Modicon M241: Logic Controller User Guide
Modicon M241: Logic Controller User Guide
EIO0000002417 04/2020
Modicon M241
Logic Controller
User Guide
06/2020
EIO0000004267.00
www.schneider-electric.com
Table of Contents
EIO0000004267 05/2020 2
Modicon M241 Logic Controller
EIO0000003059 12/2019
www.schneider-electric.com
The information provided in this documentation contains general descriptions and/or technical
characteristics of the performance of the products contained herein. This documentation is not
intended as a substitute for and is not to be used for determining suitability or reliability of these
products for specific user applications. It is the duty of any such user or integrator to perform the
appropriate and complete risk analysis, evaluation and testing of the products with respect to the
relevant specific application or use thereof. Neither Schneider Electric nor any of its affiliates or
subsidiaries shall be responsible or liable for misuse of the information contained herein. If you
have any suggestions for improvements or amendments or have found errors in this publication,
please notify us.
You agree not to reproduce, other than for your own personal, noncommercial use, all or part of
this document on any medium whatsoever without permission of Schneider Electric, given in
writing. You also agree not to establish any hypertext links to this document or its content.
Schneider Electric does not grant any right or license for the personal and noncommercial use of
the document or its content, except for a non-exclusive license to consult it on an "as is" basis, at
your own risk. All other rights are reserved.
All pertinent state, regional, and local safety regulations must be observed when installing and
using this product. For reasons of safety and to help ensure compliance with documented system
data, only the manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant
instructions must be followed.
Failure to use Schneider Electric software or approved software with our hardware products may
result in injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2019 Schneider Electric. All rights reserved.
2 EIO0000003059 12/2019
Table of Contents
Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1 About the Modicon M241 Logic Controller . . . . . . . . . . . 15
M241 Logic Controller Description . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 2 How to Configure the Controller . . . . . . . . . . . . . . . . . . . 21
How to Configure the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Chapter 3 Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Chapter 4 Supported Standard Data Types . . . . . . . . . . . . . . . . . . 27
Supported Standard Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Chapter 5 Memory Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Controller Memory Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
RAM Memory Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Flash Memory Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Relocation Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Chapter 6 Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Maximum Number of Tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Task Configuration Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Task Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
System and Task Watchdogs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Task Priorities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Default Task Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Chapter 7 Controller States and Behaviors . . . . . . . . . . . . . . . . . . . 53
7.1 Controller State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Controller State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
7.2 Controller States Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Controller States Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
7.3 State Transitions and System Events . . . . . . . . . . . . . . . . . . . . . . . . . 63
Controller States and Output Behavior . . . . . . . . . . . . . . . . . . . . . . . . 64
Commanding State Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Error Detection, Types, and Management. . . . . . . . . . . . . . . . . . . . . . 74
Remanent Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
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Chapter 8 Controller Device Editor . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Controller Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Communication Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
PLC Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Users Rights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Chapter 9 Embedded Inputs and Outputs Configuration . . . . . . . . . 87
Embedded I/Os Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Chapter 10 Expert Functions Configuration . . . . . . . . . . . . . . . . . . . . 93
Expert Functions Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Counting Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Pulse Generators Embedded Function . . . . . . . . . . . . . . . . . . . . . . . . 99
Chapter 11 Cartridge Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 101
TMC4 Cartridge Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Chapter 12 Expansion Modules Configuration . . . . . . . . . . . . . . . . . . 103
TM3 I/O Configuration General Description . . . . . . . . . . . . . . . . . . . . . 104
TM3 I/O Bus Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
TM4 Expansion Module Configuration . . . . . . . . . . . . . . . . . . . . . . . . . 111
TM3/TM2 Expansion Module Configuration. . . . . . . . . . . . . . . . . . . . . 112
Optional I/O Expansion Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Chapter 13 Ethernet Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
13.1 Ethernet Services. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
IP Address Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Modbus TCP Client/Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Web Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
FTP Server. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
FTP Client . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
SNMP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Controller as a Target Device on EtherNet/IP . . . . . . . . . . . . . . . . . . . 149
Controller as a Slave Device on Modbus TCP. . . . . . . . . . . . . . . . . . . 175
Changing the Modbus TCP Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
13.2 Firewall Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Dynamic Changes Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Firewall Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Firewall Script Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
4 EIO0000003059 12/2019
Chapter 14 Industrial Ethernet Manager . . . . . . . . . . . . . . . . . . . . . . 193
Industrial Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
DHCP Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Fast Device Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Chapter 15 Serial Line Configuration . . . . . . . . . . . . . . . . . . . . . . . . 201
Serial Line Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Machine Expert Network Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Modbus Manager. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
ASCII Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Modbus Serial IOScanner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Adding a Device on the Modbus Serial IOScanner . . . . . . . . . . . . . . . 213
Adding a Modem to a Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Chapter 16 CANopen Configuration . . . . . . . . . . . . . . . . . . . . . . . . . 221
CANopen Interface Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Chapter 17 J1939 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
J1939 Interface Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Chapter 18 OPC UA Server Configuration . . . . . . . . . . . . . . . . . . . . 229
OPC UA Server Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
OPC UA Server Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
OPC UA Server Symbols Configuration . . . . . . . . . . . . . . . . . . . . . . . 234
OPC UA Server Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Chapter 19 Post Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Post Configuration Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Post Configuration File Management . . . . . . . . . . . . . . . . . . . . . . . . . 242
Post Configuration Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
Chapter 20 Connecting a Modicon M241 Logic Controller to a PC . . 247
Connecting the Controller to a PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Chapter 21 SD Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Script Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
SD Card Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Updating Modicon M241 Logic Controller Firmware . . . . . . . . . . . . . . 260
Chapter 22 Firmware Management . . . . . . . . . . . . . . . . . . . . . . . . . 263
Updating TM3 Expansion Modules Firmware . . . . . . . . . . . . . . . . . . . 263
Appendices ......................................... 267
Appendix A How to Change the IP Address of the Controller . . . . . . 269
changeIPAddress: Change the IP address of the controller . . . . . . . . 269
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Appendix B Functions to Get/Set Serial Line Configuration in User
Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
GetSerialConf: Get the Serial Line Configuration . . . . . . . . . . . . . . . . 274
SetSerialConf: Change the Serial Line Configuration . . . . . . . . . . . . . 275
SERIAL_CONF: Structure of the Serial Line Configuration Data Type 277
Appendix C Controller Performance . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Processing Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
6 EIO0000003059 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.
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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.
