motion is prohibited by MC_Stop_PTO having control of the axis (either the axis is stopping, or MC_Stop_PTO.Execute input is held high).
Transition not allowed, refer to the Motion State Diagram (see page 91).
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Enumerator InvalidSetPosition HomingError InvalidProbeConf InvalidHomingConf InvalidAbsolute
MotionQueueFull Range Advisories InvalidAxis InvalidPositionValue InvalidVelocityValue
InvalidAccelerationValue InvalidDecelerationValue InvalidBufferModeValue InvalidDirectionValue
InvalidHomeMode InvalidParameter InvalidParameterValue ReadOnlyParameter
Value 2003 2004 2005 2006 2007
2008
Description
MC_SetPosition_PTO cannot be executed while the axis is moving.
Homing sequence cannot start on reference cam in this mode.
The Probe input must be configured.
The home inputs (Ref, Index) must be configured for this homing mode.
An absolute move cannot be executed while the axis is not successfully homed to an origin position. A homing sequence must be executed first (MC_Home_PTO (see page 128)).
The move could not be buffered because the motion queue is full.
3000 3001 3002
3003 3004 3005 3006
3007 3008 3009 3010
The function block is not applicable for the specified axis.
Position parameter is out of limits, or distance parameter gives an out of limits position.
Velocity parameter is out of range. The value must be greater than the start velocity and less than the maximum velocity.
Acceleration parameter is out of range.
Deceleration parameter is out of range.
Buffer mode does not correspond to a valid value.
Direction does not correspond to a valid value, or direction is invalid due to software position limit exceeded.
Home mode is not applicable.
The parameter number does not exist for the specified axis.
Parameter value is out of range.
Parameter is read-only.
An Axis Control Alert switches the axis in ErrorStop state (MC_Reset_PTO is mandatory to get out of ErrorStop state). The resulting axis status is reflected by MC_ReadStatus_PTO and MC_ReadAxisError_PTO.
A Motion State Advisory or a Range Advisory does not affect the axis state, nor any ongoing move, nor the move queue. In this case, the error is only local to the applicable function block: the Error output is set, and the ErrorId pin is set to the appropriate PTO_ERROR value.
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Data Unit Types
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Motion Function Blocks
Chapter 6
Motion Function Blocks
Overview
This chapter describes the motion function blocks.
A motion function block acts on the diagram of axis state, to modify the motion of the axis. These function blocks can return a status to the application before the move is complete. The application program uses these status bits to determine the move status (Done, Busy, Active, CommandAborted, and detected Error). For axis status, you can use the MC_ReadStatus_PTO function block.
What Is in This Chapter? This chapter contains the following sections:
Section 6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8 6.9 6.10
Topic Operation Modes MC_Power_PTO Function Block MC_MoveVelocity_PTO Function Block MC_MoveRelative_PTO Function Block MC_MoveAbsolute_PTO Function Block MC_Home_PTO Function Block MC_SetPosition_PTO Function Block MC_Stop_PTO Function Block MC_Halt_PTO Function Block Adding a Motion Function Block
Page 90 104 109 115 122 128 133 136 141 146
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Operation Modes
Section 6.1
Operation Modes
Overview This section describes the operation modes.
What Is in This Section? This section contains the following topics:
Motion State Diagram
Topic
Buffer Mode Timing Diagram Examples
Page 91 93 95
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Motion State Diagram
State Diagram The axis is always in one of the defined states in this diagram:
Motion Function Blocks
Note 1 From any state, when an error is detected. Note 2 From any state except ErrorStop, when MC_Power_PTO.Status = FALSE. Note 3 MC_Reset_PTO.Done = TRUE and MC_Power_PTO.Status = FALSE. Note 4 MC_Reset_PTO.Done = TRUE and MC_Power_PTO.Status = TRUE. Note 5 MC_Power_PTO.Status = TRUE. Note 6 MC_Stop_PTO.Done = TRUE and MC_Stop_PTO.Execute = FALSE.
The table describes the axis states:
State Disabled Standstill ErrorStop
Homing
Description
Initial state of the axis, no motion command is allowed. The axis is not homed.
Power is on, there is no error detected, and there are no motion commands active on the axis. Motion command is allowed.
Highest priority, applicable when an error is detected on the axis or in the controller. Any ongoing move is aborted by a Fast Stop Deceleration. Error pin is set on applicable function blocks, and an ErrorId sets the error code. No further motion command is accepted until a reset has been done using MC_Reset_PTO.
Applicable when MC_Home_PTO controls the axis.
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State Discrete
Continuous Stopping
Description Applicable when MC_MoveRelative_PTO, MC_MoveAbsolute_PTO, or MC_Halt_PTO controls the axis. Applicable when MC_MoveVelocity_PTO controls the axis. Applicable when MC_Stop_PTO controls the axis.
NOTE: Function blocks which are not listed in the state diagram do not affect a change of state of the axis. The entire motion command including acceleration and deceleration ramps cannot exceed 4,294,967,295 pulses. At the maximum frequency of 100 kHz, the acceleration and deceleration ramps are limited to 80 seconds.
Motion Transition Table
The PTO channel can respond to a new command while executing (and before completing) the ongoing command according to the following table:
Command
Next
Home
MoveVelocity MoveRelative MoveAbsolute Halt
Stop
Ongoing Standstill
Allowed Allowed (1)
Allowed (1)
Allowed (1)
Allowed Allowed
Home
Rejected Rejected
Rejected
Rejected
Rejected Allowed
MoveVelocity Rejected Allowed
Allowed
Allowed
Allowed Allowed
MoveRelative Rejected Allowed
Allowed
Allowed
Allowed Allowed
MoveAbsolute Rejected Allowed
Allowed
Allowed
Allowed Allowed
Halt
Rejected Allowed
Allowed
Allowed
Allowed Allowed
Stop
Rejected Rejected
Rejected
Rejected
Rejected Rejected
(1) When the axis is at standstill, for the buffer modes mcAborting/mcBuffered/mcBlendingPrevious, the
move starts immediately. Allowed the new command begins execution even if the previous command has not completed execution. Rejected the new command is ignored and results in the declaration of an error.
NOTE: When an error is detected in the motion transition, the axis goes into ErrorStop state. The ErrorId is set to InvalidTransition.
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Buffer Mode
Description Some of the motion function blocks have an input called BufferMode. With this input, the function block can either start immediately, start on probe event, or be buffered. The available options are defined in the enumeration of type MC_BUFFER_MODE (see page 81): An aborting motion (mcAborting) starts immediately, aborting any ongoing move, and clearing the motion queue. A buffered motion (mcBuffered, mcBlendingPrevious, seBufferedDelay) is queued, that is, appended to any moves currently executing or waiting to execute, and will start when the previous motion is done. An event motion (seTrigger) is a buffered motion, starting on probe event (see page 48).
Motion Queue Diagram The figure illustrates the motion queue diagram:
The buffer can contain only one motion function block.
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The execution condition of the motion function block present in the buffer is: mcBuffered: when the current continuous motion is InVelocity, resp. when the current
discrete motion stops. seBufferedDelay: when the specified delay has elapsed, from the current continuous motion
is InVelocity, resp. from the current discrete motion stops. mcBlendingPrevious: when the position and velocity targets of current function block are
reached. seTrigger: when a valid event is detected on the probe input.
The motion queue is cleared (all buffered motions are deleted): When an aborting move is triggered (mcAborting): CommandAborted pin is set on buffered
function blocks. When a MC_Stop_PTO function is executed: Error pin is set on cleared buffered function
blocks, with ErrorId=StoppingActive (see page 86). When a transition to ErrorStop state is detected: Error pin is set on buffered function blocks,
with ErrorId=ErrorStopActive (see page 86).
NOTE: Only a valid motion can be queued. If the function block execution terminates with the Error
output set, the move is not queued, any move currently executing is not affected, and the queue is not cleared. When the queue is already full, the Error output is set on the applicable function block, and ErrorId output returns the error MotionQueueFull (see page 86).
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Timing Diagram Examples
Move Velocity to Move Velocity with mcAborting
Motion Function Blocks
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Motion Function Blocks
1 Execute rising edge: command parameters are latched, movement is started with target velocity 1000. 2 Target velocity 1000 is reached. 3 Velocity parameter changed to 2000: not applied (no rising edge on Execute input, and Continuou-
sUpdate was latched with value 0 at start of the movement). 4 Execute falling edge: status bits are cleared. 5 Execute rising edge: command parameters are latched, movement is started with target velocity 2000
and ContinuousUpdate active. 6 Velocity parameter changed to 500: applied ContinuousUpdate is true). Note: previous target
velocity 2000 is not reached. 7 Target velocity 500 is reached. 8 Velocity parameter changed to 2000: applied ContinuousUpdate is true). 9 Execute falling edge: status bits are cleared. 10 Target velocity 2000 is reached, InVelocity is set for 1 cycle (Execute pin is reset). 11 Velocity parameter changed to 3000: not applied (movement is still active, but no longer busy).
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Move Relative to Move Relative with mcAborting
Motion Function Blocks
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Motion Function Blocks
1 FB1 Execute rising edge: command parameters are latched, movement is started with target velocity 2000 and distance 1000.
2 Movement ends: distance traveled is 1000. 3 FB1 Execute rising edge: command parameters are latched, movement is started with target velocity
2000 and distance 2000. 4 FB2 Execute rising edge: command parameters are latched, movement is started with target velocity
1000 and distance 500. Note: FB1 is aborted. 5 Movement ends.
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Motion Function Blocks
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Motion Function Blocks
1 FB1 Execute rising edge: command parameters are latched, movement is started with target velocity 2000 and distance 1800.
2 FB2 Execute rising edge: command parameters are latched, FB1 is aborted, and movement continues with target velocity 1000 and targetposition 3400. Automatic direction management: direction reversal is needed to reach target position, move to stop at deceleration of FB2.
3 Velocity 0, direction reversal, movement resumes with target velocity 1000 and target position 3400. 4 Movement ends: target position 3400 reached.
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Move Velocity to Move Relative with seTrigger
Motion Function Blocks
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Motion Function Blocks
1 MC_TouchProbe_PTO not executed yet: probe input is not active. 2 MC_MoveVelocity_PTO Execute rising edge: command parameters are latched, movement is started
with target velocity vel1. 3 MC_TouchProbe_PTO Execute rising edge: probe input is active. 4 vel1 is reached.
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5 MC_MoveRelative_PTO Execute rising edge: command parameters are latched, waiting for probe event to start.
6 Probe event outside of enable windows: event is ignored. 7 A valid event is detected. MC_MoveRelative_PTO aborts MC_MoveVelocity_PTO, and probe input is
deactivated. 8 Following events are ignored. 9 Movement ends.
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MC_Power_PTO Function Block
Section 6.2
MC_Power_PTO Function Block
Overview This section describes the MC_Power_PTO function block.
What Is in This Section? This section contains the following topics:
Topic Description MC_Power_PTO: Manage the Power of the Axis State
Page 105 106
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Description
Overview The MC_Power_PTO function block is mandatory for execution of the other PTO function blocks. It allows enabling power and control to the axis, switching the axis state from Disabled to Standstill. This function block must always be the first PTO function block called. No motion function block is allowed to affect the axis until the MC_Power_PTO.Status bit is TRUE. Disabling power (MC_Power_PTO.Enable = FALSE) switches the axis: from Standstill, back to Disabled state. from any ongoing move, to ErrorStop, and then Disabled when the error is reset. If DriveReady input is reset, the axis state switches to ErrorStop.
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MC_Power_PTO: Manage the Power of the Axis State
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Enable
Type
Initial Value
AXIS_REF_PTO -
BOOL
FALSE
DriveReady(1) BOOL
FALSE
LimP(1)
BOOL
TRUE
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared under the controller configuration.
When TRUE, the function block is executed. The values of the function block inputs can be modified and the outputs updated continuously. When FALSE, terminates the function block execution and resets its outputs.
Drive ready information from the drive. Must be TRUE when the drive is ready to start executing motion. If the drive signal is connected to the controller, use the appropriate %Ix input. If the drive does not provide this signal, you can select the value TRUE for this input.
Hardware limit switch information, in positive direction. It must be FALSE when the hardware limit switch is reached. If the hardware limit switch signal is connected to the controller, use the appropriate %Ix input. If this signal is not available, you can leave this input unused or set to TRUE.
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Input LimN(1)
Type BOOL
Initial Value
TRUE
Description
Hardware limit switch information, in negative direction. It must be FALSE when the hardware limit switch is reached. If the hardware limit switch signal is connected to the controller, use the appropriate %Ix. If this signal is not available, you can leave this input unused or set to TRUE.
(1) DriveReady, LimP, and LimN are read at the task cycle time.
Output Variables This table describes the output variables:
Output Status DriveEnable
Error
ErrorId
Type BOOL BOOL
BOOL
PTO_ERROR
Initial Value
Description
FALSE
When TRUE, power is enabled, motion commands are possible.
FALSE
Enables the drive to accept commands. If the drive does not use this signal, you can leave this output unused.
FALSE
If TRUE, indicates that an error was detected. Function block execution is finished.
PTO_ERROR. No Error When Error is TRUE: code of the error detected (see page 86).
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Motion Function Blocks
Timing Diagram Example The diagram illustrates the function block operation:
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MC_MoveVelocity_PTO Function Block
Section 6.3
MC_MoveVelocity_PTO Function Block
Motion Function Blocks
Overview This section describes the MC_MoveVelocity_PTO function block.
What Is in This Section? This section contains the following topics:
Topic Description MC_MoveVelocity_PTO: Control the Speed of the Axis
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Motion Function Blocks
Description
Overview This function causes the specified axis to move at the specified speed, and transfers the axis to the state Continuous. This continuous movement is maintained until a software limit is reached, an aborting move is triggered, or a transition to ErrorStop state is detected.
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MC_MoveVelocity_PTO: Control the Speed of the Axis
Graphical Representation
Motion Function Blocks
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Execute
Type
Initial Value
AXIS_REF_PTO -
BOOL
FALSE
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration.
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates. Later changes in the function block input parameters do not affect the ongoing command, unless the input ContinuousUpdate is used. If a second rising edge is detected during the execution of the function block, the ongoing execution is aborted and the function block is restarted with the values of the parameters at the time.
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Input
Type
Initial Value Description
ContinuousUpdate
BOOL
FALSE
At TRUE, makes the function block use the values of the input variables (Velocity, Acceleration, Deceleration, and Direction), and apply it to the ongoing command regardless of their original values. The impact of the input ContinuousUpdate begins when the function block is triggered by a rising edge on the Execute pin, and ends as soon as the function block is no longer Busy or the input ContinuousUpdate is set to FALSE.
Velocity
DINT
0
Target velocity in Hz, not necessarily reached. Range: 0...MaxVelocityAppl (see page 85)
Acceleration DINT
0
Acceleration in Hz/ms or in ms (according to configuration). Range (Hz/ms): 1...MaxAccelerationAppl (see page 85)
Range (ms): MaxAccelerationAppl (see page 85)...100,000
Deceleration DINT
0
Deceleration in Hz/ms or in ms (according to configuration). Range (Hz/ms): 1...MaxDecelerationAppl (see page 85) Range (ms): MaxDecelerationAppl (see page 85)...100,000
Direction
MC_DIRECTION mcPosi-
Direction of the movement (see page 83).
tiveDirec-
tion
BufferMode
MC_BUFFER_ MODE
mcAborting Transition mode from ongoing move (see page 81).
JerkRatio1 INT
0
Percentage of acceleration from standstill used to
create the S-curve profile (see page 45).
JerkRatio2 INT
0
Percentage of acceleration to constant velocity used
to create the S-curve profile (see page 45).
JerkRatio3 INT
0
Percentage of deceleration from constant velocity
used to create the S-curve profile (see page 45).
JerkRatio4 INT
0
Percentage of deceleration to standstill used to create
the S-curve profile (see page 45).
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Output Variables This table describes the output variables:
Output InVelocity
Busy
Active
Type BOOL
BOOL
BOOL
Initial Value FALSE
FALSE
FALSE
CommandAborted BOOL
FALSE
Error
BOOL
FALSE
ErrorId
PTO_ERROR PTO_ ERROR.NoError
Description
If TRUE, indicates that the target velocity is reached.
If TRUE, indicates that the function block execution is in progress.
The function block controls the Axis. Only one function block at a time can set Active TRUE for a defined Axis.
Function block execution is finished, by aborting due to another move command or an error detected.
If TRUE, indicates that an error was detected. Function block execution is finished.
When Error is TRUE: code of the error detected (see page 86).
NOTE: To stop the motion, the function block has to be interrupted by another function block issuing a
new command. If a motion is ongoing, and the direction is reversed, first the motion is halted with the
deceleration of the MC_MoveVelocity_PTO function block, and then the motion resumes
backwards. The acceleration/deceleration duration of the segment block must not exceed 80 seconds.
Timing Diagram Example The diagram illustrates a simple profile from Standstill state:
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The diagram illustrates a complex profile from Continuous state:
The diagram illustrates a complex profile from Continuous state with change of direction:
The diagram illustrates a complex profile from Discrete state:
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MC_MoveRelative_PTO Function Block
Section 6.4
MC_MoveRelative_PTO Function Block
Motion Function Blocks
Overview This section describes the MC_MoveRelative_PTO function block.
What Is in This Section? This section contains the following topics:
Topic Description MC_MoveRelative_PTO: Command Relative Axis Movement
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Description
Overview This function causes the specified axis to move of an incremental distance, and transfers the axis to the state Discrete. The target position is referenced from the current position at execution time, incremented by a distance.
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MC_MoveRelative_PTO: Command Relative Axis Movement
Graphical Representation
Motion Function Blocks
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Type
AXIS_REF_ PTO
Initial Value -
Execute
BOOL
FALSE
Distance
DINT
0
Velocity
DINT
0
Acceleration DINT
0
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration.
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
Relative distance of the motion in number of pulses. The sign specifies the direction.
Target velocity in Hz, not necessarily reached. Range: 1...MaxVelocityAppl (see page 85)
Acceleration in Hz/ms or in ms (according to configuration). Range (Hz/ms): 1...MaxAccelerationAppl (see page 85) Range (ms): MaxAccelerationAppl (see page 85)...100,000
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Input
Type
Deceleration DINT
Initial Value 0
BufferMode JerkRatio1
MC_BUFFER_ mcAborting MODE
INT
0
JerkRatio2 INT
0
JerkRatio3 INT
0
JerkRatio4 INT
0
Description
Deceleration in Hz/ms or in ms (according to configuration). Range (Hz/ms): 1...MaxDecelerationAppl (see page 85) Range (ms): MaxDecelerationAppl (see page 85)...100,000
Transition mode from ongoing move (see page 81).
Percentage of acceleration from standstill used to create the S-curve profile (see page 45).
Percentage of acceleration to constant velocity used to create the S-curve profile (see page 45).
Percentage of deceleration from constant velocity used to create the S-curve profile (see page 45).
Percentage of deceleration to standstill used to create the S-curve profile (see page 45).
Output Variables This table describes the output variables:
Output Done
Type BOOL
Initial Value FALSE
Busy Active
BOOL BOOL
FALSE FALSE
CommandAborted BOOL
FALSE
Error ErrorId
BOOL
FALSE
PTO_ERROR PTO_ERROR.NoError
Description
If TRUE, indicates that the function block execution is finished with no error detected.
If TRUE, indicates that the function block execution is in progress.
The function block controls the Axis. Only one function block at a time can set Active TRUE for a defined Axis.
Function block execution is finished, by aborting due to another move command or an error detected.
If TRUE, indicates that an error was detected. Function block execution is finished.
When Error is TRUE: code of the error detected (see page 86).
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NOTE: The function block completes with velocity zero if no further blocks are pending. If the distance is too short for the target velocity to be reached, the movement profile is
triangular, rather than trapezoidal. If a motion is ongoing, and the commanded distance is exceeded due to the motion parameters,
the direction reversal is automatically managed: the motion is first halted with the deceleration of the MC_MoveRelative_PTO function block, and then the motion resumes backwards. The acceleration/deceleration duration of the segment block must not exceed 80 seconds. Timing Diagram Example The diagram illustrates a simple profile from Standstill state:
The diagram illustrates a complex profile from Continuous state:
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The diagram illustrates a complex profile from Continuous state with change of direction:
The diagram illustrates a complex profile from Discrete state:
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The diagram illustrates a complex profile from Discrete state with change of direction:
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MC_MoveAbsolute_PTO Function Block
Section 6.5
MC_MoveAbsolute_PTO Function Block
Overview This section describes the MC_MoveAbsolute_PTO function block.
What Is in This Section? This section contains the following topics:
Topic Description MC_MoveAbsolute_PTO: Command Movement to Absolute Position
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Description
Overview This function causes the specified axis to move towards a given position at the specified speed, and transfers the axis to the state Discrete. To use the MC_MoveAbsolute_PTO function block, you must first home the axis. If not the function block will terminate in error (Error set to 1 and ErrorId set to InvalidAbsolute).
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MC_MoveAbsolute_PTO: Command Movement to Absolute Position
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Type AXIS_REF_PTO
Execute
BOOL
Position Velocity
DINT DINT
Acceleration DINT
Initial Value Description
-
Name of the axis (instance) for which the function block
is to be executed. In the devices tree, the name is
declared in the controller configuration.
FALSE
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
0
Target absolute position.
0
Target velocity in Hz, not necessarily reached.
Range: 1...MaxVelocityAppl (see page 85)
0
Acceleration in Hz/ms or in ms (according to
configuration).
Range (Hz/ms): 1...MaxAccelerationAppl
(see page 85)
Range (ms): MaxAccelerationAppl
(see page 85)...100,000
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Input
Type
Initial Value Description
Deceleration DINT
0
Deceleration in Hz/ms or in ms (according to
configuration).
Range (Hz/ms): 1...MaxDecelerationAppl
(see page 85)
Range (ms): MaxDecelerationAppl
(see page 85)...100,000
Direction
MC_DIRECTION mcPositiveDi-
rection
Direction of the movement.
BufferMode
MC_BUFFER_ MODE
mcAbort- Transition mode from ongoing move (see page 81). ing
JerkRatio1 INT
0
Percentage of acceleration from standstill used to
create the S-curve profile (see page 45).
JerkRatio2 INT
0
Percentage of acceleration to constant velocity used to
create the S-curve profile (see page 45).
JerkRatio3 INT
0
Percentage of deceleration from constant velocity used
to create the S-curve profile (see page 45).
JerkRatio4 INT
0
Percentage of deceleration to standstill used to create
the S-curve profile (see page 45).
Output Variables This table describes the output variables:
Output Done
Busy
Active
Type BOOL
BOOL
BOOL
Initial Value FALSE
FALSE
FALSE
CommandAborted BOOL
FALSE
Error
BOOL
FALSE
ErrorId
PTO_ERROR PTO_ERROR.NoError
Description
If TRUE, indicates that the function block execution is finished with no error detected.
If TRUE, indicates that the function block execution is in progress.
The function block controls the Axis. Only one function block at a time can set Active TRUE for a defined Axis.
Function block execution is finished, by aborting due to another move command or an error detected.
If TRUE, indicates that an error was detected. Function block execution is finished.
When Error is TRUE: code of the error detected (see page 86).
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NOTE: The function block completes with velocity zero if no further blocks are pending. The motion direction is automatically set, according to the present and targeted positions. If the distance is too short for the target velocity to be reached, the movement profile is
triangular, rather than trapezoidal. If the position cannot be reached with the ongoing direction, the direction reversal is
automatically managed. If a motion is ongoing, it is first halted with the deceleration of the MC_MoveAbsolute_PTO function block, and then the motion resumes backwards. The acceleration/deceleration duration of the segment block must not exceed 80 seconds.
Timing Diagram Example The diagram illustrates a simple profile from Standstill state:
The diagram illustrates a complex profile from Continuous state:
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The diagram illustrates a complex profile from Discrete state:
Motion Function Blocks
The diagram illustrates a complex profile from Discrete state with change of direction:
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MC_Home_PTO Function Block
Section 6.6
MC_Home_PTO Function Block
Overview This section describes the MC_Home_PTO function block.
What Is in This Section? This section contains the following topics:
Topic Description MC_Home_PTO: Command the Axis to Move to a Reference Position
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Description
Overview This function block commands the axis to move to the reference absolute position, and transfers the axis to the state Homing. The details of this sequence depend on homing configuration parameter settings.
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Motion Function Blocks
MC_Home_PTO: Command the Axis to Move to a Reference Position
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Execute
Mode Position
Type AXIS_REF_PTO
BOOL
PTO_HOMING_ MODE DINT
Initial Value
Description
-
Name of the axis (instance) for which the
function block is to be executed. In the
devices tree, the name is declared in the
controller configuration.
FALSE
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
mcPositionSetting Predefined home mode (see page 84) type.
0
Position value is set as absolute position at
the reference point switch detection, when
the homing has been successfully executed.
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Input Direction
Type
Initial Value
MC_DIRECTION mcPositiveDirection
HighVelocity DINT
0
LowVelocity DINT
0
Acceleration DINT
0
Deceleration DINT
0
Offset
DINT
0
JerkRatio1 INT
0
JerkRatio2 INT
0
JerkRatio3 INT
0
JerkRatio4 INT
0
Description
Starting direction. For Homing, only mcPositiveDirection and mcNegativeDirection are valid.
Target homing velocity for searching the limit or reference switch. Range Hz: 1...MaxVelocityAppl (see page 85)
Target homing velocity for searching the reference switch or index signal. The movement stop when switching point is detected. Range Hz: 1...HighVelocity
Acceleration in Hz/ms or in ms (according to configuration). Range (Hz/ms): 1...MaxAccelerationAppl (see page 85) Range (ms): MaxAccelerationAppl (see page 85)...100,000
Deceleration in Hz/ms or in ms (according to configuration). Range (Hz/ms): 1...MaxDecelerationAppl (see page 85) Range (ms): MaxDecelerationAppl (see page 85)...100,000
Distance from origin point. When the origin point is reached, the motion resumes until the distance is covered. Direction depends on the sign (Home offset (see page 77)). Range: -2,147,483,648...2,147,483,647
Percentage of acceleration from standstill used to create the S-curve profile (see page 45).
Percentage of acceleration to constant velocity used to create the S-curve profile (see page 45).
Percentage of deceleration from constant velocity used to create the S-curve profile (see page 45).
Percentage of deceleration to standstill used to create the S-curve profile (see page 45).
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Output Variables This table describes the output variables:
Output Done
Type BOOL
Initial Value FALSE
Busy Active
BOOL FALSE BOOL FALSE
CommandAborted BOOL FALSE
Error
BOOL FALSE
ErrorId
PTO_ PTO_ERROR. NoError ERROR
Description
If TRUE, indicates that the function block execution is finished with no error detected .
If TRUE, indicates that the function block execution is in progress.
The function block controls the Axis. Only one function block at a time can set Active TRUE for a defined Axis.
Function block execution is finished, by aborting due to another move command or an error detected .
If TRUE, indicates that an error was detected. Function block execution is finished.
When Error is TRUE: code of the error detected (see page 86).
NOTE: The acceleration/deceleration duration of the segment block must not exceed 80 seconds.
Timing Diagram Example Home modes (see page 57)
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MC_SetPosition_PTO Function Block
Section 6.7
MC_SetPosition_PTO Function Block
Overview This section describes the MC_SetPosition_PTO function block.
What Is in This Section? This section contains the following topics:
Topic Description MC_SetPosition_PTO: Force the Reference Position of the Axis
Motion Function Blocks
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Description
Overview This function block modifies the coordinates of the actual position of the axis without any physical movement. This function block can only be used while the axis is a Standstill state.
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MC_SetPosition_PTO: Force the Reference Position of the Axis
Graphical Representation
Motion Function Blocks
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Execute
Position
Type
Initial Value
AXIS_REF_PTO -
BOOL
FALSE
DINT
0
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration.
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
New value of absolute position of the Axis.
Output Variables This table describes the output variables:
Output Done
Type BOOL
Initial Value FALSE
Error
BOOL
FALSE
ErrorId PTO_ERROR PTO_ERROR.NoError
Description
If TRUE, indicates that the function block execution is finished with no error detected .
If TRUE, indicates that an error was detected. Function block execution is finished.
When Error is TRUE: type of the error detected (see page 86).
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MC_Stop_PTO Function Block
Section 6.8
MC_Stop_PTO Function Block
Overview This section describes the MC_Stop_PTO function block.
What Is in This Section? This section contains the following topics:
Topic Description MC_Stop_PTO: Command a Controlled Motion Stop
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Description
Overview This function block commands a controlled motion stop and transfers the axis to the state Stopping. It aborts any ongoing move execution and the move queue is cleared. While the axis is in state Stopping, no other function block can perform any motion on the same axis. This function block is primarily intended for exception situations, or fast stop functionality.
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MC_Stop_PTO: Command a Controlled Motion Stop
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Execute
Type
Initial Value
AXIS_REF_ PTO
BOOL
FALSE
Deceleration DINT
20
JerkRatio1 INT
0
JerkRatio2 INT
0
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration.
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
Deceleration in Hz/ms or in ms (according to configuration). Range (Hz/ms): 1...MaxDecelerationAppl (see page 85) Range (ms): MaxDecelerationAppl (see page 85)...100,000
Percentage of deceleration from constant velocity used to create the S-curve profile (see page 45).
Percentage of deceleration to standstill used to create the Scurve profile (see page 45).
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Output Variables This table describes the output variables:
Output Done
Type BOOL
Initial Value FALSE
Busy
BOOL
CommandAborted BOOL
FALSE FALSE
Error
BOOL
FALSE
ErrorId
PTO_ERROR PTO_ERROR.NoError
Description
If TRUE, indicates that the function block execution is finished with no error detected .
If TRUE, indicates that the function block execution is in progress.
Function block execution is finished, by aborting due to another move command or an error detected .
If TRUE, indicates that an error was detected. Function block execution is finished.
When Error is TRUE: type of the error detected (see page 86).
NOTE: Calling this function block in state Standstill changes the state to Stopping, and back to
Standstill when Execute is FALSE. The state Stopping is kept as long as the input Execute is true. TheDone output is set when the stop ramp is finished. If Deceleration = 0, the fast stop deceleration is used. The function block completes with velocity zero. The deceleration duration of the segment block must not exceed 80 seconds.
Timing Diagram Example The diagram illustrates a simple profile from Continuous state:
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The diagram illustrates a simple profile from Discrete state:
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MC_Halt_PTO Function Block
Section 6.9
MC_Halt_PTO Function Block
Motion Function Blocks
Overview This section describes the MC_Halt_PTO function block.
What Is in This Section? This section contains the following topics:
Topic Description MC_Halt_PTO: Command a Controlled Motion Stop until the Velocity equals Zero
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Description
Overview This function block commands a controlled motion stop until the velocity is zero, and transfers the axis to the state Discrete. With the Done output set, the state is transferred to Standstill.
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MC_Halt_PTO: Command a Controlled Motion Stop until the Velocity equals Zero
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Execute
Type
AXIS_REF_ PTO
Initial Value -
BOOL
FALSE
Deceleration DINT
20
BufferMode JerkRatio1
MC_BUFFER_ mcAborting MODE
INT
0
JerkRatio2 INT
0
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration.
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
Deceleration in Hz/ms or in ms (according to configuration). Range (Hz/ms): 1...MaxDecelerationAppl (see page 85) Range (ms): MaxDecelerationAppl (see page 85)...100,000
Transition mode from ongoing move (see page 81).
Percentage of deceleration from constant velocity used to create the S-curve profile (see page 45).
Percentage of deceleration to standstill used to create the S-curve profile (see page 45).
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Output Variables This table describes the output variables:
Output Done
Busy Active
Type BOOL
BOOL BOOL
CommandAborted BOOL
Error
BOOL
ErrorId
PTO_ ERROR
Initial Value FALSE FALSE FALSE
FALSE FALSE PTO_ERROR.NoError
Description
If TRUE, indicates that the function block execution is finished with no error detected .
If TRUE, indicates that the function block execution is in progress.
The function block controls the Axis. Only one function block at a time can set Active TRUE for a defined Axis.
Function block execution is finished, by aborting due to another move command or an error detected .
If TRUE, indicates that an error was detected. Function block execution is finished.
When Error is TRUE: type of the error detected (see page 86).
NOTE: The function block completes with velocity zero.
Timing Diagram Example The diagram illustrates a simple profile from Continuous state:
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The diagram illustrates a simple profile from Discrete state:
Motion Function Blocks
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Adding a Motion Function Block
Section 6.10
Adding a Motion Function Block
Adding a Motion Function Block
Procedure Follow these steps to add and create the instance of a motion function block:
Step 1 2
3
Action
Add a POU (see EcoStruxure Machine Expert, Programming Guide) in the Applications tree.
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 PTOPWM PTO Motion MC_xxxxxx_PTO in the list, drag-and-drop the item onto the POU window.
Create the function block instance by clicking:
4 Associate the input/output variables (see page 89) of the function block.
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Administrative Function Blocks
Chapter 7
Administrative Function Blocks
Overview This chapter describes the administrative function blocks. Administrative function blocks do not influence the state diagram (see page 91).
What Is in This Chapter? This chapter contains the following sections:
Section 7.1 7.2 7.3 7.4 7.5
Topic Status Function Blocks Parameters Function Blocks Probe Function Blocks Error Handling Function Blocks Adding an Administrative Function Block
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Status Function Blocks
Section 7.1
Status Function Blocks
Overview This section describes the status function blocks.
What Is in This Section? This section contains the following topics:
Topic MC_ReadActualVelocity_PTO: Get the Commanded Velocity of the Axis MC_ReadActualPosition_PTO: Get the Position of the Axis MC_ReadStatus_PTO: Get the State of the Axis MC_ReadMotionState_PTO: Get the Motion Status of the Axis
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MC_ReadActualVelocity_PTO: Get the Commanded Velocity of the Axis
Function Block Description This function block returns the value of the commanded velocity of the axis.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Enable
Type
Initial Value
AXIS_REF_PTO -
BOOL
FALSE
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration,.
When TRUE, the function block is executed. The values of the function block inputs can be modified continuously, and the outputs are updated continuously. When FALSE, terminates the function block execution and resets its outputs.
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Output Variables This table describes the output variables:
Output Valid Error ErrorId
Velocity
Type BOOL
Initial Value FALSE
BOOL
FALSE
PTO_ERROR PTO_ERROR.NoError
DINT
0
Description
Valid data is available at the function block output pin.
If TRUE, indicates that an error was detected. Function block execution is finished.
When Error is TRUE: code of the error detected (see page 86).
Actual velocity of the axis (in Hz).
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MC_ReadActualPosition_PTO: Get the Position of the Axis
Function Block Description This function block returns the value of the commanded position of the axis.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Enable
Type
Initial Value
AXIS_REF_PTO -
BOOL
FALSE
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration,.
When TRUE, the function block is executed. The values of the function block inputs can be modified continuously, and the outputs are updated continuously. When FALSE, terminates the function block execution and resets its outputs.
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Output Variables This table describes the output variables:
Output Valid Error ErrorId
Position
Type BOOL BOOL PTO_ERROR
DINT
Initial Value
Description
FALSE
Valid data is available at the function block output pin.
FALSE
If TRUE, indicates that an error was detected. Function block execution is finished.
PTO_ERROR.NoError When Error is TRUE: code of the error detected (see page 86).
0
Actual position of the axis.
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MC_ReadStatus_PTO: Get the State of the Axis
Function Block Description This function block returns the state diagram (see page 91) status of the axis.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Enable
Type
Initial Value
AXIS_REF_PTO -
BOOL
FALSE
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration,.
When TRUE, the function block is executed. The values of the function block inputs can be modified continuously, and the outputs are updated continuously. When FALSE, terminates the function block execution and resets its outputs.
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Output Variables This table describes the output variables:
Output Valid Error
Type BOOL BOOL
ErrorId
PTO_ ERROR
ErrorStop
BOOL
Disabled
BOOL
Stoppping
BOOL
Homing
BOOL
Stanstill
BOOL
DiscreteMotion BOOL
ContinuousMotion BOOL
IsHomed
BOOL
AxisWarning
BOOL
QueueFull
BOOL
Initial Value
Description
FALSE
The set of outputs is valid.
FALSE
If TRUE, indicates that an error was detected. Function block execution is finished.
PTO_ERROR.NoError When Error is TRUE: code of the error detected (see page 86).
FALSE FALSE
If TRUE, the state is active (Motion state diagram (see page 91)).
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
If TRUE, the reference point is valid, absolute motion is allowed.
FALSE
If TRUE, an alert is present on the axis (call MC_ReadAxisError_PTO (see page 171)
for detailed information).
FALSE
If TRUE, the motion queue is full, no additional move is allowed in the buffer.
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MC_ReadMotionState_PTO: Get the Motion Status of the Axis
Function Block Description This function block returns the actual motion status of the axis.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Enable
Type
Initial Value
AXIS_REF_PTO -
BOOL
FALSE
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration,.
When TRUE, the function block is executed. The values of the function block inputs can be modified continuously, and the outputs are updated continuously. When FALSE, terminates the function block execution and resets its outputs.
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Output Variables This table describes the output variables:
Output Valid
Error
Type BOOL
BOOL
Initial Value FALSE
FALSE
ErrorId
PTO_ERROR PTO_ERROR.NoError
ConstantVelocity Accelerating Decelerating
BOOL BOOL BOOL
FALSE FALSE FALSE
Description
Valid data is available at the function block output pin.
If TRUE, indicates that an error was detected. Function block execution is finished.
When Error is TRUE: code of the error detected (see page 86).
The actual velocity is constant.
The actual velocity is increasing.
The actual velocity is decreasing.
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Parameters Function Blocks
Section 7.2
Parameters Function Blocks
Administrative Function Blocks
Overview This section describes the parameters function blocks.
What Is in This Section? This section contains the following topics:
Topic MC_ReadParameter_PTO: Get Parameters from the PTO MC_WriteParameter_PTO: Write Parameters to the PTO MC_ReadBoolParameter_PTO: Get BOOL Parameters from the PTO MC_WriteBoolParameter_PTO: Write BOOL Parameters to the PTO
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MC_ReadParameter_PTO: Get Parameters from the PTO
Function Block Description This function block is used to get parameters from the PTO.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis Enable
ParameterNumber
Type
Initial Value
AXIS_REF_PTO -
BOOL
FALSE
INT
0
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration,.
When TRUE, the function block is executed. The values of the function block inputs can be modified continuously, and the outputs are updated continuously. When FALSE, terminates the function block execution and resets its outputs.
ID of the requested parameter (PTO_PARAMETER (see page 85))
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Output Variables This table describes the output variables:
Output Valid Error ErrorId
Value
Type BOOL BOOL PTO_ERROR
DINT
Initial Value FALSE FALSE PTO_ERROR.NoError
0
Description
Valid data is available at the function block output pin.
If TRUE, indicates that an error was detected. Function block execution is finished.
When Error is TRUE: code of the error detected (see page 86).
Value of the requested parameter.
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MC_WriteParameter_PTO: Write Parameters to the PTO
Function Block Description This function block is used to write parameters to the PTO.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Type
AXIS_REF_ PTO
Initial Value
-
Execute
BOOL
FALSE
ParameterNumber INT
0
Value
DINT
0
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration,. On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates. ID of the requested parameter (PTO_PARAMETER (see page 85)) Value to be written to the requested parameter.
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Output Variables This table describes the output variables:
Output Done
Type BOOL
Error BOOL
ErrorId PTO_ERROR
Initial Value FALSE
FALSE
PTO_ERROR.NoError
Description
If TRUE, indicates that the function block execution is finished with no error detected..
If TRUE, indicates that an error was detected. Function block execution is finished.
When Error is TRUE: code of the error detected (see page 86).
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MC_ReadBoolParameter_PTO: Get BOOL Parameters from the PTO
Function Block Description This function block is used to get BOOL parameters from the PTO.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Type AXIS_REF_PTO
Initial Value
-
Enable
BOOL
FALSE
ParameterNumber INT
0
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration.
When TRUE, the function block is executed. The values of the other function block inputs can be modified continuously, and the function block outputs are updated continuously. When FALSE, terminates the function block execution and resets its outputs.
ID of the requested parameter (PTO_PARAMETER (see page 85))
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Output Variables This table describes the output variables:
Output Valid Error ErrorId
Value
Type BOOL
Initial Value FALSE
BOOL
FALSE
PTO_ERROR PTO_ERROR.NoError
BOOL
FALSE
Description
Valid data is available at the function block output pin.
If TRUE, indicates that an error was detected. Function block execution is finished.
When Error is TRUE: code of the error detected (see page 86).
Value of the requested parameter.
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MC_WriteBoolParameter_PTO: Write BOOL Parameters to the PTO
Function Block Description This function block is used to write BOOL parameters to the PTO.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Type
AXIS_REF_ PTO
Initial Value
-
Execute
BOOL
FALSE
ParameterNumber INT
Value
BOOL
0 FALSE
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration. On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
ID of the requested parameter (PTO_PARAMETER (see page 85)) Value to be written to the requested parameter.
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Output Variables This table describes the output variables:
Output Done
Error
ErrorId
Type BOOL
BOOL
PTO_ERROR
Initial Value FALSE
FALSE
PTO_ERROR.NoError
Description
If TRUE, indicates that the function block execution is finished with no error detected.
If TRUE, indicates that an error was detected. Function block execution is finished.
When Error is TRUE: code of the error detected (see page 86).
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Probe Function Blocks
Section 7.3
Probe Function Blocks
Overview This section describes the probe function blocks.
What Is in This Section? This section contains the following topics:
Topic MC_TouchProbe_PTO: Activate a Trigger Event MC_AbortTrigger_PTO: Abort/Deactivate Function Blocks
Page 167 169
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MC_TouchProbe_PTO: Activate a Trigger Event
Function Block Description This function block is used to activate a trigger event on the probe input. This trigger event allows to record the axis position, and/or to start a buffered move.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Execute
WindowOnly FirstPosition LastPosition TriggerLevel
Type
Initial Value
AXIS_REF_ PTO
BOOL
FALSE
BOOL DINT DINT BOOL
FALSE 0 0 FALSE
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration.
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
If TRUE, only use the window defined by FirstPosition and LastPosition to accept trigger events.
Start absolute position from where (positive direction) trigger events are accepted (value included in window).
Stop absolute position until where (positive direction) trigger events are accepted (value included in window).
If FALSE, position capture at falling edge. If TRUE, position capture at rising edge.
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Output Variables This table describes the output variables:
Output Done
Type BOOL
Initial Value FALSE
Busy
BOOL
FALSE
CommandAborted BOOL
FALSE
Error
BOOL
FALSE
ErrorId
PTO_ ERROR
RecordedPosition DINT
PTO_ERROR.NoError 0
Description
If TRUE, indicates that the function block execution is finished with no error detected.
If TRUE, indicates that the function block execution is in progress.
Function block execution is finished, by aborting due to another move command or a error detected.
If TRUE, indicates that an error was detected. Function block execution is finished.
When Error is TRUE: code of the error detected (see page 86).
Position where trigger event was detected.
NOTE: Only the first event after the rising edge at the MC_TouchProbe_PTO function block Busy pin is valid. Once the Done output pin is set, subsequent events are ignored. The function block needs to be reactivated to respond to other events.
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MC_AbortTrigger_PTO: Abort/Deactivate Function Blocks
Function Block Description This function block is used to abort function blocks which are connected to trigger events (for example, MC_TouchProbe_PTO).
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Execute
Type
Initial Value
AXIS_REF_PTO -
BOOL
FALSE
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration.
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
Output Variables This table describes the output variables:
Output Done
Error
ErrorId
Type BOOL
BOOL
PTO_ERROR
Initial Value FALSE
FALSE
PTO_ERROR.NoError
Description
If TRUE, indicates that the function block execution is finished with no error detected.
If TRUE, indicates that an error was detected. Function block execution is finished.
When Error is TRUE: code of the error detected (see page 86).
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Error Handling Function Blocks
Section 7.4
Error Handling Function Blocks
Overview This section describes the error handling function blocks.
What Is in This Section? This section contains the following topics:
Topic MC_ReadAxisError_PTO: Get the Axis Control Error MC_Reset_PTO: Reset All Axis-Related Errors
Page 171 173
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MC_ReadAxisError_PTO: Get the Axis Control Error
Function Block Description This function block retrieves the axis control error. If no axis control error is pending, the function block returns AxisErrorId = 0.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Enable
Type AXIS_REF_ PTO
BOOL
Initial Value -
FALSE
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration.
When TRUE, the function block is executed. The values of the function block inputs can be modified continuously, and the outputs are updated continuously. When FALSE, terminates the function block execution and resets its outputs.
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Output Variables This table describes the output variables:
Output Valid
Type BOOL
Initial Value FALSE
Error
BOOL
FALSE
ErrorId
PTO_ERROR PTO_ERROR.NoError
AxisErrorId PTO_ERROR PTO_ERROR.NoError
Description
Valid data is available at the function block output pin.