8 EIO0000003059 12/2019
About the Book
At a Glance
Document Scope
The purpose of this document is to help you to program and operate your Modicon M241 Logic
Controller with the EcoStruxure Machine Expert software.
NOTE: Read and understand this document and all related documents (see page 9) before
installing, operating, or maintaining your Modicon M241 Logic Controller.
The Modicon M241 Logic Controller users should read through the entire document to understand
all features.
Validity Note
This document has been updated for the release of EcoStruxureTM Machine Expert V1.2.
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.schneider-
electric.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
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Title of Documentation Reference Number
Modicon TM2 Expansion Modules Configuration Programming EIO0000003432 (ENG)
Guide EIO0000003433 (FRE)
EIO0000003434 (GER)
EIO0000003435 (SPA)
EIO0000003436 (ITA)
EIO0000003437 (CHS)
Modicon TM3 Expansion Modules Configuration Programming EIO0000003119 (ENG)
Guide EIO0000003120 (FRE)
EIO0000003121 (GER)
EIO0000003122 (SPA)
EIO0000003123 (ITA)
EIO0000003124 (CHS)
Modicon TM3 Bus Coupler - Programming Guide (EcoStruxure EIO0000003635 (ENG)
Machine Expert) EIO0000003636 (FRA)
EIO0000003637 (GER)
EIO0000003638 (SPA)
EIO0000003639 (ITA)
EIO0000003640 (CHS)
Modicon TM4 Expansion Modules Programming Guide EIO0000003149 (ENG)
EIO0000003150 (FRE)
EIO0000003151 (GER)
EIO0000003152 (SPA)
EIO0000003153 (ITA)
EIO0000003154 (CHS)
Modicon TMC4 Cartridges Programming Guide EIO0000003107 (ENG)
EIO0000003108 (FRE)
EIO0000003109 (GER)
EIO0000003110 (SPA)
EIO0000003111 (ITA)
EIO0000003112 (CHS)
Modicon M241 Logic Controller PLCSystem Library Guide EIO0000003065 (ENG)
EIO0000003066 (FRE)
EIO0000003067 (GER)
EIO0000003068 (SPA)
EIO0000003069 (ITA)
EIO0000003070 (CHS)
Modicon M241 Logic Controller HSC Library Guide EIO0000003071 (ENG)
EIO0000003072 (FRE)
EIO0000003073 (GER)
EIO0000003074 (SPA)
EIO0000003075 (ITA)
EIO0000003076 (CHS)
10 EIO0000003059 12/2019
Title of Documentation Reference Number
Modicon TM3 Expert I/O Modules - HSC Library Guide EIO0000003683 (ENG)
EIO0000003684 (FRE)
EIO0000003685 (GER)
EIO0000003686 (SPA)
EIO0000003687 (ITA)
EIO0000003688 (CHS)
EIO0000003689 (POR)
EIO0000003690 (TUR)
Modicon M241 Logic Controller PTO/PWM Library Guide EIO0000003077 (ENG)
EIO0000003078 (FRE)
EIO0000003079 (GER)
EIO0000003080 (SPA)
EIO0000003081 (ITA)
EIO0000003082 (CHS)
EcoStruxure Machine Expert Controller Assistant User Guide EIO0000001671 (ENG)
EIO0000001672 (FRE)
EIO0000001673 (GER)
EIO0000001675 (SPA)
EIO0000001674 (ITA)
EIO0000001676 (CHS)
FTPRemoteFileHandling Library Guide EIO0000002779 (ENG)
EIO0000002780 (FRE)
EIO0000002781 (GER)
EIO0000002783 (SPA)
EIO0000002782 (ITA)
EIO0000002784 (CHS)
SNMP Library Guide EIO0000002797 (ENG)
EIO0000002798 (FRE)
EIO0000002799 (GER)
EIO0000002801 (SPA)
EIO0000002800 (ITA)
EIO0000002802 (CHS)
You can download these technical publications and other technical information from our website
at https://www.se.com/ww/en/download/ .
EIO0000003059 12/2019 11
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.
1For 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.
12 EIO0000003059 12/2019
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 Description
IEC 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.
ISO 13849-1:2015 Safety of machinery: Safety related parts of control systems.
General principles for design.
EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.
Part 1: General requirements and tests.
ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment and risk
reduction
EN 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part 1: General
requirements
ISO 14119:2013 Safety of machinery - Interlocking devices associated with guards - Principles
for design and selection
ISO 13850:2015 Safety of machinery - Emergency stop - Principles for design
IEC 62061:2015 Safety of machinery - Functional safety of safety-related electrical, electronic,
and electronic programmable control systems
IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: General requirements.
IEC 61508-2:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.
IEC 61508-3:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Software requirements.
IEC 61784-3:2016 Industrial communication networks - Profiles - Part 3: Functional safety
fieldbuses - General rules and profile definitions.
2006/42/EC Machinery Directive
2014/30/EU Electromagnetic Compatibility Directive
2014/35/EU Low Voltage Directive
EIO0000003059 12/2019 13
In addition, terms used in the present document may tangentially be used as they are derived from
other standards such as:
Standard Description
IEC 60034 series Rotating electrical machines
IEC 61800 series Adjustable speed electrical power drive systems
IEC 61158 series Digital data communications for measurement and control – Fieldbus for use in
industrial control systems
Finally, the term 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.
14 EIO0000003059 12/2019
Modicon M241 Logic Controller
About the Modicon M241 Logic Controller
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Chapter 1
About the Modicon M241 Logic Controller
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.
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.
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 Configuration of Digital Inputs (see page 88).
An EcoStruxure Machine Expert software command.