If TRUE, indicates that an error was detected. Function block execution is finished.
When Error is TRUE: code of the error detected (see page 86).
Index 1000 of PTO_ERROR (see page 86).
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MC_Reset_PTO: Reset All Axis-Related Errors
Function Block Description This function block resets all axis-related errors, conditions permitting, allowing a transition from the state ErrorStop to Standstill. It does not affect the output of the function blocks instances.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation (see page 209).
Input Variables This table describes the input variables:
Input Axis
Execute
Type
Initial Value
AXIS_REF_PTO -
BOOL
FALSE
Description
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration.
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
Output Variables This table describes the output variables:
Output Done
Error
ErrorId
Type BOOL
BOOL
PTO_ERROR
Initial Value
Description
FALSE
If TRUE, indicates that the function block execution is finished with no error detected.
FALSE
If TRUE, indicates that an error was detected. Function block execution is finished.
PTO_ERROR.NoError When Error is TRUE: code of the error detected (see page 86).
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Adding an Administrative Function Block
Section 7.5
Adding an Administrative Function Block
Adding an Administrative Function Block
Procedure Follow these steps to add and create the instance of an administrative function block:
Step 1 2
3
Action
Add a POU (see EcoStruxure Machine Expert, Programming Guide) in the Applications tree.
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 PTOPWM PTO Administrative MC_xxxxxx_PTO in the list, drag-and-drop the item onto the POU window.
Create the function block instance by clicking:
4 Associate the input/output variables (see page 147) of the function block.
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Modicon M241 Logic Controller Pulse Width Modulation (PWM) EIO0000003077 12/2019
Pulse Width Modulation (PWM)
Part
III
Pulse Width Modulation (PWM)
Overview This part describes the Pulse Width Modulation function.
What Is in This Part? This part contains the following chapters:
Chapter 8 9
10
Chapter Name Introduction Configuration and Programming Data Types
Page 177 183 191
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Pulse Width Modulation (PWM)
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Introduction
Chapter 8
Introduction
Overview This chapter provides a description of the PWM functions.
What Is in This Chapter? This chapter contains the following topics:
Description FreqGen/PWM Naming Convention Synchronization and Enable Functions
Topic
Page 178 180 181
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Introduction
Description
Overview The pulse width modulation function generates a programmable pulse wave signal on a dedicated output with adjustable duty cycle and frequency.
Signal Form The signal form depends on the following input parameters: Frequency configurable: from 0.1 Hz to 20 kHz with a 0.1 Hz step (fast outputs: Q0...Q3) from 0.1 Hz to 1 kHz with a 0.1 Hz step (regular outputs: Q4...Q7) Duty Cycle of the output signal from 0% to 100% with 1% step or 0.1% step with HighPrecision.
Duty Cycle=Tp/T
Tp pulse width T pulse period (1/Frequency)
Modifying the duty cycle in the program modulates the width of the signal. Below is an illustration of an output signal with varying duty cycles.
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The following illustration shows a duty cycle of 20%:
Introduction
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Introduction
FreqGen/PWM Naming Convention
Definition Frequency Generator and Pulse Width Modulation uses 1 fast physical output and up to 2 physical inputs.
In this document, use the following naming convention:
Name SYNC EN IN_SYNC IN_EN OUT_PWM
Description Synchronization function (see page 181). Enable function (see page 181). Physical input dedicated to the SYNC function. Physical input dedicated to the EN function. Physical output dedicated to the FreqGen or PWM.
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Synchronization and Enable Functions
Introduction This section presents the functions used by the FreqGen/PWM: Synchronization function Enable function Each function uses the 2 following function block bits: EN_(function) bit: Setting this bit to 1 allows the (function) to operate on an external physical input if configured. F_(function) bit: Setting this bit to 1 forces the (function). The following diagram explains how the function is managed:
NOTE: (function) stands either for Enable (for Enable function) or Sync (for Synchronization function). If the physical input is required, enable it in the configuration screen (see page 184).
Synchronization Function The Synchronization function is used to interrupt the current FreqGen/PWM cycle and then restart a new cycle.
Enable Function The Enable function is used to activate the FreqGen/PWM:
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Introduction
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Configuration and Programming
Chapter 9
Configuration and Programming
Overview This chapter provides configuration and programming guidelines for using PWM functions.
What Is in This Chapter? This chapter contains the following topics:
Topic Configuration PWM_M241: Command a Pulse Width Modulation Signal Programming the PWM Function Block
Page 184 187 189
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Configuration and Programming
Configuration
Overview Four pulse width modulation functions can be configured on the controller.
Adding a Pulse Width Modulation Function To add a pulse width modulation function, proceed as follows:
Step 1 2
Action
Double-click the Pulse Generators node of your controller in the Devices Tree.
Double-click the Pulse generation function value and select PWM. Result: The PWM configuration parameters appear.
Parameters The figure provides an example of a PWM configuration window:
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The pulse width modulation function has the following parameters:
Parameter
Value
Default
Description
General
Instance
-
name
PWM_0...PWM_3 Set the instance name of the PWM function.
A output location
Disabled Q0...Q3 (fast outputs) Q4...Q7 (regular outputs)(1)
Disabled
Select the controller output used for the A signal.
Control
Location
inputs /
SYNC input
Disabled
Disabled
I0...I7 (fast inputs)
I8...I13
(TM241�24�
regular inputs)
I8...I15
(TM241�40�
regular inputs)
Select the controller input used for presetting the PWM function.
Bounce filter
0.000 0.001 0.002 0.005 0.010 0.1 1.5 1 5
0.005
Set the filtering value to reduce the bounce effect on the SYNC input (in ms).
SYNC Edge Rising Falling Both
Rising
Select the condition to preset the PWM function with the SYNC input.
(1) Not available for M241 Logic Controller references with relay outputs.
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Configuration and Programming
Parameter
Value
Default
Description
Control
Location
inputs / EN
input
Disabled
Disabled
I0...I7 (fast inputs)
I8...I15
(TM241�40�
regular inputs)
I8...I13
(TM241�24�
regular inputs)
Select the controller input used for enabling the PWM function.
Bounce filter
0.000 0.001 0.002 0.005 0.010 0.1 1.5 1 5
0.005
Set the filtering value to reduce the bounce effect on the EN input (in ms).
(1) Not available for M241 Logic Controller references with relay outputs.
Synchronizing with an External Event
On a rising edge on the IN_SYNC physical input (with EN_Sync = 1), the current cycle is interrupted and the PWM restarts a new cycle.
This illustration provides a pulse diagram for the Pulse Width Modulation function block with use of IN_SYNC input:
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PWM_M241: Command a Pulse Width Modulation Signal
Overview The Pulse Width Modulation function block commands a pulse width modulated signal output at the specified frequency and duty cycle.
Graphical Representation This illustration is a Pulse Width Modulation function block:
IL and ST Representation
To see the general representation in IL or ST language, refer to the Differences Between a Function and a Function Block (see page 210) chapter.
Input Variables This table describes the input variables:
Inputs EN_Enable F_Enable EN_SYNC
Type BOOL BOOL BOOL
F_SYNC
BOOL
HighPrecision BOOL
Comment
TRUE = authorizes the PWM enable via the IN_EN input (if configured).
TRUE = enables the Pulse Width Modulation.
TRUE = authorizes the restart via the IN_Sync input of the internal timer relative to the time base (if configured).
On a rising edge, forces a restart of the internal timer relative to the time base.
If FALSE (the default), the duty cycle is specified in units of 1%. See Duty below. If TRUE, the duty cycle (see page 178) is specified in units of 0.1%.
NOTE: The value of the Duty parameter is automatically updated to
0...100 or 0...1000 according to the value selected.
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Configuration and Programming
Inputs Frequency
Duty
Type DWORD
UINT
Comment
Frequency of the Pulse Width Modulation output signal in tenths of Hz (range: 1 (0.1 Hz)...200,000 (20 kHz)).
Duty cycle of the Pulse Width Modulation output signal, in units of 1% (range: 0...100 (0%...100%)).
NOTE: If the HighPrecision input is set to TRUE, the duty cycle is in
units of 0.1% (range: 0...1000 (0%...100%)).
Output Variables This table describes the output variables:
Outputs
Type
InFrequency BOOL
Busy
BOOL
Error ErrID
BOOL
FREQGEN_PWM_ ERR_TYPE (see page 191)
Comment
TRUE = the Pulse Width Modulation signal is currently being output at the specified frequency and duty cycle. FALSE = The required frequency cannot be reached for any reason. F_Enable is set to False. EN_Enable is set to False or no signal detected on the physical
input EN Input (if configured).
Busy is used to indicate that a command change is in progress: the frequency is changed. Set to TRUE when the Enable command is set and the frequency or duty is changed. Reset to FALSE when InFrequency or Error is set, or when the Enable command is reset.
TRUE = indicates that an error was detected.
When Error is set: type of the detected error.
NOTE: When the required frequency cannot be reached for any reason, the InFrequency output is not set to TRUE, but Error stays to FALSE.
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Programming the PWM Function Block
Procedure Follow these steps to program a PWM function block:
Step 1 2
3
Action
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 PTOPWM PWM PWM_M241 in the list, drag-and-drop the item onto the POU window.
Select the function block instance by clicking
.
The Input Assistant dialog is displayed. Select the global variable which references to the added
PWM (see page 184) during the configuration and confirm.
NOTE: If the function block instance is not visible, verify if the PWM is configured.
The inputs/outputs are detailed in the function block (see page 187).
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Configuration and Programming
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Data Types
Chapter 10
Data Types
FREQGEN_PWM_ERR_TYPE
Error Type Enumeration This table lists the values for the FREQGEN_PWM_ERR_TYPE enumeration:
Enumerator FREQGEN_PWM_NO_ERROR FREQGEN_PWM_UNKNOWN_REF FREQGEN_PWM_UNKNOWN_PARAMETER FREQGEN_PWM_INVALID_PARAMETER
Value 0 1 2 3
FREQGEN_PWM_COM_ERROR
4
FREQGEN_PWM_AXIS_ERROR
5
Description No error detected. The reference to the FreqGen / PWM is not valid. The parameter type is unknown in the current mode. A parameter value is not valid or the combination of parameter values is not valid. Communication error with the FreqGen / PWM. PWM is in error state ("PWMError" is set on PTOSimple instance). No move is possible until the error is reset.
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Data Types
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Modicon M241 Logic Controller Frequency Generator (FreqGen) EIO0000003077 12/2019
Frequency Generator (FreqGen)
Part
IV
Frequency Generator (FreqGen)
Overview This part describes the Frequency Generator function.
What Is in This Part? This part contains the following chapters:
Chapter 11 12
Chapter Name Introduction Configuration and Programming
Page 195 199
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Frequency Generator (FreqGen)
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Modicon M241 Logic Controller Introduction EIO0000003077 12/2019
Introduction
Chapter 11
Introduction
Overview This chapter provides a description of the FreqGen functions.
What Is in This Chapter? This chapter contains the following topics:
Description FreqGen Naming Convention Synchronization and Enable Functions
Topic
Page 196 197 198
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Introduction
Description
Overview The frequency generator function generates a square wave signal on dedicated output channels with a fixed duty cycle (50%). Frequency is configurable from 0.1 Hz to 100 kHz with a 0.1 Hz step.
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FreqGen Naming Convention
Description FreqGen/PWM Naming Convention (see page 180)
Introduction
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Introduction
Synchronization and Enable Functions
Description Synchronization and Enable Functions (see page 181)
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Configuration and Programming
Chapter 12
Configuration and Programming
Overview This chapter provides configuration and programming guidelines for using FreqGen functions.
What Is in This Chapter? This chapter contains the following topics:
Topic Configuration FrequencyGenerator_M241: Commanding a Square Wave Signal Programming
Page 200 203 205
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Configuration and Programming
Configuration
Overview Up to 4 frequency generator functions can be configured on the controller.
Adding a Frequency Generator Function To add a frequency generator function, proceed as follows:
Step 1 2
Action
Double-click the Pulse Generators node of your controller in the Devices Tree.
Double-click the Pulse generation function value and select FreqGen. Result: The frequency generator configuration parameters are displayed.
Parameters The figure provides an example of a frequency generator configuration window:
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The frequency generator function has the following parameters:
Parameter
Value
Default
Description
General
Instance
-
name
FreqGen0...FreqGen3 Set the instance name of the frequency generator function.
A output location
Disabled Q0...Q3 (fast outputs) Q4...Q7 (regular outputs)(1)
Disabled
Select the controller output used for the A signal.
Control
Location
inputs /
SYNC input
Disabled
Disabled
I0...I7 (fast inputs)
I8...I13
(TM241�24�
regular inputs)
I8...I15
(TM241�40�
regular inputs)
Select the controller input used for presetting the frequency generator function.
Bounce filter
0.000 0.001 0.002 0.005 0.010 0.1 1.5 1 5
0.005
Set the filtering value to reduce the bounce effect on the SYNC input (in ms).
SYNC Edge Rising Falling Both
Rising
Select the condition to preset the frequency generator function with the SYNC input.
(1) Not available for M241 Logic Controller references with relay outputs.
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Configuration and Programming
Parameter
Value
Default
Description
Control
Location
inputs / EN
input
Disabled
Disabled
I0...I7 (fast inputs)
I8...I15
(TM241�40�
regular inputs)
I8...I13
(TM241�24�
regular inputs)
Select the controller input used for enabling the frequency generator function.
Bounce filter
0.000 0.001 0.002 0.005 0.010 0.1 1.5 1 5
0.005
Set the filtering value to reduce the bounce effect on the EN input (in ms).
(1) Not available for M241 Logic Controller references with relay outputs.
Synchronizing with an External Event
On a rising edge on the IN_SYNC physical input (with EN_Sync = 1), the current cycle is interrupted and the FreqGen restarts a new cycle.
This illustration provides a pulse diagram for the frequency generator function block with use of IN_SYNC input:
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FrequencyGenerator_M241: Commanding a Square Wave Signal
Overview The Frequency Generator function block commands a square wave signal output at the specified frequency.
Graphical Representation (LD/FBD) This illustration is a Frequency Generator function block:
IL and ST Representation
To see the general representation in IL or ST language, refer to the Differences Between a Function and a Function Block (see page 210) chapter.
Input Variables This table describes the input variables:
Inputs EN_Enable
F_Enable EN_SYNC
F_SYNC Frequency
Type BOOL
BOOL BOOL
BOOL DWORD
Comment TRUE = authorizes the Frequency Generator enable via the IN_EN input (if configured). TRUE = enables the Frequency Generator.
TRUE = authorizes the restart via the IN_SYNC input of the internal timer relative to the time base (if configured). On rising edge, forces a restart of the internal timer relative to the time base. Frequency of the Frequency Generator output signal in tenths of Hz. (Range: min 1 (0.1Hz)...max 1,000,000 (100kHz)
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Configuration and Programming
Output Variables This table describes the output variables:
Outputs InFrequency
Busy
Error ErrID
Type
Comment
BOOL
TRUE = the Frequency Generator signal is output at the specified Frequency. FALSE = The required frequency cannot be reached for any reason. F_Enable is set to False. EN_Enable is set to False or no signal detected on the physical
input EN Input (if configured).
BOOL
Busy is used to indicate that a command change is in progress: the frequency is changed. Set to TRUE when the Enable command is set and the frequency is
changed. Reset to FALSE when InFrequency or Error is set, or when the
Enable command is reset.
BOOL
TRUE = indicates that an error was detected.
FREQGEN_PWM_ When Error is set: type of the detected error. ERR_TYPE (see page 191)
NOTE: When the required frequency cannot be reached for any reason, the InFrequency output is not set to TRUE, but Error stays to FALSE.
NOTE: Outputs are forced to 0 when the logic controller is in the STOPPED state.
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Programming
Procedure Follow these steps to program a Frequency Generator function block:
Step 1 2
3
Action
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller M241 M241 PTOPWM Frequency Generator FrequencyGenerator_M241 in the list; drag-and-drop the item onto the POU window.
Select the function block instance by clicking
.
The Input Assistant screen appears. Select the global variable which references to the added
FreqGen (see page 200) during the configuration and confirm.
NOTE: If the function block instance is not visible, verify if the frequency generator is configured.
The inputs/outputs are detailed in the function block (see page 203).
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Configuration and Programming
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Modicon M241 Logic Controller Function and Function Block Representation EIO0000003077 12/2019
Function and Function Block Representation
Appendix
A
Function and Function Block Representation
Overview
Each function can be represented in the following languages: IL: Instruction List ST: Structured Text LD: Ladder Diagram FBD: Function Block Diagram CFC: Continuous Function Chart
This chapter provides functions and function blocks representation examples and explains how to use them for IL and ST languages.
What Is in This Chapter? This chapter contains the following topics:
Topic Differences Between a Function and a Function Block How to Use a Function or a Function Block in IL Language How to Use a Function or a Function Block in ST Language
Page 210 211 215
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Function and Function Block Representation
Differences Between a Function and a Function Block
Function A function: is a POU (Program Organization Unit) that returns one immediate result. is directly called with its name (not through an instance). has no persistent state from one call to the other. can be used as an operand in other expressions. Examples: boolean operators (AND), calculations, conversion (BYTE_TO_INT)
Function Block A function block: is a POU (Program Organization Unit) that returns one or more outputs. needs to be called by an instance (function block copy with dedicated name and variables). each instance has a persistent state (outputs and internal variables) from one call to the other from a function block or a program. Examples: timers, counters In the example, Timer_ON is an instance of the function block TON:
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How to Use a Function or a Function Block in IL Language
General Information This part explains how to implement a function and a function block in IL language.
Functions IsFirstMastCycle and SetRTCDrift and Function Block TON are used as examples to show implementations.
Using a Function in IL Language This procedure describes how to insert a function in IL language:
Step 1
2 3 4
5
6
Action
Open or create a new POU in Instruction List language.
NOTE: The procedure to create a POU is not detailed here. For more information, refer to Adding and Calling POUs (see EcoStruxure Machine Expert, Programming Guide).
Create the variables that the function requires.
If the function has 1 or more inputs, start loading the first input using LD instruction.
Insert a new line below and: type the name of the function in the operator column (left field), or use the Input Assistant to select the function (select Insert Box in the context menu).
If the function has more than 1 input and when Input Assistant is used, the necessary number of lines is automatically created with ??? in the fields on the right. Replace the ??? with the appropriate value or variable that corresponds to the order of inputs.
Insert a new line to store the result of the function into the appropriate variable: type ST instruction in the operator column (left field) and the variable name in the field on the right.
To illustrate the procedure, consider the Functions IsFirstMastCycle (without input parameter) and SetRTCDrift (with input parameters) graphically presented below:
Function
without input parameter: IsFirstMastCycle
Graphical Representation
with input parameters: SetRTCDrift
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Function and Function Block Representation
In IL language, the function name is used directly in the operator column:
Function
Representation in POU IL Editor
IL example of a function without input parameter: IsFirstMastCycle
IL example of a function with input parameters: SetRTCDrift
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Using a Function Block in IL Language This procedure describes how to insert a function block in IL language:
Step 1
2 3
4 5
Action
Open or create a new POU in Instruction List language.
NOTE: The procedure to create a POU is not detailed here. For more information, refer to Adding and Calling POUs (see EcoStruxure Machine Expert, Programming Guide).
Create the variables that the function block requires, including the instance name.
Function Blocks are called using a CAL instruction: Use the Input Assistant to select the FB (right-click and select Insert Box in the context menu). Automatically, the CAL instruction and the necessary I/O are created.
Each parameter (I/O) is an instruction: Values to inputs are set by ":=". Values to outputs are set by "=>".
In the CAL right-side field, replace ??? with the instance name.
Replace other ??? with an appropriate variable or immediate value.
To illustrate the procedure, consider this example with the TON Function Block graphically presented below:
Function Block TON
Graphical Representation
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Function and Function Block Representation
In IL language, the function block name is used directly in the operator column:
Function Block TON
Representation in POU IL Editor
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Function and Function Block Representation
How to Use a Function or a Function Block in ST Language
General Information This part explains how to implement a Function and a Function Block in ST language. Function SetRTCDrift and Function Block TON are used as examples to show implementations.
Using a Function in ST Language This procedure describes how to insert a function in ST language:
Step 1
2 3
Action
Open or create a new POU in Structured Text language.
NOTE: The procedure to create a POU is not detailed here. For more information, refer to Adding and Calling POUs (see EcoStruxure Machine Expert, Programming Guide).
Create the variables that the function requires.
Use the general syntax in the POU ST Editor for the ST language of a function. The general syntax is: FunctionResult:= FunctionName(VarInput1, VarInput2,.. VarInputx);
To illustrate the procedure, consider the function SetRTCDrift graphically presented below:
Function SetRTCDrift
Graphical Representation
The ST language of this function is the following:
Function SetRTCDrift
Representation in POU ST Editor
PROGRAM MyProgram_ST VAR myDrift: SINT(-29..29) := 5; myDay: DAY_OF_WEEK := SUNDAY; myHour: HOUR := 12; myMinute: MINUTE; myRTCAdjust: RTCDRIFT_ERROR; END_VAR myRTCAdjust:= SetRTCDrift(myDrift, myDay, myHour, myMinute);
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Function and Function Block Representation
Using a Function Block in ST Language This procedure describes how to insert a function block in ST language:
Step 1
2 3
Action
Open or create a new POU in Structured Text language.
NOTE: The procedure to create a POU is not detailed here. For more information on
adding, declaring and calling POUs, refer to the related documentation (see EcoStruxure Machine Expert, Programming Guide).
Create the input and output variables and the instance required for the function block: Input variables are the input parameters required by the function block Output variables receive the value returned by the function block
Use the general syntax in the POU ST Editor for the ST language of a Function Block. The general syntax is: FunctionBlock_InstanceName(Input1:=VarInput1, Input2:=VarInput2,... Ouput1=>VarOutput1, Ouput2=>VarOutput2,...);
To illustrate the procedure, consider this example with the TON function block graphically presented below:
Function Block TON
Graphical Representation
216
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Function and Function Block Representation
This table shows examples of a function block call in ST language:
Function Block TON
Representation in POU ST Editor
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Function and Function Block Representation
218
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Modicon M241 Logic Controller Glossary EIO0000003077 12/2019
Glossary
A
absolute movement A movement to a position defined from a reference point.
acceleration / deceleration Acceleration is the rate of velocity change, starting from Start Velocity to target velocity. Deceleration is the rate of velocity change, starting from target velocity to Stop Velocity. These velocity changes are implicitly managed by the PTO function in accordance with acceleration, deceleration, and jerk ratio parameters following a trapezoidal or an S-curve profile.
application A program including configuration data, symbols, and documentation.
B
byte A type that is encoded in an 8-bit format, ranging from 00 hex to FF hex.
C
CFC
(continuous function chart) A graphical programming language (an extension of the IEC 61131-3 standard) based on the function block diagram language that works like a flowchart. However, no networks are used and free positioning of graphic elements is possible, which allows feedback loops. For each block, the inputs are on the left and the outputs on the right. You can link the block outputs to the inputs of other blocks to create complex expressions.
controller Automates industrial processes (also known as programmable logic controller or programmable controller).
F
FB (function block) A convenient programming mechanism that consolidates a group of programming instructions to perform a specific and normalized action, such as speed control, interval control, or counting. A function block may comprise configuration data, a set of internal or external operating parameters and usually 1 or more data inputs and outputs.
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Glossary
function A programming unit that has 1 input and returns 1 immediate result. However, unlike FBs, it is directly called with its name (as opposed to through an instance), has no persistent state from one call to the next and can be used as an operand in other programming expressions. Examples: boolean (AND) operators, calculations, conversions (BYTE_TO_INT)
function block diagram One of the 5 languages for logic or control supported by the standard IEC 61131-3 for control systems. Function block diagram is a graphically oriented programming language. It works with a list of networks where each network contains a graphical structure of boxes and connection lines representing either a logical or arithmetic expression, the call of a function block, a jump, or a return instruction.
H
homing The method used to establish the reference point for absolute movement.
I
IEC 61131-3 Part 3 of a 3-part IEC standard for industrial automation equipment. IEC 61131-3 is concerned with controller programming languages and defines 2 graphical and 2 textual programming language standards. The graphical programming languages are ladder diagram and function block diagram. The textual programming languages include structured text and instruction list.
IL (instruction list) A program written in the language that is composed of a series of text-based instructions executed sequentially by the controller. Each instruction includes a line number, an instruction code, and an operand (refer to IEC 61131-3).
INT (integer) A whole number encoded in 16 bits.
J
jerk ratio The proportion of change of the acceleration and deceleration as a function of time.
220
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Glossary
L
LD (ladder diagram) A graphical representation of the instructions of a controller program with symbols for contacts, coils, and blocks in a series of rungs executed sequentially by a controller (refer to IEC 61131-3).
P
POU
(program organization unit) A variable declaration in source code and a corresponding instruction set. POUs facilitate the modular re-use of software programs, functions, and function blocks. Once declared, POUs are available to one another.
S
S-curve ramp An acceleration / deceleration ramp with a JerkRatio parameter greater than 0%.
ST (structured text) A language that includes complex statements and nested instructions (such as iteration loops, conditional executions, or functions). ST is compliant with IEC 61131-3.
start velocity The minimum frequency at which a stepper motor can produce movement, with a load applied, without the loss of steps.
stop velocity The maximum frequency at which a stepper motor stops producing movement, with a load applied, without the loss of steps.
T
trapezoidal ramp An acceleration / deceleration ramp with a JerkRatio parameter set to 0%.
V
variable A memory unit that is addressed and modified by a program.
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Glossary
222
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Modicon M241 Logic Controller Index EIO0000003077 12/2019
Index
A
acceleration ramp, 44 axis
MC_AbortTrigger_PTO, 169 MC_Halt_PTO, 143 MC_Home_PTO, 130 MC_MoveAbsolute_PTO, 124 MC_MoveRelative_PTO, 117 MC_MoveVelocity_PTO, 111 MC_Power_PTO, 106 MC_ReadActualPosition_PTO, 151 MC_ReadActualVelocity_PTO, 149 MC_ReadAxisError_PTO, 171 MC_ReadBoolParameter_PTO, 162 MC_ReadMotionState_PTO, 155 MC_ReadParameter_PTO, 158 MC_ReadStatus_PTO, 153 MC_Reset_PTO, 173 MC_SetPosition_PTO, 135 MC_Stop_PTO, 138 MC_TouchProbe_PTO, 167 MC_WriteBoolParameter_PTO, 164 MC_WriteParameter_PTO, 160 AXIS_REF_PTO, 80
D
data unit types AXIS_REF_PTO, 80 FREQGEN_PWM_ERR_TYPE, 191 MC_BUFFER_MODE, 81 MC_DIRECTION, 83 PTO_ERROR, 86 PTO_HOMING_MODE, 84 PTO_PARAMETER, 85
deceleration ramp, 44 dedicated features, 27
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E
error handling ErrID, 28 Error, 28
F
FreqGen FrequencyGenerator_M241, 203 programming FrequencyGenerator_M241, 205
FREQGEN_PWM_ERR_TYPE, 191 frequency generator
configuration, 200 description, 196 programming FrequencyGenerator_M241, 205 FrequencyGenerator_M241 commanding a square wave signal , 203 programming, 205 function blocks FrequencyGenerator_M241, 203 PWM_M241, 187 functionalities PTO, 31 functions differences between a function and a function block, 210 enable, 181 how to use a function or a function block in IL language, 211 how to use a function or a function block in ST language, 215 synchronization, 181
J
JerkRatio, 44
223
Index
M
M241 PTOPWM FrequencyGenerator_M241, 203 MC_AbortTrigger_PTO, 169 MC_Halt_PTO, 143 MC_Home_PTO, 130 MC_MoveAbsolute_PTO, 124 MC_MoveRelative_PTO, 117 MC_MoveVelocity_PTO, 111 MC_Power_PTO, 106 MC_ReadActualPosition_PTO, 151 MC_ReadActualVelocity_PTO, 149 MC_ReadAxisError_PTO, 171 MC_ReadBoolParameter_PTO, 162 MC_ReadMotionState_PTO, 155 MC_ReadParameter_PTO, 158 MC_ReadStatus_PTO, 153 MC_Reset_PTO, 173 MC_SetPosition_PTO, 135 MC_Stop_PTO, 138 MC_TouchProbe_PTO, 167 MC_WriteBoolParameter_PTO, 164 MC_WriteParameter_PTO, 160 programming FrequencyGenerator_M241, 205 programming PWM_M241, 189
management of status variables Busy, 28 CommandAborted, 28 Done, 28 ErrID, 28 Error, 28 Execute, 28
MC_AbortTrigger_PTO aborting or deactivating PTO function blocks, 169
MC_BUFFER_MODE, 81 MC_DIRECTION, 83 MC_Halt_PTO
commanding a controlled PTO motion halt, 143 MC_Home_PTO commanding the axis to move to a reference position, 130
224
MC_MoveAbsolute_PTO commanding the axis to absolute position, 124
MC_MoveRelative_PTO commanding the relative axis movement, 117
MC_MoveVelocity_PTO controlling the speed of the axis, 111
MC_Power_PTO managing the power of the axis state, 106
MC_ReadActualPosition_PTO getting the position of the axis, 151
MC_ReadActualVelocity_PTO getting the velocity of the axis, 149
MC_ReadAxisError_PTO getting the axis control error, 171
MC_ReadBoolParameter_PTO getting boolean parameters from the PTO, 162
MC_ReadMotionState_PTO getting the motion status of the axis, 155
MC_ReadParameter_PTO getting parameters from the PTO, 158
MC_ReadStatus_PTO getting the motion status of the axis, 153
MC_Reset_PTO resetting axis-related errors, 173
MC_SetPosition_PTO forcing the reference position of the axis, 135
MC_Stop_PTO commanding a controlled motion stop, 138
MC_TouchProbe_PTO activating a trigger event on the PTO probe input, 167
MC_WriteBoolParameter_PTO setting boolean parameters to the PTO, 164
MC_WriteParameter_PTO setting parameters to the PTO, 160
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P
Programming PWM, 189
PTO configuration, 37 functionalities, 31 MC_AbortTrigger_PTO, 169 MC_Halt_PTO, 143 MC_Home_PTO, 130 MC_MoveAbsolute_PTO, 124 MC_MoveRelative_PTO, 117 MC_MoveVelocity_PTO, 111 MC_Power_PTO, 106 MC_ReadActualPosition_PTO, 151 MC_ReadActualVelocity_PTO, 149 MC_ReadAxisError_PTO, 171 MC_ReadBoolParameter_PTO, 162 MC_ReadMotionState_PTO, 155 MC_ReadParameter_PTO, 158 MC_ReadStatus_PTO, 153 MC_Reset_PTO, 173 MC_SetPosition_PTO, 135 MC_Stop_PTO, 138 MC_TouchProbe_PTO, 167 MC_WriteBoolParameter_PTO, 164 MC_WriteParameter_PTO, 160
PTO_ERROR, 86 PTO_HOMING_MODE, 84 PTO_PARAMETER, 85 pulse width modulation
configuration, 184 description, 178 programming PWM_M241, 189 PWM_M241, 187 PWM programming PWM_M241, 189 PWM_M241, 187 PWM_M241 commanding a pulse width modulation signal, 187 programming, 189
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Index 225
Index
226
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Modicon M241 Logic Controller EIO0000003083 12/2019
Modicon M241
Logic Controller
Hardware Guide
12/2019
www.schneider-electric.com
EIO0000003083.01
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.
� 2019 Schneider Electric. All rights reserved.
2
EIO0000003083 12/2019
Table of Contents
Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
Part I Modicon M241 Logic Controller Introduction . . . . . . 15
Chapter 1 M241 General Overview . . . . . . . . . . . . . . . . . . . . . . . . .
17
M241 Logic Controller Description . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
Maximum Hardware Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . .
23
TMC4 Cartridges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26
TM2 Expansion Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
27
TM3 Expansion Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
31
TM3 Bus Couplers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
40
TM4 Expansion Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
41
TM5 Fieldbus Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
42
TM5 CANopen Fieldbus Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . .
43
TM7 CANopen Fieldbus Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . .
44
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
Chapter 2 M241 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
47
Real Time Clock (RTC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
48
Input Management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
52
Output Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
56
Run/Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
61
SD Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
63
Chapter 3 M241 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
67
3.1 M241 Logic Controller General Rules for Implementing . . . . . . . . . . .
68
Environmental Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
69
Certifications and Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
72
3.2 M241 Logic Controller Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . .
73
Installation and Maintenance Requirements . . . . . . . . . . . . . . . . . . . .
74
M241 Logic Controller Mounting Positions and Clearances . . . . . . . .
77
Top Hat Section Rail (DIN rail) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
80
Installing and Removing the Controller with Expansions. . . . . . . . . . .
84
Direct Mounting on a Panel Surface . . . . . . . . . . . . . . . . . . . . . . . . . .
86
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3.3 M241 Electrical Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
87
Wiring Best Practices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
88
DC Power Supply Characteristics and Wiring . . . . . . . . . . . . . . . . . . .
94
AC Power Supply Characteristics and Wiring . . . . . . . . . . . . . . . . . . .
98
Grounding the M241 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Part II Modicon M241 Logic Controller . . . . . . . . . . . . . . . . 105
Chapter 4 TM241C24R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
TM241C24R Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Chapter 5 TM241CE24R. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
TM241CE24R Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Chapter 6 TM241CEC24R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
TM241CEC24R Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Chapter 7 TM241C24T . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
TM241C24T Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Chapter 8 TM241CE24T . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
TM241CE24T Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Chapter 9 TM241CEC24T . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
TM241CEC24T Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Chapter 10 TM241C24U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
TM241C24U Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Chapter 11 TM241CE24U. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
TM241CE24U Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Chapter 12 TM241CEC24U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
TM241CEC24U Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Chapter 13 TM241C40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
TM241C40R Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Chapter 14 TM241CE40R. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
TM241CE40R Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Chapter 15 TM241C40T . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
TM241C40T Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Chapter 16 TM241CE40T . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
TM241CE40T Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Chapter 17 TM241C40U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
TM241C40U Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Chapter 18 TM241CE40U. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
TM241CE40U Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
4
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Chapter 19 Embedded I/O Channels . . . . . . . . . . . . . . . . . . . . . . . . 197
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
198
Relay Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
206
Regular Transistor Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
212
Fast Transistor Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
218
Part III Modicon M241 Logic Controller Communication . . . 225
Chapter 20 Integrated Communication Ports . . . . . . . . . . . . . . . . . . 227
CAN Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
228
Ethernet Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
232
USB Mini-B Programming Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
235
Serial Line 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
237
Serial Line 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
240
Chapter 21 Connecting the M241 Logic Controller to a PC . . . . . . . 243
Connecting the Controller to a PC . . . . . . . . . . . . . . . . . . . . . . . . . . . .
243
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
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5
6
EIO0000003083 12/2019
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.
EIO0000003083 12/2019
7
PLEASE NOTE Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material.
A qualified person is one who has skills and knowledge related to the construction and operation of electrical equipment and its installation, and has received safety training to recognize and avoid the hazards involved.
QUALIFICATION OF PERSONNEL Only appropriately trained persons who are familiar with and understand the contents of this manual and all other pertinent product documentation are authorized to work on and with this product.
The qualified person must be able to detect possible hazards that may arise from parameterization, modifying parameter values and generally from mechanical, electrical, or electronic equipment. The qualified person must be familiar with the standards, provisions, and regulations for the prevention of industrial accidents, which they must observe when designing and implementing the system.
INTENDED USE The products described or affected by this document, together with software, accessories, and options, are programmable logic controllers (referred to herein as "logic controllers"), intended for industrial use according to the instructions, directions, examples, and safety information contained in the present document and other supporting documentation.
The product may only be used in compliance with all applicable safety regulations and directives, the specified requirements, and the technical data.
Prior to using the product, you must perform a risk assessment in view of the planned application. Based on the results, the appropriate safety-related measures must be implemented.
Since the product is used as a component in an overall machine or process, you must ensure the safety of persons by means of the design of this overall system.
Operate the product only with the specified cables and accessories. Use only genuine accessories and spare parts.
Any use other than the use explicitly permitted is prohibited and can result in unanticipated hazards.
8
EIO0000003083 12/2019
About the Book
At a Glance
Document Scope Use this document to: Install and operate your M241 Logic Controller. Connect the M241 Logic Controller to a programming device equipped with EcoStruxure Machine Expert software. Interface the M241 Logic Controller with I/O expansion modules, HMI, and other devices. Familiarize yourself with the M241 Logic Controller features. NOTE: Read and understand this document and all related documents (see page 10) before installing, operating, or maintaining your controller.
Validity Note This document has been updated for the release of EcoStruxureTM Machine Expert V1.2. For product compliance and environmental information (RoHS, REACH, PEP, EOLI, etc.), go to www.schneider-electric.com/green-premium. The technical characteristics of the devices described in this manual also appear online (https://www.se.com/). 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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9
Related Documents
Title of Documentation Modicon M241 Logic Controller - Programming Guide
Modicon TMC4 Cartridges - Hardware Guide
Modicon TM4 Expansion Modules - Hardware Guide
Modicon TM3 Digital I/O Modules - Hardware Guide
Modicon TM3 Analog I/O Modules - Hardware Guide
Reference Number
EIO0000003059 (ENG) EIO0000003060 (FRE) EIO0000003061 (GER) EIO0000003062 (SPA) EIO0000003063 (ITA) EIO0000003064 (CHS)
EIO0000003113 (ENG) EIO0000003114 (FRE) EIO0000003115 (GER) EIO0000003116 (SPA) EIO0000003117 (ITA) EIO0000003118 (CHS)
EIO0000003155 (ENG) EIO0000003156 (FRE) EIO0000003157 (GER) EIO0000003158 (SPA) EIO0000003159 (ITA) EIO0000003160 (CHS)
EIO0000003125 (ENG) EIO0000003126 (FRE) EIO0000003127 (GER) EIO0000003128 (SPA) EIO0000003129 (ITA) EIO0000003130 (CHS) EIO0000003425 (TUR) EIO0000003424 (POR)
EIO0000003131 (ENG) EIO0000003132 (FRE) EIO0000003133 (GER) EIO0000003134 (SPA) EIO0000003135 (ITA) EIO0000003136 (CHS) EIO0000003427 (TUR) EIO0000003426 (POR)
10
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Title of Documentation
Reference Number
Modicon TM3 Expert I/O Modules - Hardware Guide
EIO0000003137 (ENG) EIO0000003138 (FRE) EIO0000003139 (GER) EIO0000003140 (SPA) EIO0000003141 (ITA) EIO0000003142 (CHS) EIO0000003429 (TUR) EIO0000003428 (POR)
Modicon TM3 Safety Modules - Hardware Guide
EIO0000003353 (ENG) EIO0000003354 (FRE) EIO0000003355 (GER) EIO0000003356 (SPA) EIO0000003357 (ITA) EIO0000003358 (CHS) EIO0000003359 (POR) EIO0000003360 (TUR)
Modicon TM3 Transmitter and Receiver Modules - Hardware Guide
EIO0000003143 (ENG) EIO0000003144 (FRE) EIO0000003145 (GER) EIO0000003146 (SPA) EIO0000003147 (ITA) EIO0000003148 (CHS) EIO0000003431 (TUR) EIO0000003430 (POR)
Modicon TM3 Bus Coupler - Hardware Guide
EIO0000003635 (ENG) EIO0000003636 (FRE) EIO0000003637 (GER) EIO0000003638 (SPA) EIO0000003639 (ITA) EIO0000003640 (CHS) EIO0000003641 (POR) EIO0000003642 (TUR)
Modicon TM5 Fieldbus Interface - Hardware Guide
EIO0000003715 (ENG) EIO0000003716 (FRE) EIO0000003717 (GER) EIO0000003718 (SPA) EIO0000003719 (ITA) EIO0000003720 (CHS)
M241 DC Logic Controller - Instruction Sheet
HRB59603
M241 AC Logic Controller - Instruction Sheet
EAV48551
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11
You can download these technical publications and other technical information from our website at https://www.se.com/ww/en/download/ .
Product Related Information
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH Disconnect all power from all equipment including connected devices prior to removing any
covers or doors, or installing or removing any accessories, hardware, cables, or wires except under the specific conditions specified in the appropriate hardware guide for this equipment. Always use a properly rated voltage sensing device to confirm the power is off where and when indicated. Replace and secure all covers, accessories, hardware, cables, and wires and confirm that a proper ground connection exists before applying power to the unit. Use only the specified voltage when operating this equipment and any associated products. Failure to follow these instructions will result in death or serious injury.
DANGER
POTENTIAL FOR EXPLOSION Only use this equipment in non-hazardous locations, or in locations that comply with Class I,
Division 2, Groups A, B, C and D. Do not substitute components which would impair compliance to Class I, Division 2. Do not connect or disconnect equipment unless power has been removed or the location is
known to be non-hazardous. Do not use the USB port(s), if so equipped, unless the location is known to be non-hazardous. Failure to follow these instructions will result in death or serious injury.
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WARNING
LOSS OF CONTROL
The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop and overtravel stop, power outage and restart.
Separate or redundant control paths must be provided for critical control functions. System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link. Observe all accident prevention regulations and local safety guidelines.1 Each implementation of this equipment must be individually and thoroughly tested for proper
operation before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
1 For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems" or their equivalent governing your particular location.
WARNING
UNINTENDED EQUIPMENT OPERATION
Only use software approved by Schneider Electric for use with this equipment. Update your application program every time you change the physical hardware configuration.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Terminology Derived from Standards
The technical terms, terminology, symbols and the corresponding descriptions in this manual, or that appear in or on the products themselves, are generally derived from the terms or definitions of international standards.
In the area of functional safety systems, drives and general automation, this may include, but is not limited to, terms such as safety, safety function, safe state, fault, fault reset, malfunction, failure, error, error message, dangerous, etc.
Among others, these standards include:
Standard IEC 61131-2:2007 ISO 13849-1:2015
Description
Programmable controllers, part 2: Equipment requirements and tests.
Safety of machinery: Safety related parts of control systems. General principles for design.
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Standard EN 61496-1:2013 ISO 12100:2010 EN 60204-1:2006 ISO 14119:2013 ISO 13850:2015 IEC 62061:2015 IEC 61508-1:2010 IEC 61508-2:2010
IEC 61508-3:2010 IEC 61784-3:2016 2006/42/EC 2014/30/EU 2014/35/EU
Description
Safety of machinery: Electro-sensitive protective equipment. Part 1: General requirements and tests.
Safety of machinery - General principles for design - Risk assessment and risk reduction
Safety of machinery - Electrical equipment of machines - Part 1: General requirements
Safety of machinery - Interlocking devices associated with guards - Principles for design and selection
Safety of machinery - Emergency stop - Principles for design
Safety of machinery - Functional safety of safety-related electrical, electronic, and electronic programmable control systems
Functional safety of electrical/electronic/programmable electronic safetyrelated systems: General requirements.
Functional safety of electrical/electronic/programmable electronic safetyrelated systems: Requirements for electrical/electronic/programmable electronic safety-related systems.
Functional safety of electrical/electronic/programmable electronic safetyrelated systems: Software requirements.
Industrial communication networks - Profiles - Part 3: Functional safety fieldbuses - General rules and profile definitions.
Machinery Directive
Electromagnetic Compatibility Directive
Low Voltage Directive
In addition, terms used in the present document may tangentially be used as they are derived from other standards such as:
Standard IEC 60034 series IEC 61800 series IEC 61158 series
Description Rotating electrical machines Adjustable speed electrical power drive systems Digital data communications for measurement and control � Fieldbus for use in industrial control systems
Finally, the term zone of operation may be used in conjunction with the description of specific hazards, and is defined as it is for a hazard zone or danger zone in the Machinery Directive (2006/42/EC) and ISO 12100:2010.
NOTE: The aforementioned standards may or may not apply to the specific products cited in the present documentation. For more information concerning the individual standards applicable to the products described herein, see the characteristics tables for those product references.
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Modicon M241 Logic Controller Modicon M241 Logic Controller Introduction EIO0000003083 12/2019
Modicon M241 Logic Controller Introduction
Part I
Modicon M241 Logic Controller Introduction
What Is in This Part? This part contains the following chapters:
Chapter 1 2 3
M241 General Overview M241 Features M241 Installation
Chapter Name
Page 17 47 67
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Modicon M241 Logic Controller Introduction
16
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Modicon M241 Logic Controller M241 General Overview EIO0000003083 12/2019
M241 General Overview
Chapter 1
M241 General Overview
Overview
This chapter provides general information about the M241 Logic Controller system architecture and its components.
What Is in This Chapter? This chapter contains the following topics:
M241 Logic Controller Description Maximum Hardware Configuration TMC4 Cartridges TM2 Expansion Modules TM3 Expansion Modules TM3 Bus Couplers TM4 Expansion Modules TM5 Fieldbus Interfaces TM5 CANopen Fieldbus Interfaces TM7 CANopen Fieldbus Interfaces Accessories
Topic
Page 18 23 26 27 31 40 41 42 43 44 45
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M241 General Overview
M241 Logic Controller Description
Overview The M241 Logic Controller has various powerful features and can service a wide range of applications. Software configuration, programming, and commissioning is accomplished with the EcoStruxure Machine Expert software described in detail in the EcoStruxure Machine Expert Programming Guide (see EcoStruxure Machine Expert, Programming Guide) and the M241 Logic Controller Programming Guide (see Modicon M241 Logic Controller, Programming Guide).
Programming Languages The M241 Logic 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 M241 Logic Controller is 24 Vdc (see page 94) or 100...240 Vac (see page 98).
Real Time Clock The M241 Logic Controller includes a Real Time Clock (RTC) system (see page 48).
Run/Stop The M241 Logic Controller can be operated externally by the following: A hardware Run/Stop switch (see page 61). A Run/Stop (see page 52) operation by a dedicated digital input, defined in the software configuration. For more information, refer to Configuration of Digital Inputs (see Modicon M241 Logic Controller, Programming Guide). An EcoStruxure Machine Expert software command.
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M241 General Overview
Memory This table describes the different types of memory:
Memory Type RAM
Non-volatile
Size
64 Mbytes, of which 8 Mbytes available for the application
128 Mbytes
Used to execute the application.
save the program and data in case of a power interruption.
Embedded Inputs/Outputs
The following embedded I/O types are available, depending on the controller reference: Regular inputs Fast inputs associated with counters Regular sink/source transistor outputs Fast sink/source transistor outputs associated with pulse generators Relay outputs
Removable Storage
The M241 Logic Controllers include an embedded SD card slot (see page 63).
The main uses of the SD card are: Initializing the controller with a new application Updating the controller firmware
Storing recipes files Receiving data logging files
Embedded Communication Features
The following types of communication ports are available, depending on the controller reference: CANopen Master (see page 228) Ethernet (see page 232) USB Mini-B (see page 235) Serial Line 1 (see page 237) Serial Line 2 (see page 240)
Expansion Module and Bus Coupler Compatibility
Refer to the compatibility tables in the EcoStruxure Machine Expert - Compatibility and Migration User Guide.
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M241 General Overview
M241 Logic Controller
Reference
Digital Inputs
Digital Outputs
Communication Ports
Terminal Type Power supply
TM241C24R (see page 107)
6 regular inputs(1) 8 fast inputs (counters)(2)
6 2A relay outputs 4 source fast outputs (pulse generators)(3)
2 serial line ports Removable
1 USB programming screw terminal
port
blocks
100...240 Vac
TM241CE24R (see page 191)
6 regular inputs(1) 8 fast inputs (counters)(2)
6 2A relay outputs 4 source fast outputs (pulse generators)(3)
2 serial line ports 1 USB programming port 1 Ethernet port
Removable screw terminal blocks
100...240 Vac
TM241CEC24R 6 regular inputs(1) (see page 119) 8 fast inputs
(counters)(2)
6 2A relay outputs 4 source fast outputs (pulse generators)(3)
2 serial line ports 1 Ethernet port 1 CANopen master port 1 USB programming port
Removable screw terminal blocks
100...240 Vac
TM241C24T (see page 125)
6 regular inputs(1) 8 fast inputs (counters)(2)
Source outputs 6 regular transistor outputs 4 fast outputs (pulse generators)(3)
2 serial line ports Removable
1 USB programming screw terminal
port
blocks
24 Vdc
TM241CE24T (see page 131)
6 regular inputs(1) 8 fast inputs (counters)(2)
Source outputs 6 regular transistor outputs 4 fast outputs (pulse generators)(3)
2 serial line ports 1 USB programming port 1 Ethernet port
Removable screw terminal blocks
24 Vdc
TM241CEC24T 6 regular inputs(1) (see page 137) 8 fast inputs
(counters)(2)
Source outputs 6 regular transistor outputs 4 fast outputs (pulse generators)(3)
2 serial line ports 1 USB programming port 1 Ethernet port 1 CANopen master port
Removable screw terminal blocks
24 Vdc
TM241C24U (see page 143)
6 regular inputs(1) 8 fast inputs (counters)(2)
Sink outputs 6 regular transistor outputs 4 fast outputs (pulse generators)(3)
2 serial line ports Removable
1 USB programming screw terminal
port
blocks
24 Vdc
(1) The regular inputs have a maximum frequency of 1 kHz. (2) The fast inputs can be used either as regular inputs or as fast inputs for counting or event functions. (3) The fast transistor outputs can be used either as regular transistor outputs, as reflex outputs for counting function
(HSC), or as fast transistor outputs for pulse generator functions (FreqGen / PTO / PWM).
20
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M241 General Overview
Reference
Digital Inputs
Digital Outputs
Communication Ports
Terminal Type Power supply
TM241CE24U (see page 149)
6 regular inputs(1) 8 fast inputs (counters)(2)
Sink outputs 6 regular transistor outputs 4 fast outputs (pulse generators)(3)
2 serial line ports 1 USB programming port 1 Ethernet port
Removable screw terminal blocks
24 Vdc
TM241CEC24U 6 regular inputs(1) (see page 155) 8 fast inputs
(counters)(2)
Sink outputs 6 regular transistor outputs 4 fast outputs (pulse generators)(3)
2 serial line ports 1 USB programming port 1 Ethernet port 1 CANopen master port
Removable screw terminal blocks
24 Vdc
TM241C40R (see page 161)
16 regular inputs(1) 8 fast inputs (counters)(2)
12 2A relay outputs 2 serial line ports Removable
4 source fast outputs 1 USB programming screw terminal
(pulse generators)(3) port
blocks
100...240 Vac
TM241CE40R (see page 167)
16 regular inputs(1) 8 fast inputs (counters)(2)
12 2A relay outputs 4 source fast outputs (pulse generators)(3)
2 serial line ports 1 USB programming port 1 Ethernet port
Removable screw terminal blocks
100...240 Vac
TM241C40T (see page 173)
16 regular inputs(1) 8 fast inputs (counters)(2)
Source outputs 12 regular transistor outputs 4 fast outputs (pulse generators)(3)
2 serial line ports Removable
1 USB programming screw terminal
port
blocks
24 Vdc
TM241CE40T (see page 179)
16 regular inputs(1) 8 fast inputs (counters)(2)
Source outputs 12 regular transistor outputs 4 fast outputs (pulse generators)(3)
2 serial line ports 1 USB programming port 1 Ethernet port
Removable screw terminal blocks
24 Vdc
TM241C40U (see page 185)
16 regular inputs(1) 8 fast inputs (counters)(2)
Sink outputs 12 regular transistor outputs 4 fast outputs (pulse generators)(3)
2 serial line ports Removable
1 USB programming screw terminal
port
blocks
24 Vdc
(1) The regular inputs have a maximum frequency of 1 kHz. (2) The fast inputs can be used either as regular inputs or as fast inputs for counting or event functions. (3) The fast transistor outputs can be used either as regular transistor outputs, as reflex outputs for counting function
(HSC), or as fast transistor outputs for pulse generator functions (FreqGen / PTO / PWM).
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M241 General Overview
Reference
Digital Inputs
Digital Outputs
Communication Ports
Terminal Type Power supply
TM241CE40U (see page 191)
16 regular inputs(1) 8 fast inputs (counters)(2)
Sink outputs 12 regular transistor outputs 4 fast outputs (pulse generators)(3)
2 serial line ports 1 USB programming port 1 Ethernet port
Removable screw terminal blocks
24 Vdc
(1) The regular inputs have a maximum frequency of 1 kHz. (2) The fast inputs can be used either as regular inputs or as fast inputs for counting or event functions. (3) The fast transistor outputs can be used either as regular transistor outputs, as reflex outputs for counting function
(HSC), or as fast transistor outputs for pulse generator functions (FreqGen / PTO / PWM).
Delivery Content The following figure presents the content of the delivery for a M241 Logic Controller:
1 M241 Logic Controller Instruction Sheet 2 M241 Logic Controller 3 Lithium carbon monofluoride battery, type Panasonic BR2032.
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M241 General Overview
Maximum Hardware Configuration
Introduction The M241 Logic Controller is a control system that offers an all-in-one solution with optimized configurations and an expandable architecture.
Local and Remote Configuration Principle The following figure defines the local and remote configurations:
(1) Local configuration (2) Remote configuration
M241 Logic Controller Local Configuration Architecture Optimized local configuration and flexibility are provided by the association of: M241 Logic Controller TM4 expansion modules TM3 expansion modules TM2 expansion modules Application requirements determine the architecture of your M241 Logic Controller configuration. The following figure represents the components of a local configuration:
(A) Expansion modules (3 maximum) (B) Expansion modules (7 maximum)
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M241 General Overview
NOTE: It is prohibited to mount a TM2 module before any TM3 module as indicated in the following figure:
M241 Logic Controller Remote Configuration Architecture Optimized remote configuration and flexibility are provided by the association of: M241 Logic Controller TM4 expansion modules TM3 expansion modules TM3 transmitter and receiver modules Application requirements determine the architecture of your M241 Logic Controller configuration. NOTE: You cannot use TM2 modules in configurations that include the TM3 transmitter and receiver modules. The following figure represents the components of a remote configuration:
(1) Logic controller and modules (C) TM3 expansion modules (7 maximum)
24
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M241 General Overview
Maximum Number of Modules The following table shows the maximum configuration supported:
References
Maximum
Type of Configuration
TM241����
7 TM3 / TM2 expansion modules
Local
TM241����
3 TM4 expansion modules
Local
TM3XREC1
7 TM3 expansion modules
Remote
NOTE: TM3 transmitter and receiver modules are not included in a count of the maximum number of
expansion modules.
NOTE: The configuration with its TM4, TM3, and TM2 expansion modules is validated by EcoStruxure Machine Expert software in the Configuration window.
NOTE: In some environments, the maximum configuration populated by high consummation modules, coupled with the maximum distance allowable between the TM3 transmitter and receiver modules, may present bus communication issues although the EcoStruxure Machine Expert software allowed for the configuration. In such a case you will need to analyze the consummation of the modules chosen for your configuration, as well as the minimum cable distance required by your application, and possibly seek to optimize your choices.
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M241 General Overview
TMC4 Cartridges
Overview You can expand the number of I/Os of your Modicon M241 Logic Controller by adding TMC4 cartridges.
For more information, refer to the TMC4 Cartridges Hardware Guide.
TMC4 Standard Cartridges
The following table presents the general-purpose TMC4 cartridges with the corresponding channel type, voltage/current range, and terminal type:
Reference TMC4AI2 TMC4TI2
TMC4AQ2
Channels 2 2
2
Channel Type
Analog inputs (voltage or current)
Voltage Current
0...10 Vdc 0...20 mA or 4...20 mA
Analog temperature inputs
Thermocouple type K, J, R, S, B, E, T, N,C 3 wires RTD type Pt100, Pt1000, Ni100, Ni1000
Analog outputs
0...10 Vdc
(voltage or current) 4...20 mA
Terminal Type
3.81 mm (0.15 in.) pitch, removable spring terminal block 3.81 mm (0.15 in.) pitch, removable spring terminal block
3.81 mm (0.15 in.) pitch, removable spring terminal block
TMC4 Application Cartridges
The following table presents the applicative TMC4 cartridges with the corresponding channel type, voltage/current range, and terminal type:
Reference TMC4HOIS01 TMC4PACK01
Channels 2
Channel Type
Analog inputs (voltage or current)
Voltage Current
0...10 Vdc 0...20 mA or 4...20 mA
2
Analog inputs
0...10 Vdc
(voltage or current) 0...20 mA or 4...20 mA
Terminal Type
3.81 mm (0.15 in.) pitch, removable spring terminal block 3.81 mm (0.15 in.) pitch, removable spring terminal block
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M241 General Overview
TM2 Expansion Modules
Overview
You can expand the number of I/Os of your M241 Logic Controller by adding TM2 I/O expansion modules.
The following types of electronic modules are supported: TM2 digital I/O expansion modules TM2 analog I/O expansion modules
For more information, refer to the following documents: TM2 Digital I/O Expansion Modules Hardware Guide TM2 Analog I/O Expansion Modules Hardware Guide
NOTE: TM2 modules can only be used in the local configuration, and only if there is no TM3 transmitter and receiver modules present in the configuration.
NOTE: It is prohibited to mount a TM2 module before any TM3 module. The TM2 modules must be mounted and configured at the end of the local configuration.
TM2 Digital Input Expansion Modules
The following table shows the compatible TM2 digital input expansion modules with the corresponding channel type, nominal voltage/current, and terminal type:
Reference TM2DAI8DT TM2DDI8DT TM2DDI16DT TM2DDI16DK TM2DDI32DK
Channels Channel Type
8
Regular inputs
8
Regular inputs
16
Regular inputs
16
Regular inputs
32
Regular inputs
Voltage Current
120 Vac 7.5 mA
24 Vdc 7 mA
24 Vdc 7 mA
24 Vdc 5 mA
24 Vdc 5 mA
Terminal Type
Removable screw terminal block Removable screw terminal block Removable screw terminal block HE10 (MIL 20) connector HE10 (MIL 20) connector
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M241 General Overview
TM2 Digital Output Expansion Modules
The following table shows the compatible TM2 digital output expansion modules with the corresponding channel type, nominal voltage/current, and terminal type:
Reference TM2DRA8RT TM2DRA16RT TM2DDO8UT TM2DDO8TT TM2DDO16UK TM2DDO16TK TM2DDO32UK TM2DDO32TK
Channels 8 16 8 8 16 16 32 32
Channel type
Relay outputs
Relay outputs
Regular transistor outputs (sink) Regular transistor outputs (source) Regular transistor outputs (sink) Regular transistor outputs (source) Regular transistor outputs (sink) Regular transistor outputs (source)
Voltage Current
30 Vdc / 240 Vac 2 A max
30 Vdc / 240 Vac 2 A max
24 Vdc 0.3 A max per output
24 Vdc 0.5 A max per output
24 Vdc 0.1 A max per output
24 Vdc 0.4 A max per output
24 Vdc 0.1 A max per output
24 Vdc 0.4 A max per output
Terminal type
Removable screw terminal block
Removable screw terminal block
Removable screw terminal block
Removable screw terminal block
HE10 (MIL 20) connector
HE10 (MIL 20) connector
HE10 (MIL 20) connector
HE10 (MIL 20) connector
TM2 Digital Mixed Input/Output Expansion Modules
The following table shows the compatible TM2 digital mixed I/O expansion modules with the corresponding channel type, nominal voltage/current, and terminal type:
Reference TM2DMM8DRT
TM2DMM24DRF
Channels Channel type
4
Regular inputs
4
Relay outputs
16
Regular inputs
8
Relay outputs
Voltage Current
24 Vdc 7 mA
24 Vdc / 240 Vac 7 A maximum per common line / 2 A maximum per output
24 Vdc 7 mA
24 Vdc / 240 Vac 7 A maximum per common line / 2 A maximum per output
Terminal type Removable screw terminal block
Non-removable spring terminal block
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M241 General Overview
TM2 Analog Input Expansion Modules
The following table shows the compatible TM2 analog input expansion modules with the corresponding channel type, nominal voltage/current, and terminal type:
Reference TM2AMI2HT TM2AMI2LT TM2AMI4LT
TM2AMI8HT TM2ARI8HT TM2ARI8LRJ TM2ARI8LT
Channels 2 2 4
8 8 8 8
Channel type High-level inputs Low-level inputs Analog inputs
Analog inputs Analog inputs Analog inputs Analog inputs
Voltage Current
0...10 Vdc 4...20 mA
Thermocouple type J,K,T
0...10 Vdc 0...20 mA PT100/1000 Ni100/1000
0...20 mA 0...10 Vdc
NTC / PTC
PT100/1000
PT100/1000
Terminal Type
Removable screw terminal block Removable screw terminal block Removable screw terminal block
Removable screw terminal block Removable screw terminal block RJ11 connector Removable screw terminal block
TM2 Analog Output Expansion Modules
The following table shows the compatible TM2 analog output expansion modules with the corresponding channel type, nominal voltage/current, and terminal type:
Reference TM2AMO1HT TM2AVO2HT
Channels Channel type
1
Analog outputs
2
Analog outputs
Voltage Current
0...10 Vdc 4...20 mA
+/- 10 Vdc
Terminal Type
Removable screw terminal block Removable screw terminal block
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M241 General Overview
TM2 Analog Mixed Input/Output Expansion Modules
The following table shows the compatible TM2 analog mixed I/O expansion modules with the corresponding channel type, nominal voltage/current, and terminal type:
Reference TM2AMM3HT TM2AMM6HT TM2ALM3LT
Channels Channel type
2
Analog inputs
1
Analog outputs
4
Analog inputs
2
Analog outputs
2
Low-level inputs
1
Analog outputs
Voltage Current
Terminal Type
0...10 Vdc 4...20 mA Removable screw 0...10 Vdc 4...20 mA terminal block
0...10 Vdc 4...20 mA Removable screw 0...10 Vdc 4...20 mA terminal block
Thermo J,K,T, PT100
Removable screw terminal block
0...10 Vdc 4...20 mA
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M241 General Overview
TM3 Expansion Modules
Introduction
The range of TM3 expansion modules includes: Digital modules, classified as follows:
Input modules (see page 31) Output modules (see page 32) Mixed input/output modules (see page 34)
Analog modules, classified as follows: Input modules (see page 35) Output modules (see page 36) Mixed input/output modules (see page 37)
Expert modules (see page 38) Safety modules (see page 38) Transmitter and Receiver modules (see page 39)
For more information, refer to the following documents: TM3 Digital I/O Modules Hardware Guide TM3 Analog I/O Modules Hardware Guide TM3 Expert I/O Modules Hardware Guide TM3 Safety Modules Hardware Guide TM3 Transmitter and Receiver Modules Hardware Guide
TM3 Digital Input Modules
The following table shows the TM3 digital input expansion modules, with corresponding channel type, nominal voltage/current, and terminal type:
Reference TM3DI8A TM3DI8 TM3DI8G TM3DI16
Channels Channel Type
8
Regular inputs
8
Regular inputs
8
Regular inputs
16
Regular inputs
Voltage Current 120 Vac 7.5 mA
24 Vdc 7 mA
24 Vdc 7 mA
24 Vdc 7 mA
Terminal Type / Pitch
Removable screw terminal block / 5.08 mm
Removable screw terminal block / 5.08 mm
Removable spring terminal block / 5.08 mm
Removable screw terminal blocks / 3.81 mm
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M241 General Overview
Reference TM3DI16G
TM3DI16K TM3DI32K
Channels Channel Type
16
Regular inputs
16
Regular inputs
32
Regular inputs
Voltage Current 24 Vdc 7 mA
24 Vdc 5 mA 24 Vdc 5 mA
Terminal Type / Pitch
Removable spring terminal blocks / 3.81 mm HE10 (MIL 20) connector HE10 (MIL 20) connector
TM3 Digital Output Modules
The following table shows the TM3 digital output expansion modules, with corresponding channel type, nominal voltage/current, and terminal type:
Reference TM3DQ8R TM3DQ8RG TM3DQ8T TM3DQ8TG TM3DQ8U TM3DQ8UG TM3DQ16R
Channels 8 8 8 8 8 8 16
Channel Type Relay outputs
Relay outputs
Regular transistor outputs (source)
Regular transistor outputs (source)
Regular transistor outputs (sink)
Regular transistor outputs (sink)
Relay outputs
Voltage Current
Terminal Type / Pitch
24 Vdc / 240 Vac Removable screw 7 A maximum per terminal block / common line / 2 A 5.08 mm maximum per output
24 Vdc / 240 Vac Removable spring 7 A maximum per terminal block / common line / 2 A 5.08 mm maximum per output
24 Vdc
Removable screw
4 A maximum per terminal block /
common line/0.5 A 5.08 mm
maximum per output
24 Vdc
Removable spring
4 A maximum per terminal block /
common line/0.5 A 5.08 mm
maximum per output
24 Vdc
Removable screw
4 A maximum per terminal block /
common line/0.5 A 5.08 mm
maximum per output
24 Vdc
Removable spring
4 A maximum per terminal block /
common line/0.5 A 5.08 mm
maximum per output
24 Vdc / 240 Vac Removable screw 8 A maximum per terminal blocks / common line / 2 A 3.81 mm maximum per output
32
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Reference TM3DQ16RG TM3DQ16T TM3DQ16TG TM3DQ16U TM3DQ16UG TM3DQ16TK TM3DQ16UK TM3DQ32TK TM3DQ32UK
M241 General Overview
Channels 16 16 16 16 16 16 16 32 32
Channel Type Relay outputs
Regular transistor outputs (source)
Regular transistor outputs (source)
Regular transistor outputs (sink)
Regular transistor outputs (sink)
Regular transistor outputs (source)
Regular transistor outputs (sink)
Regular transistor outputs (source)
Regular transistor outputs (sink)
Voltage Current
Terminal Type / Pitch
24 Vdc / 240 Vac Removable spring 8 A maximum per terminal blocks / common line / 2 A 3.81 mm maximum per output
24 Vdc
Removable screw
8 A maximum per terminal blocks /
common line / 0.5 A 3.81 mm
maximum per output
24 Vdc
Removable spring
8 A maximum per terminal blocks /
common line / 0.5 A 3.81 mm
maximum per output
24 Vdc
Removable screw
8 A maximum per terminal blocks /
common line / 0.5 A 3.81 mm
maximum per output
24 Vdc
Removable spring
8 A maximum per terminal blocks /
common line / 0.5 A 3.81 mm
maximum per output
24 Vdc
HE10 (MIL 20)
2 A maximum per connector
common line / 0.1 A
maximum per output
24 Vdc
HE10 (MIL 20)
2 A maximum per connector
common line / 0.1 A
maximum per output
24 Vdc
HE10 (MIL 20)
2 A maximum per connectors
common line / 0.1 A
maximum per output
24 Vdc
HE10 (MIL 20)
2 A maximum per connectors
common line / 0.1 A
maximum per output
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M241 General Overview
TM3 Digital Mixed Input/Output Modules
This following table shows the TM3 mixed I/O modules, with corresponding channel type, nominal voltage/current, and terminal type:
Reference TM3DM8R TM3DM8RG TM3DM24R TM3DM24RG
Channels Channel Type
4
Regular inputs
4
Relay outputs
4
Regular inputs
4
Relay outputs
16
Regular inputs
8
Relay outputs
16
Regular inputs
8
Relay outputs
Voltage Current
Terminal Type / Pitch
24 Vdc
Removable screw
7 mA
terminal block /
24 Vdc / 240 Vac 5.08 mm
7 A maximum per
common line / 2 A
maximum per output
24 Vdc 7 mA
Removable spring terminal block /5.08 mm
24 Vdc / 240 Vac 7 A maximum per common line / 2 A maximum per output
24 Vdc
Removable screw
7 mA
terminal
24 Vdc / 240 Vac blocks / 3.81 mm
7 A maximum per
common line / 2 A
maximum per output
24 Vdc
Removable spring
7 mA
terminal
24 Vdc / 240 Vac blocks / 3.81 mm
7 A maximum per
common line / 2 A
maximum per output
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M241 General Overview
TM3 Analog Input Modules
The following table shows the TM3 analog input expansion modules, with corresponding resolution, channel type, nominal voltage/current, and terminal type:
Reference TM3AI2H TM3AI2HG TM3AI4 TM3AI4G TM3AI8
TM3AI8G
TM3TI4
Resolution Channels
16 bit, or
2
15 bit + sign
16 bit, or
2
15 bit + sign
12 bit, or
4
11 bit + sign
12 bit, or
4
11 bit + sign
12 bit, or
8
11 bit + sign
12 bit, or
8
11 bit + sign
16 bit, or
4
15 bit + sign
Channel Type inputs inputs inputs inputs inputs
inputs
inputs
Mode
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA 0...20 mA extended 4...20 mA extended
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA 0...20 mA extended 4...20 mA extended
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA Thermocouple PT100/1000 NI100/1000
Terminal Type / Pitch Removable screw terminal block / 5.08 mm
Removable spring terminal block / 5.08 mm
Removable screw terminal block / 3.81 mm
Removable spring terminal blocks / 3.81 mm
Removable screw terminal block / 3.81 mm
Removable spring terminal blocks / 3.81 mm
Removable screw terminal block / 3.81 mm
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M241 General Overview
Reference TM3TI4G
TM3TI4D TM3TI4DG TM3TI8T TM3TI8TG
Resolution Channels
16 bit, or
4
15 bit + sign
16 bit, or
4
15 bit + sign
Channel Type inputs
inputs
Mode
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA Thermocouple PT100/1000 NI100/1000
Thermocouple
16 bit, or
4
15 bit + sign
inputs
Thermocouple
16 bit, or
8
15 bit + sign
16 bit, or
8
15 bit + sign
inputs inputs
Thermocouple NTC/PTC Ohmmeter
Thermocouple NTC/PTC Ohmmeter
Terminal Type / Pitch Removable spring terminal blocks / 3.81 mm
Removable screw terminal block / 3.81 mm Removable spring terminal blocks / 3.81 mm Removable screw terminal block / 3.81 mm Removable spring terminal blocks / 3.81 mm
TM3 Analog Output Modules
The following table shows the TM3 analog output modules, with corresponding resolution, channel type, nominal voltage/current, and terminal type:
Reference TM3AQ2 TM3AQ2G TM3AQ4 TM3AQ4G
Resolution Channels
12 bit, or
2
11 bit + sign
12 bit, or
2
11 bit + sign
12 bit, or
4
11 bit + sign
12 bit, or
4
11 bit + sign
Channel Type outputs
outputs
outputs
outputs
Mode
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA
Terminal Type / Pitch
Removable screw terminal block / 5.08 mm
Removable spring terminal block / 5.08 mm
Removable screw terminal block / 5.08 mm
Removable spring terminal block / 5.08 mm
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M241 General Overview
TM3 Analog Mixed Input/Output Modules
This following table shows the TM3 analog mixed I/O modules, with corresponding resolution, channel type, nominal voltage/current, and terminal type:
Reference TM3AM6 TM3AM6G TM3TM3
TM3TM3G
Resolution Channels
12 bit, or
4
11 bit + sign 2
12 bit, or
4
11 bit + sign 2
16 bit, or
2
15 bit + sign
12 bit, or
1
11 bit + sign
16 bit, or
2
15 bit + sign
12 bit, or
1
11 bit + sign
Channel Type inputs outputs inputs outputs inputs
outputs
inputs
outputs
Mode
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA Thermocouple PT100/1000 NI100/1000
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA Thermocouple PT100/1000 NI100/1000
0...10 Vdc -10...+10 Vdc 0...20 mA 4...20 mA
Terminal Type / Pitch
Removable screw terminal block / 3.81 mm
Removable spring terminal block / 3.81 mm
Removable screw terminal block / 5.08 mm
Removable spring terminal block / 5.08 mm
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M241 General Overview
TM3 Expert Modules The following table shows the TM3 expert expansion modules, with corresponding terminal types:
Reference TM3XTYS4
TM3XHSC202 TM3XHSC202G
Description TeSys module
High Speed Counting (HSC) module High Speed Counting (HSC) module
Terminal Type / Pitch
4 front connectors RJ-45 1 removable power supply connector / 5.08 mm
Removable screw terminal blocks / 3.81 mm
Removable spring terminal blocks / 3.81 mm
TM3 Safety Modules
This table contains the TM3 safety modules, with the corresponding channel type, nominal voltage/current, and terminal type:
Reference TM3SAC5R
Function Category
1 function, up to category 3
Channels
1 or 2 (1) Start (2) 3 in parallel
TM3SAC5RG
1 function, up to category 3
1 or 2 (1) Start (2) 3 in parallel
TM3SAF5R
1 function, up to category 4
2 (1) Start 3 in parallel
TM3SAF5RG
1 function, up to category 4
2 (1) Start 3 in parallel
(1) Depending on external wiring (2) Non-monitored start
Channel type
Safety input
Input
Relay outputs Normally open Safety input
Input
Relay outputs Normally open Safety inputs
Input Relay outputs Normally open Safety inputs
Input Relay outputs Normally open
Voltage Current 24 Vdc 100 mA maximum
24 Vdc / 230 Vac 6 A maximum per output 24 Vdc 100 mA maximum
24 Vdc / 230 Vac 6 A maximum per output 24 Vdc 100 mA maximum
24 Vdc / 230 Vac 6 A maximum per output 24 Vdc 100 mA maximum
24 Vdc / 230 Vac 6 A maximum per output
Terminal type
3.81 mm (0.15 in.) and 5.08 mm (0.20 in.), removable screw terminal block
3.81 mm (0.15 in.) and 5.08 mm (0.20 in.), removable spring terminal block
3.81 mm (0.15 in.) and 5.08 mm (0.20 in.), removable screw terminal block
3.81 mm (0.15 in.) and 5.08 mm (0.20 in.), removable spring terminal block
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M241 General Overview
Reference TM3SAFL5R
Function Category
Channels
2 functions, up to category 3
2 (1) Start 3 in parallel
TM3SAFL5RG
2 functions, up to category 3
2 (1) Start 3 in parallel
TM3SAK6R
3 functions, up to category 4
1 or 2 (1) Start 3 in parallel
TM3SAK6RG
3 functions, up to category 4
1 or 2 (1) Start 3 in parallel
(1) Depending on external wiring (2) Non-monitored start
Channel type
Safety inputs
Input Relay outputs Normally open Safety inputs
Input Relay outputs Normally open Safety inputs
Input Relay outputs Normally open Safety inputs
Input Relay outputs Normally open
Voltage Current 24 Vdc 100 mA maximum
24 Vdc / 230 Vac 6 A maximum per output 24 Vdc 100 mA maximum
24 Vdc / 230 Vac 6 A maximum per output 24 Vdc 100 mA maximum
24 Vdc / 230 Vac 6 A maximum per output 24 Vdc 100 mA maximum
24 Vdc / 230 Vac 6 A maximum per output
Terminal type
3.81 mm (0.15 in.) and 5.08 mm (0.20 in.), removable screw terminal block
3.81 mm (0.15 in.) and 5.08 mm (0.20 in.), removable spring terminal block
3.81 mm (0.15 in.) and 5.08 mm (0.20 in.), removable screw terminal block
3.81 mm (0.15 in.) and 5.08 mm (0.20 in.), removable spring terminal block
TM3 Transmitter and Receiver Modules The following table shows the TM3 transmitter and receiver expansion modules:
Reference TM3XTRA1
TM3XREC1
Description Data transmitter module for remote I/O
Data receiver module for remote I/O
Terminal Type / Pitch
1 front connector RJ-45 1 screw for functional ground connection
1 front connector RJ-45 Power supply connector / 5.08 mm
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M241 General Overview
TM3 Bus Couplers
Introduction The TM3 bus coupler is a device designed to manage fieldbus communication when using TM2 and TM3 expansion modules in a distributed architecture.
For more information, refer to the Modicon TM3 Bus Coupler Hardware Guide.
Modicon TM3 Bus Couplers The following table shows the TM3 bus couplers, with ports and terminal types:
Reference TM3BCEIP
TM3BCSL
Port 2 isolated switched Ethernet ports 1 USB mini-B port 2 isolated ports
1 USB mini-B port
Communication type
EtherNet/IP Modbus TCP
USB 2.0
Serial Line Modbus
USB 2.0
Terminal type RJ45
USB mini-B RJ45
USB mini-B
40
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M241 General Overview
TM4 Expansion Modules
Introduction The range of TM4 expansion modules includes communication modules. For more information, refer to the TM4 Expansion Modules Hardware Guide.
TM4 Expansion Modules The following table shows the TM4 expansion module features:
Module reference
Type
Terminal type
TM4ES4
Ethernet communication
4 RJ45 connectors 1 screw for functional ground connection
TM4PDPS1
PROFIBUS DP slave communication 1 SUB-D 9 pins female connector 1 screw for functional ground connection
NOTE: The TM4ES4 module has two applications: expansion or standalone. For more information, refer to
TM4 Compatibility.
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M241 General Overview
TM5 Fieldbus Interfaces
Introduction The TM5 fieldbus interfaces are devices designed to manage EtherNet/IP communication when using TM5 System and TM7 expansion modules with a controller in a distributed architecture.
For more information, refer to the Modicon TM5 System Interface � Hardware Guide.
TM5 Fieldbus Interfaces The following table shows the TM5 fieldbus interfaces with ports and terminal type:
Reference TM5NEIP1
Port 2 Ethernet switched ports
Communication type EtherNet/IP
Terminal type RJ45
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M241 General Overview
TM5 CANopen Fieldbus Interfaces
Introduction The TM5 fieldbus module is a CANopen interface with built-in power distribution and is the first TM5 distributed I/O island.
For more information, refer to the Modicon TM5 CANopen Interface Hardware Guide.
Modicon TM5 CANopen Fieldbus Interfaces The following table shows the TM5 CANopen fieldbus interfaces:
Reference TM5NCO1
Communication type CANopen
Terminal type 1 SUB-D 9, male
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M241 General Overview
TM7 CANopen Fieldbus Interfaces
Introduction The TM7 fieldbus modules are CANopen interfaces with 24 Vdc digital configurable input or output on 8 or 16 channels.
For more information, refer to the Modicon TM7 CANopen Interface I/O Blocks Hardware Guide.
Modicon TM7 CANopen Fieldbus Interfaces The following table shows the TM7 CANopen fieldbus interfaces:
Reference TM7NCOM08B
TM7NCOM16A
TM7NCOM16B
Number of channels
8 inputs 8 outputs
16 inputs 16 outputs
16 inputs 16 outputs
Voltage/Current
24 Vdc / 4 mA 24 Vdc / 500 mA
24 Vdc / 4 mA 24 Vdc / 500 mA
24 Vdc / 4 mA 24 Vdc / 500 mA
Communication type CANopen
CANopen
CANopen
Terminal type M8 Connector
M8 Connector
M12 Connector
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M241 General Overview
Accessories
Overview This section describes the accessories and cables.
Accessories
Reference TMASD1
TMAT2CSET TMAT2PSET NSYTRAAB35
TM2XMTGB TM200RSRCEMC
Description
Use
Quantity
SD Card (see page 63)
Use to update the controller firmware, initialize a 1 controller with a new application or clone a controller, manage user files, etc.,.
Set of 5 removable Connects M241 Logic Controller embedded I/Os. 1 screw terminal block
Set of 5 removable Connects 24 Vdc power supply.
1
screw terminal block
End brackets
Helps secure the controller or receiver module and 1 their expansion modules on a top hat section rail (DIN rail).
Grounding Bar
Connects the cable shield and the module to the 1 functional ground.
Shielding take-up clip
Mounts and connects the ground to the cable shielding.
25 pack
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M241 General Overview
Cables
Reference
Description
Details
Length
TCSXCNAMUM3P Terminal port/USB From the USB mini-B port on the M241 Logic 3 m
port cordset
Controller to USB port on the PC terminal.
(10 ft)
BMXXCAUSBH018 Terminal port/USB From the USB mini-B port on the M241 Logic 1.8 m
port cordset
Controller to USB port on the PC terminal.
(5.9 ft)
NOTE: Grounded and shielded, this USB
cable is suitable for long-duration connections.
490NTW000��
Ethernet shielded Standard cable, equipped with RJ45
cable for DTE
connectors at each end for DTE.
connections
CE compliant.
2, 5, 12, 40, or 80 m (6.56, 16.4, 39.37, 131.23 or 262.47 ft)
490NTW000��U
Standard cable, equipped with RJ45 connectors at each end for DTE. UL compliant.
2, 5, 12, 40, or 80 m (6.56, 16.4, 39.37, 131.23, or 262.47 ft)
TCSECE3M3M��S4
Cable for harsh environment, equipped with RJ45 connectors at each end. CE compliant.
1, 2, 3, 5, or 10 m (3.28, 6.56, 9.84, 16.4, 32.81 ft)
TCSECU3M3M��S4
Cable for harsh environment, equipped with RJ45 connectors at each end. UL compliant.
1, 2, 3, 5, or 10 m (3.28, 6.56, 9.84, 16.4, 32.81 ft)
46
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Modicon M241 Logic Controller M241 Features EIO0000003083 12/2019
M241 Features
Chapter 2
M241 Features
Overview This chapter describes the Modicon M241 Logic Controller features.
What Is in This Chapter? This chapter contains the following topics:
Real Time Clock (RTC) Input Management Output Management Run/Stop SD Card
Topic
Page 48 52 56 61 63
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M241 Features
Real Time Clock (RTC)
Overview
The M241 Logic Controller includes an RTC to provide system date and time information, and to support related functions requiring a real-time clock. To continue keeping time when power is off, a non-rechargeable battery is required (see reference below). A battery LED on the front panel of the controller indicates if the battery is depleted or absent.
This table shows how RTC drift is managed:
RTC Characteristics RTC drift
Description
Less than 60 seconds per month without any user calibration at 25 �C (77 �F)
Battery The controller has one battery. In the event of a power interruption, the backup battery maintains the RTC for the controller. This table shows the characteristics of the battery:
Characteristics Use Backup life
Battery monitoring Replaceable Controller battery type
Description In the event of a transient power outage, the battery powers the RTC. At least 2 years at 25 �C maximum (77 �F). At higher temperatures, the time is reduced. Yes Yes Lithium carbon monofluoride, type Panasonic BR2032
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M241 Features
Installing and Replacing the Battery
While lithium batteries are preferred due to their slow discharge and long life, they can present hazards to personnel, equipment and the environment and must be handled properly.
DANGER
EXPLOSION, FIRE, OR CHEMICAL BURNS
Replace with identical battery type. Follow all the instructions of the battery manufacturer. Remove all replaceable batteries before discarding unit. Recycle or properly dispose of used batteries. Protect battery from any potential short-circuit. Do not recharge, disassemble, heat above 100 �C (212 �F), or incinerate. Use your hands or insulated tools to remove or replace the battery. Maintain proper polarity when inserting and connecting a new battery.
Failure to follow these instructions will result in death or serious injury.
To install or replace the battery, follow these steps:
Step 1 2
Action Remove power from your controller. Use an insulated screw-driver to pull out the battery holder.
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M241 Features
Step 3
Action Slide out the battery holder of the controller.
4 Remove the battery from the battery holder.
5 Insert the new battery into the battery holder in accordance with the polarity markings on the battery.
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M241 Features
Step 6
Action Replace the battery holder on the controller and verify that the latch clicks into place.
7 Slide in the battery holder of the controller.
8 Power up your M241 Logic Controller. 9 Set the internal clock. For further details on the internal clock, refer to Programming Guide
(see Modicon M241 Logic Controller, Programming Guide).
NOTE: Replacement of the battery in the controllers other than with the type specified in this documentation may present a risk of fire or explosion.
WARNING
IMPROPER BATTERY CAN PROVOKE FIRE OR EXPLOSION Replace battery only with identical type: Panasonic Type BR2032. Failure to follow these instructions can result in death, serious injury, or equipment damage.
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M241 Features
Input Management
Overview
The M241 Logic Controller features digital inputs, including 8 fast inputs.
The following functions are configurable: Filters (depends on the function associated with the input). All inputs can be used for the Run/Stop function. 8 fast inputs can be either latched or used for events (rising edge, falling edge, or both) and thus
be linked to an external task.
NOTE: All inputs can be used as regular inputs.
Input Management Functions Availability Embedded digital inputs can be configured as functions (Run/Stop, events, HSC). Inputs not configured as functions are used as regular inputs. The following table shows the possible usage of the M241 Logic Controller digital inputs:
Function
Filter type Fast inputs1 Regular inputs
None Integrator
I8...I132 I8...I233
� No 1 Can also be used as regular inputs 2 For M241 with 24 I/O channels 3 For M241 with 40 I/O channels 4 Limited to 1 kHz
Input Function
RUN/STOP
Latch
Integrator
Bounce
I0...I7
I8...I132
�
I8...I233
Event Bounce
�
HSC
I8...I132 4 I8...I153 4
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M241 Features
Integrator Filter Principle The integrator filter is designed to reduce the effect of noise. Setting a filter value allows the logic controller to ignore some sudden changes of input levels caused by noise. The following timing diagram illustrates the integrator filter effects for a value of 4 ms:
NOTE: The value selected for the filter's time parameter specifies the cumulative time in ms that must elapse before the input can be 1.
Bounce Filter Principle The bounce filter is designed to reduce the bouncing effect at the inputs. Setting a bounce filter value allows the controller to ignore some sudden changes of input levels caused by electrical noise. The bounce filter is only available on the fast inputs. The following timing diagram illustrates the anti-bounce filter effects:
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M241 Features
Bounce Filter Availability The bounce filter can be used on a fast input when: Using a latch or event HSC is enabled
Latching Latching is a function that can be assigned to the M241 Logic Controller fast inputs. This function is used to memorize (or latch) any pulse with a duration that is less than the M241 Logic Controller scan time. When a pulse is shorter than one scan, the controller latches the pulse, which is then updated in the next scan. This latching mechanism only recognizes rising edges. Falling edges cannot be latched. Assigning inputs to be latched is done in the I/O Configuration tab in EcoStruxure Machine Expert. The following timing diagram illustrates the latching effects:
Event An input configured for Event can be associated with an External Task (see Modicon M241 Logic Controller, Programming Guide).
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M241 Features
Run/Stop The Run/Stop function is used to start or stop an application program using an input. In addition to the embedded Run/Stop switch, it is allowed to configure one (and only one) input as an additional Run/Stop command. For more information, refer to Run/Stop (see page 61).
WARNING
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.
WARNING
UNINTENDED EQUIPMENT OPERATION Use the sensor and actuator power supply only for supplying power to sensors or actuators connected to the module. Failure to follow these instructions can result in death, serious injury, or equipment damage.
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M241 Features
Output Management
Introduction
The M241 Logic Controller features both regular and fast transistor outputs (PTO / PWM / FreqGen).
The following output functions are configurable on the transistor outputs: Alarm output HSC (reflex features on HSC threshold) PTO PWM FreqGen
NOTE: All outputs can be used as regular outputs.
Output Management Availability
The following table shows the possible usage of the M241 Logic Controller digital outputs on references with transistor outputs:
TM241C�40T / TM241C�40U TM241C��24T / TM241C��24U
Reference
Function
Q0
Fast
Q1
output Q2
Q3
Q4
Q5
Q6
Q7
Q8
Regular Q9 output Q10
Q11
Q12
Q13
Q14
Q15
Alarm Output
X X X X X X X X X X X X X X X X
HSC
Reflex output 0 or 1 Reflex output 0 or 1 Reflex output 0 or 1 Reflex output 0 or 1 Reflex output 0 or 1 Reflex output 0 or 1 Reflex output 0 or 1 Reflex output 0 or 1
� � � � � � � �
FreqGen
Output A Output A Output A Output A Output A Output A Output A Output A
� � � � � � � �
PWM
PTO
Output A Output A Output A Output A Output A Output A Output A Output A
� � � � � � � �
Output A or B Output A or B Output A or B Output A or B Output A or B Output A or B Output A or B Output A or B
� � � � � � � �
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M241 Features
The following table shows the possible usage of the M241 Logic Controller on references with relay outputs:
TM241C�40R TM241C��24R
Reference
Function
Q0
Fast
Q1
output Q2
Q3
Q4
Q5
Q6
Q7
Q8
Regular Q9 output Q10
Q11
Q12
Q13
Q14
Q15
Alarm Output
HSC
X Reflex output 0 or 1
X Reflex output 0 or 1
X Reflex output 0 or 1
X Reflex output 0 or 1
X Reflex output 0 or 1
X Reflex output 0 or 1
X Reflex output 0 or 1
X Reflex output 0 or 1
X
�
X
�
X
�
X
�
X
�
X
�
X
�
X
�
FreqGen
Output A Output A Output A Output A
� � � � � � � � � � � �
PWM
PTO
Output A Output A Output A Output A
� � � � � � � � � � � �
Output A or B Output A or B Output A or B Output A or B
� � � � � � � � � � � �
Fallback Modes (Behavior for Outputs in Stop) When the controller enters the STOPPED or one of the exception states for any reason, the local (embedded and expansion) outputs are set to Default Value defined in the application.
In case of PTO outputs, the fallback values are forced to 0 logic (0 Vdc) and these values cannot be modified.
Short-circuit or Over-current on Source Transistor Outputs Outputs are clustered in packs of 4 outputs maximum (less when the total number of outputs of the controller is not a multiple of 4): Q0...Q3 Q4...Q7 Q8...Q11 Q12...Q15
When a short-circuit or overload is detected, the cluster of 4 outputs is set to 0. An automatic rearming is done periodically (about 1 s).
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M241 Features
The following table describes the actions taken on short-circuits or overload of transistor outputs Q0 to Q3:
If...
then...