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About the Modicon M241 Logic Controller
Memory
This table describes the different types of memory:
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 firmware
Storing recipes files
Receiving data logging files
16 EIO0000003059 12/2019
About the Modicon M241 Logic Controller
Reference Digital Inputs Digital Outputs Communication Terminal Type Power supply
Ports
TM241C24R 6 regular inputs(1) 6 2A relay outputs 2 serial line ports Removable 100...240 Vac
8 fast inputs 4 source fast outputs 1 USB programming screw terminal
(counters)(2) (pulse generators)(3) port blocks
TM241CE24R 6 regular inputs(1) 6 2A relay outputs 2 serial line ports Removable 100...240 Vac
8 fast inputs 4 source fast outputs 1 USB programming screw terminal
(counters)(2) (pulse generators)(3) port blocks
1 Ethernet port
TM241CEC24R 6 regular inputs(1) 6 2A relay outputs 2 serial line ports Removable 100...240 Vac
8 fast inputs 4 source fast outputs 1 Ethernet port screw terminal
(counters)(2) (pulse generators)(3) 1 CANopen master blocks
port
1 USB programming
port
TM241C24T 6 regular inputs(1) Source outputs 2 serial line ports Removable 24 Vdc
8 fast inputs 6 regular transistor 1 USB programming screw terminal
(counters)(2) outputs port blocks
4 fast outputs
(pulse generators)(3)
TM241CE24T 6 regular inputs(1) Source outputs 2 serial line ports Removable 24 Vdc
8 fast inputs 6 regular transistor 1 USB programming screw terminal
(counters)(2) outputs port blocks
4 fast outputs 1 Ethernet port
(pulse generators)(3)
TM241CEC24T 6 regular inputs(1) Source outputs 2 serial line ports Removable 24 Vdc
8 fast inputs 6 regular transistor 1 USB programming screw terminal
(counters)(2) outputs port blocks
4 fast outputs 1 Ethernet port
(pulse generators)(3) 1 CANopen master
port
TM241C24U 6 regular inputs(1) Sink outputs 2 serial line ports Removable 24 Vdc
8 fast inputs 6 regular transistor 1 USB programming screw terminal
(counters)(2) outputs port blocks
4 fast outputs
(pulse generators)(3)
(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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About the Modicon M241 Logic Controller
Reference Digital Inputs Digital Outputs Communication Terminal Type Power supply
Ports
TM241CE24U 6 regular inputs(1) Sink outputs 2 serial line ports Removable 24 Vdc
8 fast inputs 6 regular transistor 1 USB programming screw terminal
(counters)(2) outputs port blocks
4 fast outputs 1 Ethernet port
(pulse generators)(3)
TM241CEC24U 6 regular inputs(1) Sink outputs 2 serial line ports Removable 24 Vdc
8 fast inputs 6 regular transistor 1 USB programming screw terminal
(counters)(2) outputs port blocks
4 fast outputs 1 Ethernet port
(pulse generators)(3) 1 CANopen master
port
TM241C40R 16 regular 12 2A relay outputs 2 serial line ports Removable 100...240 Vac
inputs(1) 4 source fast outputs 1 USB programming screw terminal
8 fast inputs (pulse generators)(3) port blocks
(counters)(2)
TM241CE40R 16 regular 12 2A relay outputs 2 serial line ports Removable 100...240 Vac
inputs(1) 4 source fast outputs 1 USB programming screw terminal
8 fast inputs (pulse generators)(3) port blocks
(counters)(2) 1 Ethernet port
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About the Modicon M241 Logic Controller
Reference Digital Inputs Digital Outputs Communication Terminal Type Power supply
Ports
TM241CE40U 16 regular Sink outputs 2 serial line ports Removable 24 Vdc
inputs(1) 12 regular transistor 1 USB programming screw terminal
8 fast inputs outputs port blocks
(counters)(2) 4 fast outputs 1 Ethernet port
(pulse generators)(3)
(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:
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About the Modicon M241 Logic Controller
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Modicon M241 Logic Controller
How to Configure the Controller
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Chapter 2
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
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How to Configure the Controller
Devices Tree
The Devices tree presents a structured view of the current hardware configuration. When you add
a controller to your project, a number of nodes are added to the Devices tree, depending on the
functions the controller provides.
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How to Configure the Controller
Applications Tree
The Applications tree allows you to manage project-specific applications as well as global
applications, POUs, and tasks.
Tools Tree
The Tools tree allows you to configure the HMI part of your project and to manage libraries.
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How to Configure the Controller
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Modicon M241 Logic Controller
Libraries
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Chapter 3
Libraries
Libraries
Libraries
Introduction
Libraries provide functions, function blocks, data types and global variables that can be used to
develop your project.
The Library Manager of EcoStruxure Machine Expert provides information about the libraries
included in your project and allows you to install new ones. For more information on the Library
Manager, refer to the Functions and Libraries User Guide.
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Libraries
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Modicon M241 Logic Controller
Supported Standard Data Types
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Chapter 4
Supported Standard Data Types
For more information on ARRAY, LTIME, DATE, TIME, DATE_AND_TIME, and TIME_OF_DAY, refer
to the EcoStruxure Machine Expert Programming Guide.
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Supported Standard Data Types
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Modicon M241 Logic Controller
Memory Mapping
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Chapter 5
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.
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Memory Mapping
Introduction
The controller memory is composed of two types of physical memory:
The Flash memory (see page 33) contains files (application, configuration files, and so on).
The Random Access Memory (RAM) (see page 31) is used for application execution.
NOTE: The modification of files in Flash memory does not affect a running application. Any
changes to files in Flash memory are taken into account at the next reboot.
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Memory Mapping
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
Application
Libraries
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Memory Mapping
Variables Description
PLC_R Structure of controller read-only system variables.
PLC_W Structure of controller read/write system variables.
ETH_R Structure of Ethernet read-only system variables.
ETH_W Structure of Ethernet read/write system variables.
PROFIBUS_R Structure of PROFIBUS DP read-only system variables.
SERIAL_R Structure of Serial Lines read-only system variables.
SERIAL_W Structure of Serial Lines read/write system variables.
TM3_MODULE_R Structure of TM3 modules read-only system variables.
For more information on system and diagnostic variables, refer to M241 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):
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Memory Mapping
Introduction
The Flash memory contains the file system used by the controller.