If you have short-circuit at 0 V on transistor outputs
Transistor outputs automatically go into over-current protection or thermal protection mode. For more information, refer to transistor output wiring diagrams.
If you have short-circuit at 24 V on transistor outputs
Transistor outputs automatically go into over-current protection mode. For more information, refer to transistor output wiring diagrams.
The following table describes the actions taken on short-circuits or overload of transistor outputs from Q4 to Q15:
If... If you have short-circuit at 0 V on transistor outputs
If you have short-circuit at 24 V on transistor outputs
then...
Transistor outputs automatically go into thermal protection mode. For more information, refer to transistor output wiring diagrams.
No action is taken and no error is detectable. A shortcircuit or overvoltage over 24 V may result in equipment damage.
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.
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: The automatic rearming feature can be inhibited. Refer to the Programming Guide of your controller for more information.
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M241 Features
Short-circuit or Over-Current on Sink Transistor Outputs Sink transistor outputs are not internally protected against overloads or short-circuits.
The following table describes the actions taken on overloads or short-circuits on sink transistor outputs from Q0 to Q3:
If... If you have short-circuit at 0 V on transistor outputs
If you have short-circuit at 24 V on transistor outputs
then...
Transistor outputs automatically go into over-current protection or thermal protection mode. For more information, refer to transistor output wiring diagrams.
Transistor outputs automatically go into overcurrent protection mode. For more information, refer to transistor output wiring diagrams.
The following table describes the actions taken on overloads or short-circuits on sink transistor outputs from Q4 to Q15:
If... If you have short-circuit at 0 V on transistor outputs
If you have short-circuit at 24 V on transistor outputs
then...
no action is taken and no error is detectable. A shortcircuit or undervoltage less than 0 V may result in equipment damage.
Transistor outputs automatically go into thermal protection mode. For more information, refer to transistor output wiring diagrams.
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Short-circuit or Over-Current on Relay Outputs Relay outputs are not internally protected against overloads or short-circuits. The following table describes the actions taken on overloads or short-circuits on relay outputs:
If...
then...
If you have short-circuit or overload at 0 V or No action is taken and no error is detectable.
24 V on relay outputs
For more information, refer to relay output wiring diagrams.
Relay outputs are electromechanical switches capable of carrying significant levels of current and voltage. All electromechanical devices have a limited operational life and must be installed so as to minimize the potential for unintended consequences.
WARNING
INOPERABLE OUTPUTS
Use appropriate, external safety interlocks on outputs where personnel and/or equipment hazards exist.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Run/Stop
Run/Stop The M241 Logic 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 more information, refer to Embedded I/Os Configuration (see Modicon M241 Logic Controller, Programming Guide).) an EcoStruxure Machine Expert software command. The M241 Logic Controller has a Run/Stop hardware switch, which puts the controller in a RUN or STOP state.
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The interaction of the 2 external operators on the controller state behavior is summarized in the table below:
Embedded hardware Run/Stop switch
Switch on Stop
Stop to Run transition
Switch on Run
Software configurable Run/Stop digital input
None State 0
STOP Ignores external Run/Stop commands.
STOP Ignores external Run/Stop commands.
Commands a transition to Allows external Run/Stop
RUN state1.
commands.
STOP
STOP
Ignores external Run/Stop Ignores external Run/Stop
commands.
commands.
Rising edge
STOP Ignores external Run/Stop commands.
Commands a transition to Commands a transition to
RUN state1.
RUN state.
State 1
STOP Ignores external Run/Stop commands.
Commands a transition to Allows external Run/Stop
RUN state1.
commands.
1 For more information, refer to the Controller States and Behaviors (see Modicon M241 Logic Controller, Programming Guide).
WARNING
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 or engaging the Run/Stop switch.
Use the Run/Stop input to help prevent the unintentional start-up from a remote location, or from accidentally engaging the Run/Stop switch.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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SD Card
Overview When handling the SD card, follow the instructions below to help prevent internal data on the SD card from being corrupted or lost or an SD card malfunction from occurring:
NOTICE
LOSS OF APPLICATION DATA Do not store the SD card where there is static electricity or probable electromagnetic fields. Do not store the SD card in direct sunlight, near a heater, or other locations where high
temperatures can occur. Do not bend the SD card. Do not drop or strike the SD card against another object. Keep the SD card dry. Do not touch the SD card connectors. Do not disassemble or modify the SD card. Use only SD cards formatted using FAT or FAT32. Failure to follow these instructions can result in equipment damage.
The M241 Logic Controller does not recognize NTFS formatted SD cards. Format the SD card on your computer using FAT or FAT32. When using the M241 Logic Controller and an SD card, observe the following to avoid losing valuable data: Accidental data loss can occur at any time. Once data is lost it cannot be recovered. If you forcibly extract the SD card, data on the SD card may become corrupted. Removing an SD card that is being accessed could damage the SD card, or corrupt its data. If the SD card is not positioned correctly when inserted into the controller, the data on the card
and the controller could become damaged.
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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The following figure shows the SD card slot:
It is possible to set the Write-Control Tab to prevent write operations to the SD card. Push the tab up, as shown in the example on the right-hand side, to release the lock and enable writing to the SD card. Before using an SD card, read the manufacturer's instructions.
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Step 1
Action Insert the SD card into the SD card slot:
M241 Features
2
Push until you hear it "click":
SD Card Slot Characteristics
Topic Supported type
Global memory
Characteristics Standard Capacity High Capacity Size
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Description SD (SDSC) SDHC 16 GB max.
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TMASD1 Characteristics
Characteristics Card removal durability File retention time Flash type Memory size Ambient operation temperature Storage temperature Relative humidity Write/Erase cycles
Description Minimum 1000 times 10 years @ 25 �C (77 �F) SLC NAND 256 MB �10 ... +85�C (14...185 �F) �25 ... +85�C (�13...185 �F) 95% max. non-condensing 3,000,000 (approximately)
NOTE: The TMASD1 has been rigorously tested in association with the logic controller. For other commercially available cards, consult your local sales representative.
NOTE: The SD card can be used directly on your PC.
Status LED The following figure shows the status LEDs:
The following table describes the SD card status LED:
Label SD
Description SD card
LED Color Green
Status On
Off
Description
Indicates that the SD card is being accessed.
Indicates no access.
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Chapter 3
M241 Installation
Overview
This chapter provides installation safety guidelines, device dimensions, mounting instructions, and environmental specifications.
What Is in This Chapter? This chapter contains the following sections:
Section 3.1 3.2 3.3
Topic M241 Logic Controller General Rules for Implementing M241 Logic Controller Installation M241 Electrical Requirements
Page 68 73 87
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M241 Logic Controller General Rules for Implementing
Section
3.1
M241 Logic Controller General Rules for Implementing
What Is in This Section? This section contains the following topics:
Environmental Characteristics Certifications and Standards
Topic
Page 69 72
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Environmental Characteristics
Enclosure Requirements M241 Logic Controller system components are designed as Zone B, Class A industrial equipment according to IEC/CISPR Publication 11. If they are used in environments other than those described in the standard, or in environments that do not meet the specifications in this manual, the ability to meet electromagnetic compatibility requirements in the presence of conducted and/or radiated interference may be reduced. All M241 Logic Controller system components meet European Community (CE) requirements for open equipment as defined by IEC/EN 61131-2. You must install them in an enclosure designed for the specific environmental conditions and to minimize the possibility of unintended contact with hazardous voltages. Use metal enclosures to improve the electromagnetic immunity of your M241 Logic Controller system. Use enclosures with a keyed locking mechanism to minimize unauthorized access.
Environmental Characteristics All the M241 Logic Controller module components are electrically isolated between the internal electronic circuit and the input/output channels within the limits set forth and described by these environmental characteristics. For more information on electrical isolation, see the technical specifications of your particular controller found later in the current document. This equipment meets CE requirements as indicated in the table below. This equipment is intended for use in a Pollution Degree 2 industrial environment.
WARNING
UNINTENDED EQUIPMENT OPERATION Do not exceed any of the rated values specified in the environmental and electrical characteristics tables. Failure to follow these instructions can result in death, serious injury, or equipment damage.
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The following table shows the general environmental characteristics:
Characteristic
Minimum Specification
Tested Range
Standard compliance
IEC/EN 61131-2 � IEC/EN 61010-2201
Ambient operating temperature
�
Horizontal installation
�10...55 �C (14...131 �F)
�
Vertical installation �10...50 �C (14...122 �F)
Storage temperature
�
�25...70 �C (- 13...158 �F)
Relative humidity
�
Transport and
10...95 % (non-condensing)
storage
Operation
10...95 % (non-condensing)
Degree of pollution
IEC/EN 60664-1 2
Degree of protection
IEC/EN 61131-2 IP20 with protective covers in place
Corrosion immunity
�
Atmosphere free from corrosive gases
Operating altitude
�
0...2000 m (0...6560 ft)
Storage altitude
�
0...3000 m (0...9843 ft)
Vibration resistance
IEC/EN 61131-2
Panel mounting or mounted on a top hat section rail (DIN rail)
3.5 mm (0.13 in) fixed amplitude from 5...8.4 Hz 9.8 m/s2 (32.15 ft/s2) (1 gn) fixed acceleration from 8.4...150 Hz 10 mm (0.39 in) fixed amplitude from 5...8.7 Hz 29.4 m/s2 (96.45 ft/s2) (3 gn) fixed acceleration from 8.7...150 Hz
Mechanical shock resistance
�
147 m/s2 or 482.28 ft/s2 (15 gn) for a duration of 11 ms
NOTE: The tested ranges may indicate values beyond that of the IEC Standard. However, our internal standards
define what is necessary for industrial environments. In all cases, we uphold the minimum specification if indicated.
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Electromagnetic Susceptibility
The M241 Logic Controller system meets electromagnetic susceptibility specifications as indicated in the following table:
Characteristic Electrostatic discharge
Radiated electromagnetic field
Fast transients burst
Minimum Specification IEC/EN 61000-4-2 IEC/EN 61000-4-3
IEC/EN 61000-4-4
Surge immunity
IEC/EN 61000-4-5 IEC/EN 61131-2
Induced electromagnetic field IEC/EN 61000-4-6
Conducted emission
IEC 61000-6-4
Radiated emission
1 Common Mode 2 Differential Mode
IEC 61000-6-4
Tested Range
8 kV (air discharge) 4 kV (contact discharge)
10 V/m (80...1000 MHz) 3 V/m (1.4...2 GHz) 1 V/m (2...3 GHz)
24 Vdc main power lines
2 kV (CM1 and DM2)
24 Vdc I/Os
2 kV (clamp)
Relay output
1 kV (clamp)
Digital I/Os
1 kV (clamp)
Communication 1 kV (clamp) line
�
CM1
DM2
DC Power lines 0.5 kV
0.5 kV
Relay Outputs �
�
24 Vdc I/Os
�
�
Shielded cable 1 kV
�
(between shield
and ground)
10 Vrms (0.15...80 MHz)
10...150 kHz: 120...69 dBV/m QP 150...1500 kHz: 79...63 dBV/m QP 1.5...30 MHz: 63 dBV/m QP
30...230 MHz: 40 dBV/m QP 230...1000 MHz: 47 dBV/m QP
NOTE: The tested ranges may indicate values beyond that of the IEC Standard. However, our internal standards
define what is necessary for industrial environments. In all cases, we uphold the minimum specification if indicated.
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Certifications and Standards
Introduction The M241 Logic Controllers are designed to conform to the main national and international standards concerning electronic industrial control devices: IEC/EN 61131-2 UL 508 The M241 Logic Controllers have obtained the following conformity marks: CE cULus CSA For product compliance and environmental information (RoHS, REACH, PEP, EOLI, etc.), go to www.schneider-electric.com/green-premium.
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Section 3.2
M241 Logic Controller Installation
What Is in This Section? This section contains the following topics:
Topic Installation and Maintenance Requirements M241 Logic Controller Mounting Positions and Clearances Top Hat Section Rail (DIN rail) Installing and Removing the Controller with Expansions Direct Mounting on a Panel Surface
M241 Installation
Page 74 77 80 84 86
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Installation and Maintenance Requirements
Before Starting Read and understand this chapter before beginning the installation of your system. The use and application of the information contained herein require expertise in the design and programming of automated control systems. Only you, the user, machine builder or integrator, can be aware of all the conditions and factors present during installation and setup, operation, and maintenance of the machine or process, and can therefore determine the automation and associated equipment and the related safeties and interlocks which can be effectively and properly used. When selecting automation and control equipment, and any other related equipment or software, for a particular application, you must also consider any applicable local, regional or national standards and/or regulations. Pay particular attention in conforming to any safety information, different electrical requirements, and normative standards that would apply to your machine or process in the use of this equipment.
Disconnecting Power All options and modules should be assembled and installed before installing the control system on a mounting rail, onto a mounting plate or in a panel. Remove the control system from its mounting rail, mounting plate or panel before disassembling the equipment.
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH Disconnect all power from all equipment including connected devices prior to removing any
covers or doors, or installing or removing any accessories, hardware, cables, or wires except under the specific conditions specified in the appropriate hardware guide for this equipment. Always use a properly rated voltage sensing device to confirm the power is off where and when indicated. Replace and secure all covers, accessories, hardware, cables, and wires and confirm that a proper ground connection exists before applying power to the unit. Use only the specified voltage when operating this equipment and any associated products.
Failure to follow these instructions will result in death or serious injury.
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Programming Considerations
WARNING
UNINTENDED EQUIPMENT OPERATION Only use software approved by Schneider Electric for use with this equipment. Update your application program every time you change the physical hardware configuration. Failure to follow these instructions can result in death, serious injury, or equipment damage.
Operating Environment In addition to the Environmental Characteristics, refer to Product Related Information in the beginning of the present document for important information regarding installation in hazardous locations for this specific equipment.
WARNING
UNINTENDED EQUIPMENT OPERATION Install and operate this equipment according to the conditions described in the Environmental Characteristics. Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Installation Considerations
WARNING
UNINTENDED EQUIPMENT OPERATION Use appropriate safety interlocks where personnel and/or equipment hazards exist. Install and operate this equipment in an enclosure appropriately rated for its intended
environment and secured by a keyed or tooled locking mechanism. Use the sensor and actuator power supplies only for supplying power to the sensors or
actuators connected to the module. Power line and output circuits must be wired and fused in compliance with local and national
regulatory requirements for the rated current and voltage of the particular equipment. Do not use this equipment in safety-critical machine functions unless the equipment is
otherwise designated as functional safety equipment and conforming to applicable regulations and standards. Do not disassemble, repair, or modify this equipment. Do not connect any wiring to reserved, unused connections, or to connections designated as No Connection (N.C.). Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: JDYX2 or JDYX8 fuse types are UL-recognized and CSA approved.
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M241 Logic Controller Mounting Positions and Clearances
Introduction This section describes the mounting positions for the M241 Logic Controller . NOTE: Keep adequate spacing for proper ventilation and to maintain the operating temperature specified in the Environmental Characteristics (see page 69).
Correct Mounting Position Whenever possible, the M241 Logic Controller should be mounted horizontally on a vertical plane as shown in the figure below:
Acceptable Mounting Positions The M241 Logic Controller can also be mounted vertically with a temperature derating on a vertical plane as shown below.
NOTE: Expansion modules must be mounted above the logic controller.
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Incorrect Mounting Position The M241 Logic Controller should only be positioned as shown in Correct Mounting Position (see page 77) figure. The figures below show the incorrect mounting positions.
Minimum Clearances
WARNING
UNINTENDED EQUIPMENT OPERATION
Place devices dissipating the most heat at the top of the cabinet and ensure adequate ventilation.
Avoid placing this equipment next to or above devices that might cause overheating. Install the equipment in a location providing the minimum clearances from all adjacent
structures and equipment as directed in this document. Install all equipment in accordance with the specifications in the related documentation.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
The M241 Logic Controller has been designed as an IP20 product and must be installed in an enclosure. Clearances must be respected when installing the product.
There are 3 types of clearances between: The M241 Logic Controller and all sides of the cabinet (including the panel door). The M241 Logic Controller terminal blocks and the wiring ducts. This distance reduces
electromagnetic interference between the controller and the wiring ducts. The M241 Logic Controller and other heat generating devices installed in the same cabinet.
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The following figure shows the minimum clearances that apply to all M241 Logic Controller references:
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Top Hat Section Rail (DIN rail)
Dimensions of Top Hat Section Rail DIN Rail You can mount the controller or receiver and its expansions on a 35 mm (1.38 in.) top hat section rail (DIN rail). It can be attached to a smooth mounting surface or suspended from a EIA rack or mounted in a NEMA cabinet.
Symmetric Top Hat Section Rails (DIN Rail) The following illustration and table show the references of the top hat section rails (DIN rail) for the wall-mounting range:
Reference NSYSDR50A NSYSDR60A NSYSDR80A NSYSDR100A
Type A A A A
Rail Length (B) 450 mm (17.71 in.) 550 mm (21.65 in.) 750 mm (29.52 in.) 950 mm (37.40 in.)
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The following illustration and table show the references of the symmetric top hat section rails (DIN rail) for the metal enclosure range:
Reference NSYSDR60 NSYSDR80 NSYSDR100 NSYSDR120
Type A A A A
Rail Length (B-12 mm) 588 mm (23.15 in.) 788 mm (31.02 in.) 988 mm (38.89 in.) 1188 mm (46.77 in.)
The following illustration and table shows the references of the symmetric top hat section rails (DIN rail) of 2000 mm (78.74 in.):
Reference
Type
NSYSDR2001
A
NSYSDR200D2
A
1 Unperforated galvanized steel 2 Perforated galvanized steel
Rail Length 2000 mm (78.74 in.)
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Double-Profile Top Hat Section Rails (DIN rail) The following illustration and table show the references of the double-profile top hat section rails (DIN rails) for the wall-mounting range:
Reference NSYDPR25 NSYDPR35 NSYDPR45 NSYDPR55 NSYDPR65 NSYDPR75
Type W W W W W W
Rail Length (B) 250 mm (9.84 in.) 350 mm (13.77 in.) 450 mm (17.71 in.) 550 mm (21.65 in.) 650 mm (25.60 in.) 750 mm (29.52 in.)
The following illustration and table show the references of the double-profile top hat section rails (DIN rail) for the floor-standing range:
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Reference NSYDPR60 NSYDPR80 NSYDPR100 NSYDPR120
Type F F F F
Rail Length (B) 588 mm (23.15 in.) 788 mm (31.02 in.) 988 mm (38.89 in.) 1188 mm (46.77 in.)
M241 Installation
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Installing and Removing the Controller with Expansions
Overview
This section describes how to install and remove the controller with its expansion modules from a top hat section rail (DIN rail).
To assemble expansion modules to a controller or receiver module, or to other modules, refer to the respective expansion modules hardware guide(s).
Installing a Controller with its Expansions on a DIN Rail
The following procedure describes how to install a controller with its expansion modules on a top hat section rail (DIN rail):
Step 1 2
Action
Fasten the top hat section rail (DIN rail) to a panel surface using screws.
Position the top groove of the controller and its expansion modules on the top edge of the DIN rail and press the assembly against the top hat section rail (DIN rail) until you hear the top hat section rail (DIN rail) clip snap into place.
3
Place 2 terminal block end clamps on both sides of the controller and
expansion module assembly.
AB1AB8P35
NOTE: Type ABB8P35 or equivalent terminal block end clamps help
minimize sideways movement and improve the shock and vibration characteristics of the controller and expansion module assembly.
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Removing a Controller with its Expansions from a Top Hat Section Rail (DIN Rail)
The following procedure describes how to remove a controller with its expansion modules from a top hat section rail (DIN rail):
Step 1 2
Action Remove all power from your controller and expansion modules. Insert a flat screwdriver into the slot of the top hat section rail (DIN rail) clip.
3
Pull down the DIN rail clip.
4
Pull the controller and its expansion modules from the top hat section rail (DIN rail)
from the bottom.
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Direct Mounting on a Panel Surface
Mounting Hole Layout The following diagram shows the mounting hole layout for M241 Logic Controller with 24 I/O channels:
The following diagram shows the mounting hole layout for M241 Logic Controller with 40 I/O channels:
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Section 3.3
M241 Electrical Requirements
What Is in This Section? This section contains the following topics:
Topic Wiring Best Practices DC Power Supply Characteristics and Wiring AC Power Supply Characteristics and Wiring Grounding the M241 System
M241 Installation
Page 88 94 98 100
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Wiring Best Practices
Overview This section describes the wiring guidelines and associated best practices to be respected when using the M241 Logic Controller system.
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH Disconnect all power from all equipment including connected devices prior to removing any
covers or doors, or installing or removing any accessories, hardware, cables, or wires except under the specific conditions specified in the appropriate hardware guide for this equipment. Always use a properly rated voltage sensing device to confirm the power is off where and when indicated. Replace and secure all covers, accessories, hardware, cables, and wires and confirm that a proper ground connection exists before applying power to the unit. Use only the specified voltage when operating this equipment and any associated products. Failure to follow these instructions will result in death or serious injury.
WARNING
LOSS OF CONTROL The designer of any control scheme must consider the potential failure modes of control paths
and, for certain critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop and overtravel stop, power outage and restart. Separate or redundant control paths must be provided for critical control functions. System control paths may include communication links. Consideration must be given to the implications of unanticipated transmission delays or failures of the link. Observe all accident prevention regulations and local safety guidelines.1 Each implementation of this equipment must be individually and thoroughly tested for proper operation before being placed into service. Failure to follow these instructions can result in death, serious injury, or equipment damage.
1 For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems" or their equivalent governing your particular location.
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Wiring Guidelines The following rules must be applied when wiring a M241 Logic Controller system: I/O and communication wiring must be kept separate from the power wiring. Route these 2 types of wiring in separate cable ducting. Verify that the operating conditions and environment are within the specification values. Use proper wire sizes to meet voltage and current requirements. Use copper conductors (required). Use twisted pair, shielded cables for analog, and/or fast I/O. Use twisted pair, shielded cables for networks, and fieldbus.
Use shielded, properly grounded cables for all analog and high-speed inputs or outputs and communication connections. If you do not use shielded cable for these connections, electromagnetic interference can cause signal degradation. Degraded signals can cause the controller or attached modules and equipment to perform in an unintended manner.
WARNING
UNINTENDED EQUIPMENT OPERATION
Use shielded cables for all fast I/O, analog I/O and communication signals. Ground cable shields for all analog I/O, fast I/O and communication signals at a single point1. Route communication and I/O cables separately from power cables.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
1Multipoint grounding is permissible if connections are made to an equipotential ground plane dimensioned to help avoid cable shield damage in the event of power system short-circuit currents. For more details, refer to Grounding Shielded Cables (see page 100). NOTE: Surface temperatures may exceed 60 �C (140 �F). To conform to IEC 61010 standards, route primary wiring (wires connected to power mains) separately and apart from secondary wiring (extra low voltage wiring coming from intervening power sources). If that is not possible, double insulation is required such as conduit or cable gains.
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Rules for Removable Screw Terminal Block The following tables show the cable types and wire sizes for a 5.08 pitch removable screw terminal block (I/Os and power supply):
The use of copper conductors is required.
DANGER
LOOSE WIRING CAUSES ELECTRIC SHOCK Tighten connections in conformance with the torque specifications. Failure to follow these instructions will result in death or serious injury.
DANGER
FIRE HAZARD Use only the correct wire sizes for the maximum current capacity of the I/O channels and
power supplies. For relay output (2 A) wiring, use conductors of at least 0.5 mm2 (AWG 20) with a temperature
rating of at least 80 �C (176 �F). For common conductors of relay output wiring (7 A), or relay output wiring greater than 2 A,
use conductors of at least 1.0 mm2 (AWG 16) with a temperature rating of at least 80 �C (176 �F). Failure to follow these instructions will result in death or serious injury.
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Removing the I/O Terminal Block The following figure shows the removal of the I/O terminal block from the M241 Logic Controller:
Step 1 2
Action Remove power from your controller. Pull down the protective cache:
3 Press with a screwdriver through the terminal block front hole:
4 Remove the terminal block:
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Protecting Outputs from Inductive Load Damage Depending on the load, a protection circuit may be needed for the outputs on the controllers and certain modules. Inductive loads using DC voltages may create voltage reflections resulting in overshoot that will damage or shorten the life of output devices.
CAUTION
OUTPUT CIRCUIT DAMAGE DUE TO INDUCTIVE LOADS Use an appropriate external protective circuit or device to reduce the risk of inductive direct current load damage. Failure to follow these instructions can result in injury or equipment damage.
If your controller or module contains relay outputs, these types of outputs can support up to 240 Vac. Inductive damage to these types of outputs can result in welded contacts and loss of control. Each inductive load must include a protection device such as a peak limiter, RC circuit or flyback diode. Capacitive loads are not supported by these relays.
WARNING
RELAY OUTPUTS WELDED CLOSED Always protect relay outputs from inductive alternating current load damage using an
appropriate external protective circuit or device. Do not connect relay outputs to capacitive loads. Failure to follow these instructions can result in death, serious injury, or equipment damage.
AC-driven contactor coils are, under certain circumstances, inductive loads that generate pronounced high-frequency interference and electrical transients when the contactor coil is deenergized. This interference may cause the logic controller to detect an I/O bus error.
WARNING
CONSEQUENTIAL LOSS OF CONTROL Install an RC surge suppressor or similar means, such as an interposing relay, on each TM3 expansion module relay output when connecting to AC-driven contactors or other forms of inductive loads. Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Protective circuit A: this protection circuit can be used for both AC and DC load power circuits.
C Value from 0.1 to 1 F R Resistor of approximately the same resistance value as the load
Protective circuit B: this protection circuit can be used for DC load power circuits.
Use a diode with the following ratings: Reverse withstand voltage: power voltage of the load circuit x 10. Forward current: more than the load current. Protective circuit C: this protection circuit can be used for both AC and DC load power circuits.
In applications where the inductive load is switched on and off frequently and/or rapidly, ensure that the continuous energy rating (J) of the varistor exceeds the peak load energy by 20 % or more.
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DC Power Supply Characteristics and Wiring
Overview This section provides the characteristics and the wiring diagrams of the DC power supply.
DC Power Supply Voltage Range If the specified voltage range is not maintained, outputs may not switch as expected. Use appropriate safety interlocks and voltage monitoring circuits.
DANGER
FIRE HAZARD Use only the correct wire sizes for the maximum current capacity of the I/O channels and
power supplies. For relay output (2 A) wiring, use conductors of at least 0.5 mm2 (AWG 20) with a temperature
rating of at least 80 �C (176 �F). For common conductors of relay output wiring (7 A), or relay output wiring greater than 2 A,
use conductors of at least 1.0 mm2 (AWG 16) with a temperature rating of at least 80 �C (176 �F). Failure to follow these instructions will result in death or serious injury.
WARNING
UNINTENDED EQUIPMENT OPERATION Do not exceed any of the rated values specified in the environmental and electrical characteristics tables. Failure to follow these instructions can result in death, serious injury, or equipment damage.
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M241 Installation
DC Power Supply Requirements
The M241 Logic Controllerand associated I/O (TM2, TM3, and embedded I/O) require power supplies with a nominal voltage of 24 Vdc. The 24 Vdc power supplies must be rated Safety Extra Low Voltage (SELV) or Protective Extra Low Voltage (PELV) according to IEC 61140. These power supplies are isolated between the electrical input and output circuits of the power supply.
WARNING
POTENTIAL OF OVERHEATING AND FIRE Do not connect the equipment directly to line voltage. Use only isolating PELV power supplies and circuits to supply power to the equipment1.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
1 For compliance to UL (Underwriters Laboratories) requirements, the power supply must also conform to the various criteria of NEC Class 2, and be inherently current limited to a maximum power output availability of less than 100 VA (approximately 4 A at nominal voltage), or not inherently limited but with an additional protection device such as a circuit breaker or fuse meeting the requirements of clause 9.4 Limited-energy circuit of UL 61010-1. In all cases, the current limit should never exceed that of the electric characteristics and wiring diagrams for the equipment described in the present documentation. In all cases, the power supply must be grounded, and you must separate Class 2 circuits from other circuits. If the indicated rating of the electrical characteristics or wiring diagrams are greater than the specified current limit, multiple Class 2 power supplies may be used.
Controller DC Characteristics The following table shows the DC power supply characteristics required for the controller:
Characteristic Rated voltage Power supply voltage range Power interruption time Maximum inrush current Power consumption
Value 24 Vdc 20.4...28.8 Vdc 1 ms at 24 Vdc 50 A 32.6 W
Isolation
between DC power supply and internal logic
between DC power supply and protective earth ground (PE)
(1) Controller + 7 TM3 expansion modules
Not isolated 500 Vac
max. 40.4 W(1)
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M241 Installation
Power interruption The TM241C��24T / TM241C�40T / TM241C��24U and TM241C�40U must be supplied by an external 24 V power supply equipment. During power interruptions, the M241 Logic Controller, associated to the suitable power supply, is able to continue normal operation for a minimum of 10 ms as specified by IEC standards.
The TM241C��24T / TM241C�40T / TM241C��24U and TM241C�40U must be supplied by an external 24 V power supply equipment. During power interruptions, the M241 Logic Controller, associated to the suitable power supply, is able to continue normal operation for a minimum of 10 ms as specified by IEC standards.
When planning the management of the power supplied to the controller, you must consider the power interruption duration due to the fast cycle time of the controller.
There could potentially be many scans of the logic and consequential updates to the I/O image table during the power interruption, while there is no external power supplied to the inputs, the outputs or both depending on the power system architecture and power interruption circumstances.
WARNING
UNINTENDED EQUIPMENT OPERATION
Individually monitor each source of power used in the controller system including input power supplies, output power supplies and the power supply to the controller to allow appropriate system shutdown during power system interruptions.
The inputs monitoring each of the power supply sources must be unfiltered inputs.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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M241 Installation
DC Power Supply Wiring Diagram The following figure shows the power supply terminal block removal procedure:
The following figure shows the wiring of the DC power supply:
* Type T fuse
For more information, refer to the 5.08 pitch Rules for Removable Screw Terminal block (see page 90).
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M241 Installation
AC Power Supply Characteristics and Wiring
Overview This section provides the wiring diagrams and the characteristics of the AC power supply.
AC Power Supply Voltage Range If the specified voltage range is not maintained, outputs may not switch as expected. Use appropriate safety interlocks and voltage monitoring circuits.
DANGER
FIRE HAZARD Use only the correct wire sizes for the maximum current capacity of the I/O channels and
power supplies. For relay output (2 A) wiring, use conductors of at least 0.5 mm2 (AWG 20) with a temperature
rating of at least 80 �C (176 �F). For common conductors of relay output wiring (7 A), or relay output wiring greater than 2 A,
use conductors of at least 1.0 mm2 (AWG 16) with a temperature rating of at least 80 �C (176 �F). Failure to follow these instructions will result in death or serious injury.
WARNING
UNINTENDED EQUIPMENT OPERATION
Do not exceed any of the rated values specified in the environmental and electrical characteristics tables.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Controller AC Characteristics The following table shows the AC power supply characteristics:
Characteristic Voltage
Frequency Power interruption time Maximum inrush current
rated limit (including ripple)
at 100 Vac at 240 Vac
Value 100...240 Vac 85...264 Vac 50/60 Hz 10 ms 42.5 A
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M241 Installation
Characteristic Typical power consumption
Isolation
Value
at 100 Vac
78 VA
at 240 Vac
98.4 VA
between AC power supply and internal logic
1780 Vac
between AC power supply and protective earth ground (PE) 2500 Vdc
Power interruption
The duration of power interruptions where the M241 Logic Controller is able to continue normal operation varies depending upon the load to the power supply of the controller, but generally a minimum of 10 ms is maintained as specified by IEC standards.
If there is a minimum load on the controller power supply, the interruption can be as long as 400 ms.
When planning the management of the power supplied to the controller, you must consider the duration due to the fast cycle time.
There could potentially be many scans of the logic and consequential updates to the I/O image table during the power interruption, while there is no external power supplied to the inputs, the outputs or both depending on the power system architecture and power interruption circumstances.
WARNING
UNINTENDED EQUIPMENT OPERATION
Individually monitor each source of power used in the Modicon M241 Logic Controller system including input power supplies, output power supplies and the power supply to the controller to allow appropriate system shutdown during power system interruptions.
The inputs monitoring each of the power supply sources must be unfiltered inputs.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
AC Power Supply Wiring Diagram The following figure shows the wiring of the AC power supply:
* Use an external, slow-blow, type T fuse.
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M241 Installation
Grounding the M241 System
Overview To help minimize the effects of electromagnetic interference, cables carrying the fast I/O, analog I/O, and field bus communication signals must be shielded.
WARNING
UNINTENDED EQUIPMENT OPERATION Use shielded cables for all fast I/O, analog I/O, and communication signals. Ground cable shields for all fast I/O, analog I/O, and communication signals at a single point1. Route communications and I/O cables separately from power cables. Failure to follow these instructions can result in death, serious injury, or equipment damage.
1Multipoint grounding is permissible if connections are made to an equipotential ground plane dimensioned to help avoid cable shield damage in the event of power system short-circuit currents. The use of shielded cables requires compliance with the following wiring rules: For protective ground connections (PE), metal conduit or ducting can be used for part of the
shielding length, provided there is no break in the continuity of the ground connections. For functional ground (FE), the shielding is intended to attenuate electromagnetic interference and the shielding must be continuous for the length of the cable. If the purpose is both functional and protective, as is often the case for communication cables, the cable must have continuous shielding. Wherever possible, keep cables carrying one type of signal separate from the cables carrying other types of signals or power.
Protective Ground (PE) on the Backplane The protective ground (PE) should be connected to the conductive backplane by a heavy-duty wire, usually a braided copper cable with the maximum allowable cable section.
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Shielded Cables Connections Cables carrying the fast I/O, analog I/O, and field bus communication signals must be shielded. The shielding must be securely connected to ground. The fast I/O and analog I/O shields may be connected either to the functional ground (FE) or to the protective ground (PE) of your M241 Logic Controller. The field bus communication cable shields must be connected to the protective ground (PE) with a connecting clamp secured to the conductive backplane of your installation.
WARNING
ACCIDENTAL DISCONNECTION FROM PROTECTIVE GROUND (PE) Do not use the TM2XMTGB Grounding Plate to provide a protective ground (PE). Use the TM2XMTGB Grounding Plate only to provide a functional ground (FE). Failure to follow these instructions can result in death, serious injury, or equipment damage.
The shielding of the Modbus cable must be connected to the protective ground (PE).
DANGER
HAZARD OF ELECTRIC SHOCK The grounding terminal connection (PE) must be used to provide a protective ground at all
times. Make sure that an appropriate, braided ground cable is attached to the PE/PG ground terminal
before connecting or disconnecting the network cable to the equipment. Failure to follow these instructions will result in death or serious injury.
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Protective Ground (PE) Cable Shielding To ground the shield of a cable through a grounding clamp:
Step Description 1 Strip the shielding for a length of 15 mm (0.59 in.)
2 Attach the cable to the conductive backplane plate by attaching the grounding clamp to the stripped part of the shielding as close as possible to the M241 Logic Controller system base.
NOTE: The shielding must be clamped securely to the conductive backplane to ensure a good contact.
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Functional Ground (FE) Cable Shielding To connect the shield of a cable through the Grounding Bar:
Step Description 1 Install the Grounding Bar (see Modicon TM2, Digital I/O Modules, Hardware Guide) directly on the conductive backplane below the M241 Logic Controller system as illustrated.
2 Strip the shielding for a length of 15 mm (0.59 in.
3 Tightly clamp on the blade connector (1) using nylon fastener (2)(width 2.5...3 mm (0.1...0.12 in.)) and appropriate tool.
M241 Installation
NOTE: Use the TM2XMTGB Grounding Bar for Functional Ground (FE) connections.
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M241 Installation
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Modicon M241 Logic Controller Modicon M241 Logic Controller EIO0000003083 12/2019
Modicon M241 Logic Controller
Part
II
Modicon M241 Logic Controller
What Is in This Part? This part contains the following chapters:
Chapter 4 5 6 7 8 9
10 11 12 13 14 15 16 17 18 19
TM241C24R TM241CE24R TM241CEC24R TM241C24T TM241CE24T TM241CEC24T TM241C24U TM241CE24U TM241CEC24U TM241C40R TM241CE40R TM241C40T TM241CE40T TM241C40U TM241CE40U Embedded I/O Channels
Chapter Name
Page 107 113 119 125 131 137 143 149 155 161 167 173 179 185 191 197
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Modicon M241 Logic Controller
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Modicon M241 Logic Controller TM241C24R EIO0000003083 12/2019
TM241C24R
Chapter 4
TM241C24R
TM241C24R Presentation
Overview TM241C24R logic controller: 14 digital inputs 8 fast inputs 6 regular inputs 10 digital outputs 4 fast outputs 6 relay outputs (2 A) Communication port 2 serial line ports 1 USB mini-B programming port
Description The following figure shows the different components of the TM241C24R logic controller:
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TM241C24R
N�
Description
Refer to
1
Run/Stop switch
Run/Stop (see page 61)
2
SD card slot
SD Card (see page 63)
3
Battery holder
Real Time Clock (RTC) (see page 48)
4
Cartridge slot
�
5
LEDs for indicating I/O states
Digital Inputs Status LEDs (see page 199)
Relay Outputs Status LEDs (see page 207) Fast Outputs Status LEDs (see page 219)
6
USB mini-B programming port / For terminal connection to a USB Mini-B Programming Port
programming PC (EcoStruxure Machine Expert)
(see page 235)
7
Clip-on lock for 35 mm (1.38 in.) top hat section rail (DIN-rail) Top Hat Section Rail (see page 80)
8
Embedded relay outputs
Relay Outputs (see page 206)
Embedded fast transistor outputs
Fast Transistor Outputs (see page 218)
Output removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
9
100...240 Vac 50/60 Hz power supply
AC Power Supply Characteristics and Wiring (see page 98)
10
Status LEDs
�
11
TM4 bus connector
TM4 Expansion Modules (see page 41)
12
Serial line port 1 / Type RJ45 (RS-232 or RS-485)
Serial Line 1 (see page 237)
13
Serial line port 2 / Screw terminal block type (RS-485)
Serial Line 2 (see page 240)
14
Embedded digital inputs
Embedded Digital Inputs (see page 198)
Input removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
15
TM3/TM2 bus connector
TM3 Expansion Modules (see page 31)
16
Protective cover (SD card slot, Run/Stop switch, and USB mini- �
B programming port)
17
Locking hook (Hook not included)
�
108
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Status LEDs The following figure shows the status LEDs:
TM241C24R
1 System status LEDs 2 Cartridge status LEDs (optional) 3 I/Os status LEDs
The following table describes the system status LEDs:
Label PWR RUN
Function Type
Power
Machine status
Color Status
Green On Off
Green On Flashing 1 flash Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that power is applied.
Indicates that power is removed.
Indicates that the controller is running a valid application.
Indicates that the controller has a valid application that is stopped.
Indicates that the controller has paused at BREAKPOINT.
Indicates that the -
-
controller is not
programmed
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TM241C24R
Label ERR
Function Type
Error
Color Status
Red
On
Fast flashing
Slow flashing
I/O SD BAT SL1 SL2 TM4
I/O error
Red
On
SD card access
Battery
Green Red
Serial line 1 Green
Serial line 2 Green
Error on TM4 Red bus
On
On Flashing On Off On Off On
Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that an Restricted
No
operating system
error has been
detected.
Indicates that the Restricted
No
controller has
detected an
internal error.
Indicates either that Yes
No
a minor error has
been detected, if
the RUN LED is
illuminated, or that
no application has
been detected.
Indicates device errors on the embedded I/Os, serial line 1 or 2, SD card, cartridge, TM4 bus, TM3 bus.
Indicates that the SD card is being accessed
Indicates that the battery needs to be replaced. Indicates that the battery charge is low. Indicates the status of serial line 1 (see page 239) Indicates no serial communication Indicates the status of serial line 2 (see page 241) Indicates no serial communication Indicates that an error has been detected on the TM4 bus Indicates that no error has been detected on the TM4 bus
1 For more information about the controller state description, refer to the M241 Logic Controller Programming Guide.
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Dimensions The following figure shows the external dimensions of the logic controller:
TM241C24R
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TM241C24R
112
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Modicon M241 Logic Controller TM241CE24R EIO0000003083 12/2019
TM241CE24R
Chapter 5
TM241CE24R
TM241CE24R Presentation
Overview TM241CE24R logic controller: 14 digital inputs 8 fast inputs 6 regular inputs 10 digital outputs 4 fast outputs 6 relay outputs (2 A) Communication port 2 serial line ports 1 Ethernet port 1 USB mini-B programming port
Description The following figure shows the different components of the TM241CE24R logic controller:
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TM241CE24R
N�
Description
Refer to
1
Run/Stop switch
Run/Stop (see page 61)
2
SD card slot
SD Card (see page 63)
3
Battery holder
Real Time Clock (RTC) (see page 48)
4
Cartridge slot
�
5
LEDs for indicating I/O states
Digital Inputs Status LEDs (see page 199)
Relay Outputs Status LEDs (see page 207) Fast Outputs Status LEDs (see page 219)
6
USB mini-B programming port / For terminal connection to a USB Mini-B Programming Port
programming PC (EcoStruxure Machine Expert)
(see page 235)
7
Clip-on lock for 35 mm (1.38 in.) top hat section rail (DIN-rail) Top Hat Section Rail (see page 80)
8
Embedded relay outputs
Relay Outputs (see page 206)
Embedded fast transistor outputs
Fast Transistor Outputs (see page 218)
Output removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
9
100...240 Vac 50/60 Hz power supply
AC Power Supply Characteristics and Wiring (see page 98)
10
Ethernet port / Type RJ45 (RS-232 or RS-485)
Ethernet Port (see page 232)
11
Status LEDs
�
12
TM4 bus connector
TM4 Expansion Modules (see page 41)
13
Serial line port 1 / Type RJ45 (RS-232 or RS-485)
Serial Line 1 (see page 237)
14
Serial line port 2 / Screw terminal block type (RS-485)
Serial Line 2 (see page 240)
15
Embedded digital inputs
Embedded Digital Inputs (see page 198)
Input removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
16
TM3/TM2 bus connector
TM3 Expansion Modules (see page 31)
17
Protective cover (SD card slot, Run/Stop switch, and USB mini- �
B programming port)
18
Locking hook (Hook not included)
�
114
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Status LEDs The following figure shows the status LEDs:
TM241CE24R
1 System status LEDs 2 Cartridge status LEDs (optional) 3 I/Os status LEDs
The following table describes the system status LEDs:
Label PWR RUN
Function Type
Power
Machine status
Color Status
Green On Off
Green On Flashing 1 flash Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that power is applied.
Indicates that power is removed.
Indicates that the controller is running a valid application.
Indicates that the controller has a valid application that is stopped.
Indicates that the controller has paused at BREAKPOINT.
Indicates that the -
-
controller is not
programmed
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TM241CE24R
Label ERR
Function Type
Error
Color Status
Red
On
Fast flashing
Slow flashing
I/O SD BAT SL1 SL2 TM4
ETH
I/O error
Red
On
SD card access
Battery
Green Red
Serial line 1 Green
Serial line 2 Green
Error on TM4 Red bus
On
On Flashing On Off On Off On
Off
Ethernet port Green status
On
3 flashes 4 flashes 5 flashes
6 flashes
Description
Controller States1 Prg Port Communication
Application Execution
An operating
Restricted
No
system error has
been detected.
The controller has Restricted
No
detected an
internal error.
Indicates either that Yes
No
a minor error has
been detected, if
the RUN LED is
illuminated, or that
no application has
been detected.
Indicates device errors on the embedded I/Os, serial line 1 or 2, SD card, cartridge, TM4 bus, TM3 bus, or Ethernet port.
Indicates that the SD card is being accessed
Indicates that the battery needs to be replaced.
Indicates that the battery charge is low. Indicates the status of serial line 1 (see page 239) Indicates no serial communication Indicates the status of serial line 2 (see page 241) Indicates no serial communication Indicates that an error has been detected on the TM4 bus Indicates that no error has been detected on the TM4 bus
Indicates that the ethernet port is connected and the IP address is defined.
Indicates that the ethernet port is not connected. Indicates that the IP address is already in used. Indicates that the module is waiting for BOOTP or DHCP sequence. Indicates that the configured IP address is not valid.