File Type
The Modicon M241 Logic Controller manages the following file types:
Type Description
Boot application This file resides in Flash memory and contains the compiled binary code of the
executable application. Each time the controller is rebooted, the executable
application is extracted from the boot application and copied into the controller
RAM (1).
Application source Source file that can be uploaded from Flash memory to the PC if the source file is
not available on the PC (2).
Post configuration File that contains Ethernet, 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) Controller firmware that can be written to Flash memory. The firmware file is
applied at next reboot of the controller.
Retain variable Remanent variables
Retain-persistent
variable
(1) The creation of a boot application is optional in EcoStruxure Machine Expert, according to application
properties. Default option is to create the boot application on download. When you download an
application from EcoStruxure Machine Expert to the controller, you are transferring only the binary
executable application directly to RAM.
(2) EcoStruxure Machine Expert does not support uploading of either the executable application or the boot
application to a PC for modification. Program modifications must be made to the application source. When
you download your application, you have the option to store the source file to Flash memory.
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Memory Mapping
File Organization
This table shows the file organization of the flash memory:
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Memory Mapping
NOTE: For more information on libraries and available function blocks, refer to Libraries
(see page 25).
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Memory Mapping
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 flash
memory.
The following table lists the file types that are moved in this way and the destination folder in flash
memory:
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.
Register Description
60200...61999 Dynamic Memory Area: Read Relocation Table
62200...63999 Dynamic Memory Area: Write Relocation Table
Step Action
1 In the Applications tree tab, select the Application node.
2 Click the right mouse button.
3 Click Objects → Relocation Table....
Result: The Add Relocation Table window is displayed.
4 Click Add.
Result: The new relocation table is created and initialized.
NOTE: As a Relocation Table is unique for a controller, its name is Relocation Table and cannot
be changed.
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Memory Mapping
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Memory Mapping
Erase Empty Item Removes all the elements of the list for which the "Variable" column is empty.
NOTE: If a variable is undefined after program modifications, the content of the cell is displayed in
red, the related Validity cell is False, and Address is set to -1.
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Memory Mapping
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Modicon M241 Logic Controller
Tasks
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Chapter 6
Tasks
Tasks
Introduction
The Task Configuration node in the Applications tree allows you to define one or more tasks to
control the execution of your application program.
The task types available are:
Cyclic
Freewheeling
Event
External event
This chapter begins with an explanation of these task types and provides information regarding the
maximum number of tasks, the default task configuration, and task prioritization. In addition, this
chapter introduces the system and task watchdog functions and explains its relationship to task
execution.
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Tasks
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Tasks
Screen Description
This screen allows you to configure the tasks. Double-click the task that you want to configure in
the Applications tree to access this screen.
Each configuration task has its own parameters that are independent of the other tasks.
The Configuration window is composed of 4 parts:
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Tasks
NOTE: Do not assign tasks with the same priority. If there are yet other tasks that attempt
to pre-empt tasks with the same priority, the result could be indeterminate and unpredicable.
For important safety information, refer to Task Priorities (see page 49).
Type These task types are available:
Cyclic (see page 45)
Event (see page 47)
External (see page 47)
Freewheeling (see page 46)
Watchdog To configure the watchdog (see page 48), 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.
POUs 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 currently selected POU of the list by another one, use the command
Change Call.
POUs are executed in the order shown in the list. To move the POUs in the list, select a
POU and use the command Move Up or Move Down.
NOTE: You can create as many POUs as you want. An application with several small
POUs, as opposed to one large POU, can improve the refresh time of the variables in online
mode.
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Tasks
Task Types
Introduction
The following section describes the various task types available for your program, along with a
description of the task type characteristics.
Cyclic Task
A Cyclic task is assigned a fixed cycle time using the Interval setting in the Type section of
Configuration subtab for that task. Each Cyclic task type executes as follows:
1. Read Inputs: The physical input states are written to the %I input memory variables and other
system operations are executed.
2. Task Processing: The user code (POU, and so on) defined in the task is processed. The %Q
output memory variables are updated according to your application program instructions but not
yet written to the physical outputs during this operation.
3. Write Outputs: The %Q output memory variables are modified with any output forcing that has
been defined; however, the writing of the physical outputs depends upon the type of output and
instructions used.
For more information on defining the bus cycle task, refer to the EcoStruxure Machine Expert
Programming Guide and Modicon M241 Logic Controller Settings (see page 81).
For more information on I/O behavior, refer to Controller States Detailed Description
(see page 59).
4. Remaining Interval time: The controller firmware carries out system processing and any other
lower priority tasks.
NOTE: If you define too short a period for a cyclic task, it will repeat immediately after the write of
the outputs and without executing other lower priority tasks or any system processing. This will
affect the execution of all tasks and cause the controller to exceed the system watchdog limits,
generating a system watchdog exception.
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Tasks
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 Toolbox Advance Library Guide for further details.)
Freewheeling Task
A Freewheeling task does not have a fixed duration. In Freewheeling mode, each task scan begins
when the previous scan has been completed and after a short period of system processing. Each
Freewheeling task type executes as follows:
1. Read Inputs: The physical input states are written to the %I input memory variables and other
system operations are executed.
2. Task Processing: The user code (POU, and so on) defined in the task is processed. The %Q
output memory variables are updated according to your application program instructions but not
yet written to the physical outputs during this operation.
3. Write Outputs: The %Q output memory variables are modified with any output forcing that has
been defined; however, the writing of the physical outputs depends upon the type of output and
instructions used.
For more information on defining the bus cycle task, refer to the EcoStruxure Machine Expert
Programming Guide and Modicon M241 Logic Controller Settings (see page 81).
For more information on I/O behavior, refer to Controller States Detailed Description
(see page 59).
4. System Processing: The controller firmware carries out system processing and any other lower
priority tasks (for example: HTTP management, Ethernet management, parameters
management).
NOTE: If you want to define the task interval, refer to Cyclic Task (see page 45).
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Tasks
Event Task
This type of task is event-driven and is initiated by a program variable. It starts at the rising edge
of the boolean variable associated to the trigger event unless pre-empted by a higher priority task.
In that case, the Event task will start as dictated by the task priority assignments.
For example, if you have defined a variable called my_Var and would like to assign it to an Event,
proceed as follows:
Step Action
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 a too high 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.
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.
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Tasks
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.
Task Watchdogs
EcoStruxure Machine Expert allows you to configure an optional task watchdog for every task
defined in your application program. (Task watchdogs are sometimes also referred to as software
watchdogs or control timers in the EcoStruxure Machine Expert online help). When one of your
defined task watchdogs reaches its threshold condition, an application error is detected and the
controller enters the HALT state.
When defining a task watchdog, the following options are available:
Time: This defines the allowable maximum execution time for a task. When a task takes longer
than this, the controller 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.
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Tasks
Task Priorities
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Tasks
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.
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Tasks
Inputs are read from the I/O image table at the beginning of the task cycle. Outputs are written to
the I/O image table at the end of the task.
NOTE: Event tasks cannot drive the TM3/TM2 bus cycle.
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Tasks
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Modicon M241 Logic Controller
Controller States and Behaviors
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Chapter 7
Controller States and Behaviors
Introduction
This chapter provides you with information on controller states, state transitions, and behaviors in
response to system events. It begins with a detailed controller state diagram and a description of
each state. It then defines the relationship of output states to controller states before explaining the
commands and events that result in state transitions. It concludes with information about
Remanent variables and the effect of EcoStruxure Machine Expert task programming options on
the behavior of your system.
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Controller States and Behaviors
Section 7.1
Controller State Diagram
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Controller States and Behaviors
Legend:
Controller states are indicated in ALL-CAPS BOLD
User and application commands are indicated in Bold
System events are indicated in Italics
Decisions, decision results, and general information are indicated in normal text
(1)
For details on STOPPED to RUNNING state transition, refer to Run Command (see page 67).
(2)
For details on RUNNING to STOPPED state transition, refer to Stop Command (see page 67).
Note 1
The Power Cycle (Power Interruption followed by a Power ON) deletes all output forcing settings.
Refer to Controller State and Output Behavior (see page 64) 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 Flash memory. However, the
Boot application is not deleted from the Flash 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 (see page 239) file settings (if any) are applied.
During the load of the boot application, a Check context test occurs to assure that the Remanent
variables are valid. If the Check context test is invalid, the boot application will load but the
controller will assume STOPPED state (see page 70).
Note 5a
The Starting Mode is set in the PLC settings tab of the Controller Device Editor (see page 81).
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.
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Controller States and Behaviors
Note 6
During a successful application download the following events occur:
The application is loaded directly into RAM.
By default, the Boot application is created and saved into the Flash memory.
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.
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).
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Controller States and Behaviors
Multiple Download: EcoStruxure Machine Expert has a feature that allows you to perform a full
application download to multiple targets on your network or fieldbus. One of the default options
when you select the Multiple Download... command is the Start all applications after download
or online change option, which restarts all download targets in the RUNNING state, provided
their respective Run/Stop inputs are commanding the RUNNING state, but irrespective of their
last controller state before the multiple download was initiated. Deselect this option if you do not
want all targeted controllers to restart in the RUNNING state. In addition, before using the
Multiple Download option, test the changes to your application program in a virtual or 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 (see page 59) for further details.
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 cycle power is
mandatory.
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Controller States and Behaviors
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 (see page 104).
RUNNING with Breakpoint: this exception condition is indicated by the RUN LED, which
displays a single flash. Refer to Controller States Description (see page 59) for further details.
Note 11
The boot application can be different from the application loaded. It can happen when the boot
application was downloaded through SD card, FTP, or file transfer or when an online change was
performed without creating the boot application.
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Controller States and Behaviors
Section 7.2
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)
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Controller States and Behaviors
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Controller States and Behaviors
This figure shows the difference between the regular flash and single flash:
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Controller States and Behaviors
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Controller States and Behaviors
Section 7.3
State Transitions and System Events
Overview
This section begins with an explanation of the output states possible for the controller. It then
presents the system commands used to transition between controller states and the system events
that can also affect these states. It concludes with an explanation of the Remanent variables, and
the circumstances under which different variables and data types are retained through state
transitions.
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Controller States and Behaviors
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. For example, typical
controllers define only two options for output behavior in stop: fallback to default value or keep
current value.
The possible output behaviors and the controller states to which they apply are:
Managed by Application Program
Keep current values
Set all outputs to default
Hardware Initialization Values
Software Initialization Values
Output Forcing
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Controller States and Behaviors
It also applies to CAN bus in the HALT controller state. Outputs are set to and maintained in their
current state, although the details of the output behavior vary greatly depending on the setting of
the Update I/O while in stop option and the actions commanded via configured fieldbusses.Refer
to Controller States Description (see page 59) for more details on these variations.
The outputs driven by a PTO, PWM, FreqGen, and HSC expert functions will not apply the default
value.
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Output Forcing
The controller allows you to force the state of selected outputs to a defined value for the purposes
of system testing, commissioning, and maintenance.
You are only able to force the value of an output while your controller is connected to EcoStruxure
Machine Expert.
To do so, use the Force values command in the Debug menu.
Output forcing overrides all other commands (except write immediate) to an output irrespective of
the task programming that is being executed.
When you logout of EcoStruxure Machine Expert when output forcing has been defined, you are
presented with the option to retain output forcing settings. If you select this option, the output
forcing continues to control the state of the selected outputs until you download an application or
use one of the Reset commands.
When the option Update I/O while in stop, if supported by your controller, is checked (default state),
the forced outputs keep the forcing value even when the logic controller is in STOP.
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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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 (see page 89) 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, HALT, or EMPTY state.
The controller is restarted into the RUNNING state automatically under certain conditions.
Refer to Controller State Diagram (see page 54) 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 (see page 89) 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, HALT, or EMPTY state.
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Controller States and Behaviors
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 (see page 70) for further details.
The controller is restarted into the STOPPED state automatically under certain conditions.
Refer to Controller State Diagram (see page 54) for further details.