1 For more information about the controller state description, refer to the M241 Logic Controller Programming Guide.
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Dimensions The following figure shows the external dimensions of the logic controller:
TM241CE24R
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TM241CE24R
118
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Modicon M241 Logic Controller TM241CEC24R EIO0000003083 12/2019
TM241CEC24R
Chapter 6
TM241CEC24R
TM241CEC24R Presentation
Overview TM241CEC24R logic controller has: 14 digital inputs 8 fast inputs 6 regular inputs 10 digital outputs 4 fast outputs 6 relay outputs (2 A) Communication port 2 serial line ports 1 Ethernet port 1 CANopen port 1 USB mini-B programming port
Description The following figure shows the different components of the TM241CEC24R logic controller:
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119
TM241CEC24R
N�
Description
Refer to
1
Run/Stop switch
Run/Stop (see page 61)
2
SD card slot
SD Card (see page 63)
3
Battery holder
Real Time Clock (RTC) (see page 48)
4
Cartridge slot
�
5
LEDs for indicating I/O states
Digital Inputs Status LEDs (see page 199)
Relay Outputs Status LEDs (see page 207) Fast Outputs Status LEDs (see page 219)
6
USB mini-B programming port / For terminal connection to a USB Mini-B Programming Port
programming PC (EcoStruxure Machine Expert)
(see page 235)
7
Clip-on lock for 35 mm (1.38 in.) top hat section rail (DIN-rail) Top Hat Section Rail (see page 80)
8
Embedded relay outputs
Relay Outputs (see page 206)
Embedded fast transistor outputs
Fast Transistor Outputs (see page 218)
Output removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
9
CANopen Line termination switch
CANopen Port (see page 228)
10
100...240 Vac 50/60 Hz power supply
AC Power Supply Characteristics and Wiring (see page 98)
11
CANopen port / Screw terminal block type
�
12
Ethernet port / Type RJ45 (RS-232 or RS-485)
Ethernet Port (see page 232)
13
Status LEDs
�
14
TM4 bus connector
�
15
Serial line port 1 / Type RJ45 (RS-232 or RS-485)
Serial Line 1 (see page 237)
16
Serial line port 2 / Screw terminal block type (RS-485)
Serial Line 2 (see page 240)
17
Embedded digital inputs
Embedded Digital Inputs (see page 198)
Input removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
18
TM3/TM2 bus connector
TM3 Expansion Modules (see page 31)
19
Protective cover (SD card slot, Run/Stop switch, and USB mini- �
B programming port)
20
Locking hook (Hook not included)
�
120
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Status LEDs The following figure shows the status LEDs:
TM241CEC24R
1 System status LEDs 2 Cartridge status LEDs (optional) 3 I/Os status LEDs
The following table describes the system status LEDs:
Label PWR RUN
Function Type
Power
Machine status
Color Status
Green On Off
Green On Flashing 1 flash Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that power is applied.
Indicates that power is removed.
Indicates that the controller is running a valid application.
Indicates that the controller has a valid application that is stopped.
Indicates that the controller has paused at BREAKPOINT.
Indicates that the -
-
controller is not
programmed
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TM241CEC24R
Label ERR
Function Type
Error
Color Status
Red
On
Fast flashing
Slow flashing
I/O SD BAT SL1 SL2 TM4
ETH
I/O error
Red
On
SD card access
Battery
Green Red
Serial line 1 Green
Serial line 2 Green
Error on TM4 Red bus
On
On Flashing On Off On Off On
Off
Ethernet port Green status
On
3 flashes 4 flashes 5 flashes
6 flashes
Description
Controller States1 Prg Port Communication
Application Execution
An operating
Restricted
No
system error has
been detected.
The controller has Restricted
No
detected an
internal error.
Indicates either that Yes
No
a minor error has
been detected, if
the RUN LED is
illuminated, or that
no application has
been detected.
Indicates device errors on the embedded I/Os, serial line 1 or 2, SD card, cartridge, TM4 bus, TM3 bus, Ethernet port or CANopen port.
Indicates that the SD card is being accessed
Indicates that the battery needs to be replaced.
Indicates that the battery charge is low. Indicates the status of serial line 1 (see page 239) Indicates no serial communication Indicates the status of serial line 2 (see page 241) Indicates no serial communication Indicates that an error has been detected on the TM4 bus Indicates that no error has been detected on the TM4 bus
Indicates that the ethernet port is connected and the IP address is defined.
Indicates that the ethernet port is not connected. Indicates that the IP address is already in used. Indicates that the module is waiting for BOOTP or DHCP sequence. Indicates that the configured IP address is not valid.
122
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TM241CEC24R
Label CAN R CAN E
Function Type
CANopen running status
CANopen error
Color Green Red
Status
On Off Flashing 1 flash per second On Off Flashing 1 flash per second
2 flashes per second
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that the CANopen bus is operational.
Indicates that the CANopen master is configured.
Indicates that the CANopen bus is being initialized.
Indicates that the CANopen bus is stopped.
Indicates that the CANopen bus is stopped (BUS OFF).
Indicates no CANopen detected error.
Indicates that the CANopen bus is not valid.
Indicates that the controller has detected that the maximum number of error frames has been reached or exceeded.
Indicates that the controller has detected either a Node Guarding or a Heartbeat event.
1 For more information about the controller state description, refer to the M241 Logic Controller Programming Guide.
Dimensions The following figure shows the external dimensions of the logic controller:
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TM241CEC24R
124
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Modicon M241 Logic Controller TM241C24T EIO0000003083 12/2019
TM241C24T
Chapter 7
TM241C24T
TM241C24T Presentation
Overview TM241C24T logic controller: 14 digital inputs 8 fast inputs 6 regular inputs 10 digital outputs 4 fast outputs 6 regular outputs Communication port 2 serial line ports 1 USB mini-B programming port
Description The following figure shows the different components of the TM241C24T logic controller:
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125
TM241C24T
N�
Description
Refer to
1
Run/Stop switch
Run/Stop (see page 61)
2
SD card slot
SD Card (see page 63)
3
Battery holder
Real Time Clock (RTC) (see page 48)
4
Cartridge slot
�
5
LEDs for indicating I/O states
Digital Inputs Status LEDs (see page 199)
Transistor Outputs Status LEDs (see page 213) Fast Outputs Status LEDs (see page 219)
6
USB mini-B programming port / For terminal connection to a USB Mini-B Programming Port
programming PC (EcoStruxure Machine Expert)
(see page 235)
7
Clip-on lock for 35 mm (1.38 in.) top hat section rail (DIN-rail) Top Hat Section Rail (see page 80)
8
Embedded regular transistor outputs
Regular Transistor Outputs (see page 212)
Embedded fast transistor outputs
Fast Transistor Outputs (see page 218)
Output removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
9
24 Vdc power supply
DC Power supply Characteristics and Wiring (see page 94)
10
Status LEDs
�
11
TM4 bus connector
TM4 Expansion Modules (see page 41)
12
Serial line port 1 / Type RJ45 (RS-232 or RS-485)
Serial Line 1 (see page 237)
13
Serial line port 2 / Screw terminal block type (RS-485)
Serial Line 2 (see page 240)
14
Embedded digital inputs
Embedded Digital Inputs (see page 198)
Input removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
15
TM3/TM2 bus connector
TM3 Expansion Modules (see page 31)
16
Protective cover (SD card slot, Run/Stop switch, and USB mini- �
B programming port)
17
Locking hook (Hook not included)
�
126
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Status LEDs The following figure shows the status LEDs:
TM241C24T
1 System status LEDs 2 Cartridge status LEDs (optional) 3 I/Os status LEDs
The following table describes the system status LEDs:
Label PWR RUN
Function Type
Power
Machine status
Color Status
Green On Off
Green On Flashing 1 flash Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that power is applied.
Indicates that power is removed.
Indicates that the controller is running a valid application.
Indicates that the controller has a valid application that is stopped.
Indicates that the controller has paused at BREAKPOINT.
Indicates that the -
-
controller is not
programmed
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TM241C24T
Label ERR
Function Type
Error
Color Status
Red
On
Fast flashing
Slow flashing
I/O SD BAT SL1 SL2 TM4
I/O error
Red
On
SD card access
Battery
Green Red
Serial line 1 Green
Serial line 2 Green
Error on TM4 Red bus
On
On Flashing On Off On Off On
Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that an Restricted
No
operating system
error has been
detected.
Indicates that the Restricted
No
controller has
detected an
internal error.
Indicates either that Yes
No
a minor error has
been detected, if
the RUN LED is
illuminated, or that
no application has
been detected.
Indicates device errors on the embedded I/Os, serial line 1 or 2, SD card, cartridge, TM4 bus, TM3 bus.
Indicates that the SD card is being accessed
Indicates that the battery needs to be replaced. Indicates that the battery charge is low. Indicates the status of serial line 1 (see page 239) Indicates no serial communication Indicates the status of serial line 2 (see page 241) Indicates no serial communication Indicates that an error has been detected on the TM4 bus Indicates that no error has been detected on the TM4 bus
1 For more information about the controller state description, refer to the M241 Logic Controller Programming Guide.
128
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Dimensions The following figure shows the external dimensions of the logic controller:
TM241C24T
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129
TM241C24T
130
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Modicon M241 Logic Controller TM241CE24T EIO0000003083 12/2019
TM241CE24T
Chapter 8
TM241CE24T
TM241CE24T Presentation
Overview TM241CE24T logic controller: 14 digital inputs 8 fast inputs 6 regular inputs 10 digital outputs 4 fast outputs 6 regular outputs Communication port 2 serial line ports 1 Ethernet port 1 USB mini-B programming port
Description The following figure shows the different components of the TM241CE24T logic controller:
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131
TM241CE24T
N�
Description
Refer to
1
Run/Stop switch
Run/Stop (see page 61)
2
SD card slot
SD Card (see page 63)
3
Battery holder
Real Time Clock (RTC) (see page 48)
4
Cartridge slot
�
5
LEDs for indicating I/O states
Digital Inputs Status LEDs (see page 199)
Transistor Outputs Status LEDs (see page 213) Fast Outputs Status LEDs (see page 219)
6
USB mini-B programming port / For terminal connection to a USB Mini-B Programming Port
programming PC (EcoStruxure Machine Expert)
(see page 235)
7
Clip-on lock for 35 mm (1.38 in.) top hat section rail (DIN-rail) Top Hat Section Rail (see page 80)
8
Embedded regular transistor outputs
Regular Transistor Outputs (see page 212)
Embedded fast transistor outputs
Fast Transistor Outputs (see page 218)
Output removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
9
24 Vdc power supply
DC Power supply Characteristics and Wiring (see page 94)
10
Ethernet port / Type RJ45 (RS-232 or RS-485)
Ethernet Port (see page 232)
11
Status LEDs
�
12
TM4 bus connector
TM4 Expansion Modules (see page 41)
13
Serial line port 1 / Type RJ45 (RS-232 or RS-485)
Serial Line 1 (see page 237)
14
Serial line port 2 / Screw terminal block type (RS-485)
Serial Line 2 (see page 240)
15
Embedded digital inputs
Embedded Digital Inputs (see page 198)
Input removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
16
TM3/TM2 bus connector
TM3 Expansion Modules (see page 31)
17
Protective cover (SD card slot, Run/Stop switch, and USB mini- �
B programming port)
18
Locking hook (Hook not included)
�
132
EIO0000003083 12/2019
Status LEDs The following figure shows the status LEDs:
TM241CE24T
1 System status LEDs 2 Cartridge status LEDs (optional) 3 I/Os status LEDs
The following table describes the system status LEDs:
Label PWR RUN
Function Type
Power
Machine status
Color Status
Green On Off
Green On Flashing 1 flash Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that power is applied.
Indicates that power is removed.
Indicates that the controller is running a valid application.
Indicates that the controller has a valid application that is stopped.
Indicates that the controller has paused at BREAKPOINT.
Indicates that the -
-
controller is not
programmed
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TM241CE24T
Label ERR
Function Type
Error
Color Status
Red
On
Fast flashing
Slow flashing
I/O SD BAT SL1 SL2 TM4
ETH
I/O error
Red
On
SD card access
Battery
Green Red
Serial line 1 Green
Serial line 2 Green
Error on TM4 Red bus
On
On Flashing On Off On Off On
Off
Ethernet port Green status
On
3 flashes 4 flashes 5 flashes
6 flashes
Description
Controller States1 Prg Port Communication
Application Execution
An operating
Restricted
No
system error has
been detected.
The controller has Restricted
No
detected an
internal error.
Indicates either that Yes
No
a minor error has
been detected, if
the RUN LED is
illuminated, or that
no application has
been detected.
Indicates device errors on the embedded I/Os, serial line 1 or 2, SD card, cartridge, TM4 bus, TM3 bus, or Ethernet port.
Indicates that the SD card is being accessed
Indicates that the battery needs to be replaced.
Indicates that the battery charge is low. Indicates the status of serial line 1 (see page 239) Indicates no serial communication Indicates the status of serial line 2 (see page 241) Indicates no serial communication Indicates that an error has been detected on the TM4 bus Indicates that no error has been detected on the TM4 bus
Indicates that the ethernet port is connected and the IP address is defined.
Indicates that the ethernet port is not connected. Indicates that the IP address is already in used. Indicates that the module is waiting for BOOTP or DHCP sequence. Indicates that the configured IP address is not valid.
1 For more information about the controller state description, refer to the M241 Logic Controller Programming Guide.
134
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Dimensions The following figure shows the external dimensions of the logic controller:
TM241CE24T
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135
TM241CE24T
136
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Modicon M241 Logic Controller TM241CEC24T EIO0000003083 12/2019
TM241CEC24T
Chapter 9
TM241CEC24T
TM241CEC24T Presentation
Overview TM241CEC24T logic controller: 14 digital inputs 8 fast inputs 6 regular inputs 10 digital outputs 4 fast outputs 6 regular outputs Communication port 2 serial line ports 1 Ethernet port 1 CANopen port 1 USB mini-B programming port
Description The following figure shows the different components of the TM241CEC24T logic controller:
EIO0000003083 12/2019
137
TM241CEC24T
N�
Description
Refer to
1
Run/Stop switch
Run/Stop (see page 61)
2
SD card slot
SD Card (see page 63)
3
Battery holder
Real Time Clock (RTC) (see page 48)
4
Cartridge slot
�
5
LEDs for indicating I/O states
Digital Inputs Status LEDs (see page 199)
Transistor Outputs Status LEDs (see page 213) Fast Outputs Status LEDs (see page 219)
6
USB mini-B programming port / For terminal connection to a USB Mini-B Programming Port
programming PC (EcoStruxure Machine Expert)
(see page 235)
7
Clip-on lock for 35 mm (1.38 in.) top hat section rail (DIN-rail) Top Hat Section Rail (see page 80)
8
Embedded regular transistor outputs
Regular Transistor Outputs (see page 212)
Embedded fast transistor outputs
Fast Transistor Outputs (see page 218)
Output removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
9
CANopen Line termination switch
CANopen Port (see page 228)
10
24 Vdc power supply
DC Power supply Characteristics and Wiring (see page 94)
11
CANopen port / Screw terminal block type
�
12
Ethernet port / Type RJ45 (RS-232 or RS-485)
Ethernet Port (see page 232)
13
Status LEDs
�
14
TM4 bus connector
TM4 Expansion Modules (see page 41)
15
Serial line port 1 / Type RJ45 (RS-232 or RS-485)
Serial Line 1 (see page 237)
16
Serial line port 2 / Screw terminal block type (RS-485)
Serial Line 2 (see page 240)
17
Embedded digital inputs
Embedded Digital Inputs (see page 198)
Input removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
18
TM3/TM2 bus connector
TM3 Expansion Modules (see page 31)
19
Protective cover (SD card slot, Run/Stop switch, and USB mini- �
B programming port)
20
Locking hook (Hook not included)
�
138
EIO0000003083 12/2019
Status LEDs The following figure shows the status LEDs:
TM241CEC24T
1 System status LEDs 2 Cartridge status LEDs (optional) 3 I/Os status LEDs
The following table describes the system status LEDs:
Label PWR RUN
Function Type
Power
Machine status
Color Status
Green On Off
Green On Flashing 1 flash Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that power is applied.
Indicates that power is removed.
Indicates that the controller is running a valid application.
Indicates that the controller has a valid application that is stopped.
Indicates that the controller has paused at BREAKPOINT.
Indicates that the -
-
controller is not
programmed
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TM241CEC24T
Label ERR
Function Type
Error
Color Status
Red
On
Fast flashing
Slow flashing
I/O SD BAT SL1 SL2 TM4
ETH
I/O error
Red
On
SD card access
Battery
Green Red
Serial line 1 Green
Serial line 2 Green
Error on TM4 Red bus
On
On Flashing On Off On Off On
Off
Ethernet port Green status
On
3 flashes 4 flashes 5 flashes
6 flashes
Description
Controller States1 Prg Port Communication
Application Execution
An operating
Restricted
No
system error has
been detected.
The controller has Restricted
No
detected an
internal error.
Indicates either that Yes
No
a minor error has
been detected, if
the RUN LED is
illuminated, or that
no application has
been detected.
Indicates device errors on the embedded I/Os, serial line 1 or 2, SD card, cartridge, TM4 bus, TM3 bus, Ethernet port or CANopen port.
Indicates that the SD card is being accessed
Indicates that the battery needs to be replaced.
Indicates that the battery charge is low. Indicates the status of serial line 1 (see page 239) Indicates no serial communication Indicates the status of serial line 2 (see page 241) Indicates no serial communication Indicates that an error has been detected on the TM4 bus Indicates that no error has been detected on the TM4 bus
Indicates that the ethernet port is connected and the IP address is defined.
Indicates that the ethernet port is not connected. Indicates that the IP address is already in used. Indicates that the module is waiting for BOOTP or DHCP sequence. Indicates that the configured IP address is not valid.
140
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TM241CEC24T
Label CAN R CAN E
Function Type
CANopen running status
CANopen error
Color Green Red
Status
On Off Flashing 1 flash per second On Off Flashing 1 flash per second
2 flashes per second
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that the CANopen bus is operational.
Indicates that the CANopen master is configured.
Indicates that the CANopen bus is being initialized.
Indicates that the CANopen bus is stopped.
Indicates that the CANopen bus is stopped (BUS OFF).
Indicates no CANopen detected error.
Indicates that the CANopen bus is not valid.
Indicates that the controller has detected that the maximum number of error frames has been reached or exceeded.
Indicates that the controller has detected either a Node Guarding or a Heartbeat event.
1 For more information about the controller state description, refer to the M241 Logic Controller Programming Guide.
Dimensions The following figure shows the external dimensions of the logic controller:
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141
TM241CEC24T
142
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Modicon M241 Logic Controller TM241C24U EIO0000003083 12/2019
TM241C24U
Chapter 10
TM241C24U
TM241C24U Presentation
Overview TM241C24U logic controller: 14 digital inputs 8 fast inputs 6 regular inputs 10 digital outputs 4 fast outputs 6 regular outputs Communication port 2 serial line ports 1 USB mini-B programming port
Description The following figure shows the different components of the TM241C24U logic controller:
EIO0000003083 12/2019
143
TM241C24U
N�
Description
Refer to
1
Run/Stop switch
Run/Stop (see page 61)
2
SD card slot
SD Card (see page 63)
3
Battery holder
Real Time Clock (RTC) (see page 48)
4
Cartridge slot
�
5
LEDs for indicating I/O states
Digital Inputs Status LEDs (see page 199)
Transistor Outputs Status LEDs (see page 213) Fast Outputs Status LEDs (see page 219)
6
USB mini-B programming port / For terminal connection to a USB Mini-B Programming Port
programming PC (EcoStruxure Machine Expert)
(see page 235)
7
Clip-on lock for 35 mm (1.38 in.) top hat section rail (DIN-rail) Top Hat Section Rail (see page 80)
8
Embedded regular transistor outputs
Regular Transistor Outputs (see page 212)
Embedded fast transistor outputs
Fast Transistor Outputs (see page 218)
Output removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
9
24 Vdc power supply
DC Power supply Characteristics and Wiring (see page 94)
10
Status LEDs
�
11
TM4 bus connector
TM4 Expansion Modules (see page 41)
12
Serial line port 1 / Type RJ45 (RS-232 or RS-485)
Serial Line 1 (see page 237)
13
Serial line port 2 / Screw terminal block type (RS-485)
Serial Line 2 (see page 240)
14
Embedded digital inputs
Embedded Digital Inputs (see page 198)
Input removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
15
TM3/TM2 bus connector
TM3 Expansion Modules (see page 31)
16
Protective cover (SD card slot, Run/Stop switch, and USB mini- �
B programming port)
17
Locking hook (Hook not included)
�
144
EIO0000003083 12/2019
Status LEDs The following figure shows the status LEDs:
TM241C24U
1 System status LEDs 2 Cartridge status LEDs (optional) 3 I/Os status LEDs
The following table describes the system status LEDs:
Label PWR RUN
Function Type
Power
Machine status
Color Status
Green On Off
Green On Flashing 1 flash Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that power is applied.
Indicates that power is removed.
Indicates that the controller is running a valid application.
Indicates that the controller has a valid application that is stopped.
Indicates that the controller has paused at BREAKPOINT.
Indicates that the -
-
controller is not
programmed
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TM241C24U
Label ERR
Function Type
Error
Color Status
Red
On
Fast flashing
Slow flashing
I/O SD BAT SL1 SL2 TM4
I/O error
Red
On
SD card access
Battery
Green Red
Serial line 1 Green
Serial line 2 Green
Error on TM4 Red bus
On
On Flashing On Off On Off On
Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that an Restricted
No
operating system
error has been
detected.
Indicates that the Restricted
No
controller has
detected an
internal error.
Indicates either that Yes
No
a minor error has
been detected, if
the RUN LED is
illuminated, or that
no application has
been detected.
Indicates device errors on the embedded I/Os, serial line 1 or 2, SD card, cartridge, TM4 bus, TM3 bus.
Indicates that the SD card is being accessed
Indicates that the battery needs to be replaced. Indicates that the battery charge is low. Indicates the status of serial line 1 (see page 239) Indicates no serial communication Indicates the status of serial line 2 (see page 241) Indicates no serial communication Indicates that an error has been detected on the TM4 bus Indicates that no error has been detected on the TM4 bus
1 For more information about the controller state description, refer to the M241 Logic Controller Programming Guide.
146
EIO0000003083 12/2019
Dimensions The following figure shows the external dimensions of the logic controller:
TM241C24U
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147
TM241C24U
148
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Modicon M241 Logic Controller TM241CE24U EIO0000003083 12/2019
TM241CE24U
Chapter 11
TM241CE24U
TM241CE24U Presentation
Overview TM241CE24U logic controller: 14 digital inputs 8 fast inputs 6 regular inputs 10 digital outputs 4 fast outputs 6 regular outputs Communication port 2 serial line ports 1 Ethernet port 1 USB mini-B programming port
Description The following figure shows the different components of the TM241CE24U logic controller:
EIO0000003083 12/2019
149
TM241CE24U
N�
Description
Refer to
1
Run/Stop switch
Run/Stop (see page 61)
2
SD card slot
SD Card (see page 63)
3
Battery holder
Real Time Clock (RTC) (see page 48)
4
Cartridge slot
�
5
LEDs for indicating I/O states
Digital Inputs Status LEDs (see page 199)
Transistor Outputs Status LEDs (see page 213) Fast Outputs Status LEDs (see page 219)
6
USB mini-B programming port / For terminal connection to a USB Mini-B Programming Port
programming PC (EcoStruxure Machine Expert)
(see page 235)
7
Clip-on lock for 35 mm (1.38 in.) top hat section rail (DIN-rail) Top Hat Section Rail (see page 80)
8
Embedded regular transistor outputs
Regular Transistor Outputs (see page 212)
Embedded fast transistor outputs
Fast Transistor Outputs (see page 218)
Output removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
9
24 Vdc power supply
DC Power supply Characteristics and Wiring (see page 94)
10
Ethernet port / Type RJ45 (RS-232 or RS-485)
Ethernet Port (see page 232)
11
Status LEDs
�
12
TM4 bus connector
TM4 Expansion Modules (see page 41)
13
Serial line port 1 / Type RJ45 (RS-232 or RS-485)
Serial Line 1 (see page 237)
14
Serial line port 2 / Screw terminal block type (RS-485)
Serial Line 2 (see page 240)
15
Embedded digital inputs
Embedded Digital Inputs (see page 198)
Input removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
16
TM3/TM2 bus connector
TM3 Expansion Modules (see page 31)
17
Protective cover (SD card slot, Run/Stop switch, and USB mini- �
B programming port)
18
Locking hook (Hook not included)
�
150
EIO0000003083 12/2019
Status LEDs The following figure shows the status LEDs:
TM241CE24U
1 System status LEDs 2 Cartridge status LEDs (optional) 3 I/Os status LEDs
The following table describes the system status LEDs:
Label PWR RUN
Function Type
Power
Machine status
Color Status
Green On Off
Green On Flashing 1 flash Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that power is applied.
Indicates that power is removed.
Indicates that the controller is running a valid application.
Indicates that the controller has a valid application that is stopped.
Indicates that the controller has paused at BREAKPOINT.
Indicates that the -
-
controller is not
programmed
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TM241CE24U
Label ERR
Function Type
Error
Color Status
Red
On
Fast flashing
Slow flashing
I/O SD BAT SL1 SL2 TM4
ETH
I/O error
Red
On
SD card access
Battery
Green Red
Serial line 1 Green
Serial line 2 Green
Error on TM4 Red bus
On
On Flashing On Off On Off On
Off
Ethernet port Green status
On
3 flashes 4 flashes 5 flashes
6 flashes
Description
Controller States1 Prg Port Communication
Application Execution
An operating
Restricted
No
system error has
been detected.
The controller has Restricted
No
detected an
internal error.
Indicates either that Yes
No
a minor error has
been detected, if
the RUN LED is
illuminated, or that
no application has
been detected.
Indicates device errors on the embedded I/Os, serial line 1 or 2, SD card, cartridge, TM4 bus, TM3 bus, Ethernet port or CANopen port.
Indicates that the SD card is being accessed
Indicates that the battery needs to be replaced.
Indicates that the battery charge is low. Indicates the status of serial line 1 (see page 239) Indicates no serial communication Indicates the status of serial line 2 (see page 241) Indicates no serial communication Indicates that an error has been detected on the TM4 bus Indicates that no error has been detected on the TM4 bus
Indicates that the ethernet port is connected and the IP address is defined.
Indicates that the ethernet port is not connected. Indicates that the IP address is already in used. Indicates that the module is waiting for BOOTP or DHCP sequence. Indicates that the configured IP address is not valid.
152
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TM241CE24U
Label CAN R CAN E
Function Type
CANopen running status
CANopen error
Color Green Red
Status
On Off Flashing 1 flash per second On Off Flashing 1 flash per second
2 flashes per second
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that the CANopen bus is operational.
Indicates that the CANopen master is configured.
Indicates that the CANopen bus is being initialized.
Indicates that the CANopen bus is stopped.
Indicates that the CANopen bus is stopped (BUS OFF).
Indicates no CANopen detected error.
Indicates that the CANopen bus is not valid.
Indicates that the controller has detected that the maximum number of error frames has been reached or exceeded.
Indicates that the controller has detected either a Node Guarding or a Heartbeat event.
1 For more information about the controller state description, refer to the M241 Logic Controller Programming Guide.
Dimensions The following figure shows the external dimensions of the logic controller:
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TM241CE24U
154
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Modicon M241 Logic Controller TM241CEC24U EIO0000003083 12/2019
TM241CEC24U
Chapter 12
TM241CEC24U
TM241CEC24U Presentation
Overview TM241CEC24U logic controller: 14 digital inputs 8 fast inputs 6 regular inputs 10 digital outputs 4 fast outputs 6 regular outputs Communication port 2 serial line ports 1 Ethernet port 1 CANopen port 1 USB mini-B programming port
Description The following figure shows the different components of the TM241CEC24U logic controller:
EIO0000003083 12/2019
155
TM241CEC24U
N�
Description
Refer to
1
Run/Stop switch
Run/Stop (see page 61)
2
SD card slot
SD Card (see page 63)
3
Battery holder
Real Time Clock (RTC) (see page 48)
4
Cartridge slot
�
5
LEDs for indicating I/O states
Digital Inputs Status LEDs (see page 199)
Transistor Outputs Status LEDs (see page 213) Fast Outputs Status LEDs (see page 219)
6
USB mini-B programming port / For terminal connection to a USB Mini-B Programming Port
programming PC (EcoStruxure Machine Expert)
(see page 235)
7
Clip-on lock for 35 mm (1.38 in.) top hat section rail (DIN-rail) Top Hat Section Rail (see page 80)
8
Embedded regular transistor outputs
Regular Transistor Outputs (see page 212)
Embedded fast transistor outputs
Fast Transistor Outputs (see page 218)
Output removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
9
CANopen Line termination switch
CANopen Port (see page 228)
10
24 Vdc power supply
DC Power supply Characteristics and Wiring (see page 94)
11
CANopen port / Screw terminal block type
�
12
Ethernet port / Type RJ45 (RS-232 or RS-485)
Ethernet Port (see page 232)
13
Status LEDs
�
14
TM4 bus connector
TM4 Expansion Modules (see page 41)
15
Serial line port 1 / Type RJ45 (RS-232 or RS-485)
Serial Line 1 (see page 237)
16
Serial line port 2 / Screw terminal block type (RS-485)
Serial Line 2 (see page 240)
17
Embedded digital inputs
Embedded Digital Inputs (see page 198)
Input removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
18
TM3/TM2 bus connector
TM3 Expansion Modules (see page 31)
19
Protective cover (SD card slot, Run/Stop switch, and USB mini- �
B programming port)
20
Locking hook (Hook not included)
�
156
EIO0000003083 12/2019
Status LEDs The following figure shows the status LEDs:
TM241CEC24U
1 System status LEDs 2 Cartridge status LEDs (optional) 3 I/Os status LEDs
The following table describes the system status LEDs:
Label PWR RUN
Function Type
Power
Machine status
Color Status
Green On Off
Green On Flashing 1 flash Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that power is applied.
Indicates that power is removed.
Indicates that the controller is running a valid application.
Indicates that the controller has a valid application that is stopped.
Indicates that the controller has paused at BREAKPOINT.
Indicates that the -
-
controller is not
programmed
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TM241CEC24U
Label ERR
Function Type
Error
Color Status
Red
On
Fast flashing
Slow flashing
I/O SD BAT SL1 SL2 TM4
ETH
I/O error
Red
On
SD card access
Battery
Green Red
Serial line 1 Green
Serial line 2 Green
Error on TM4 Red bus
On
On Flashing On Off On Off On
Off
Ethernet port Green status
On
3 flashes 4 flashes 5 flashes
6 flashes
Description
Controller States1 Prg Port Communication
Application Execution
An operating
Restricted
No
system error has
been detected.
The controller has Restricted
No
detected an
internal error.
Indicates either that Yes
No
a minor error has
been detected, if
the RUN LED is
illuminated, or that
no application has
been detected.
Indicates device errors on the embedded I/Os, serial line 1 or 2, SD card, cartridge, TM4 bus, TM3 bus, Ethernet port or CANopen port.
Indicates that the SD card is being accessed
Indicates that the battery needs to be replaced.
Indicates that the battery charge is low. Indicates the status of serial line 1 (see page 239) Indicates no serial communication Indicates the status of serial line 2 (see page 241) Indicates no serial communication Indicates that an error has been detected on the TM4 bus Indicates that no error has been detected on the TM4 bus
Indicates that the ethernet port is connected and the IP address is defined.
Indicates that the ethernet port is not connected. Indicates that the IP address is already in used. Indicates that the module is waiting for BOOTP or DHCP sequence. Indicates that the configured IP address is not valid.
158
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TM241CEC24U
Label CAN R CAN E
Function Type
CANopen running status
CANopen error
Color Green Red
Status
On Off Flashing 1 flash per second On Off Flashing 1 flash per second
2 flashes per second
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that the CANopen bus is operational.
Indicates that the CANopen master is configured.
Indicates that the CANopen bus is being initialized.
Indicates that the CANopen bus is stopped.
Indicates that the CANopen bus is stopped (BUS OFF).
Indicates no CANopen detected error.
Indicates that the CANopen bus is not valid.
Indicates that the controller has detected that the maximum number of error frames has been reached or exceeded.
Indicates that the controller has detected either a Node Guarding or a Heartbeat event.
1 For more information about the controller state description, refer to the M241 Logic Controller Programming Guide.
Dimensions The following figure shows the external dimensions of the logic controller:
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TM241CEC24U
160
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Modicon M241 Logic Controller TM241C40R EIO0000003083 12/2019
TM241C40R
Chapter 13
TM241C40R
TM241C40R Presentation
Overview TM241C40R logic controller: 24 digital inputs 8 fast inputs 16 regular inputs 16 digital outputs 4 fast outputs 12 relay outputs (2 A) Communication port 2 serial line ports 1 USB mini-B programming port
Description The following figure shows the different components of the TM241C40R logic controller:
EIO0000003083 12/2019
161
TM241C40R
N�
Description
Refer to
1
Run/Stop switch
Run/Stop (see page 61)
2
SD card slot
SD Card (see page 63)
3
Battery holder
Real Time Clock (RTC) (see page 48)
4
Cartridge slot
�
5
LEDs for indicating I/O states
Digital Inputs Status LEDs (see page 199)
Relay Outputs Status LEDs (see page 207) Fast Outputs Status LEDs (see page 219)
6
USB mini-B programming port / For terminal connection to a USB Mini-B Programming Port
programming PC (EcoStruxure Machine Expert)
(see page 235)
7
Clip-on lock for 35 mm (1.38 in.) top hat section rail (DIN-rail) Top Hat Section Rail (see page 80)
8
Embedded relay outputs
Relay Outputs (see page 206)
Embedded fast transistor outputs
Fast Transistor Outputs (see page 218)
Output removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
9
100...240 Vac 50/60 Hz power supply
AC Power Supply Characteristics and Wiring (see page 98)
10
Status LEDs
�
11
TM4 bus connector
TM4 Expansion Modules (see page 41)
12
Serial line port 1 / Type RJ45 (RS-232 or RS-485)
Serial Line 1 (see page 237)
13
Serial line port 2 / Screw terminal block type (RS-485)
Serial Line 2 (see page 240)
14
Embedded digital inputs
Embedded Digital Inputs (see page 198)
Input removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
15
TM3/TM2 bus connector
TM3 Expansion Modules (see page 31)
16
Protective cover (SD card slot, Run/Stop switch, and USB mini- �
B programming port)
17
Locking hook (Hook not included)
�
162
EIO0000003083 12/2019
Status LEDs The following figure shows the status LEDs:
TM241C40R
1 System status LEDs 2 Cartridge status LEDs (optional) 3 I/Os status LEDs
The following table describes the system status LEDs:
Label PWR RUN
Function Type
Power
Machine status
Color Status
Green On Off
Green On Flashing 1 flash Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that power is applied.
Indicates that power is removed.
Indicates that the controller is running a valid application.
Indicates that the controller has a valid application that is stopped.
Indicates that the controller has paused at BREAKPOINT.
Indicates that the -
-
controller is not
programmed
EIO0000003083 12/2019
163
TM241C40R
Label ERR
Function Type
Error
Color Status
Red
On
Fast flashing
Slow flashing
I/O SD BAT SL1 SL2 TM4
I/O error
Red
On
SD card access
Battery
Green Red
Serial line 1 Green
Serial line 2 Green
Error on TM4 Red bus
On
On Flashing On Off On Off On
Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that an Restricted
No
operating system
error has been
detected.
Indicates that the Restricted
No
controller has
detected an
internal error.
Indicates either that Yes
No
a minor error has
been detected, if
the RUN LED is
illuminated, or that
no application has
been detected.
Indicates device errors on the embedded I/Os, serial line 1 or 2, SD card, cartridge, TM4 bus, TM3 bus.
Indicates that the SD card is being accessed
Indicates that the battery needs to be replaced. Indicates that the battery charge is low. Indicates the status of serial line 1 (see page 239) Indicates no serial communication Indicates the status of serial line 2 (see page 241) Indicates no serial communication Indicates that an error has been detected on the TM4 bus Indicates that no error has been detected on the TM4 bus
1 For more information about the controller state description, refer to the M241 Logic Controller Programming Guide.
164
EIO0000003083 12/2019
Dimensions The following figure shows the external dimensions of the logic controller:
TM241C40R
EIO0000003083 12/2019
165
TM241C40R
166
EIO0000003083 12/2019
Modicon M241 Logic Controller TM241CE40R EIO0000003083 12/2019
TM241CE40R
Chapter 14
TM241CE40R
TM241CE40R Presentation
Overview TM241CE40R logic controller: 24 digital inputs 8 fast inputs 16 regular inputs 16 digital outputs 4 fast outputs 12 relay outputs (2 A) Communication port 2 serial line ports 1 Ethernet port 1 USB mini-B programming port
Description The following figure shows the different components of the TM241CE40R logic controller:
EIO0000003083 12/2019
167
TM241CE40R
N�
Description
Refer to
1
Run/Stop switch
Run/Stop (see page 61)
2
SD card slot
SD Card (see page 63)
3
Battery holder
Real Time Clock (RTC) (see page 48)
4
Cartridge slot
�
5
LEDs for indicating I/O states
Digital Inputs Status LEDs (see page 199)
Relay Outputs Status LEDs (see page 207) Fast Outputs Status LEDs (see page 219)
6
USB mini-B programming port / For terminal connection to a USB Mini-B Programming Port
programming PC (EcoStruxure Machine Expert)
(see page 235)
7
Clip-on lock for 35 mm (1.38 in.) top hat section rail (DIN-rail) Top Hat Section Rail (see page 80)
8
Embedded relay outputs
Relay Outputs (see page 206)
Embedded fast transistor outputs
Fast Transistor Outputs (see page 218)
Output removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
9
100...240 Vac 50/60 Hz power supply
AC Power Supply Characteristics and Wiring (see page 98)
10
Ethernet port / Type RJ45 (RS-232 or RS-485)
Ethernet Port (see page 232)
11
Status LEDs
�
12
TM4 bus connector
TM4 Expansion Modules (see page 41)
13
Serial line port 1 / Type RJ45 (RS-232 or RS-485)
Serial Line 1 (see page 237)
14
Serial line port 2 / Screw terminal block type (RS-485)
Serial Line 2 (see page 240)
15
Embedded digital inputs
Embedded Digital Inputs (see page 198)
Input removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
16
TM3/TM2 bus connector
TM3 Expansion Modules (see page 31)
17
Protective cover (SD card slot, Run/Stop switch, and USB mini- �
B programming port)
18
Locking hook (Hook not included)
�
168
EIO0000003083 12/2019
Status LEDs The following figure shows the status LEDs:
TM241CE40R
1 System status LEDs 2 Cartridge status LEDs (optional) 3 I/Os status LEDs
The following table describes the system status LEDs:
Label PWR RUN
Function Type
Power
Machine status
Color Status
Green On Off
Green On Flashing 1 flash Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that power is applied.
Indicates that power is removed.
Indicates that the controller is running a valid application.
Indicates that the controller has a valid application that is stopped.
Indicates that the controller has paused at BREAKPOINT.
Indicates that the -
-
controller is not
programmed
EIO0000003083 12/2019
169
TM241CE40R
Label ERR
Function Type
Error
Color Status
Red
On
Fast flashing
Slow flashing
I/O SD BAT SL1 SL2 TM4
ETH
I/O error
Red
On
SD card access
Battery
Green Red
Serial line 1 Green
Serial line 2 Green
Error on TM4 Red bus
On
On Flashing On Off On Off On
Off
Ethernet port Green status
On
3 flashes 4 flashes 5 flashes
6 flashes
Description
Controller States1 Prg Port Communication
Application Execution
An operating
Restricted
No
system error has
been detected.
The controller has Restricted
No
detected an
internal error.
Indicates either that Yes
No
a minor error has
been detected, if
the RUN LED is
illuminated, or that
no application has
been detected.
Indicates device errors on the embedded I/Os, serial line 1 or 2, SD card, cartridge, TM4 bus, TM3 bus, or Ethernet port.
Indicates that the SD card is being accessed
Indicates that the battery needs to be replaced.
Indicates that the battery charge is low. Indicates the status of serial line 1 (see page 239) Indicates no serial communication Indicates the status of serial line 2 (see page 241) Indicates no serial communication Indicates that an error has been detected on the TM4 bus Indicates that no error has been detected on the TM4 bus
Indicates that the ethernet port is connected and the IP address is defined.
Indicates that the ethernet port is not connected. Indicates that the IP address is already in used. Indicates that the module is waiting for BOOTP or DHCP sequence. Indicates that the configured IP address is not valid.
1 For more information about the controller state description, refer to the M241 Logic Controller Programming Guide.
170
EIO0000003083 12/2019
Dimensions The following figure shows the external dimensions of the logic controller:
TM241CE40R
EIO0000003083 12/2019
171
TM241CE40R
172
EIO0000003083 12/2019
Modicon M241 Logic Controller TM241C40T EIO0000003083 12/2019
TM241C40T
Chapter 15
TM241C40T
TM241C40T Presentation
Overview TM241C40T logic controller: 24 digital inputs 8 fast inputs 16 regular inputs 16 digital outputs 4 fast outputs 12 regular outputs Communication port 2 serial line ports 1 USB mini-B programming port
Description The following figure shows the different components of the TM241C40T logic controller:
EIO0000003083 12/2019
173
TM241C40T
N�
Description
Refer to
1
Run/Stop switch
Run/Stop (see page 61)
2
SD card slot
SD Card (see page 63)
3
Battery holder
Real Time Clock (RTC) (see page 48)
4
Cartridge slot
�
5
LEDs for indicating I/O states
Digital Inputs Status LEDs (see page 199)
Transistor Outputs Status LEDs (see page 213) Fast Outputs Status LEDs (see page 219)
6
USB mini-B programming port / For terminal connection to a USB Mini-B Programming Port
programming PC (EcoStruxure Machine Expert)
(see page 235)
7
Clip-on lock for 35 mm (1.38 in.) top hat section rail (DIN-rail) Top Hat Section Rail (see page 80)
8
Embedded regular transistor outputs
Regular Transistor Outputs (see page 212)
Embedded fast transistor outputs
Fast Transistor Outputs (see page 218)
Output removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
9
24 Vdc power supply
DC Power supply Characteristics and Wiring (see page 94)
10
Status LEDs
�
11
TM4 bus connector
TM4 Expansion Modules (see page 41)
12
Serial line port 1 / Type RJ45 (RS-232 or RS-485)
Serial Line 1 (see page 237)
13
Serial line port 2 / Screw terminal block type (RS-485)
Serial Line 2 (see page 240)
14
Embedded digital inputs
Embedded Digital Inputs (see page 198)
Input removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
15
TM3/TM2 bus connector
TM3 Expansion Modules (see page 31)
16
Protective cover (SD card slot, Run/Stop switch, and USB mini- �
B programming port)
17
Locking hook (Hook not included)
�
174
EIO0000003083 12/2019
Status LEDs The following figure shows the status LEDs:
TM241C40T
1 System status LEDs 2 Cartridge status LEDs (optional) 3 I/Os status LEDs
The following table describes the system status LEDs:
Label PWR RUN
Function Type
Power
Machine status
Color Status
Green On Off
Green On Flashing 1 flash Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that power is applied.
Indicates that power is removed.
Indicates that the controller is running a valid application.
Indicates that the controller has a valid application that is stopped.
Indicates that the controller has paused at BREAKPOINT.
Indicates that the -
-
controller is not
programmed
EIO0000003083 12/2019
175
TM241C40T
Label ERR
Function Type
Error
Color Status
Red
On
Fast flashing
Slow flashing
I/O SD BAT SL1 SL2 TM4
I/O error
Red
On
SD card access
Battery
Green Red
Serial line 1 Green
Serial line 2 Green
Error on TM4 Red bus
On
On Flashing On Off On Off On
Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that an Restricted
No
operating system
error has been
detected.
Indicates that the Restricted
No
controller has
detected an
internal error.
Indicates either that Yes
No
a minor error has
been detected, if
the RUN LED is
illuminated, or that
no application has
been detected.
Indicates device errors on the embedded I/Os, serial line 1 or 2, SD card, cartridge, TM4 bus, TM3 bus.