Reset Warm
Effect: Resets all 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. All 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. All fieldbus communications are stopped and then restarted after the reset is complete.
10.All inputs are reset to their initialization values. All outputs are reset to their software initialization
values or their default values if no software initialization values are defined.
11.The Post Configuration file is read (see page 239).
For details on variables, refer to Remanent Variables (see page 75).
Reset Cold
Effect: Resets all variables, except for the retain-persistent type of remanent variables, to their
initialization values. Places the controller into the STOPPED state.
Starting Conditions: RUNNING, STOPPED, or HALT states.
Methods for Issuing a Reset Cold Command:
EcoStruxure Machine Expert Online Menu: Select the Reset cold command.
By an internal call by the application or an external call via Modbus request using the PLC_W.
q_wPLCControl and PLC_W. q_uiOpenPLCControl system variables of the M241 PLCSystem
library.
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Reset Origin
Effect: Resets all variables, including the remanent variables, to their initialization values. Erases
all user files on the controller. 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. All user files (Boot application, data logging, Post Configuration) are erased.
5. Diagnostic indications for errors are reset.
6. The values of the retain variables are reset.
7. The values of the retain-persistent variables are reset.
8. All non-located and non-remanent variables are reset.
9. 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.All fieldbus communications are stopped.
12.Embedded Expert I/O are reset to their previous user-configured default values.
13.All other inputs are reset to their initialization values.
All other outputs are reset to their hardware initialization values.
For details on variables, refer to Remanent Variables (see page 75).
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Controller States and Behaviors
Reboot
Effect: Commands a reboot of the controller.
Starting Conditions: Any state.
Methods for Issuing the Reboot Command:
Power cycle
REBOOT by Script (see page 253)
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Controller States and Behaviors
- the Starting Mode is set to Start as previous state and if the Run/Stop input or switch is
configured and 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 or switch is not
configured, and if the controller was not in HALT state before the power cycle.
c. The controller state is EMPTY if:
- There is no boot application or the boot application is invalid, or
- The reboot was provoked by specific System Errors.
d. The controller state is INVALID_OS if there is no valid firmware.
2. Forcing is maintained if the boot application is loaded successfully. If not, forcing is erased.
3. Diagnostic indications for errors are reset.
4. The values of the retain variables are restored if saved context is valid.
5. The values of the retain-persistent variables are restored if saved context is valid.
6. All non-located and non-remanent variables are reset to their initialization values.
7. The values of 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. All fieldbus communications are stopped and restarted after the boot application is loaded
successfully.
10.All inputs are reset to their initialization values. All outputs are reset to their hardware
initialization values and then to their software initialization values or their default values if no
software initialization values are defined.
11.The Post Configuration file is read (see page 239).
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 re-established by a power
cycle of the controller. If you do not perform regular maintenance of your machine, or if you are
using an Uninterruptible Power Supply (UPS), you must force a power cycle (removal and
reapplication of power) to the controller at least once a year.
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.
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Controller States and Behaviors
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 Flash 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 Flash memory using FTP. The updated file is applied at
the next reboot.
SD card: Load Boot application file using an SD card in the controller SD card slot. The updated
file is applied at the next reboot. Refer to File Transfer with SD Card (see page 259) for further
details.
Effects of the EcoStruxure Machine Expert Download Command:
1. The existing application stops and then is erased.
2. If valid, the new application is loaded and the controller assumes a STOPPED state.
3. Forcing is erased.
4. Diagnostic indications for errors are reset.
5. The values of the retain variables are reset to their initialization values.
6. The values of any existing retain-persistent variables are maintained.
7. All non-located and non-remanent variables are reset to their initialization values.
8. The values of the first 1000 %MW registers are maintained.
9. The values of %MW1000 to %MW59999 registers are reset to 0.
10.All fieldbus communications are stopped and then any 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.All inputs are reset to their initialization values. All outputs are reset to their hardware
initialization values and then to their software initialization values or their default values if no
software initialization values are defined, after the download is complete.
13.The Post Configuration file is read (see page 239).
For details on variables, refer to Remanent Variables (see page 75).
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Error Management
The controller detects and manages three types of errors:
External errors
Application errors
System errors
System Error A system error is detected when the controller enters a BOOTING → EMPTY
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.
(1) Expansion modules may appear to be absent for any number of reasons, even if the absent I/O module
is physically present on the bus. For more information, refer to I/O Configuration General Description
(see page 104).
NOTE: Refer to the M241 PLCSystem library Guide for more detailed information on diagnostics.
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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:
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).
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Controller States and Behaviors
Step Action
1 In the Applications tree, select the Application node.
2 Click the right mouse button.
3 Choose Add Objects → Persistent variables
4 Click Add.
Result: The PersistentVars window is displayed.
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Modicon M241 Logic Controller
Controller Device Editor
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Chapter 8
Controller Device Editor
Introduction
This chapter describes how to configure the controller.
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Controller Parameters
Controller Parameters
To open the device editor, double-click MyController in the Devices tree:
Tabs Description
Services Lets you configure the online services of the controller (RTC, device Online mode
(see page 83) identification). only
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Controller Device Editor
Communication Settings
Introduction
This tab allows you to manage the connection from the PC to the controller:
Helping you find a controller in a network.
Presenting the list of controllers, so you can connect to the selected controller and manage the
application inside the controller.
Helping you physically identify the controller from the device editor.
Helping you change the communication settings of the controller.
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.
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PLC Settings
Overview
The figure below presents the PLC Settings tab:
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Controller Device Editor
Element Description
Application for I/O handling By default, set to Application because there is only one application in the
controller.
PLC settings Update IO while in If this option is activated (default), the values of the input and output channels
stop get also updated when the controller is stopped.
Behavior for outputs From the selection list, choose one of the following options to configure how the
in Stop values at the output channels should be handled in case of controller stop:
Keep current values
Set all outputs to default
Always update By default, set to Enabled 1 (use bus cycle task if not used in task) and not
variables editable.
Bus cycle Bus cycle task This configuration setting is the parent for all Bus cycle task parameters used
options in the application device tree.