Indicates that the SD card is being accessed
Indicates that the battery needs to be replaced. Indicates that the battery charge is low. Indicates the status of serial line 1 (see page 239) Indicates no serial communication Indicates the status of serial line 2 (see page 241) Indicates no serial communication Indicates that an error has been detected on the TM4 bus Indicates that no error has been detected on the TM4 bus
1 For more information about the controller state description, refer to the M241 Logic Controller Programming Guide.
176
EIO0000003083 12/2019
Dimensions The following figure shows the external dimensions of the logic controller:
TM241C40T
EIO0000003083 12/2019
177
TM241C40T
178
EIO0000003083 12/2019
Modicon M241 Logic Controller TM241CE40T EIO0000003083 12/2019
TM241CE40T
Chapter 16
TM241CE40T
TM241CE40T Presentation
Overview TM241CE40T logic controller: 24 digital inputs 8 fast inputs 16 regular inputs 16 digital outputs 4 fast outputs 12 regular outputs Communication port 2 serial line ports 1 Ethernet port 1 USB mini-B programming port
Description The following figure shows the different components of the TM241CE40T logic controller:
EIO0000003083 12/2019
179
TM241CE40T
N�
Description
Refer to
1
Run/Stop switch
Run/Stop (see page 61)
2
SD card slot
SD Card (see page 63)
3
Battery holder
Real Time Clock (RTC) (see page 48)
4
Cartridge slot
�
5
LEDs for indicating I/O states
Digital Inputs Status LEDs (see page 199)
Transistor Outputs Status LEDs (see page 213) Fast Outputs Status LEDs (see page 219)
6
USB mini-B programming port / For terminal connection to a USB Mini-B Programming Port
programming PC (EcoStruxure Machine Expert)
(see page 235)
7
Clip-on lock for 35 mm (1.38 in.) top hat section rail (DIN-rail) Top Hat Section Rail (see page 80)
8
Embedded regular transistor outputs
Regular Transistor Outputs (see page 212)
Embedded fast transistor outputs
Fast Transistor Outputs (see page 218)
Output removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
9
24 Vdc power supply
DC Power supply Characteristics and Wiring (see page 94)
10
Ethernet port / Type RJ45 (RS-232 or RS-485)
Ethernet Port (see page 232)
11
Status LEDs
�
12
TM4 bus connector
TM4 Expansion Modules (see page 41)
13
Serial line port 1 / Type RJ45 (RS-232 or RS-485)
Serial Line 1 (see page 237)
14
Serial line port 2 / Screw terminal block type (RS-485)
Serial Line 2 (see page 240)
15
Embedded digital inputs
Embedded Digital Inputs (see page 198)
Input removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
16
TM3/TM2 bus connector
TM3 Expansion Modules (see page 31)
17
Protective cover (SD card slot, Run/Stop switch, and USB mini- �
B programming port)
18
Locking hook (Hook not included)
�
180
EIO0000003083 12/2019
Status LEDs The following figure shows the status LEDs:
TM241CE40T
1 System status LEDs 2 Cartridge status LEDs (optional) 3 I/Os status LEDs
The following table describes the system status LEDs:
Label PWR RUN
Function Type
Power
Machine status
Color Status
Green On Off
Green On Flashing 1 flash Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that power is applied.
Indicates that power is removed.
Indicates that the controller is running a valid application.
Indicates that the controller has a valid application that is stopped.
Indicates that the controller has paused at BREAKPOINT.
Indicates that the -
-
controller is not
programmed
EIO0000003083 12/2019
181
TM241CE40T
Label ERR
Function Type
Error
Color Status
Red
On
Fast flashing
Slow flashing
I/O SD BAT SL1 SL2 TM4
ETH
I/O error
Red
On
SD card access
Battery
Green Red
Serial line 1 Green
Serial line 2 Green
Error on TM4 Red bus
On
On Flashing On Off On Off On
Off
Ethernet port Green status
On
3 flashes 4 flashes 5 flashes
6 flashes
Description
Controller States1 Prg Port Communication
Application Execution
An operating
Restricted
No
system error has
been detected.
The controller has Restricted
No
detected an
internal error.
Indicates either that Yes
No
a minor error has
been detected, if
the RUN LED is
illuminated, or that
no application has
been detected.
Indicates device errors on the embedded I/Os, serial line 1 or 2, SD card, cartridge, TM4 bus, TM3 bus, or Ethernet port.
Indicates that the SD card is being accessed
Indicates that the battery needs to be replaced.
Indicates that the battery charge is low. Indicates the status of serial line 1 (see page 239) Indicates no serial communication Indicates the status of serial line 2 (see page 241) Indicates no serial communication Indicates that an error has been detected on the TM4 bus Indicates that no error has been detected on the TM4 bus
Indicates that the ethernet port is connected and the IP address is defined.
Indicates that the ethernet port is not connected. Indicates that the IP address is already in used. Indicates that the module is waiting for BOOTP or DHCP sequence. Indicates that the configured IP address is not valid.
1 For more information about the controller state description, refer to the M241 Logic Controller Programming Guide.
182
EIO0000003083 12/2019
Dimensions The following figure shows the external dimensions of the logic controller:
TM241CE40T
EIO0000003083 12/2019
183
TM241CE40T
184
EIO0000003083 12/2019
Modicon M241 Logic Controller TM241C40U EIO0000003083 12/2019
TM241C40U
Chapter 17
TM241C40U
TM241C40U Presentation
Overview TM241C24U logic controller: 24 digital inputs 8 fast inputs 16 regular inputs 16 digital outputs 4 fast outputs 12 regular outputs Communication port 2 serial line ports 1 USB mini-B programming port
Description The following figure shows the different components of the TM241C40U logic controller:
EIO0000003083 12/2019
185
TM241C40U
N�
Description
Refer to
1
Run/Stop switch
Run/Stop (see page 61)
2
SD card slot
SD Card (see page 63)
3
Battery holder
Real Time Clock (RTC) (see page 48)
4
Cartridge slot
�
5
LEDs for indicating I/O states
Digital Inputs Status LEDs (see page 199)
Transistor Outputs Status LEDs (see page 213) Fast Outputs Status LEDs (see page 219)
6
USB mini-B programming port / For terminal connection to a USB Mini-B Programming Port
programming PC (EcoStruxure Machine Expert)
(see page 235)
7
Clip-on lock for 35 mm (1.38 in.) top hat section rail (DIN-rail) Top Hat Section Rail (see page 80)
8
Embedded regular transistor outputs
Regular Transistor Outputs (see page 212)
Embedded fast transistor outputs
Fast Transistor Outputs (see page 218)
Output removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
9
24 Vdc power supply
DC Power supply Characteristics and Wiring (see page 94)
10
Status LEDs
�
11
TM4 bus connector
TM4 Expansion Modules (see page 41)
12
Serial line port 1 / Type RJ45 (RS-232 or RS-485)
Serial Line 1 (see page 237)
13
Serial line port 2 / Screw terminal block type (RS-485)
Serial Line 2 (see page 240)
14
Embedded digital inputs
Embedded Digital Inputs (see page 198)
Input removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
15
TM3/TM2 bus connector
TM3 Expansion Modules (see page 31)
16
Protective cover (SD card slot, Run/Stop switch, and USB mini- �
B programming port)
17
Locking hook (Hook not included)
�
186
EIO0000003083 12/2019
Status LEDs The following figure shows the status LEDs:
TM241C40U
1 System status LEDs 2 Cartridge status LEDs (optional) 3 I/Os status LEDs
The following table describes the system status LEDs:
Label PWR RUN
Function Type
Power
Machine status
Color Status
Green On Off
Green On Flashing 1 flash Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that power is applied.
Indicates that power is removed.
Indicates that the controller is running a valid application.
Indicates that the controller has a valid application that is stopped.
Indicates that the controller has paused at BREAKPOINT.
Indicates that the -
-
controller is not
programmed
EIO0000003083 12/2019
187
TM241C40U
Label ERR
Function Type
Error
Color Status
Red
On
Fast flashing
Slow flashing
I/O SD BAT SL1 SL2 TM4
I/O error
Red
On
SD card access
Battery
Green Red
Serial line 1 Green
Serial line 2 Green
Error on TM4 Red bus
On
On Flashing On Off On Off On
Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that an Restricted
No
operating system
error has been
detected.
Indicates that the Restricted
No
controller has
detected an
internal error.
Indicates either that Yes
No
a minor error has
been detected, if
the RUN LED is
illuminated, or that
no application has
been detected.
Indicates device errors on the embedded I/Os, serial line 1 or 2, SD card, cartridge, TM4 bus, TM3 bus.
Indicates that the SD card is being accessed
Indicates that the battery needs to be replaced. Indicates that the battery charge is low. Indicates the status of serial line 1 (see page 239) Indicates no serial communication Indicates the status of serial line 2 (see page 241) Indicates no serial communication Indicates that an error has been detected on the TM4 bus Indicates that no error has been detected on the TM4 bus
1 For more information about the controller state description, refer to the M241 Logic Controller Programming Guide.
188
EIO0000003083 12/2019
Dimensions The following figure shows the external dimensions of the logic controller:
TM241C40U
EIO0000003083 12/2019
189
TM241C40U
190
EIO0000003083 12/2019
Modicon M241 Logic Controller TM241CE40U EIO0000003083 12/2019
TM241CE40U
Chapter 18
TM241CE40U
TM241CE40U Presentation
Overview TM241CE40U logic controllers: 24 digital inputs 8 fast inputs 16 regular inputs 16 digital outputs 4 fast outputs 12 regular outputs Communication port 2 serial line ports 1 Ethernet port 1 USB mini-B programming port
Description The following figure shows the different components of the TM241CE40U logic controller:
EIO0000003083 12/2019
191
TM241CE40U
N�
Description
Refer to
1
Run/Stop switch
Run/Stop (see page 61)
2
SD card slot
SD Card (see page 63)
3
Battery holder
Real Time Clock (RTC) (see page 48)
4
Cartridge slot
�
5
LEDs for indicating I/O states
Digital Inputs Status LEDs (see page 199)
Transistor Outputs Status LEDs (see page 213) Fast Outputs Status LEDs (see page 219)
6
USB mini-B programming port / For terminal connection to a USB Mini-B Programming Port
programming PC (EcoStruxure Machine Expert)
(see page 235)
7
Clip-on lock for 35 mm (1.38 in.) top hat section rail (DIN-rail) Top Hat Section Rail (see page 80)
8
Embedded regular transistor outputs
Regular Transistor Outputs (see page 212)
Embedded fast transistor outputs
Fast Transistor Outputs (see page 218)
Output removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
9
24 Vdc power supply
DC Power supply Characteristics and Wiring (see page 94)
10
Ethernet port / Type RJ45 (RS-232 or RS-485)
Ethernet Port (see page 232)
11
Status LEDs
�
12
TM4 bus connector
TM4 Expansion Modules (see page 41)
13
Serial line port 1 / Type RJ45 (RS-232 or RS-485)
Serial Line 1 (see page 237)
14
Serial line port 2 / Screw terminal block type (RS-485)
Serial Line 2 (see page 240)
15
Embedded digital inputs
Embedded Digital Inputs (see page 198)
Input removable terminal block
Rules for Removable Screw Terminal Block (see page 90)
16
TM3/TM2 bus connector
TM3 Expansion Modules (see page 31)
17
Protective cover (SD card slot, Run/Stop switch, and USB mini- �
B programming port)
18
Locking hook (Hook not included)
�
192
EIO0000003083 12/2019
Status LEDs The following figure shows the status LEDs:
TM241CE40U
1 System status LEDs 2 Cartridge status LEDs (optional) 3 I/Os status LEDs
The following table describes the system status LEDs:
Label PWR RUN
Function Type
Power
Machine status
Color Status
Green On Off
Green On Flashing 1 flash Off
Description
Controller States1 Prg Port Communication
Application Execution
Indicates that power is applied.
Indicates that power is removed.
Indicates that the controller is running a valid application.
Indicates that the controller has a valid application that is stopped.
Indicates that the controller has paused at BREAKPOINT.
Indicates that the -
-
controller is not
programmed
EIO0000003083 12/2019
193
TM241CE40U
Label ERR
Function Type
Error
Color Status
Red
On
Fast flashing
Slow flashing
I/O SD BAT SL1 SL2 TM4
ETH
I/O error
Red
On
SD card access
Battery
Green Red
Serial line 1 Green
Serial line 2 Green
Error on TM4 Red bus
On
On Flashing On Off On Off On
Off
Ethernet port Green status
On
3 flashes 4 flashes 5 flashes
6 flashes
Description
Controller States1 Prg Port Communication
Application Execution
An operating
Restricted
No
system error has
been detected.
The controller has Restricted
No
detected an
internal error.
Indicates either that Yes
No
a minor error has
been detected, if
the RUN LED is
illuminated, or that
no application has
been detected.
Indicates device errors on the embedded I/Os, serial line 1 or 2, SD card, cartridge, TM4 bus, TM3 bus, or Ethernet port.
Indicates that the SD card is being accessed
Indicates that the battery needs to be replaced.
Indicates that the battery charge is low. Indicates the status of serial line 1 (see page 239) Indicates no serial communication Indicates the status of serial line 2 (see page 241) Indicates no serial communication Indicates that an error has been detected on the TM4 bus Indicates that no error has been detected on the TM4 bus
Indicates that the ethernet port is connected and the IP address is defined.
Indicates that the ethernet port is not connected. Indicates that the IP address is already in used. Indicates that the module is waiting for BOOTP or DHCP sequence. Indicates that the configured IP address is not valid.
1 For more information about the controller state description, refer to the M241 Logic Controller Programming Guide.
194
EIO0000003083 12/2019
Dimensions The following figure shows the external dimensions of the logic controller:
TM241CE40U
EIO0000003083 12/2019
195
TM241CE40U
196
EIO0000003083 12/2019
Modicon M241 Logic Controller Embedded I/O channels EIO0000003083 12/2019
Embedded I/O Channels
Chapter 19
Embedded I/O Channels
Overview This chapter describes the embedded I/O channels.
What Is in This Chapter? This chapter contains the following topics:
Digital Inputs Relay Outputs Regular Transistor Outputs Fast Transistor Outputs
Topic
Page 198 206 212 218
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197
Embedded I/O channels
Digital Inputs
Overview The Modicon M241 Logic Controller has digital inputs embedded:
Reference
TM241C��24R TM241C��24T TM241C��24U TM241C�40R TM241C�40T TM241C�40U
Total number of digital inputs
14
Fast inputs which can Total number of be used as 200 kHz regular inputs HSC inputs
8
6
24
8
16
For more information, refer to Input Management (see page 52).
Regular inputs which can be used as 1 kHz HSC inputs 6
8
DANGER
FIRE HAZARD
Use only the correct wire sizes for the maximum current capacity of the I/O channels and power supplies.
For relay output (2 A) wiring, use conductors of at least 0.5 mm2 (AWG 20) with a temperature rating of at least 80 �C (176 �F).
For common conductors of relay output wiring (7 A), or relay output wiring greater than 2 A, use conductors of at least 1.0 mm2 (AWG 16) with a temperature rating of at least 80 �C (176 �F).
Failure to follow these instructions will result in death or serious injury.
WARNING
UNINTENDED EQUIPMENT OPERATION
Do not exceed any of the rated values specified in the environmental and electrical characteristics tables.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Digital Input Status LEDs The following figure shows the status LEDs for the TM241C��24� controller (the TM241C�40� controllers are similar with 40 LEDs):
LED 0...13
Color Green
Status On Off
Description The input channel is activated The input channel is deactivated
Regular Input Characteristics The table below describes the characteristics of the M241 Logic Controller with regular inputs:
Characteristic
Values
TM241C��24�
TM241C�40�
Number of regular inputs
6 inputs (I8...I13)
16 inputs (I8...I23)
Number of channel groups
1 common line for I8...I13 1 common line for I8...I23
Input type
Type 1 (IEC 61131-2 Edition 3)
Logic type
Sink/Source
Input voltage range
24 Vdc
Rated input voltage
0...28.8 Vdc
Rated input current
5 mA
7 mA
Input impedance
4.7 k
Input limit values
Voltage at state 1
> 15 Vdc (15...28.8 Vdc)
Voltage at state 0
< 5 Vdc (0...5 Vdc)
Current at state 1
> 2.5 mA
Current at state 0
< 1.0 mA
Derating
No derating
1 For more information, refer to Integrator Filter Principle (see page 53)
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Characteristic
Values
TM241C��24�
TM241C�40�
Turn on time
50 �s + filter value1
Turn off time
50 �s + filter value1
Isolation
Between input and internal logic 500 Vac
Between input terminals
Not Isolated
Connection type
Removable screw terminal block
Connector insertion/removal durability
Over 100 times
Cable
Type
Unshielded
Length
Maximum 50 m (164 ft)
1 For more information, refer to Integrator Filter Principle (see page 53)
Fast Input Characteristics The table below describes the characteristics of the M241 Logic Controller with fast inputs:
Characteristic
Value
Number of fast transistor inputs
8 inputs (I0...I7)
Number of channel groups
1 common line for I0...I3 1 common line for I4...I7
Input type
Type 1 (IEC 61131-2 Edition 3)
Logic type
Sink/Source
Rated input voltage
24 Vdc
Input voltage range
0...28.8 Vdc
Rated input current
10.7 mA
Input impedance
2.81 k
Input limit values
Voltage at state 1
> 15 Vdc (15...28.8 Vdc)
Voltage at state 0
< 5 Vdc (0...5 Vdc)
Current at state 1
> 5 mA
Current at state 0
< 1.5 mA
Derating
No derating
Turn on time
2 �s + filter value1
Turn off time
2 �s + filter value1
HSC maximum frequency A/B phase
100 kHz
Pulse/Direction
200 kHz
Single phase
200 kHz
1 For more information, refer to Integrator Filter Principle (see page 53)
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Characteristic
Value
HSC supported operation mode
A/B phase counter Pulse/Direction counter Single/Dual phase counter
Isolation
Between input and internal logic 500 Vac
Between input terminals
Not isolated
Connection type
Removable screw terminal block
Connector insertion/removal durability
Over 100 times
Cable
Type
Shielded, including the 24 Vdc power supply
Length
Maximum 10 m (32.8 ft)
1 For more information, refer to Integrator Filter Principle (see page 53)
Removing Terminal Block Refer to Removing Terminal Block (see page 91).
TM241C��24R Wiring Diagrams The following figure shows the sink wiring (positive logic) of the controller digital inputs:
* Type T fuse (1) The COM0, COM1 and COM2 terminals are not connected internally.
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Embedded I/O channels
The following figure shows the source wiring (negative logic) of the controller digital inputs:
* Type T fuse (1) The COM0, COM1 and COM2 terminals are not connected internally.
Fast input wiring for I0... I7:
TM241C�40R Wiring Diagrams The following figure shows the sink wiring (positive logic) of the controller digital inputs:
* Type T fuse (1) The COM0, COM1 and COM2 terminals are not connected internally.
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The following figure shows the source wiring (negative logic) of the controller digital inputs:
* Type T fuse (1) The COM0, COM1 and COM2 terminals are not connected internally.
Fast input wiring for I0... I7:
TM241C��24T / TM241C��24U Wiring Diagrams The following figure shows the connection of the controller digital inputs:
* Type T fuse (1) The COM0, COM1 and COM2 terminals are not connected internally. A Sink wiring (positive logic). B Source wiring (negative logic).
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Fast input wiring for I0... I7:
WARNING
UNINTENDED EQUIPMENT OPERATION Do not connect wires to unused terminals and/or terminals indicated as "No Connection (N.C.)". Failure to follow these instructions can result in death, serious injury, or equipment damage. TM241C�40T / TM241C�40U Wiring Diagrams The following figure shows the connection of the controller digital inputs:
* Type T fuse (1) The COM0, COM1 and COM2 terminals are not connected internally. A Sink wiring (positive logic). B Source wiring (negative logic).
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Fast input wiring for I0... I7:
Embedded I/O channels
WARNING
UNINTENDED EQUIPMENT OPERATION Do not connect wires to unused terminals and/or terminals indicated as "No Connection (N.C.)". Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Relay Outputs
Overview The Modicon M241 Logic Controller has digital outputs embedded:
Reference
Total number of digital outputs
Fast transistor outputs (see page 219) (1)
Relay outputs (see page 207)
TM241C��24R
10
4
6
TM241C��24T
10
4
0
TM241C��24U
TM241C�40R
16
4
12
TM241C�40T
16
4
0
TM241C�40U
(1) Fast transistor outputs which can be used as 100 kHz PTO outputs
For more information, refer to Output Management (see page 56).
Regular transistor outputs (see page 213) 0 6
0 12
DANGER
FIRE HAZARD
Use only the correct wire sizes for the maximum current capacity of the I/O channels and power supplies.
For relay output (2 A) wiring, use conductors of at least 0.5 mm2 (AWG 20) with a temperature rating of at least 80 �C (176 �F).
For common conductors of relay output wiring (7 A), or relay output wiring greater than 2 A, use conductors of at least 1.0 mm2 (AWG 16) with a temperature rating of at least 80 �C (176 �F).
Failure to follow these instructions will result in death or serious injury.
WARNING
UNINTENDED EQUIPMENT OPERATION
Do not exceed any of the rated values specified in the environmental and electrical characteristics tables.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Relay Outputs Status LEDs The following figure shows the status LEDs for the TM241C��24� controller (the TM241C�40� controllers are similar with 40 LEDs):
LED
Color
0...9
Green
Status On Off
Description The output channel is activated The output channel is deactivated
Relay Outputs Characteristics The following table describes the characteristics of the M241 Logic Controller relay outputs:
Characteristic
Value
TM241C��24R
TM241C�40R
Number of relay output channels
6 outputs (Q4...Q9)
12 outputs (Q4...Q15)
Number of channel groups
1 common line for Q4, Q5 1 common line for Q6, Q7 1 line for Q8 1 line for Q9
1 common line for Q4...Q7 1 common line for Q8, Q9 1 common line for Q10, Q11 1 common line for Q12, Q13 1 line for Q14 1 line for Q15
Output type
Relay
Contact type
NO (Normally Open)
Rated output voltage
24 Vdc, 240 Vac
Maximum voltage
30 Vdc, 264 Vac
1 Refer to Protecting Outputs from Inductive Load Damage (see page 92) for additional information concerning output protection.
2 When Q4, Q5, Q6 and Q7 are on the same common line (max output current 4 A), those 4 outputs used simultaneously have a derating of 50%.
3 Outputs Q4 and Q6 used as PTO/PWM/FG can result in a premature wear of those relay outputs.
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Characteristic
Value
TM241C��24R
TM241C�40R
Minimum switching load
5 Vdc at 10 mA
Derating
No derating
Derating on Q4...Q7, refer to the note 2.
Rated output current
2A
Maximum output current
2 A per output
4 A per common
Maximum output frequency with maximum load
20 operations per minute
Turn on time
Max. 10 ms
Turn off time
Max. 10 ms
Contact resistance
30 m max
Mechanical life
20 million operations
Electrical life
Under resistive load See power limitation
Under inductive load
Protection against short circuit
No
Isolation
Between output and 500 Vac internal logic
Between channel groups
1500 Vac
Connection type
Removable screw terminal blocks
Connector insertion/removal durability
Over 100 times
Cable
Type
Unshielded
Length
Max. 30 m (98 ft)
1 Refer to Protecting Outputs from Inductive Load Damage (see page 92) for additional information concerning output protection.
2 When Q4, Q5, Q6 and Q7 are on the same common line (max output current 4 A), those 4 outputs used simultaneously have a derating of 50%.
3 Outputs Q4 and Q6 used as PTO/PWM/FG can result in a premature wear of those relay outputs.
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Power Limitation The following table describes the power limitation of the relay outputs depending on the voltage, the type of load, and the number of operations required. These controllers do not support capacitive loads.
WARNING
RELAY OUTPUTS WELDED CLOSED Always protect relay outputs from inductive alternating current load damage using an
appropriate external protective circuit or device. Do not connect relay outputs to capacitive loads. Failure to follow these instructions can result in death, serious injury, or equipment damage.
Power Limitations Voltage
Power of resistive loads AC-12 Power of inductive loads AC-15 (cos = 0.35) Power of inductive loads AC-14 (cos = 0.7) Power of resistive loads DC-12 Power of inductive loads DC-13 L/R = 7 ms
24 Vdc
�
�
�
48 W 16 W 24 W 7.2 W
120 Vac
240 VA 80 VA 60 VA 18 VA 120 VA 36 VA �
�
Removing Terminal Block Refer to Removing Terminal Block (see page 91).
240 Vac
480 VA 160 VA 120 VA 36 VA 240 VA 72 VA �
�
Number of operations
100,000 300,000
100,000 300,000
100,000 300,000
100,000 300,000
100,000 300,000
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TM241C��24R Relay Outputs Wiring Diagrams The following figure shows the wiring of the outputs:
* Type T fuse (1) The terminals COM1 to COM4 are not connected internally. (2) To improve the life time of the contacts, and to protect from potential inductive load damage, you must
connect a free wheeling diode in parallel to each inductive DC load or an RC snubber in parallel of each inductive AC load
Refer to Protecting Outputs from Inductive Load Damage (see page 92) for additional information concerning output protection.
NOTE: The assigned fuse values have been specified for the maximum current characteristics of the controller I/O and associated commons. You may have other considerations that are applicable based on the unique types of input and output devices you connect, and you should size your fuses accordingly.
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TM241C�40R Relay Outputs Wiring Diagrams The following figure shows the wiring of the outputs:
Embedded I/O channels
* Type T fuse (1) The terminals COM1 to COM6 are not connected internally. (2) To improve the life time of the contacts, and to protect from potential inductive load damage, you must
connect a free wheeling diode in parallel to each inductive DC load or an RC snubber in parallel of each inductive AC load
Refer to Protecting Outputs from Inductive Load Damage (see page 92) for additional information concerning output protection.
NOTE: The assigned fuse values have been specified for the maximum current characteristics of the controller I/O and associated commons. You may have other considerations that are applicable based on the unique types of input and output devices you connect, and you should size your fuses accordingly.
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Regular Transistor Outputs
Overview The Modicon M241 Logic Controller has digital outputs embedded:
Reference
Total number of digital outputs
Fast transistor outputs (see page 219) (1)
Relay outputs (see page 207)
TM241C��24R
10
4
6
TM241C��24T
10
4
0
TM241C��24U
TM241C�40R
16
4
12
TM241C�40T
16
4
0
TM241C�40U
(1) Fast transistor outputs which can be used as 100 kHz PTO outputs
For more information, refer to Output Management (see page 56).
Regular transistor outputs (see page 213) 0 6
0 12
DANGER
FIRE HAZARD
Use only the correct wire sizes for the maximum current capacity of the I/O channels and power supplies.
For relay output (2 A) wiring, use conductors of at least 0.5 mm2 (AWG 20) with a temperature rating of at least 80 �C (176 �F).
For common conductors of relay output wiring (7 A), or relay output wiring greater than 2 A, use conductors of at least 1.0 mm2 (AWG 16) with a temperature rating of at least 80 �C (176 �F).
Failure to follow these instructions will result in death or serious injury.
WARNING
UNINTENDED EQUIPMENT OPERATION
Do not exceed any of the rated values specified in the environmental and electrical characteristics tables.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Regular Transistor Outputs Status LEDs The following figure shows the status LEDs for the TM241C��24� controller (the TM241C�40� controllers are similar with 40 LEDs):
LED
Color
0...9
Green
Status On Off
Description The output channel is activated The output channel is deactivated
Regular Transistor Outputs Characteristics
The following table describes the characteristics of the M241 Logic Controller regular transistor outputs:
Characteristic Number of regular transistor outputs Number of channel groups
Output type Logic type Rated output voltage Output voltage range Rated output current Total output current per group Voltage drop Leakage current when switched off Maximum power of filament lamp Derating
TM241C��24T TM241C��24U TM241C�40T TM241C�40U
6 outputs (Q4...Q9)
12 outputs (Q4...Q15)
1 common line for Q4...Q7 common line for Q8, Q9
1 common line for Q4...Q7 common line for Q8...Q11 common line for Q12...Q15
Transistor
Source
Sink
Source
Sink
24 Vdc
19.2...28.8 Vdc
0.5 A
0.5A x number of outputs of the group
1 Vdc max
< 5 �A
2.4 W max
No derating
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Characteristic
TM241C��24T TM241C��24U
Turn on time
Max. 34 �s
Turn off time
Max. 250 �s
Protection against short circuit
Yes
Short circuit output peak current
1.3 A
Automatic rearming after short circuit or overload
Yes, every 10 ms
Clamping voltage
Max. 39 Vdc +/- 1 Vdc
Maximum output frequency
1 kHz
Isolation
Between output 500 Vac and internal logic
Between output Not isolated terminals
Connection type
Removable screw terminal block
Connector insertion/removal durability
Over 100 times
Cable
Type
Unshielded
Length
Max 50 m (164 ft)
TM241C�40T
TM241C�40U
Removing Terminal Block Refer to Removing Terminal Block (see page 91).
TM241C��24T Regular Transistor Outputs Source Wiring Diagram The following figure shows the source wiring (positive logic) of the outputs:
* Type T fuse (1) The V1+ and V2+ terminals are not connected internally.
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(2) The V1� and V2� terminals are not connected internally.
Embedded I/O channels
WARNING
UNINTENDED EQUIPMENT OPERATION
Ensure that the physical wiring respects the connections indicated in the wiring diagram, and, in particular, that both V�+ and V�- are connected, and that only 24Vdc is connected to the V�+ terminal(s) and only 0Vdc is connected to the V�- terminal(s).
Failure to follow these instructions can result in death, serious injury, or equipment damage.
TM241C�40T Regular Transistor Outputs Source Wiring Diagram The following figure shows the source wiring (positive logic) of the outputs:
* Type T fuse (1) The V1+, V2+ and V3+ terminals are not connected internally. (2) The V1�, V2� and V3� terminals are not connected internally.
WARNING
UNINTENDED EQUIPMENT OPERATION Ensure that the physical wiring respects the connections indicated in the wiring diagram, and, in particular, that both V�+ and V�- are connected, and that only 24Vdc is connected to the V�+ terminal(s) and only 0Vdc is connected to the V�- terminal(s). Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Embedded I/O channels
TM241C��24U Regular Transistor Outputs Sink Wiring Diagrams The following figure shows the sink wiring (negative logic) of the outputs:
* Type T fuse (1) The V1+ and V2+ terminals are not connected internally. (2) The V1� and V2� terminals are not connected internally.
WARNING
UNINTENDED EQUIPMENT OPERATION Ensure that the physical wiring respects the connections indicated in the wiring diagram, and, in particular, that both V�+ and V�- are connected, and that only 24Vdc is connected to the V�+ terminal(s) and only 0Vdc is connected to the V�- terminal(s). Failure to follow these instructions can result in death, serious injury, or equipment damage.
216
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TM241C�40U Regular Transistor Outputs Sink Wiring Diagrams The following figure shows the sink wiring (negative logic) of the outputs:
* Type T fuse (1) The V1+, V2+ and V3+ terminals are not connected internally. (2) The V1�, V2� and V3� terminals are not connected internally.
WARNING
UNINTENDED EQUIPMENT OPERATION Ensure that the physical wiring respects the connections indicated in the wiring diagram, and, in particular, that both V�+ and V�- are connected, and that only 24Vdc is connected to the V�+ terminal(s) and only 0Vdc is connected to the V�- terminal(s). Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Embedded I/O channels
Fast Transistor Outputs
Overview The Modicon M241 Logic Controller has digital outputs embedded:
Reference
Total number of digital outputs
Fast transistor outputs (see page 219) (1)
Relay outputs (see page 207)
TM241C��24R
10
4
6
TM241C��24T
10
4
0
TM241C��24U
TM241C�40R
16
4
12
TM241C�40T
16
4
0
TM241C�40U
(1) Fast transistor outputs which can be used as 100 kHz PTO outputs
For more information, refer to Output Management (see page 56).
Regular transistor outputs (see page 213) 0 6
0 12
DANGER
FIRE HAZARD
Use only the correct wire sizes for the maximum current capacity of the I/O channels and power supplies.
For relay output (2 A) wiring, use conductors of at least 0.5 mm2 (AWG 20) with a temperature rating of at least 80 �C (176 �F).
For common conductors of relay output wiring (7 A), or relay output wiring greater than 2 A, use conductors of at least 1.0 mm2 (AWG 16) with a temperature rating of at least 80 �C (176 �F).
Failure to follow these instructions will result in death or serious injury.
WARNING
UNINTENDED EQUIPMENT OPERATION
Do not exceed any of the rated values specified in the environmental and electrical characteristics tables.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Fast Transistor Outputs Status LEDs The following figure shows the status LEDs for the TM241C��24� controller (the TM241C�40� controllers are similar with 40 LEDs):
LED
Color
0...9
Green
Status On Off
Description The output channel is activated The output channel is deactivated
Fast Transistor Outputs Characteristics
The following table describes the characteristics of the M241 Logic Controller fast transistor outputs:
Characteristic
Number of fast transistor outputs
Number of channel groups
Output type Logic type Rated output voltage Output voltage range Rated output current
Leakage current
Source
Sink
Total output current per group
Value
TM241C���R
TM241C���T
TM241C���U
4 outputs (TR0...TR3)
4 outputs (Q0...Q3)
1 common line for 1 common line for Q0...Q3 TR0...TR3
Transistor
Source
Source
Sink
24 Vdc
19.2...28.8 Vdc
0.1 A when configured for a fast function
0.5 A when used as a regular output
0.3 mA
2 mA
2A
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Characteristic
Maximum power of filament lamp
Derating
Turn on time
Turn off time
Protection against short circuit
Short circuit output peak current
Automatic rearming after short circuit or overload
Protection against reverse polarity
Clamping voltage
Maximum output frequency PTO
PWM
PWM mode duty rate step
Duty rate range
Isolation
Between output and internal logic
Between channel groups
Connection type
Connector insertion/removal durability
Cable
Type
Length
Value
TM241C���R
TM241C���T
2.4 W max
No Derating
Max. 2 �s
Max. 2 �s
Yes
1.3 A max.
Yes, 12 s
Yes
Typically 39 Vdc +/- 1 Vdc
100 kHz
20 kHz
0.1% at 20...1 kHz
1...99 %
500 Vac
TM241C���U
500 Vac
Removable screw terminal block Over 100 times Shielded, including 24 Vdc power supply Maximum 3 m (9.84 ft)
Removing Terminal Block Refer to Removing Terminal Block (see page 91).
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TM241C��24R / TM241C�40R Fast Transistor Outputs Wiring Diagrams The following figure shows the connection of the fast transistor outputs:
* 2 A fast-blow fuse
Fast output wiring for TR0... TR3:
WARNING
UNINTENDED EQUIPMENT OPERATION
Ensure that the physical wiring respects the connections indicated in the wiring diagram, and, in particular, that both V�+ and V�- are connected, and that only 24Vdc is connected to the V�+ terminal(s) and only 0Vdc is connected to the V�- terminal(s).
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Embedded I/O channels
TM241C����T Fast Transistor Outputs Wiring Diagrams The following figure shows the connection of the fast transistor outputs:
* Type T fuse (1) The V0+, V1+, V2+ and V3+ terminals are not connected internally. (2) The V0-, V1-, V2- and V3- terminals are not connected internally.
Fast output wiring for Q0... Q3:
WARNING
UNINTENDED EQUIPMENT OPERATION
Ensure that the physical wiring respects the connections indicated in the wiring diagram, and, in particular, that both V�+ and V�- are connected, and that only 24Vdc is connected to the V�+ terminal(s) and only 0Vdc is connected to the V�- terminal(s).
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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TM241C����U Fast Transistor Outputs Wiring Diagrams The following figure shows the connection of the fast transistor outputs:
* Type T fuse (1) The V0+, V1+, V2+ and V3+ terminals are not connected internally. (2) The V0-, V1-, V2- and V3- terminals are not connected internally.
Fast output wiring for Q0... Q3:
WARNING
UNINTENDED EQUIPMENT OPERATION
Ensure that the physical wiring respects the connections indicated in the wiring diagram, and, in particular, that both V�+ and V�- are connected, and that only 24Vdc is connected to the V�+ terminal(s) and only 0Vdc is connected to the V�- terminal(s).
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Embedded I/O channels
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Modicon M241 Logic Controller Modicon M241 Logic Controller Communication EIO0000003083 12/2019
Modicon M241 Logic Controller Communication
Part III
Modicon M241 Logic Controller Communication
What Is in This Part? This part contains the following chapters:
Chapter 20 21
Chapter Name Integrated Communication Ports Connecting the M241 Logic Controller to a PC
Page 227 243
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Modicon M241 Logic Controller Communication
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Integrated Communication Ports
Chapter 20
Integrated Communication Ports
What Is in This Chapter? This chapter contains the following topics:
CAN Port Ethernet Port USB Mini-B Programming Port Serial Line 1 Serial Line 2
Topic
Page 228 232 235 237 240
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Integrated Communication Ports
CAN Port
CANopen Capabilities The Modicon M241 Logic Controller CANopen master has the following features:
Feature Maximum number of slaves on the bus Maximum length of CANopen fieldbus cables
Maximum number of PDOs managed by the master
Description
63 CANopen slave devices
According to the CAN specification (see Transmission Speed and Cable Length (see page 231)). 252 TPDOs + 252 RPDOs
For each additional CANopen slave: the application size increases by an average of 10 kbytes, which conceivably could result in
exceeding memory limits. the configuration initialization time at the startup increases, which conceivably could result in
watchdog timeout.
Although EcoStruxure Machine Expert does not restrict you from doing so, do not exceed more than 63 CANopen slave modules (and/or 252 TPDOs and 252 RPDOs) in order to have a sufficient performance tolerance and avoid any performance degradation.
WARNING
UNINTENDED EQUIPMENT OPERATION
Do not connect more than 63 CANopen slave devices to the controller to avoid system overload watchdog condition.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTICE
DEGRADATION OF PERFORMANCE Do not exceed more than 252 TPDOs and 252 RPDOs for the Modicon M241 Logic Controller. Failure to follow these instructions can result in equipment damage.
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J1939 Capabilities The Modicon M241 Logic Controller J1939 master has the following features:
Feature Maximum number of ECUs (slaves) on the bus Maximum length of J1939 fieldbus cables
Maximum number of PGNs managed by the master
Description
Limited only by the address range of 0...253 for Electronic Control Units (ECUs).
According to the CAN specification (see Transmission Speed and Cable Length (see page 231)). For J1939, the CAN bus must be configured to run at 250 Kbps.
Given implicitly by the maximum number of input bits (%I) and output bits (%Q) available on the Modicon M241 Logic Controller: 4096 input bits and 4096 output bits. This results in a maximum of 512 single-packet PGNs (most PGNs are single-packet, containing 8 bytes of data).
For each additional ECU with approximately 10 configured (single frame) Parameter Group Numbers (PGNs): the application size increases by an average of 15 Kbytes. This figure includes the memory
consumed by implicitly-generated variables for configured Suspected Parameter Numbers (SPNs). This application size increase could result in exceeding memory limits. the number of input bits (%I) used on the logic controller increases in proportion to the number and size of PGNs configured as "TX Signals" in a non-local ECU or "RX Signals" in a local ECU. the number of output bits (%Q) used on the logic controller increases in proportion to the number and size of PGNs configured as "TX Signals" in a local ECU.
NOTE: Thoroughly test your application regarding the number of configured J1939 ECUs connected to the controller, and the number of PGNs configured on each ECU, to avoid a system overload watchdog condition or performance degradation.
For more information, refer to J1939 Interface Configuration (see Modicon M241 Logic Controller, Programming Guide).
Removing Terminal Block Refer to Removing Terminal Block (see page 91).
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CAN Wiring Diagram
Pin Signal 1 Not used 2 CAN_H 3 CAN_SHLD 4 CAN_L 5 CAN_GND
Description Reserved CAN_L bus line (dominant low) Optional CAN shield CAN_L bus line (dominant low) CAN Ground
Marking NC CAN_H Shield CAN_L GND
Color of Cable RD: red WH: white BU: blue BK: black
WARNING
UNINTENDED EQUIPMENT OPERATION Do not connect wires to unused terminals and/or terminals indicated as "No Connection (N.C.)". Failure to follow these instructions can result in death, serious injury, or equipment damage.
230
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Integrated Communication Ports
Transmission Speed and Cable Length Transmission speed is limited by the bus length and the type of cable used.
The following table describes the relationship between the maximum transmission speed and the bus length (on a single CAN segment without a repeater):
Maximum transmission baud rate 1000 Kbps 800 Kbps 500 Kbps 250 Kbps 125 Kbps 50 Kbps 20 Kbps
Bus length 20 m (65 ft) 40 m (131 ft) 100 m (328 ft) 250 m (820 ft) 500 m (1,640 ft) 1000 m (3280 ft) 2500 m (16,400 ft)
NOTE: The CAN cable must be shielded.
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231
Integrated Communication Ports
Ethernet Port
Overview The TM241CE��� are equipped with an Ethernet communications port. The following figure shows the location of the Ethernet port on the controller:
Characteristics The following table describes the Ethernet characteristics:
Characteristic Function Connector type Auto negotiation Cable type Automatic cross-over detection
Description Modbus TCP/IP RJ45 from 10 M half duplex to 100 M full duplex Shielded Yes
232
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Integrated Communication Ports
Pin Assignment The following figure shows the RJ45 Ethernet connector pin assignment:
The following table describes the RJ45 Ethernet connector pins:
Pin N� 1 2 3 4 5 6 7 8
Signal TD+ TDRD+ RD-
NOTE: The controller supports the MDI/MDIX auto-crossover cable function. It is not necessary to use special Ethernet crossover cables to connect devices directly to this port (connections without an Ethernet hub or switch).
NOTE: Ethernet cable disconnection is detected every second. In case of disconnection of a short duration (< 1 second), the network status may not indicate the disconnection.
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233
Integrated Communication Ports
Status LED The following figure shows the RJ45 connector status LED:
The following table describes the Ethernet status LED:
Label 1
2
Description Ethernet Link
Ethernet Activity
LED Color Green/Yellow
Green
Status Off Solid yellow Solid green Off On
Description No link Link at 10 Mbit/s Activity at 100 Mbit/s No activity Transmitting or receiving data
234
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Integrated Communication Ports
USB Mini-B Programming Port
Overview The USB Mini-B Port is the programming port you can use to connect a PC with a USB host port using EcoStruxure Machine Expert software. Using a typical USB cable, this connection is suitable for quick updates of the program or short duration connections to perform maintenance and inspect data values. It is not suitable for long-term connections such as commissioning or monitoring without the use of specially adapted cables to help minimize electromagnetic interference.
WARNING
UNINTENDED EQUIPMENT OPERATION OR INOPERABLE EQUIPMENT You must use a shielded USB cable such as a BMX XCAUSBH0�� secured to the functional
ground (FE) of the system for any long-term connection. Do not connect more than one controller or bus coupler at a time using USB connections. Do not use the USB port(s), if so equipped, unless the location is known to be non-hazardous. Failure to follow these instructions can result in death, serious injury, or equipment damage.
The following figure shows the location of the USB Mini-B programming port:
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Integrated Communication Ports
Characteristics This table describes the characteristics of the USB Mini-B programming port:
Parameter Function Connector type Isolation Cable type
USB Programming Port Compatible with USB 2.0 Mini-B None Shielded
236
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Integrated Communication Ports
Serial Line 1
Overview The serial line 1: can be used to communicate with devices supporting the Modbus protocol as either master or slave, ASCII protocol (printer, modem...) and Machine Expert Protocol (HMI,...). provides a 5 Vdc power distribution. The following figure shows the location of the serial line 1 port:
Characteristics
Characteristic Function Connector type Isolation Maximum baud rate Cable
EIO0000003083 12/2019
Description
RS485 or RS232 software configured
RJ45
Non-isolated
1200 up to 115 200 bps
Type
Shielded
Maximum length (between 15 m (49 ft) for RS485
the controller and an
3 m (9.84 ft) for RS232
isolated junction box)
237
Integrated Communication Ports
Characteristic Polarization
5 Vdc power supply for RS485
Description
Software configuration is used to connect when the node is configured as a Master. 560 resistors are optional.
Yes
NOTE: Some devices provide voltage on RS485 serial connections. Do not connect these voltage lines to your controller as they may damage the controller serial port electronics and render the serial port inoperable.
NOTICE
INOPERABLE EQUIPMENT Use only the VW3A8306R�� serial cable to connect RS485 devices to your controller. Failure to follow these instructions can result in equipment damage.
Pin Assignment The following figure shows the pins of the RJ45 connector:
The table below describes the pin assignment of the RJ45 connector:
Pin RS232
RS485
1
RxD
N.C.
2
TxD
N.C.
3
N.C.
N.C.
4
N.C.
D1
5
N.C.
D0
6
N.C.
N.C.
7
N.C.*
5 Vdc
8
Common
Common
* 5 Vdc delivered by the controller. Do not connect.
238
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Integrated Communication Ports
N.C.: No Connection RxD: Received Data TxD: Transmitted Data
WARNING
UNINTENDED EQUIPMENT OPERATION Do not connect wires to unused terminals and/or terminals indicated as "No Connection (N.C.)". Failure to follow these instructions can result in death, serious injury, or equipment damage.
Status LED The following figure shows the status LED of the serial line 1:
The table below describes the status LED of the serial line 1:
Label SL1
Description Serial Line 1
LED Color Green
Status On Off
Description Indicates the activity of the serial line 1 Indicates no serial communication
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Integrated Communication Ports
Serial Line 2
Overview The serial line 2 is used to communicate with devices supporting the Modbus protocol as either a master or slave and ASCII Protocol (printer, modem...) and supports RS485 only.
Characteristics
Characteristic
Function
Connector type
Isolation
Maximum baud rate
Cable
Type
Maximum length
Polarization
5 Vdc power supply for RS485
Description RS485 Removable screw terminal block Non-isolated 1200 up to 115 200 bps Shielded 15 m (49 ft) for RS485 Software configuration is used to connect when the node is configured as a Master. 560 resistors are optional. No
240
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Integrated Communication Ports
Pin Assignment The following figure shows the pins of the removable terminal block:
Pin COM Shield
D0 D1
RS485 0 V com. Shield D0 (B-) D1 (A+)
Refer to Removing Terminal Block (see page 91).
Status LED The following graphic show the status LED:
The table below describes the serial line 2 status LED:
Label SL2
Description Serial Line 2
LED Color Green
Status On Off
Description Indicates the activity of the serial line 2. Indicates no serial communication.
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241
Integrated Communication Ports
242
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Modicon M241 Logic Controller Connecting the M241 Logic Controller to a PC EIO0000003083 12/2019
Connecting the M241 Logic Controller to a PC
Chapter
21
Connecting the M241 Logic Controller to a PC
Connecting the Controller to a PC
Overview To transfer, run, and monitor the applications, connect the controller to a computer, that has EcoStruxure Machine Expert installed, using either a USB cable or an Ethernet connection (for those references that support an Ethernet port).
NOTICE
INOPERABLE EQUIPMENT Always connect the communication cable to the PC before connecting it to the controller. Failure to follow these instructions can result in equipment damage.
USB Powered Download In order to execute limited operations, the M241 Logic Controller has the capability to be powered through the USB Mini-B port. A diode mechanism avoids having the logic controller both powered by USB and by the normal power supply, or to supply voltage on the USB port. When powered only by USB, the logic controller executes the firmware and the boot project (if any) and the I/O board is not powered during boot (same duration as a normal boot). USB powered download initializes the internal flash memory with some firmware or some application and parameters when the controller is powered by USB. The preferred tool to connect to the controller is the Controller Assistant. Refer to the EcoStruxure Machine Expert Controller Assistant User Guide. The controller packaging allows easy access to USB Mini-B port with minimum opening of the packaging. You can connect the controller to the PC with a USB cable. Long cables are not suitable for the USB powered download.
WARNING
INSUFFICENT POWER FOR USB DOWNLOAD Do not use a USB cable longer than 3m (9.8 ft) for USB powered download. Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Connecting the M241 Logic Controller to a PC
NOTE: It is not intended that you use the USB Powered Download on an installed controller. Depending on the number of I/O expansion modules in the physical configuration of the installed controller, there may be insufficient power from your PC USB port to accomplish the download.
USB Mini-B Port Connection TCSXCNAMUM3P: This USB cable is suitable for short duration connections such as quick updates or retrieving data values. BMXXCAUSBH018: Grounded and shielded, this USB cable is suitable for long duration connections. NOTE: You can only connect 1 controller or any other device associated with EcoStruxure Machine Expert and its component to the PC at any one time. The USB Mini-B Port is the programming port you can use to connect a PC with a USB host port using EcoStruxure Machine Expert software. Using a typical USB cable, this connection is suitable for quick updates of the program or short duration connections to perform maintenance and inspect data values. It is not suitable for long-term connections such as commissioning or monitoring without the use of specially adapted cables to help minimize electromagnetic interference.
WARNING
UNINTENDED EQUIPMENT OPERATION OR INOPERABLE EQUIPMENT You must use a shielded USB cable such as a BMX XCAUSBH0�� secured to the functional
ground (FE) of the system for any long-term connection. Do not connect more than one controller or bus coupler at a time using USB connections. Do not use the USB port(s), if so equipped, unless the location is known to be non-hazardous. Failure to follow these instructions can result in death, serious injury, or equipment damage.
The communication cable should be connected to the PC first to minimize the possibility of electrostatic discharge affecting the controller.
244
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Connecting the M241 Logic Controller to a PC
To connect the USB cable to your controller, follow the steps below:
Step 1
2 3 4
Action
1a If making a long-term connection using the cable BMXXCAUSBH018, or other cable with a ground shield connection, be sure to securely connect the shield connector to the functional ground (FE) or protective ground (PE) of your system before connecting the cable to your controller and your PC.
1b If making a short-term connection using the cable TCSXCNAMUM3P or other non-grounded USB cable, proceed to step 2.
Connect your USB cable to the computer.
Open the hinged access cover.
Connect the Mini connector of your USB cable to the controller USB connector.
Ethernet Port Connection You can also connect the controller to a PC using an Ethernet cable.
To connect the controller to the PC, do the following:
Step 1 2
Action Connect the Ethernet cable to the PC. Connect the Ethernet cable to the Ethernet port on the controller.
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245
Connecting the M241 Logic Controller to a PC
246
EIO0000003083 12/2019
Modicon M241 Logic Controller Glossary EIO0000003083 12/2019
Glossary
A
application A program including configuration data, symbols, and documentation.
ASCII (American standard code for Information Interchange) A protocol for representing alphanumeric characters (letters, numbers, certain graphics, and control characters).
B
bps (bit per second) A definition of transmission rate, also given in conjunction with multiplicator kilo (kbps) and mega (mbps).
C
CANopen An open industry-standard communication protocol and device profile specification (EN 50325-4).
CFC
(continuous function chart) A graphical programming language (an extension of the IEC 61131-3 standard) based on the function block diagram language that works like a flowchart. However, no networks are used and free positioning of graphic elements is possible, which allows feedback loops. For each block, the inputs are on the left and the outputs on the right. You can link the block outputs to the inputs of other blocks to create complex expressions.
configuration The arrangement and interconnection of hardware components within a system and the hardware and software parameters that determine the operating characteristics of the system.
continuous function chart language A graphical programming language (an extension of the IEC61131-3 standard) based on the function block diagram language that works like a flowchart. However, no networks are used and free positioning of graphic elements is possible, which allows feedback loops. For each block, the inputs are on the left and the outputs on the right. You can link the block outputs to inputs of other blocks to create complex expressions.
controller Automates industrial processes (also known as programmable logic controller or programmable controller).
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247
Glossary
D
DIN (Deutsches Institut f�r Normung) A German institution that sets engineering and dimensional standards.
E
EIA rack (electronic industries alliance rack) A standardized (EIA 310-D, IEC 60297, and DIN 41494 SC48D) system for mounting various electronic modules in a stack or rack that is 19 inches (482.6 mm) wide.
EN EN identifies one of many European standards maintained by CEN (European Committee for Standardization), CENELEC (European Committee for Electrotechnical Standardization), or ETSI (European Telecommunications Standards Institute).
F
FBD FE
(function block diagram) One of 5 languages for logic or control supported by the standard IEC 61131-3 for control systems. Function block diagram is a graphically oriented programming language. It works with a list of networks, where each network contains a graphical structure of boxes and connection lines, which represents either a logical or arithmetic expression, the call of a function block, a jump, or a return instruction.
(functional Earth) A common grounding connection to enhance or otherwise allow normal operation of electrically sensitive equipment (also referred to as functional ground in North America).
In contrast to a protective Earth (protective ground), a functional earth connection serves a purpose other than shock protection, and may normally carry current. Examples of devices that use functional earth connections include surge suppressors and electromagnetic interference filters, certain antennas, and measurement instruments.
FreqGen (frequency generator) A function that generates a square wave signal with programmable frequency.
248
EIO0000003083 12/2019
Glossary
H
HE10 Rectangular connector for electrical signals with frequencies below 3 MHz, complying with IEC 60807-2.
HSC
(high-speed counter) A function that counts pulses on the controller or on expansion module inputs.
I
I/O (input/output)
IEC (international electrotechnical commission) A non-profit and non-governmental international standards organization that prepares and publishes international standards for electrical, electronic, and related technologies.
IEC 61131-3 Part 3 of a 3-part IEC standard for industrial automation equipment. IEC 61131-3 is concerned with controller programming languages and defines 2 graphical and 2 textual programming language standards. The graphical programming languages are ladder diagram and function block diagram. The textual programming languages include structured text and instruction list.
IL (instruction list) A program written in the language that is composed of a series of text-based instructions executed sequentially by the controller. Each instruction includes a line number, an instruction code, and an operand (refer to IEC 61131-3).
instruction list language A program written in the instruction list language that is composed of a series of text-based instructions executed sequentially by the controller. Each instruction includes a line number, an instruction code, and an operand (see IEC 61131-3).
IP 20
(ingress protection) The protection classification according to IEC 60529 offered by an enclosure, shown by the letter IP and 2 digits. The first digit indicates 2 factors: helping protect persons and for equipment. The second digit indicates helping protect against water. IP 20 devices help protect against electric contact of objects larger than 12.5 mm, but not against water.
L
ladder diagram language A graphical representation of the instructions of a controller program with symbols for contacts, coils, and blocks in a series of rungs executed sequentially by a controller (see IEC 61131-3).
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249
Glossary
LD (ladder diagram) A graphical representation of the instructions of a controller program with symbols for contacts, coils, and blocks in a series of rungs executed sequentially by a controller (refer to IEC 61131-3).
M
master/slave The single direction of control in a network that implements the master/slave mode.
Modbus The protocol that allows communications between many devices connected to the same network.
N
NEMA (national electrical manufacturers association) The standard for the performance of various classes of electrical enclosures. The NEMA standards cover corrosion resistance, ability to help protect from rain, submersion, and so on. For IEC member countries, the IEC 60529 standard classifies the ingress protection rating for enclosures.
P
PDO
(process data object) An unconfirmed broadcast message or sent from a producer device to a consumer device in a CAN-based network. The transmit PDO from the producer device has a specific identifier that corresponds to the receive PDO of the consumer devices.
PE (Protective Earth) A common grounding connection to help avoid the hazard of electric shock by keeping any exposed conductive surface of a device at earth potential. To avoid possible voltage drop, no current is allowed to flow in this conductor (also referred to as protective ground in North America or as an equipment grounding conductor in the US national electrical code).
program The component of an application that consists of compiled source code capable of being installed in the memory of a logic controller.
PTO
(pulse train outputs) A fast output that oscillates between off and on in a fixed 50-50 duty cycle, producing a square wave form. PTO is especially well suited for applications such as stepper motors, frequency converters, and servo motor control, among others.
PWM (pulse width modulation) A fast output that oscillates between off and on in an adjustable duty cycle, producing a rectangular wave form (though you can adjust it to produce a square wave).
250
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Glossary
R
RJ45 A standard type of 8-pin connector for network cables defined for Ethernet.
RPDO (receive process data object) An unconfirmed broadcast message or sent from a producer device to a consumer device in a CAN-based network. The transmit PDO from the producer device has a specific identifier that corresponds to the receive PDO of the consumer devices.
RS-232 A standard type of serial communication bus, based on 3 wires (also known as EIA RS-232C or V.24).
RS-485 A standard type of serial communication bus, based on 2 wires (also known as EIA RS-485).
RxD The line that receives data from one source to another.
S
SFC (sequential function chart) A language that is composed of steps with associated actions, transitions with associated logic condition, and directed links between steps and transitions. (The SFC standard is defined in IEC 848. It is IEC 61131-3 compliant.)
ST (structured text) A language that includes complex statements and nested instructions (such as iteration loops, conditional executions, or functions). ST is compliant with IEC 61131-3.
T
terminal block (terminal block) The component that mounts in an electronic module and provides electrical connections between the controller and the field devices.
TPDO (transmit process data object) An unconfirmed broadcast message or sent from a producer device to a consumer device in a CAN-based network. The transmit PDO from the producer device has a specific identifier that corresponds to the receive PDO of the consumer devices.
TxD The line that sends data from one source to another.
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251
Glossary
252
EIO0000003083 12/2019
Modicon M241 Logic Controller Index EIO0000003083 12/2019
Index
Symbols
Short-circuit or Over-current on Sink Transistor Outputs, 59
A
accessories, 45 analog input modules
specifications, 35 analog mixed I/O modules
specifications, 37 analog output modules
specifications, 36
B
bus coupler specifications, 40
C
CANopen communication, 228 certifications and standards, 72 communication
CANopen, 228 Communication Ports, 227
Ethernet Port, 232 Serial Line 1, 237 Serial Line 2, 240 USB Programming Port, 235 connections to CANopen slaves, 228 to J1939 ECUs, 229
D
digital I/O modules specifications, 27, 28, 31, 32, 34
Digital I/O modules Specifications, 28
EIO0000003083 12/2019
E
ECUs, max. number of J1939, 229 Electrical Requirements
Installation, 87 Electromagnetic Susceptibility, 71 Environmental Characteristics, 69
F
fallback configuring modes, 57
features key features, 18
fieldbus interface specifications, 42
Filter Bounce Filter, 53
G
Grounding, 100
I
inductive load, output protection output protection, inductive load, 92
Input Management, 52 Installation, 67
Electrical Requirements, 87 installation
logic/motion controller installation, 73 intended use, 8
J
J1939 capabilities, 229
253
Index
L
Latching, 54 logic/motion controller installation, 73
M
M241 TM241C24R, 107 TM241C24T, 125 TM241C24U, 143 TM241C40R, 161 TM241C40T, 173 TM241C40U, 185 TM241CE24R, 113 TM241CE24T, 131 TM241CE24U, 149 TM241CE40R, 167 TM241CE40T, 179 TM241CE40U, 191 TM241CEC24R, 119 TM241CEC24T, 137 TM241CEC24U, 155
mounting positions, 77
N
notice loss of application data, 63
O
output management, 56
P
PGNs, max. number of J1939, 229 Power Supply, 94, 98
254
presentation TM241C24R, 107 TM241C24T, 125 TM241C24U, 143 TM241C40R, 161 TM241C40T, 173 TM241C40U, 185 TM241CE24R, 113 TM241CE24T, 131 TM241CE24U, 149 TM241CE40R, 167 TM241CE40T, 179 TM241CE40U, 191 TM241CEC24R, 119 TM241CEC24T, 137 TM241CEC24U, 155
programming languages IL, LD, Grafcet, 18
Q
qualification of personnel, 8
R
real time clock, 48 regular inputs, 31, 32, 34 regular transistor outputs, 31, 32, 34 relay outputs, 31, 32, 34 Run/Stop, 61
S
SD Card, 63 Serial Line 1
Communication Ports, 237 Serial Line 2
Communication Ports, 240 short-circuit or over-current on relay outputs, 60 short-circuit or over-current on transistor outputs, 57
EIO0000003083 12/2019
specifications analog input modules, 35 analog mixed I/O modules, 37 analog output modules, 36 digital I/O modules, 27, 31, 32, 34
Specifications Digital I/O modules, 28, 28
specifications modules, 38 transmitter and receiver modules, 39
T
Tesys modules specifications, 38
TM241CEC24R M241, 119 presentation, 119
TM241CEC24T M241, 137 presentation, 137
TMC4, 26 transmitter and receiver modules
specifications, 39
U
USB Programming Port Communication Ports, 235
W
wiring, 88
EIO0000003083 12/2019
Index 255
Index
256
EIO0000003083 12/2019
Modicon TMC4 EIO0000003107 05/2019
Modicon TMC4
Cartridges
Programming Guide
05/2019
www.schneider-electric.com
EIO0000003107.00
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.
� 2019 Schneider Electric. All rights reserved.
2
EIO0000003107 05/2019
Table of Contents
Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
Chapter 1 Cartridge Configuration General Information . . . . . . . . .
11
I/O Configuration General Practices . . . . . . . . . . . . . . . . . . . . . . . . . .
12
General Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
Adding Cartridges to a Configuration . . . . . . . . . . . . . . . . . . . . . . . . .
14
Configuring Cartridges. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
Updating Cartridges Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
Chapter 2 TMC4 Standard Cartridges. . . . . . . . . . . . . . . . . . . . . . .
19
TMC4AI2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
TMC4TI2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23
TMC4AQ2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26
Chapter 3 TMC4 Application Cartridges . . . . . . . . . . . . . . . . . . . . .
29
TMC4HOIS01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
30
TMC4PACK01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
33
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
EIO0000003107 05/2019
3
4
EIO0000003107 05/2019
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.
EIO0000003107 05/2019
5
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.
6
EIO0000003107 05/2019
About the Book
At a Glance
Document Scope
This document describes the software configuration of the TMC4 cartridges for EcoStruxure Machine Expert. For further information, refer to the separate documents provided in the EcoStruxure Machine Expert online help.
Validity Note This document has been updated for the release of EcoStruxureTM Machine Expert V1.1.
Related Documents
Title of Documentation EcoStruxure Machine Expert Programming Guide
Modicon M241 Logic Controller - Programming Guide
Modicon TMC4 Cartridges - Hardware Guide
Reference Number
EIO0000002854 (ENG) EIO0000002855 (FRE) EIO0000002856 (GER) EIO0000002858 (SPA) EIO0000002857 (ITA) EIO0000002859 (CHS)
EIO0000003059 (ENG) EIO0000003060 (FRE) EIO0000003061 (GER) EIO0000003062 (SPA) EIO0000003063 (ITA) EIO0000003064 (CHS)
EIO0000003113 (ENG) EIO0000003114 (FRE) EIO0000003115 (GER) EIO0000003116 (SPA) EIO0000003117 (ITA) EIO0000003118 (CHS)
EIO0000003107 05/2019
7
Title of Documentation Modicon M241 Logic Controller - Hardware Guide
Reference Number
EIO0000003083 (ENG) EIO0000003084 (FRE) EIO0000003085 (GER) EIO0000003086 (SPA) EIO0000003087 (ITA) EIO0000003088 (CHS)
You can download these technical publications and other technical information from our website at https://www.schneider-electric.com/en/download
Product Related Information
WARNING
LOSS OF CONTROL
The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop and overtravel stop, power outage and restart.
Separate or redundant control paths must be provided for critical control functions. System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link. Observe all accident prevention regulations and local safety guidelines.1 Each implementation of this equipment must be individually and thoroughly tested for proper
operation before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
1 For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems" or their equivalent governing your particular location.
WARNING
UNINTENDED EQUIPMENT OPERATION Only use software approved by Schneider Electric for use with this equipment. Update your application program every time you change the physical hardware configuration.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
8
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Terminology Derived from Standards
The technical terms, terminology, symbols and the corresponding descriptions in this manual, or that appear in or on the products themselves, are generally derived from the terms or definitions of international standards.
In the area of functional safety systems, drives and general automation, this may include, but is not limited to, terms such as safety, safety function, safe state, fault, fault reset, malfunction, failure, error, error message, dangerous, etc.
Among others, these standards include:
Standard IEC 61131-2:2007 ISO 13849-1:2015 EN 61496-1:2013 ISO 12100:2010 EN 60204-1:2006 ISO 14119:2013 ISO 13850:2015 IEC 62061:2015 IEC 61508-1:2010 IEC 61508-2:2010
IEC 61508-3:2010 IEC 61784-3:2016 2006/42/EC 2014/30/EU 2014/35/EU
Description
Programmable controllers, part 2: Equipment requirements and tests.
Safety of machinery: Safety related parts of control systems. General principles for design.
Safety of machinery: Electro-sensitive protective equipment. Part 1: General requirements and tests.
Safety of machinery - General principles for design - Risk assessment and risk reduction
Safety of machinery - Electrical equipment of machines - Part 1: General requirements
Safety of machinery - Interlocking devices associated with guards - Principles for design and selection
Safety of machinery - Emergency stop - Principles for design
Safety of machinery - Functional safety of safety-related electrical, electronic, and electronic programmable control systems
Functional safety of electrical/electronic/programmable electronic safetyrelated systems: General requirements.
Functional safety of electrical/electronic/programmable electronic safetyrelated systems: Requirements for electrical/electronic/programmable electronic safety-related systems.
Functional safety of electrical/electronic/programmable electronic safetyrelated systems: Software requirements.
Industrial communication networks - Profiles - Part 3: Functional safety fieldbuses - General rules and profile definitions.
Machinery Directive
Electromagnetic Compatibility Directive
Low Voltage Directive
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9
In addition, terms used in the present document may tangentially be used as they are derived from other standards such as:
Standard IEC 60034 series IEC 61800 series IEC 61158 series
Description Rotating electrical machines Adjustable speed electrical power drive systems Digital data communications for measurement and control � Fieldbus for use in industrial control systems
Finally, the term zone of operation may be used in conjunction with the description of specific hazards, and is defined as it is for a hazard zone or danger zone in the Machinery Directive (2006/42/EC) and ISO 12100:2010.
NOTE: The aforementioned standards may or may not apply to the specific products cited in the present documentation. For more information concerning the individual standards applicable to the products described herein, see the characteristics tables for those product references.
10
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Modicon TMC4 Cartridge Configuration General Information EIO0000003107 05/2019
Cartridge Configuration General Information
Chapter
1
Cartridge Configuration General Information
Introduction
This chapter provides general information to help you configure TMC4 cartridges for EcoStruxure Machine Expert.
What Is in This Chapter? This chapter contains the following topics:
I/O Configuration General Practices General Description Adding Cartridges to a Configuration Configuring Cartridges Updating Cartridges Firmware
Topic
Page 12 13 14 15 18
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11
Cartridge Configuration General Information
I/O Configuration General Practices
Match Software and Hardware Configuration The I/O that may be embedded in your controller is independent of the I/O that you may have added in the form of I/O expansion. It is important that the logical I/O configuration within your program matches the physical I/O configuration of your installation. If you add or remove any physical I/O to or from the I/O expansion bus or, depending on the controller reference, to or from the controller (in the form of cartridges), then you must update your application configuration. This is also true for any field bus devices you may have in your installation. Otherwise, there is the potential that the expansion bus or field bus no longer function while the embedded I/O that may be present in your controller continues to operate.
WARNING
UNINTENDED EQUIPMENT OPERATION Update the configuration of your program each time you add or delete any type of I/O expansions on your I/O bus, or you add or delete any devices on your field bus. Failure to follow these instructions can result in death, serious injury, or equipment damage.
12
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Cartridge Configuration General Information
General Description
Introduction
The TMC4 cartridges connect to Modicon M241 Logic Controllers to increase the number of I/Os available on the controller.
Cartridge Features The following table describes the TMC4 cartridge features:
Reference
Description
TMC4AI2
TMC4 cartridge with 2 analog voltage or current inputs (0...10 V, 0...20 mA, 4...20 mA), 12 bits
TMC4TI2
TMC4 cartridge with 2 analog temperature inputs (thermocouple, RTD), 14 bits
TMC4AQ2
TMC4 cartridge with 2 analog voltage or current outputs (0...10 V, 4...20 mA), 16 bits
TMC4HOIS01 TMC4 application cartridge with 2 analog voltage or current inputs for hoisting load cells
TMC4PACK01 TMC4 application cartridge with 2 analog voltage or current inputs for packaging
Logic Controller Compatibility
NOTE: For more information on cartridge compatibility with specific controllers, refer to your controller-specific hardware guide.
The following table describes the number of TMC4 cartridges that can be installed in a Modicon M241 Logic Controller:
Reference TM241C24R TM241CE24R TM241CEC24R TM241C24T TM241CE24T TM241CEC24T TM241C24U TM241CE24U TM241CEC24U TM241C40R TM241CE40R TM241C40T TM241CE40T TM241C40U TM241CE40U
Cartridge Slots 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2
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13
Cartridge Configuration General Information
Adding Cartridges to a Configuration
Adding a Cartridge TMC4 cartridges can be connected to Modicon M241 Logic Controllers with 1 or 2 available cartridge slots. To add a cartridge to your configuration, select the cartridge in the Hardware Catalog, drag it to the Devices tree, and drop it on one of the highlighted nodes. For more information on adding a device to your project, refer to: � Using the Drag-and-drop Method (see EcoStruxure Machine Expert, Programming Guide) � Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming Guide)
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Cartridge Configuration General Information
Configuring Cartridges
I/O Configuration The configuration of a cartridge is carried out through the I/O Mapping and I/O Configuration tabs of the cartridge module. To display the configuration tabs:
Step Action 1 In the Devices tree, double-click the cartridge. The I/O Mapping tab appears. 2 Edit the parameters of the I/O Mapping tab to configure the addresses used by the cartridge module and diagnostic information. 3 Click the I/O Configuration tab to configure the cartridge. For details on the I/O Configuration tab, refer to the description of individual modules.
I/O Mapping Tab Description The I/O Mapping tab allows you to: Map input and output channels onto variables. View diagnostic information relating to the current status of the cartridge. This figure shows an example of the I/O Mapping tab:
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15
Cartridge Configuration General Information
I/O Mapping for Inputs/Outputs This table describes each parameter of the I/O Mapping tab for inputs and outputs:
Parameter Variable
Description Allows you to map the channel on a variable.
NOTE: Expand the list of variables from the category Inputs or Outputs.
You can map a channel by either creating a new variable or mapping to an existing variable.
Create new variable: Double-click the variable to enter the new variable name. A new variable is created if the variable does not already exist.
Map to existing variable: Double-click the variable and click [...] to open the Input Assistant window. Select the variable from the list and press OK. This figure shows the Input Assistant window:
Mapping 16
Indicates whether the channel is mapped on a new variable or an existing variable.
EIO0000003107 05/2019
Cartridge Configuration General Information
Parameter Channel Address
Type Default Value
Unit Description
Description Displays the channel name of the device. Displays the address of the channel.
NOTE: If the channel is mapped to an existing variable, corresponding address appears as
strikethrough text in the table. Displays the data type of the channel. Indicates the value taken by the output when the controller is in a STOPPED or HALT state. Double-click the cell to change the default value. Displays the unit of the channel value. Allows you to enter a short description of the channel.
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17
Cartridge Configuration General Information
Updating Cartridges Firmware
Introduction
The TMC4 cartridges have a firmware that you can update. The firmware update can only be done when the cartridge is mounted on the controller.
The firmware version of the cartridge can be seen in the i_uifirmwareVersion variable of the CART_R_STRUCT (see Modicon M241 Logic Controller, System Functions and Variables, PLCSystem Library Guide) in the M241 PLCSystem Library Guide.
The cartridge firmware is delivered in .bin files.
Description When the controller starts, it checks if there is a file named cart1.bin or cart2.bin in the /sys/OS directory of the internal file system. If such a file is found, and if a cartridge is installed in the controller and configured, the firmware update of the cartridge starts.
NOTE: The firmware is only updated if the firmware file is different from the current firmware of the cartridge. The firmware file is not automatically deleted from the /sys/OS directory.
The firmware update operation lasts approximately 10 seconds per cartridge.
Procedure Follow this procedure to update the cartridge firmware:
Step 1 2
3 4
5
Action Copy the .bin file onto the SD card (see Modicon M241 Logic Controller, Programming Guide).
Generate a script using the SD Card Mass Storage (see Modicon M241 Logic Controller, Programming Guide) editor and the Download command to store the cart1.bin file into the /sys/OS directory of the controller.
Insert the SD card into the controller.
Restart the controller.
NOTE: The PWR LED of the cartridge is OFF to indicate that the firmware update is in progress.
Wait until the PWR LED of the cartridge is ON or flashing, indicating that the firmware update is complete.
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Modicon TMC4 TMC4 Standard Cartridges EIO0000003107 05/2019
TMC4 Standard Cartridges
Chapter 2
TMC4 Standard Cartridges
What Is in This Chapter? This chapter contains the following topics:
TMC4AI2 TMC4TI2 TMC4AQ2
Topic
Page 20 23 26
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19
TMC4 Standard Cartridges
TMC4AI2
Introduction The TMC4AI2 cartridge features 2 analog voltage or current input channels with 12-bit resolution. The channel input types are: 0...10 V 0...20 mA 4...20 mA For further hardware information, refer to TMC4AI2 (see Modicon TMC4, Cartridges, Hardware Guide). If you have physically wired the analog channel for a voltage signal and you configure the channel for a current signal in EcoStruxure Machine Expert, you may damage the analog circuit.
NOTICE
INOPERABLE EQUIPMENT Verify that the physical wiring of the analog circuit is compatible with the software configuration for the analog channel. Failure to follow these instructions can result in equipment damage.
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TMC4 Standard Cartridges
I/O Mapping Tab Refer to Configuring Cartridges (see page 15) for a description of how to configure the inputs and outputs of the module.
Variables can be defined and named in the I/O Mapping tab. Additional information such as topological addressing is also provided in this tab.
This table describes the I/O Mapping tab:
Variable Inputs
Diagnostic
Channel iiTMC4AI2_IWO iiTMC4AI2_IW1 ibTMC4AI2_IW2 Reserved Reserved 24VFault Reserved Reserved OutOfRange0 OutOfRange1 Reserved
Type INT INT BYTE BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL
Description Current value of the input 0 Current value of the input 1 Status of the cartridge Reserved Reserved +24 V power supply disabled Reserved Reserved Input out of range (channel 0) Input out of range (channel 1) Reserved
For further generic descriptions, refer to I/O Mapping Tab Description (see page 15).
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TMC4 Standard Cartridges
I/O Configuration Tab For each input, you can define:
Parameter Type
Min. 0 - 10 V 0 - 20 mA 4 - 20 mA
Max. 0 - 10 V 0 - 20 mA 4 - 20 mA
Filter Level
Value Not used 0 - 10 V 0 - 20 mA 4 - 20 mA -32768...32767
-32768...32767
No Filter Filter1 (Shortest) ... Filter6 (Longest)
Default Value Not used
0 0 4000 10000 20000 20000 No Filter
Description Choose the mode of the channel.
Specifies the lower measurement limit.
Specifies the upper measurement limit.
Specifies the digital filtering level to apply on this channel.
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TMC4 Standard Cartridges
TMC4TI2
Introduction
The TMC4TI2 cartridge features 2 analog input channels with 14-bit resolution.
The channel input types are: K thermocouple J thermocouple R thermocouple S thermocouple B thermocouple E thermocouple T thermocouple N thermocouple PT100 PT1000 NI100 NI1000
For further hardware information, refer to TMC4TI2 (see Modicon TMC4, Cartridges, Hardware Guide).
I/O Mapping Tab Refer to Configuring Cartridges (see page 15) for a description of how to configure the inputs and outputs of the module.
Variables can be defined and named in the I/O Mapping tab. Additional information such as topological addressing is also provided in this tab.
This table describes the I/O Mapping tab:
Variable Inputs
Channel iiTMC4TI2_IWO iiTMC4TI2_IW1 iiTMC4TI2_IW2 iiTMC4TI2_IW3
Type INT INT INT INT
Description Current value of the input 0 Current value of the input 1 Cold-junction (channel 0) Cold-junction (channel 1)
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TMC4 Standard Cartridges
Variable Diagnostic
Channel ibTMC4TI2_IW4 BrokenWire0 BrokenWire1 24VFault ADCreinitialization
Reserved OutOfRange0 OutOfRange1 Reserved
Type BYTE BOOL BOOL BOOL BOOL
BOOL BOOL BOOL BOOL
Description Status of the cartridge Input broken wire warning (channel 0) Input broken wire warning (channel 1) +24 V power supply disabled 0: input values are valid. 1: input values are not valid. Reserved Input out of range (channel 0) Input out of range (channel 1) Reserved
For further generic descriptions, refer to I/O Mapping Tab Description (see page 15).
I/O Configuration Tab For each input, you can define:
Parameter Type
Scope Minimum Maximum WireBrakeDetection
Value
Default Value
K Thermocouple J Thermocouple R Thermocouple S Thermocouple B Thermocouple E Thermocouple T Thermocouple N Thermocouple C Thermocouple PT100 PT1000 NI100 NI1000
K Thermocouple
Customized Celsius (0.1�C) Fahrenheit (0.1�F)
Celsius (0.1�C)
See the table below
See the table below
No
No
Yes
Description Choose the mode of the channel.
Choose the temperature units for a channel. Specifies the lower measurement limit. Specifies the upper measurement limit. Whether to activate broken wire detection on this channel.
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Parameter ColdJunctionEnable
Value
No Yes
RTD Wire Mode
2-wire 3-wire 4-wire
Default Value Yes
3-wire
TMC4 Standard Cartridges
Description
For thermocouple inputs, whether to activate internal cold junction compensation on this channel. Cold junction compensation automatically corrects for temperature variations at the thermocouple reference junction.
For PT100, PT100, NI100, and NI1000 input types, choose the resistor temperature detector (RTD) wiring mode to use.
Type
K Thermocouple J Thermocouple R Thermocouple S Thermocouple T Thermocouple B Thermocouple E Thermocouple N Thermocouple PT100 PT1000 NI100 NI1000
Celsius (0.1 �C)
Minimum Maximum
-2000
13000
-2000
10000
0
17600
0
17600
-2000
4000
0
18200
-2000
8000
-2000
13000
-2000
8500
-2000
8500
-600
1800
-600
1800
Customized Minimum -32768 -32768 -32768 -32768 -32768 -32768 -32768 -32768 -32768 -32768 -32768 -32768
Maximum 32767 32767 32767 32767 32767 32767 32767 32767 32767 32767 32767 32767
Fahrenheit (0.1 F)
Minimum Maximum
-3280
23720
-3280
18320
320
32000
320
32000
-3280
7520
7520
32720
-3280
14720
-3280
23720
-3280
15620
-3280
15620
-760
3560
-760
3560
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25
TMC4 Standard Cartridges
TMC4AQ2
Introduction The TMC4AQ2 cartridge features 2 voltage or current analog output channels with 16-bit resolution. The channel output types are: 0...10 V 4...20 mA For further hardware information, refer to TMC4AQ2 (see Modicon TMC4, Cartridges, Hardware Guide). If you have physically wired the analog channel for a voltage signal and you configure the channel for a current signal in EcoStruxure Machine Expert, you may damage the analog circuit.
NOTICE
INOPERABLE EQUIPMENT Verify that the physical wiring of the analog circuit is compatible with the software configuration for the analog channel. Failure to follow these instructions can result in equipment damage.
26
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TMC4 Standard Cartridges
I/O Mapping Tab Refer to Configuring Cartridges (see page 15) for a description of how to configure the inputs and outputs of the module.
Variables can be defined and named in the I/O Mapping tab. Additional information such as topological addressing is also provided in this tab.
This table describes the I/O Mapping tab:
Variable Outputs
Diagnostic
Channel
Type
qiTMC4AQ2_QWO INT
qiTMC4AQ2_QW1 INT
ibTMC4AQ2_IWO BYTE
BrokenWire0
BOOL
BrokenWire1
BOOL
24VFault
BOOL
Reserved
BOOL
Reserved
BOOL
Reserved
BOOL
Reserved
BOOL
Reserved
BOOL
Description Current value of the output 0 Current value of the output 1 Status of the cartridge Current output broken wire warning (channel 0) Current output broken wire warning (channel 1) +24 V power supply disabled Reserved Reserved Reserved Reserved Reserved
For further generic descriptions, refer to I/O Mapping Tab Description (see page 15).
I/O Configuration Tab For each output, you can define:
Parameter Type
Min. Max.
0 - 10 V 4 - 20 mA
0 - 10 V 4 - 20 mA
Value
Not Used 0 - 10 V 4 - 20 mA
-32768...32767 -32768...32767
-32768...32767 -32768...32767
Default Value Not Used
0 4000 10000 20000
Description The mode of the channel.
Specifies the lower measurement limit. Specifies the upper measurement limit.
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TMC4 Standard Cartridges
28
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Modicon TMC4 TMC4 Application Cartridges EIO0000003107 05/2019
TMC4 Application Cartridges
Chapter 3
TMC4 Application Cartridges
What Is in This Chapter? This chapter contains the following topics:
TMC4HOIS01 TMC4PACK01
Topic
Page 30 33
EIO0000003107 05/2019
29
TMC4 Application Cartridges
TMC4HOIS01
Introduction The TMC4HOIS01 cartridge features 2 analog voltage or current input channels with 12-bit resolution. The channel input types are: 0...10 V 0...20 mA 4...20 mA For further hardware information, refer to TMC4HOIS01 (see Modicon TMC4, Cartridges, Hardware Guide). If you have physically wired the analog channel for a voltage signal and you configure the channel for a current signal in EcoStruxure Machine Expert, you may damage the analog circuit.
NOTICE
INOPERABLE EQUIPMENT Verify that the physical wiring of the analog circuit is compatible with the software configuration for the analog channel. Failure to follow these instructions can result in equipment damage.
30
EIO0000003107 05/2019
TMC4 Application Cartridges
I/O Mapping Tab Refer to Configuring Cartridges (see page 15) for a description of how to configure the inputs and outputs of the module.
Variables can be defined and named in the I/O Mapping tab. Additional information such as topological addressing is also provided in this tab.
This table describes the I/O Mapping tab:
Variable Inputs
Diagnostic
Channel
Type
iiTMC4HOIS01_IW0 INT
iiTMC4HOIS01_IW1 INT
ibTMC4HOIS01_IW2 BYTE
Reserved
BOOL
Reserved
BOOL
24VFault
BOOL
Reserved
BOOL
Reserved
BOOL
OutOfRange0
BOOL
OutOfRange1
BOOL
Reserved
BOOL
Description Current value of the input 0 Current value of the input 1 Status of the cartridge Reserved Reserved +24 V power supply disabled Reserved Reserved Input out of range (channel 0) Input out of range (channel 1) Reserved
For further generic descriptions, refer to I/O Mapping Tab Description (see page 15).
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TMC4 Application Cartridges
I/O Configuration Tab For each input, you can define:
Parameter Type
Min. 0 - 10 V 0 - 20 mA 4 - 20 mA
Max. 0 - 10 V 0 - 20 mA 4 - 20 mA
Filter Level
Value Not used 0 - 10 V 0 - 20 mA 4 - 20 mA -32768...32767
-32768...32767
No Filter Filter1 (Shortest) ... Filter6 (Longest)
Default Value Not used
0 0 4000 10000 20000 20000 No Filter
Description Choose the mode of the channel.
Specifies the lower measurement limit.
Specifies the upper measurement limit.
Specifies the digital filtering level to apply on this channel.
32
EIO0000003107 05/2019
TMC4 Application Cartridges
TMC4PACK01
Introduction The TMC4PACK01 cartridge module features 2 analog voltage or current input channels with 12bit resolution. The channel input types are: 0...10 V 0...20 mA 4...20 mA For further hardware information, refer to TMC4PACK01 (see Modicon TMC4, Cartridges, Hardware Guide). If you have physically wired the analog channel for a voltage signal and you configure the channel for a current signal in EcoStruxure Machine Expert, you may damage the analog circuit.
NOTICE
INOPERABLE EQUIPMENT Verify that the physical wiring of the analog circuit is compatible with the software configuration for the analog channel. Failure to follow these instructions can result in equipment damage.
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TMC4 Application Cartridges
I/O Mapping Tab
Refer to Configuring Cartridges (see page 15) for a description of how to configure the inputs and outputs of the module.
Variables can be defined and named in the I/O Mapping tab. Additional information such as topological addressing is also provided in this tab.
This table describes the I/O Mapping tab:
Variable Inputs
Diagnostic
Channel iiTMC4PACK01_IW0 iiTMC4PACK01_IW1 ibTMC4PACK01_IW2
Type INT INT BYTE
Description Current value of the input 0 Current value of the input 1 Status of the cartridge
Reserved Reserved 24VFault Reserved Reserved OutOfRange0 OutOfRange1 Reserved
BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL
Reserved Reserved +24 V power supply disabled Reserved Reserved Input out of range (channel 0) Input out of range (channel 1) Reserved
For further generic descriptions, refer to I/O Mapping Tab Description (see page 15).
I/O Configuration Tab For each input, you can define:
Parameter Type
Min. 0 - 10 V 0 - 20 mA 4 - 20 mA
Max. 0 - 10 V 0 - 20 mA 4 - 20 mA
Filter Level
Value Not used 0 - 10 V 0 - 20 mA 4 - 20 mA -32768...32767
-32768...32767
No Filter Filter1 (Shortest) ... Filter6 (Longest)
Default Value Not used
0 0 4000 10000 20000 20000 No Filter
34
Description Choose the mode of the channel.
Specifies the lower measurement limit.
Specifies the upper measurement limit.
Specifies the digital filtering level to apply on this channel.
EIO0000003107 05/2019
Modicon TMC4 Glossary EIO0000003107 05/2019
Glossary
A
analog input Converts received voltage or current levels into numerical values. You can store and process these values within the logic controller.
analog output Converts numerical values within the logic controller and sends out proportional voltage or current levels.
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35
Glossary
36
EIO0000003107 05/2019
Modicon TMC4 Index EIO0000003107 05/2019
Index
C
cartridge compatibility, 13 description, 13 features, 13
cartridges adding, 14 configuration, 15 configuring, 15 properties, 15
compatibility cartridge, 13
D
description cartridge, 13
F
features cartridge, 13
I
I/O configuration general information general practices, 12
T
TMC4 analog I/O modules TMC4AI2, 20 TMC4AQ2, 26 TMC4HOIS01, 30 TMC4PACK01, 33 TMC4TI2 , 23
EIO0000003107 05/2019
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Index
38
EIO0000003107 05/2019
Modicon TMC4 EIO0000003113 05/2019
Modicon TMC4
Cartridges
Hardware Guide
05/2019
www.schneider-electric.com
EIO0000003113.00
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.
� 2019 Schneider Electric. All rights reserved.
2
EIO0000003113 05/2019
Table of Contents
Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
Part I TMC4 General Overview . . . . . . . . . . . . . . . . . . . . . 13
Chapter 1 TMC4 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
General Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
Chapter 2 TMC4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17
2.1 TMC4 General Rules for Implementing . . . . . . . . . . . . . . . . . . . . . . . .
18
Environmental Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19
Certifications and Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
2.2 TMC4 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21
Installation and Maintenance Requirements . . . . . . . . . . . . . . . . . . . .
22
TMC4 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
24
2.3 TMC4 Electrical Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
31
Wiring Best Practices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
32
Grounding the M241 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
35
Part II TMC4 Standard Cartridges . . . . . . . . . . . . . . . . . . . . 39
Chapter 3 TMC4AI2 Analog Voltage/Current Inputs . . . . . . . . . . . .
41
TMC4AI2 Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
42
TMC4AI2 Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
44
TMC4AI2 Wiring Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
46
Chapter 4 TMC4TI2 Analog Temperature Inputs . . . . . . . . . . . . . .
47
TMC4TI2 Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
48
TMC4TI2 Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
50
TMC4TI2 Wiring Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
53
Chapter 5 TMC4AQ2 Analog Voltage/Current Outputs. . . . . . . . . .
55
TMC4AQ2 Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
56
TMC4AQ2 Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
58
TMC4AQ2 Wiring Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
60
Part III TMC4 Application Cartridges . . . . . . . . . . . . . . . . . . 61
Chapter 6 TMC4HOIS01 Hoisting . . . . . . . . . . . . . . . . . . . . . . . . . .
63
TMC4HOIS01 Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
64
TMC4HOIS01 Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
66
TMC4HOIS01 Wiring Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
68
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Chapter 7 TMC4PACK01 Packaging . . . . . . . . . . . . . . . . . . . . . . . . 69
TMC4PACK01 Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
70
TMC4PACK01 Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
72
TMC4PACK01 Wiring Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
74
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
4
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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.
QUALIFICATION OF PERSONNEL Only appropriately trained persons who are familiar with and understand the contents of this manual and all other pertinent product documentation are authorized to work on and with this product.
The qualified person must be able to detect possible hazards that may arise from parameterization, modifying parameter values and generally from mechanical, electrical, or electronic equipment. The qualified person must be familiar with the standards, provisions, and regulations for the prevention of industrial accidents, which they must observe when designing and implementing the system.
INTENDED USE The products described or affected by this document, together with software, accessories, and options, are cartridges, intended for industrial use according to the instructions, directions, examples, and safety information contained in the present document and other supporting documentation.
The product may only be used in compliance with all applicable safety regulations and directives, the specified requirements, and the technical data.
Prior to using the product, you must perform a risk assessment in view of the planned application. Based on the results, the appropriate safety-related measures must be implemented.
Since the product is used as a component in an overall machine or process, you must ensure the safety of persons by means of the design of this overall system.
Operate the product only with the specified cables and accessories. Use only genuine accessories and spare parts.
Any use other than the use explicitly permitted is prohibited and can result in unanticipated hazards.
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About the Book
At a Glance
Document Scope
This guide describes the hardware implementation of TMC4. It provides the parts description, characteristics, wiring diagrams, and installation details for TMC4.
Validity Note The information in this manual is applicable only for TMC4 products.
This document has been updated for the release of EcoStruxureTM Machine Expert V1.1.
For product compliance and environmental information (RoHS, REACH, PEP, EOLI, etc.), go to www.schneider-electric.com/green-premium.
The technical characteristics of the devices described in the present document also appear online. To access the information online:
Step 1 2
3
4 5 6
Action
Go to the Schneider Electric home page www.schneider-electric.com.
In the Search box type the reference of a product or the name of a product range. Do not include blank spaces in the reference or product range. To get information on grouping similar modules, use asterisks (*).
If you entered a reference, go to the Product Datasheets search results and click on the reference that interests you. If you entered the name of a product range, go to the Product Ranges search results and click on the product range that interests you.