Some devices with cyclic calls, such as a CANopen manager, can be attached
to a specific task. In the device, when this setting is set to Use parent bus cycle
setting, the setting set for the controller is used.
The selection list offers all tasks currently defined in the active application. The
default setting is the MAST task.
NOTE: <unspecified> means that the task is in "slowest cyclic task" mode.
Additional Generate force Not used.
settings variables for IO
mapping
Enable Diagnosis for Not used.
devices
Show I/O warnings Not used.
as errors
Starting mode Starting mode This option defines the starting mode on a power-on. For further information,
Options refer to State behavior diagram (see page 54).
Select with this option one of these starting modes:
Start as previous state
Start in stop
Start in run
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Controller Device Editor
Services
Services Tab
The Services tab is divided in three parts:
RTC Configuration
Device Identification
Post Configuration
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Controller Device Editor
Element Description
RTC PLC Time Displays the date and time read from the controller when the Read
Configuration button is clicked, with no conversion applied. This read-only field is
initially empty. If Write as UTC is selected, PLC Time is in UTC.
Read Reads the date and time saved on the controller and displays the
values in the PLC Time field.
Local Time 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.
Write 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.
Synchronize with Lets you directly send the PC settings. A message box informs you
local date/time 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.
Device Identification Displays the Firmware Version, the Boot Version, and the
Coprocessor Version of the selected controller, if connected.
Post Configuration Displays the application parameters overwritten by the Post
configuration (see page 239).
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Controller Device Editor
Users Rights
Introduction
Users and Groups and Access Right tabs (see page 78) allows to manage user accounts, user
access rights groups and the associated access rights, to control the access on projects. For more
informations, refer to the EcoStruxure Machine Expert Programming Guide.
WARNING
UNAUTHORIZED DATA AND/OR APPLICATION ACCESS
Secure access to the FTP/Web/OPC-UA server(s) using User Rights.
If you disable User Rights, disable the server(s) to prevent any unwanted or unauthorized
access to your application and/or data.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: Anonymous login can be restored by removing the user rights in the User Management
page (see page 142) of the web server.
NOTE: Password should not contain any of the following special characters: “ !”#$%&’()*+,-
./:;<=>?@[\]^_‘{|}~”.
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Controller Device Editor
Access Rights
You can give Access Rights to groups.
You can allow the following operations through the access rights:
VIEW
MODIFY
EXECUTE
ADD_REMOVE
Troubleshooting
The only way to gain access to a controller that has user access-rights enabled and for which you
do not have the password(s) is by performing an Update Firmware operation. This clearing of User
Rights can only be accomplished by using a SD card 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.
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Modicon M241 Logic Controller
Embedded I/Os Configuration
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Chapter 9
Embedded Inputs and Outputs Configuration
Overview
The embedded I/O function allows configuration of the controller inputs and outputs.
The M241 logic controller provides:
Step Description
1 Double-click DI (digital inputs) or DQ (digital outputs) in the Devices tree. Refer to Devices tree
(see page 22).
2 Select the I/O Configuration tab.
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Embedded I/Os Configuration
NOTE: For more information on the I/O Mapping tab, refer to the EcoStruxure Machine Expert
Programming Guide.
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Embedded I/Os Configuration
Run/Stop Input
This table presents the different states:
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Embedded I/Os 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) (see page 81).
Inputs assigned to configured expert functions cannot be configured as Run/Stop inputs.
For further details about controller states and states transitions, refer to Controller State Diagram
(see page 54).
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.
NOTE: For more information on the I/O Mapping tab, refer to the EcoStruxure Machine Expert
Programming Guide.
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Embedded I/Os Configuration
Parameter Function
General Parameters
Alarm Output Select an output to be used as alarm output (see page 91).
Rearming Output Mode Select the rearming output mode (see page 92).
Synchronization
Minimize jitter for local Select this option to minimize jitter on local outputs (see page 92).
Output
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 shortcut is detected.
NOTE: Outputs assigned to configured expert functions cannot be configured as the alarm output.
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Embedded I/Os Configuration
WARNING
UNINTENDED MACHINE START-UP
Inhibit the automatic rearming of outputs if this feature is an undesirable behavior for your
machine or process.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
When the Minimize Jitter for Local Output option is selected, the scheduling of the IN and OUT
phases becomes:
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Modicon M241 Logic Controller
Expert Functions Configuration
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Chapter 10
Expert Functions Configuration
Overview
This chapter describes the expert functions of the M241.
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Expert Functions Configuration
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 Description
Counters HSC Simple The HSC functions can execute fast counts of pulses from
sensors, switches, etc. that are connected to the fast or regular
HSC Main Single Phase
inputs. HSC functions connected to regular inputs operate at a
HSC Main Dual Phase maximum frequency of 1 kHz.
Frequency Meter For more information about the HSC functions, refer to High
Speed Counter types (see Modicon M241 Logic Controller, High
Period Meter Speed Counting, HSC Library Guide).
Pulse PTO (see Modicon M241 The PTO function provides 2 pulse train output channels to
Generators Logic Controller, control 2 independent linear single-axis stepper or servo drives
PTOPWM, Library Guide) in open loop mode.
The PTO function connected to regular transistor outputs
operates at a maximum frequency of 1 kHz.
PWM (see Modicon M241 The PWM function generates a square wave signal on dedicated
Logic Controller, output channels with a variable duty cycle.
PTOPWM, Library Guide) The PWM function connected to regular transistor outputs
operates at a maximum frequency of 1 kHz.
Frequency Generator The frequency generator function generates a square wave
(see Modicon M241 Logic signal on dedicated output channels with a fixed duty cycle
Controller, PTOPWM, (50%).
Library Guide) 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 (see page 93).
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Expert Functions Configuration
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:
(2) + 14 HSC Simple on 24 I/O controller references
4 PTO
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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Expert Functions Configuration
Step Description
1 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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Expert Functions Configuration
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.
Step Description
1 Double-click Counters in the Devices tree.
The Counting Function window appears:
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Expert Functions Configuration
The following table describes the areas of the Counters configuration window:
Number Action
1 The instance name of the function and the currently configured counting function type .
2 Click + to configure a new instance of counting function.
3 Double-click the Value column to display a list of the counter function types available.
4 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.