If more than one reference appears in the Products search results, click on the reference that interests you.
Depending on the size of your screen, you may need to scroll down to see the datasheet.
To save or print a datasheet as a .pdf file, click Download XXX product datasheet.
The characteristics that are presented 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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7
Related Documents
Title of Documentation Modicon TMC4 Cartridges - Programming Guide
Modicon M241 Logic Controller - Hardware Guide
Reference Number
EIO0000003107 (ENG) EIO0000003108 (FRE) EIO0000003109 (GER) EIO0000003110 (SPA) EIO0000003111 (ITA) EIO0000003112 (CHS)
EIO0000003083 (ENG) EIO0000003084 (FRE) EIO0000003085 (GER) EIO0000003086 (SPA) EIO0000003087 (ITA) EIO0000003088 (CHS)
You can download these technical publications and other technical information from our website at https://www.schneider-electric.com/en/download
8
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Product Related Information
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH Disconnect all power from all equipment including connected devices prior to removing any
covers or doors, or installing or removing any accessories, hardware, cables, or wires except under the specific conditions specified in the appropriate hardware guide for this equipment. Always use a properly rated voltage sensing device to confirm the power is off where and when indicated. Replace and secure all covers, accessories, hardware, cables, and wires and confirm that a proper ground connection exists before applying power to the unit. Use only the specified voltage when operating this equipment and any associated products.
Failure to follow these instructions will result in death or serious injury.
DANGER
POTENTIAL FOR EXPLOSION Only use this equipment in non-hazardous locations, or in locations that comply with Class I,
Division 2, Groups A, B, C and D. Do not substitute components which would impair compliance to Class I, Division 2. Do not connect or disconnect equipment unless power has been removed or the location is
known to be non-hazardous. Do not use the USB port(s), if so equipped, unless the location is known to be non-hazardous.
Failure to follow these instructions will result in death or serious injury.
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WARNING
LOSS OF CONTROL
The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop and overtravel stop, power outage and restart.
Separate or redundant control paths must be provided for critical control functions. System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link. Observe all accident prevention regulations and local safety guidelines.1 Each implementation of this equipment must be individually and thoroughly tested for proper
operation before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
1 For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems" or their equivalent governing your particular location.
WARNING
UNINTENDED EQUIPMENT OPERATION
Only use software approved by Schneider Electric for use with this equipment. Update your application program every time you change the physical hardware configuration.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
10
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Terminology Derived from Standards
The technical terms, terminology, symbols and the corresponding descriptions in this manual, or that appear in or on the products themselves, are generally derived from the terms or definitions of international standards.
In the area of functional safety systems, drives and general automation, this may include, but is not limited to, terms such as safety, safety function, safe state, fault, fault reset, malfunction, failure, error, error message, dangerous, etc.
Among others, these standards include:
Standard IEC 61131-2:2007 ISO 13849-1:2015 EN 61496-1:2013 ISO 12100:2010 EN 60204-1:2006 ISO 14119:2013 ISO 13850:2015 IEC 62061:2015 IEC 61508-1:2010 IEC 61508-2:2010
IEC 61508-3:2010 IEC 61784-3:2016 2006/42/EC 2014/30/EU 2014/35/EU
Description
Programmable controllers, part 2: Equipment requirements and tests.
Safety of machinery: Safety related parts of control systems. General principles for design.
Safety of machinery: Electro-sensitive protective equipment. Part 1: General requirements and tests.
Safety of machinery - General principles for design - Risk assessment and risk reduction
Safety of machinery - Electrical equipment of machines - Part 1: General requirements
Safety of machinery - Interlocking devices associated with guards - Principles for design and selection
Safety of machinery - Emergency stop - Principles for design
Safety of machinery - Functional safety of safety-related electrical, electronic, and electronic programmable control systems
Functional safety of electrical/electronic/programmable electronic safetyrelated systems: General requirements.
Functional safety of electrical/electronic/programmable electronic safetyrelated systems: Requirements for electrical/electronic/programmable electronic safety-related systems.
Functional safety of electrical/electronic/programmable electronic safetyrelated systems: Software requirements.
Industrial communication networks - Profiles - Part 3: Functional safety fieldbuses - General rules and profile definitions.
Machinery Directive
Electromagnetic Compatibility Directive
Low Voltage Directive
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In addition, terms used in the present document may tangentially be used as they are derived from other standards such as:
Standard IEC 60034 series IEC 61800 series IEC 61158 series
Description Rotating electrical machines Adjustable speed electrical power drive systems Digital data communications for measurement and control � Fieldbus for use in industrial control systems
Finally, the term zone of operation may be used in conjunction with the description of specific hazards, and is defined as it is for a hazard zone or danger zone in the Machinery Directive (2006/42/EC) and ISO 12100:2010.
NOTE: The aforementioned standards may or may not apply to the specific products cited in the present documentation. For more information concerning the individual standards applicable to the products described herein, see the characteristics tables for those product references.
12
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Modicon TMC4 TMC4 General Overview EIO0000003113 05/2019
TMC4 General Overview
Part I
TMC4 General Overview
What Is in This Part? This part contains the following chapters:
Chapter 1 2
TMC4 Description TMC4 Installation
Chapter Name
Page 15 17
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TMC4 General Overview
14
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Modicon TMC4 TMC4 Description EIO0000003113 05/2019
TMC4 Description
Chapter 1
TMC4 Description
General Description
Introduction The cartridges are designed to be connected to the Modicon M241 Logic Controller range.
Cartridges Features The following table describes the TMC4 cartridges features:
Reference
TMC4AI2 (see page 41)
TMC4TI2 (see page 47)
TMC4AQ2 (see page 55)
TMC4HOIS01 (see page 63)
TMC4PACK01 (see page 69)
Description TMC4 cartridge with 2 analog voltage or current inputs (0...10 V, 0...20 mA, 4...20 mA), 12 bits TMC4 cartridge with 2 analog temperature inputs (thermocouple, RTD), 14 bits
TMC4 cartridge with 2 analog voltage or current outputs (0...10 V, 4...20 mA), 16 bits
TMC4 application cartridge with 2 analog voltage or current inputs for hoisting load cells TMC4 application cartridge with 2 analog voltage or current inputs for packaging
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TMC4 Description
Logic Controller Compatibility
NOTE: For more information on cartridge compatibility with specific controllers, refer to your controller-specific hardware guide.
The following table describes the number of TMC4 cartridges that can be installed in a Modicon M241 Logic Controller:
Reference TM241C24R TM241CE24R TM241CEC24R TM241C24T TM241CE24T TM241CEC24T TM241C24U TM241CE24U TM241CEC24U TM241C40R TM241CE40R TM241C40T TM241CE40T TM241C40U TM241CE40U
Cartridge Slots 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2
NOTICE
ELECTROSTATIC DISCHARGE
Verify that empty cartridge slots have their covers in place before applying power to the controller.
Do not touch the contacts of the cartridge. Only handle the cartridge on the housing. Take the necessary protective measures against electrostatic discharges.
Failure to follow these instructions can result in equipment damage.
16
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Modicon TMC4 TMC4 Installation EIO0000003113 05/2019
TMC4 Installation
Chapter 2
TMC4 Installation
What Is in This Chapter? This chapter contains the following sections:
Section 2.1 2.2 2.3
Topic TMC4 General Rules for Implementing TMC4 Installation TMC4 Electrical Requirements
Page 18 21 31
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TMC4 Installation
TMC4 General Rules for Implementing
Section 2.1
TMC4 General Rules for Implementing
What Is in This Section? This section contains the following topics:
Environmental Characteristics Certifications and Standards
Topic
Page 19 20
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TMC4 Installation
Environmental Characteristics
TMC4 TMC4 cartridge environmental characteristics are the same as the Modicon M241 Logic Controller (see Modicon M241 Logic Controller, Hardware Guide).
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TMC4 Installation
Certifications and Standards
Introduction The M241 Logic Controllers are designed to conform to the main national and international standards concerning electronic industrial control devices: IEC/EN 61131-2 UL 508 The M241 Logic Controllers have obtained the following conformity marks: CE cULus CSA For product compliance and environmental information (RoHS, REACH, PEP, EOLI, etc.), go to www.schneider-electric.com/green-premium.
20
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TMC4 Installation
Section 2.2
TMC4 Installation
What Is in This Section? This section contains the following topics:
Topic Installation and Maintenance Requirements TMC4 Installation
TMC4 Installation
Page 22 24
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TMC4 Installation
Installation and Maintenance Requirements
Before Starting Read and understand this chapter before beginning the installation of your system. The use and application of the information contained herein require expertise in the design and programming of automated control systems. Only you, the user, machine builder or integrator, can be aware of all the conditions and factors present during installation and setup, operation, and maintenance of the machine or process, and can therefore determine the automation and associated equipment and the related safeties and interlocks which can be effectively and properly used. When selecting automation and control equipment, and any other related equipment or software, for a particular application, you must also consider any applicable local, regional or national standards and/or regulations. Pay particular attention in conforming to any safety information, different electrical requirements, and normative standards that would apply to your machine or process in the use of this equipment.
Disconnecting Power All options and modules should be assembled and installed before installing the control system on a mounting rail, onto a mounting plate or in a panel. Remove the control system from its mounting rail, mounting plate or panel before disassembling the equipment.
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH Disconnect all power from all equipment including connected devices prior to removing any
covers or doors, or installing or removing any accessories, hardware, cables, or wires except under the specific conditions specified in the appropriate hardware guide for this equipment. Always use a properly rated voltage sensing device to confirm the power is off where and when indicated. Replace and secure all covers, accessories, hardware, cables, and wires and confirm that a proper ground connection exists before applying power to the unit. Use only the specified voltage when operating this equipment and any associated products.
Failure to follow these instructions will result in death or serious injury.
22
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TMC4 Installation
Programming Considerations
WARNING
UNINTENDED EQUIPMENT OPERATION Only use software approved by Schneider Electric for use with this equipment. Update your application program every time you change the physical hardware configuration. Failure to follow these instructions can result in death, serious injury, or equipment damage.
Operating Environment In addition to the Environmental Characteristics, refer to Product Related Information in the beginning of the present document for important information regarding installation in hazardous locations for this specific equipment. NOTE: For important safety information and the environment characteristics of the TMC4 cartridges, see the M241 Logic Controller Hardware Guide.
Installation Considerations
WARNING
UNINTENDED EQUIPMENT OPERATION Use appropriate safety interlocks where personnel and/or equipment hazards exist. Install and operate this equipment in an enclosure appropriately rated for its intended
environment and secured by a keyed or tooled locking mechanism. Use the sensor and actuator power supplies only for supplying power to the sensors or
actuators connected to the module. Power line and output circuits must be wired and fused in compliance with local and national
regulatory requirements for the rated current and voltage of the particular equipment. Do not use this equipment in safety-critical machine functions unless the equipment is
otherwise designated as functional safety equipment and conforming to applicable regulations and standards. Do not disassemble, repair, or modify this equipment. Do not connect any wiring to reserved, unused connections, or to connections designated as No Connection (N.C.). Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: JDYX2 or JDYX8 fuse types are UL-recognized and CSA approved.
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TMC4 Installation
TMC4 Installation
Installation Considerations The TMC4 cartridge is designed to operate within the same temperature range as the controllers, including the controller derating for extended temperature operation, and temperature restrictions associated with the mounting positions. Refer to the controller mounting position and clearance (see Modicon M241 Logic Controller, Hardware Guide) for more information.
Installation
DANGER
ELECTRIC SHOCK OR ARC FLASH Disconnect all power from all equipment including connected devices prior to removing any
covers or doors, or installing or removing any accessories, hardware, cables, or wires. Always use a properly rated voltage sensing device to confirm the power is off where and when
indicated. Use protective gloves when installing or removing the cartridges. Replace and secure all covers, accessories, hardware, cables, and wires and confirm that a
proper ground connection exists before applying power to the unit. Use only the specified voltage when operating this equipment and any associated products. Failure to follow these instructions will result in death or serious injury.
NOTICE
ELECTROSTATIC DISCHARGE Verify that empty cartridge slots have their covers in place before applying power to the
controller. Do not touch the contacts of the cartridge. Only handle the cartridge on the housing. Take the necessary protective measures against electrostatic discharges. Failure to follow these instructions can result in equipment damage.
24
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TMC4 Installation
The following table describes the different steps to install a TMC4 cartridge on the controller:
Step 1 2 3
Action
Disconnect all power from all equipment prior to removing any covers or installing a cartridge.
Remove the cartridge from the packaging.
Press the locking clips on the top and bottom of the cover with your fingers and pull up the cartridge slot cover gently. Remove by hand the cartridge slot cover from the controller.
NOTE: Keep the cover to reuse it for the de-installation.
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TMC4 Installation
Step 4
Action
Place the cartridge in the slot on the controller. Push the cartridge into the slot until it clicks.
NOTE: Do not insert the cartridge with its removable spring terminal block connected.
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TMC4 Installation
Step 5
Action
Rotate the controller top connections cover to have more clearance to insert the cartridge removable spring terminal block. Press the locking clip on the side of the terminal block cover with an insulated screwdriver and pull up the cover gently. Remove the slot cover from the controller.
NOTE: Keep the cover to reuse it for the de-installation.
6 Insert the removable spring terminal block in the cartridge until it clicks.
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TMC4 Installation
De-installation
DANGER
ELECTRIC SHOCK OR ARC FLASH Disconnect all power from all equipment including connected devices prior to removing any
covers or doors, or installing or removing any accessories, hardware, cables, or wires. Always use a properly rated voltage sensing device to confirm the power is off where and when
indicated. Use protective gloves when installing or removing the cartridges. Replace and secure all covers, accessories, hardware, cables, and wires and confirm that a
proper ground connection exists before applying power to the unit. Use only the specified voltage when operating this equipment and any associated products. Failure to follow these instructions will result in death or serious injury.
NOTICE
ELECTROSTATIC DISCHARGE
Verify that empty cartridge slots have their covers in place before applying power to the controller.
Do not touch the contacts of the cartridge. Only handle the cartridge on the housing. Take the necessary protective measures against electrostatic discharges.
Failure to follow these instructions can result in equipment damage.
The following table describes the different steps to de-install a TMC4 cartridge from the controller.
Step 1 2
Action Disconnect all power from all equipment, including connected devices, prior to removing a cartridge. Pull out by hand the removable spring terminal block from the cartridge.
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Step 3
Action
Place the terminal block slot cover in the slot on the top of the controller. Push the slot cover into the slot until it clicks.
TMC4 Installation
4 Press the locking clips on the top and bottom of the cartridge with your fingers and pull up the cartridge gently. Remove by hand the cartridge from the controller.
5 Place the cartridge slot cover in the slot on the controller. Push the cartridge slot cover into the slot until it clicks.
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TMC4 Installation
TMC4 Electrical Requirements
Section 2.3
TMC4 Electrical Requirements
What Is in This Section? This section contains the following topics:
Wiring Best Practices Grounding the M241 System
Topic
Page 32 35
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TMC4 Installation
Wiring Best Practices
Overview This section describes the wiring guidelines and associated best practices to be respected when using the M241 Logic Controller system.
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH Disconnect all power from all equipment including connected devices prior to removing any
covers or doors, or installing or removing any accessories, hardware, cables, or wires except under the specific conditions specified in the appropriate hardware guide for this equipment. Always use a properly rated voltage sensing device to confirm the power is off where and when indicated. Replace and secure all covers, accessories, hardware, cables, and wires and confirm that a proper ground connection exists before applying power to the unit. Use only the specified voltage when operating this equipment and any associated products. Failure to follow these instructions will result in death or serious injury.
WARNING
LOSS OF CONTROL The designer of any control scheme must consider the potential failure modes of control paths
and, for certain critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop and overtravel stop, power outage and restart. Separate or redundant control paths must be provided for critical control functions. System control paths may include communication links. Consideration must be given to the implications of unanticipated transmission delays or failures of the link. Observe all accident prevention regulations and local safety guidelines.1 Each implementation of this equipment must be individually and thoroughly tested for proper operation before being placed into service. Failure to follow these instructions can result in death, serious injury, or equipment damage.
1 For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems" or their equivalent governing your particular location.
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TMC4 Installation
Wiring Guidelines The following rules must be applied when wiring a M241 Logic Controller system: I/O and communication wiring must be kept separate from the power wiring. Route these 2 types of wiring in separate cable ducting. Verify that the operating conditions and environment are within the specification values. Use proper wire sizes to meet voltage and current requirements. Use copper conductors (required). Use twisted pair, shielded cables for analog, and/or fast I/O. Use twisted pair, shielded cables for networks, and fieldbus.
Use shielded, properly grounded cables for all analog and high-speed inputs or outputs and communication connections. If you do not use shielded cable for these connections, electromagnetic interference can cause signal degradation. Degraded signals can cause the controller or attached modules and equipment to perform in an unintended manner.
WARNING
UNINTENDED EQUIPMENT OPERATION
Use shielded cables for all fast I/O, analog I/O and communication signals. Ground cable shields for all analog I/O, fast I/O and communication signals at a single point1. Route communication and I/O cables separately from power cables.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
1Multipoint grounding is permissible if connections are made to an equipotential ground plane dimensioned to help avoid cable shield damage in the event of power system short-circuit currents. For more details, refer to Grounding Shielded Cables (see page 35). NOTE: Surface temperatures may exceed 60 �C (140 �F). To conform to IEC 61010 standards, route primary wiring (wires connected to power mains) separately and apart from secondary wiring (extra low voltage wiring coming from intervening power sources). If that is not possible, double insulation is required such as conduit or cable gains.
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TMC4 Installation
Rules for Removable Spring Terminal Block The following table shows the cable types and wire sizes for a 3.81 mm (0.15 in.) pitch removable spring terminal block:
The use of copper conductors is required.
DANGER
FIRE HAZARD Use only the correct wire sizes for the current capacity of the I/O channels and power supplies. For relay output (2 A) wiring, use conductors of at least 0.5 mm2 (AWG 20) with a temperature
rating of at least 80 �C (176 �F). For common conductors of relay output wiring (7 A), or relay output wiring greater than 2 A,
use conductors of at least 1.0 mm2 (AWG 16) with a temperature rating of at least 80 �C (176 �F). Failure to follow these instructions will result in death or serious injury.
The spring clamp connectors of the terminal block are designed for only one wire or one cable end. Two wires to the same connector must be installed with a double wire cable end to help prevent loosening.
DANGER
LOOSE WIRING CAUSES ELECTRIC SHOCK Do not insert more than one wire per connector of the spring terminal blocks unless using a double wire cable end (ferrule). Failure to follow these instructions will result in death or serious injury.
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TMC4 Installation
Grounding the M241 System
Overview To help minimize the effects of electromagnetic interference, cables carrying the fast I/O, analog I/O, and field bus communication signals must be shielded.
WARNING
UNINTENDED EQUIPMENT OPERATION Use shielded cables for all fast I/O, analog I/O, and communication signals. Ground cable shields for all fast I/O, analog I/O, and communication signals at a single point1. Route communications and I/O cables separately from power cables. Failure to follow these instructions can result in death, serious injury, or equipment damage.
1Multipoint grounding is permissible if connections are made to an equipotential ground plane dimensioned to help avoid cable shield damage in the event of power system short-circuit currents. The use of shielded cables requires compliance with the following wiring rules: For protective ground connections (PE), metal conduit or ducting can be used for part of the
shielding length, provided there is no break in the continuity of the ground connections. For functional ground (FE), the shielding is intended to attenuate electromagnetic interference and the shielding must be continuous for the length of the cable. If the purpose is both functional and protective, as is often the case for communication cables, the cable must have continuous shielding. Wherever possible, keep cables carrying one type of signal separate from the cables carrying other types of signals or power.
Protective Ground (PE) on the Backplane The protective ground (PE) should be connected to the conductive backplane by a heavy-duty wire, usually a braided copper cable with the maximum allowable cable section.
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TMC4 Installation
Shielded Cables Connections Cables carrying the fast I/O, analog I/O, and field bus communication signals must be shielded. The shielding must be securely connected to ground. The fast I/O and analog I/O shields may be connected either to the functional ground (FE) or to the protective ground (PE) of your M241 Logic Controller. The field bus communication cable shields must be connected to the protective ground (PE) with a connecting clamp secured to the conductive backplane of your installation.
WARNING
ACCIDENTAL DISCONNECTION FROM PROTECTIVE GROUND (PE) Do not use the TM2XMTGB Grounding Plate to provide a protective ground (PE). Use the TM2XMTGB Grounding Plate only to provide a functional ground (FE). Failure to follow these instructions can result in death, serious injury, or equipment damage.
The shielding of the Modbus cable must be connected to the protective ground (PE).
DANGER
HAZARD OF ELECTRIC SHOCK The grounding terminal connection (PE) must be used to provide a protective ground at all
times. Make sure that an appropriate, braided ground cable is attached to the PE/PG ground terminal
before connecting or disconnecting the network cable to the equipment. Failure to follow these instructions will result in death or serious injury.
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TMC4 Installation
Protective Ground (PE) Cable Shielding To ground the shield of a cable through a grounding clamp:
Step Description 1 Strip the shielding for a length of 15 mm (0.59 in.)
2 Attach the cable to the conductive backplane plate by attaching the grounding clamp to the stripped part of the shielding as close as possible to the M241 Logic Controller system base.
NOTE: The shielding must be clamped securely to the conductive backplane to ensure a good contact.
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Functional Ground (FE) Cable Shielding To connect the shield of a cable through the Grounding Bar:
Step Description 1 Install the Grounding Bar directly on the conductive backplane below the M241 Logic Controller system as illustrated.
TMC4 Installation
2 Strip the shielding for a length of 15 mm (0.59 in.
3 Tightly clamp on the blade connector (1) using nylon fastener (2)(width 2.5...3 mm (0.1...0.12 in.)) and appropriate tool.
NOTE: Use the TM2XMTGB Grounding Bar for Functional Ground (FE) connections.
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TMC4 Installation
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TMC4 Standard Cartridges
Part II
TMC4 Standard Cartridges
What Is in This Part? This part contains the following chapters:
Chapter 3 4 5
Chapter Name TMC4AI2 Analog Voltage/Current Inputs TMC4TI2 Analog Temperature Inputs TMC4AQ2 Analog Voltage/Current Outputs
Page 41 47 55
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TMC4 Standard Cartridges
40
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Modicon TMC4 TMC4AI2 Analog Voltage, Current Inputs EIO0000003113 05/2019
TMC4AI2 Analog Voltage/Current Inputs
Chapter
3
TMC4AI2 Analog Voltage/Current Inputs
Overview This chapter describes the TMC4AI2 cartridge, its characteristics, and its connections.
What Is in This Chapter? This chapter contains the following topics:
TMC4AI2 Presentation TMC4AI2 Characteristics TMC4AI2 Wiring Diagram
Topic
Page 42 44 46
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41
TMC4AI2 Analog Voltage, Current Inputs
TMC4AI2 Presentation
Overview
The following features are integrated into the TMC4AI2 cartridge: 2 analog inputs (voltage or current) removable spring terminal block, 3.81 mm (0.15 in.) pitch
Main Characteristics
Characteristic Signal type
Number of input channels Input range
Resolution Connection type Weight
Value
Voltage
Current
2
0...10 Vdc
0...20 mA 4...20 mA
12 bits (4096 steps)
3.81 mm (0.15 in.) pitch, removable spring terminal block
55 g (1.94 oz)
42
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TMC4AI2 Analog Voltage, Current Inputs
Power LED The following diagram shows a TMC4AI2 cartridge with its power LED labeled PWR:
LED PWR
Color Green
Status On
Flashing
Off
Description
The cartridge is powered by the logic controller and the external power supply (24 Vdc) is applied.
The cartridge is powered by the logic controller but the external power supply (24 Vdc) is not applied.
The cartridge is not powered by the logic controller.
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TMC4AI2 Analog Voltage, Current Inputs
TMC4AI2 Characteristics
Introduction This section provides a general description of the TMC4AI2 cartridge characteristics.
WARNING
UNINTENDED EQUIPMENT OPERATION Do not exceed any of the rated values specified in the environmental and electrical characteristics tables. Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: For important safety information and the environment characteristics of the TMC4 cartridges, see the M241 Logic Controller Hardware Guide.
Connectors The following diagram shows a TMC4AI2 cartridge marking and connectors:
44
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TMC4AI2 Analog Voltage, Current Inputs
Input Characteristics The following table describes the cartridge input characteristics:
Characteristics
Value
Signal Type
Voltage
Current
Rated input range
0...10 Vdc
0...20 mA 4...20 mA
Input impedance
> 1 M
< 250
Sample duration time
1 ms per enabled channel
Input type
single-ended
Operating mode
self-scan
Conversion mode
SAR type
Maximum accuracy at ambient temperature: 25 �C (77 �F)
� 0.2 % of full scale
Maximum accuracy on full operating temperature range � 0.5 % of full scale
Temperature drift
� 0.006 % of full scale per 1 �C (1.8 �F)
Repeatability after stabilization time
� 0.2 % of full scale
Non-linearity
� 0.05 % of full scale
Digital resolution
12 bits (4096 steps)
Input value of LSB
2.44 mV
4.88 V
Data type in application program
scalable from �32768 to 32767
Input data out of detection range
yes
Noise resistance maximum temporary deviation during perturbations
� 2.0 % of full scale
cable type and maximum length shielded
< 30 m (98.4 ft)
crosstalk (minimum)
80 dB
common-mode rejection ratio (minimum)
65 dB
Isolation
isolation between inputs and internal logic
500 Vdc
isolation between inputs
not isolated
Maximum continuous overload allowed (without damage)
30 Vdc
40 mA dc
Input filter
software filter: 6 levels
External power supply
supply voltage power consumption
24 Vdc � 15 % 2W
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TMC4AI2 Analog Voltage, Current Inputs
TMC4AI2 Wiring Diagram
Introduction This cartridge has a removable spring terminal block for the connection of the inputs.
Wiring See Wiring Best Practices (see page 32).
Wiring Diagram The following figure shows an example of the voltage and current input connection:
(1): Current/Voltage analog output device A: External power supply
NOTE: Each input can be connected to either a voltage or current input.
46
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Modicon TMC4 TMC4TI2 Analog Temperature Inputs EIO0000003113 05/2019
TMC4TI2 Analog Temperature Inputs
Chapter 4
TMC4TI2 Analog Temperature Inputs
Overview This chapter describes the TMC4TI2 cartridge, its characteristics, and its connections.
What Is in This Chapter? This chapter contains the following topics:
TMC4TI2 Presentation TMC4TI2 Characteristics TMC4TI2 Wiring Diagram
Topic
Page 48 50 53
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TMC4TI2 Analog Temperature Inputs
TMC4TI2 Presentation
Overview
The following features are integrated into the TMC4TI2 cartridge: 2 analog temperature inputs (thermocouple or RTD) removable spring terminal block, 3.81 mm (0.15 in.) pitch
Main Characteristics
Characteristic Signal type
Number of input channels Input range
Resolution Connection type Weight
Value
Thermocouple
RTD
2
type: K, J, R, S, B, E, T, N
type: Pt100, Pt1000, Ni100, Ni1000
14 bits (16384 steps)
3.81 mm (0.15 in.) pitch, removable spring terminal block
55 g (1.94 oz)
48
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TMC4TI2 Analog Temperature Inputs
Power LED The following diagram shows a TMC4TI2 cartridge with its power LED labeled PWR:
LED PWR
Color Green
Status On
Flashing
Off
Description
The cartridge is powered by the logic controller and the external power supply (24 Vdc) is applied.
The cartridge is powered by the logic controller but the external power supply (24 Vdc) is not applied.
The cartridge is not powered by the logic controller.
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TMC4TI2 Analog Temperature Inputs
TMC4TI2 Characteristics
Introduction This section provides a general description of the TMC4TI2 cartridge characteristics.
WARNING
UNINTENDED EQUIPMENT OPERATION Do not exceed any of the rated values specified in the environmental and electrical characteristics tables. Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: For important safety information and the environment characteristics of the TMC4 cartridges, see the M241 Logic Controller Hardware Guide.
Connectors The following diagram shows a TMC4TI2 cartridge marking and connectors:
50
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TMC4TI2 Analog Temperature Inputs
Input Characteristics The following table describes the cartridge input characteristics:
Characteristics Signal Type
Rated input range
Cold junction compensation Input impedance Sample duration time Input type Operating mode Conversion mode Maximum accuracy at ambient temperature: 25 �C (77 �F)
Temperature drift Repeatability after stabilization time Non-linearity Digital resolution
Value
Thermocouple
RTD (2, 3, or 4 wires)
thermocouple type: K: �200...+1300 �C
(�328...+2372 �F) J: �200...+1000 �C
(�328...+1832 �F) R: 0...+1760 �C
(+32...+3200 �F) S: 0...+1760 �C
(+32...+3200 �F) B: +250...+1820 �C
(+482...+3308 �F) E: �200...+800 �C
(�328...+1472 �F) T: �200...+400 �C
(�328...+752 �F) N: �200...+1300 �C
(�328...+2372 �F)
RTD type: Pt100: �200...+850 �C
(�328...+1562 �F) Pt1000: �200...+850 �C
(�328...+1562 �F) Ni100: �60...+180 �C
(�76...+356 �F) Ni1000: �60...+180 �C
(�76...+356 �F)
internal compensation
�
> 1 M
100 ms per enabled channel + 1 scan time
single-ended
self-scan
SAR type
K, J, R, S, E, T, N: � 0.2 % of full scale + junction compensation accuracy (� 4 �C (� 7.2 �F))
B: � 0.2 % of full scale for measured temperature range: 250...400 �C (482...752 �F) � 0.1 % of full scale for measured temperature range: 400...1280 �C (752...2336 �F)
� 0.5 �C (� 0.9 �F)
� 0.008 % of full scale per 1 �C (1.8 �F)
� 0.1 % of full scale
� 0.05 % of full scale
14 bits (16384 steps)
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TMC4TI2 Analog Temperature Inputs
Characteristics
Value
Signal Type
Thermocouple
RTD (2, 3, or 4 wires)
Input value of LSB
0.1 �C (0.18 �F)
Data type in application program
scalable from �32768 to 32767
Input data out of detection range
yes
Noise resistance
maximum temporary deviation during perturbations
� 2 % of full scale
total cable type, length, and twisted-pair shielded
resistance
< 100 m (328.1 ft)
< 100
< 30
external crosstalk (minimum)
80 dB
50/60 Hz common-mode rejection ratio (minimum)
90 dB
50/60 Hz differential-mode 60 dB rejection ratio (minimum)
Isolation
isolation between inputs and internal logic
500 Vdc
isolation between inputs not isolated
Maximum continuous overload allowed (without 6 Vdc damage)
Behavior when the temperature sensor is disconnected or broken
detected
External power supply
supply voltage power consumption
24 Vdc � 15 % 2W
52
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TMC4TI2 Analog Temperature Inputs
TMC4TI2 Wiring Diagram
Introduction This cartridge has a removable spring terminal block for the connection of the inputs.
Wiring See Wiring Best Practices (see page 32).
Wiring Diagram The following figure shows an example of 3-wire RTD and thermocouple probe connections:
(1): RTD (2): Thermocouple A: External power supply
The following figure shows an example of a pair of 3-wire RTD connections:
(1): RTD A: External power supply
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TMC4TI2 Analog Temperature Inputs
The following figure shows an example of a pair of thermocouple connections:
(2): Thermocouple A: External power supply
The following figure shows an example of 4-wire RTD and thermocouple connections:
(1): RTD (2): Thermocouple A: External power supply
NOTE: Each input can be connected to either an RTD or thermocouple probe.
WARNING
UNINTENDED EQUIPMENT OPERATION Do not connect wires to unused terminals and/or terminals indicated as "No Connection (N.C.)". Failure to follow these instructions can result in death, serious injury, or equipment damage.
54
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Modicon TMC4 TMC4AQ2 Analog Voltage, Current Outputs EIO0000003113 05/2019
TMC4AQ2 Analog Voltage/Current Outputs
Chapter
5
TMC4AQ2 Analog Voltage/Current Outputs
Overview This chapter describes the TMC4AQ2 cartridge, its characteristics, and its connections.
What Is in This Chapter? This chapter contains the following topics:
TMC4AQ2 Presentation TMC4AQ2 Characteristics TMC4AQ2 Wiring Diagram
Topic
Page 56 58 60
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TMC4AQ2 Analog Voltage, Current Outputs
TMC4AQ2 Presentation
Overview
The following features are integrated into the TMC4AQ2 cartridge: 2 analog outputs (voltage or current) removable spring terminal block, 3.81 mm (0.15 in.) pitch
Main Characteristics
Characteristic Signal type
Number of output channels Output range Resolution Connection type Weight
Value
Voltage
Current
2
0...10 Vdc
4...20 mA (dc)
16 bits (65536 steps)
3.81 mm (0.15 in.) pitch, removable spring terminal block
55 g (1.94 oz)
56
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TMC4AQ2 Analog Voltage, Current Outputs
Power LED The following diagram shows a TMC4AQ2 cartridge with its power LED labeled PWR:
LED PWR
Color Green
Status On
Flashing
Off
Description
The cartridge is powered by the logic controller and the external power supply (24 Vdc) is applied.
The cartridge is powered by the logic controller but the external power supply (24 Vdc) is not applied.
The cartridge is not powered by the logic controller.
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TMC4AQ2 Analog Voltage, Current Outputs
TMC4AQ2 Characteristics
Introduction This section provides a general description of the TMC4AQ2 cartridge characteristics.
WARNING
UNINTENDED EQUIPMENT OPERATION Do not exceed any of the rated values specified in the environmental and electrical characteristics tables. Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: For important safety information and the environment characteristics of the TMC4 cartridges, see the M241 Logic Controller Hardware Guide.
Connectors The following diagram shows a TMC4AQ2 cartridge marking and connectors:
58
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TMC4AQ2 Analog Voltage, Current Outputs
IOutput Characteristics The following table describes the cartridge output characteristics:
Characteristics Signal Type
Rated output range Load impedance Application load type Settling time Total output system transfer time Maximum accuracy at ambient temperature without EMC disturbance: 25 �C (77 �F) Temperature drift Repeatability after stabilization time Non-linearity Output ripple Output voltage drop Overshoot Maximum output deviation Digital resolution Output value of LSB Data type in application program Noise resistance maximum temporary deviation
during perturbations cable type and maximum length
external crosstalk (minimum)
50/60 Hz common-mode rejection ratio (minimum)
Isolation
isolation between outputs and internal logic
isolation between outputs
Output protection
Behavior when internal power supply level is lower than threshold
Behavior when external power is not applied
External power supply
supply voltage power consumption
Value Voltage 0...10 Vdc > 2 K resistive load 10 ms 10 ms + 1 scan time � 0.2 % of full scale
Current 4...20 mA (dc) < 500
� 0.006 % of full scale per 1 �C (1.8 �F)
� 0.5 % of full scale
� 0.05 % of full scale
� 20 mV
1%
0%
� 0.5 % of full scale
16 bits (65536 steps)
0.153 mV
0.305 A
0...4095
� 2 % of full scale
shielded < 30 m (98.4 ft) 80 dB 90 dB
500 Vdc
not isolated short circuit protection outputs are set to 0
open circuit protection
PWR LED flashing 24 Vdc � 15 % 2W
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TMC4AQ2 Analog Voltage, Current Outputs
TMC4AQ2 Wiring Diagram
Introduction This cartridge has a removable spring terminal block for the connection of the outputs.
Wiring See Wiring Best Practices (see page 32).
Wiring Diagram The following figure shows an example of the voltage and current outputs connection:
(1): Current/Voltage analog input device A: External power supply
NOTE: Each output can be connected either as a voltage or current output.
WARNING
UNINTENDED EQUIPMENT OPERATION Do not connect wires to unused terminals and/or terminals indicated as "No Connection (N.C.)". Failure to follow these instructions can result in death, serious injury, or equipment damage.
60
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TMC4 Application Cartridges
Part
III
TMC4 Application Cartridges
What Is in This Part? This part contains the following chapters:
Chapter 6 7
TMC4HOIS01 Hoisting TMC4PACK01 Packaging
Chapter Name
Page 63 69
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TMC4 Application Cartridges
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Modicon TMC4 TMC4HOIS01 Hoisting EIO0000003113 05/2019
TMC4HOIS01 Hoisting
Chapter 6
TMC4HOIS01 Hoisting
Overview This chapter describes the TMC4HOIS01 cartridge, its characteristics, and its connections.
What Is in This Chapter? This chapter contains the following topics:
TMC4HOIS01 Presentation TMC4HOIS01 Characteristics TMC4HOIS01 Wiring Diagram
Topic
Page 64 66 68
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TMC4HOIS01 Hoisting
TMC4HOIS01 Presentation
Overview
The following features are integrated into the TMC4HOIS01 cartridge: 2 analog inputs (voltage or current) for hoisting load cell removable spring terminal block, 3.81 mm (0.15 in.) pitch
Main Characteristics
Characteristic Signal type
Number of input channels Input range
Resolution Connection type Weight
Value
Voltage
Current
2
0...10 Vdc
0...20 mA 4...20 mA
12 bits (4096 steps)
3.81 mm (0.15 in.) pitch, removable spring terminal block
55 g (1.94 oz)
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TMC4HOIS01 Hoisting
Power LED The following diagram shows a TMC4HOIS01 cartridge with its power LED labeled PWR:
LED PWR
Color Green
Status On
Flashing
Off
Description
The cartridge is powered by the logic controller and the external power supply (24 Vdc) is applied.
The cartridge is powered by the logic controller but the external power supply (24 Vdc) is not applied.
The cartridge is not powered by the logic controller.
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TMC4HOIS01 Hoisting
TMC4HOIS01 Characteristics
Introduction This section provides a general description of the TMC4HOIS01 cartridge characteristics.
WARNING
UNINTENDED EQUIPMENT OPERATION Do not exceed any of the rated values specified in the environmental and electrical characteristics tables. Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: For important safety information and the environment characteristics of the TMC4 cartridges, see the M241 Logic Controller Hardware Guide.
Connectors The following diagram shows a TMC4HOIS01 cartridge marking and connectors:
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TMC4HOIS01 Hoisting
Input Characteristics The following table describes the cartridge input characteristics:
Characteristics
Value
Signal Type
Voltage
Current
Rated input range
0...10 Vdc
0...20 mA 4...20 mA
Input impedance
> 1 M
< 250
Sample duration time
1 ms per enabled channel
Input type
single-ended
Operating mode
self-scan
Conversion mode
SAR type
Maximum accuracy at ambient temperature: 25 �C (77 �F) � 0.2 % of full scale
Maximum accuracy on full operating temperature range � 0.5 % of full scale
Temperature drift
� 0.006 % of full scale per 1 �C (1.8 �F)
Repeatability after stabilization time
� 0.2 % of full scale
Non-linearity
� 0.05 % of full scale
Digital resolution
12 bits (4096 steps)
Input value of LSB
2.44 mV
4.88 V
Data type in application program
scalable from �32768 to 32767
Input data out of detection range
yes
Noise resistance maximum temporary deviation during � 2.0 % of full scale perturbations
cable type and maximum length
shielded
< 30 m (98.4 ft)
crosstalk (minimum)
80 dB
common-mode rejection ratio (minimum)
65 dB
Isolation
isolation between inputs and internal 500 Vdc logic
isolation between inputs
not isolated
Maximum continuous overload allowed (without damage) 30 Vdc
40 mA dc
Input filter
software filter: 6 levels
External power supply
supply voltage power consumption
24 Vdc � 15 % 2W
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TMC4HOIS01 Hoisting
TMC4HOIS01 Wiring Diagram
Introduction This cartridge has a removable spring terminal block for the connection of the inputs.
Wiring See Wiring Best Practices (see page 32).
Wiring Diagram The following figure shows an example of the voltage and current input connection:
(1): Current/Voltage analog output device A: External power supply
NOTE: Each input can be connected to either a voltage or current input.
68
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Modicon TMC4 TMC4PACK01 Packaging EIO0000003113 05/2019
TMC4PACK01 Packaging
Chapter 7
TMC4PACK01 Packaging
Overview This chapter describes the TMC4PACK01 cartridge, its characteristics, and its connections.
What Is in This Chapter? This chapter contains the following topics:
TMC4PACK01 Presentation TMC4PACK01 Characteristics TMC4PACK01 Wiring Diagram
Topic
Page 70 72 74
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TMC4PACK01 Packaging
TMC4PACK01 Presentation
Overview
The following features are integrated into the TMC4PACK01 cartridge: 2 analog inputs (voltage or current) for packaging removable spring terminal block, 3.81 mm (0.15 in.) pitch
Main Characteristics
Characteristic Signal type
Number of input channels Input range
Resolution Connection type Weight
Value
Voltage
Current
2
0...10 Vdc
0...20 mA 4...20 mA
12 bits (4096 steps)
3.81 mm (0.15 in.) pitch, removable spring terminal block
55 g (1.94 oz)
70
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TMC4PACK01 Packaging
Power LED The following diagram shows a TMC4PACK01 cartridge with its power LED labeled PWR:
LED PWR
Color Green
Status On
Flashing
Off
Description
The cartridge is powered by the logic controller and the external power supply (24 Vdc) is applied.
The cartridge is powered by the logic controller but the external power supply (24 Vdc) is not applied.
The cartridge is not powered by the logic controller.
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TMC4PACK01 Packaging
TMC4PACK01 Characteristics
Introduction This section provides a general description of the TMC4PACK01 cartridge characteristics.
WARNING
UNINTENDED EQUIPMENT OPERATION Do not exceed any of the rated values specified in the environmental and electrical characteristics tables. Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: For important safety information and the environment characteristics of the TMC4 cartridges, see the M241 Logic Controller Hardware Guide.
Connectors The following diagram shows a TMC4PACK01 cartridge marking and connectors:
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TMC4PACK01 Packaging
Input Characteristics The following table describes the cartridge input characteristics:
Characteristics Signal Type
Rated input range
Input impedance Sample duration time Input type Operating mode Conversion mode Maximum accuracy at ambient temperature: 25 �C (77 �F) Maximum accuracy on full operating temperature range Temperature drift Repeatability after stabilization time Non-linearity Digital resolution Input value of LSB Data type in application program Input data out of detection range Noise resistance maximum temporary deviation during
perturbations cable type and maximum length
crosstalk (minimum)
common-mode rejection ratio (minimum)
Isolation
isolation between inputs and internal logic
isolation between inputs
Maximum continuous overload allowed (without damage)
Input filter
External power supply
supply voltage power consumption
Value
Voltage
Current
0...10 Vdc
0...20 mA 4...20 mA
> 1 M
< 250
1 ms per enabled channel
single-ended
self-scan
SAR type
� 0.2 % of full scale
� 0.5 % of full scale
� 0.006 % of full scale per 1 �C (1.8 �F)
� 0.2 % of full scale
� 0.05 % of full scale
12 bits (4096 steps)
2.44 mV
4.88 V
scalable from �32768 to 32767
yes
� 2.0 % of full scale
shielded < 30 m (98.4 ft) 80 dB 65 dB
500 Vdc
not isolated 30 Vdc software filter: 6 levels 24 Vdc � 15 % 2W
40 mA dc
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TMC4PACK01 Packaging
TMC4PACK01 Wiring Diagram
Introduction This cartridge has a removable spring terminal block for the connection of the inputs.
Wiring See Wiring Best Practices (see page 32).
Wiring Diagram The following figure shows an example of the voltage and current input connection:
(1): Current/Voltage analog output device A: External power supply
NOTE: Each input can be connected to either a voltage or current input.
74
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Modicon TMC4 Glossary EIO0000003113 05/2019
Glossary
M
Modbus The protocol that allows communications between many devices connected to the same network.
P
PE (Protective Earth) A common grounding connection to help avoid the hazard of electric shock by keeping any exposed conductive surface of a device at earth potential. To avoid possible voltage drop, no current is allowed to flow in this conductor (also referred to as protective ground in North America or as an equipment grounding conductor in the US national electrical code).
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Glossary
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Modicon TMC4 Index EIO0000003113 05/2019
Index
C
cartridge compatibility, 16 description, 15 features, 15 TMC4, 39, 61 TMC4AI2, 41 TMC4AQ2, 55 TMC4HOIS01, 63 TMC4PACK01, 69 TMC4TI2, 47
certifications and standards, 20 compatibility
cartridge, 16
D
description cartridge, 15
E
environment, 19
F
features cartridge, 15
G
Grounding, 35
I
intended use, 6
Q
qualification of personnel, 6
EIO0000003113 05/2019
T
TMC4 cartridge, 39, 61
TMC4AI2 cartridge, 41
TMC4AQ2 cartridge, 55
TMC4HOIS01 cartridge, 63
TMC4PACK01 cartridge, 69
TMC4TI2 cartridge, 47
W
wiring, 32
77
Index
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