5 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.
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Expert Functions Configuration
Overview
The pulse generated embedded functions available with the M241 are:
PTO The PTO (Pulse Train Output) implements digital technology that provides precise positioning
for open loop control of motor drives.
PWM The PWM (Pulse Width Modulation) function generates a programmable square wave signal
on a dedicated output with adjustable duty cycle and frequency.
FreqGen The FreqGen (Frequency Generator) function generates a square wave signal on
dedicated output channels with a fixed duty cycle (50%).
Step Description
1 Double-click Pulse Generators on the Devices tree.
2 Double-click Value and choose the pulse generator function type to assign.
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Expert Functions Configuration
The following table describes the areas of the Pulse_Generators configuration window:
Number Action
1 The instance name of the function and the currently configured pulse generator function type .
2 Click + to configure a new instance of pulse generator function.
3 Double-click the Value column to display a list of the pulse generator function types available.
4 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.
5 Configure each parameter by clicking the plus sign next to it to access its settings.
The parameters available depend on the type of pulse generator used.
For detailed information on configuration parameters, refer to the M241 PTOPWM Library Guide.
Chapter 11
Cartridge Configuration
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.
Chapter 12
Expansion Modules Configuration
Overview
This chapter describes how to configure the TM4, TM3, and TM2 expansion modules for the
Modicon M241 Logic Controller.
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.
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
(see page 64)”) 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, and then cycle power on the logic
controller system, or issue a Reset Warm or Reset Cold command with EcoStruxure Machine
Expert (see page 67).
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 (see page 59).
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.
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
(see page 113).
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 (see page 81) bus cycle task.
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.
Introduction
The Modicon M241 Logic Controller supports the TM4 communication expansion modules.
For further information about the TM4 expansion modules configuration, refer to the TM4
Expansion Modules Configuration 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.
Introduction
The Modicon M241 Logic Controller supports the following expansion modules:
TM3 expansion modules
Digital I/O modules
Analog I/O modules
Expert I/O modules
Safety modules
Transmitter and receiver modules
For further information about the TM3 and TM2 expansion modules configuration, refer to the 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.
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 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.
Step Action
1 Add the expansion module to your controller .
2 In the Devices tree, double-click the expansion module.
3 Select the I/O Configuration tab.
4 In the Optional module line, select Yes in the Value column:
Chapter 13
Ethernet Configuration
Ethernet Configuration
Introduction
This chapter describes how to configure the Ethernet network interface of the Modicon M241 Logic
Controller.
Section 13.1
Ethernet Services
Ethernet Services
Presentation
Ethernet Services
The controller supports the following services:
Modbus TCP Server (see page 127)
Modbus TCP Client (see page 127)
Web Server (see page 129)
FTP Server (see page 145)
SNMP (see page 148)
Controller as Target Device On EtherNet/IP (see page 149)
Controller as Slave Device On Modbus TCP (see page 175)
IEC VAR ACCESS (see page 120)
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:
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. All server connections stay open as long as the controller stays in operational states
(RUNNING, STOPPED, HALT).
4. All server connections are closed when leaving or entering 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 (see page 239). 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 (see page 269)
NOTE: If the attempted addressing method is unsuccessful, the link uses a default IP address
(see page 124) 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.
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:
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.
Ethernet Configuration
In the Devices tree, double-click Ethernet_1:
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.
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 255.0.0.0.
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.
Address Classes
The IP address is linked:
to a device (the host)
to the network to which the device is connected
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:
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 current network.
If there is no gateway, the gateway address is 0.0.0.0.
The gateway address must be defined on Ethernet_1 interface. The traffic to unknown networks is
sent through this interface.
Security Parameters
This table describes the different security parameters:
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.
For further information, refer to the Function Block Descriptions (see EcoStruxure Machine Expert,
Modbus and ASCII Read/Write Functions, PLCCommunication Library Guide).
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 (see Modicon
TM4, Expansion Modules, Programming Guide) a Modbus TCP Slave Device so that the contents
of the %IW and %QW buffers are time-consistent in the associated IEC task (MAST by default).
Web Server
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 30.0 or greater)
Mozilla Firefox (version 1.5 or greater)
The Web server can maintain 10 simultaneous open sessions (see page 119).
NOTE: The Web server can be disabled by unchecking the Web Server active parameter in the
Ethernet Configuration tab (see page 123).
The Web server is a tool for reading and writing data, and controlling the state of the controller, with
full 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.
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.
NOTE: The Web server must only be used by authorized and qualified personnel. A qualified
person is one who has the skills and knowledge related to the construction and operation of the
machine and the process controlled by the application and its installation, and has received safety
training to recognize and avoid the hazards involved. No responsibility is assumed by Schneider
Electric for any consequences arising out of the use of this feature.
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.
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 implemen-
tation 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 unauthen-
ticated 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.
Step Action
1 Right click the Application node in the Applications tree tab.
2 Click Add Object → Web Data Configuration....
Result: The Add Web Data Configuration window is displayed.
3 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.
Element Description
Add Adds a list description or a variable
Del Deletes a list description or a variable
Refresh period Refreshing period of the variables contained in the list description (in ms)
Refresh Enables I/O refreshing:
Gray button: refreshing disabled
Orange button: refreshing enabled
Load Loads saved lists from the controller internal Flash to the Web server page
Save 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 (see page 37)).
NOTE: Bit memory variables (%MX) cannot be selected.
Element Description
Refresh Enables I/O refreshing:
Gray button: refreshing disabled
Orange button: refreshing enabled
Element Description
Reset Erases the memorization
Refresh Starts/stops refreshing
Load Loads parameter configuration of Item0 and Item1
Save Saves parameter configuration of Item0 and Item1 in the controller
Item0 Variable to be displayed
Item1 Variable to be displayed
Min Minimum value of the variable axis
Max Maximum value of the variable axis
Period(ms) Page refresh period in milliseconds
For more information, refer to EcoStruxure Machine Expert Modbus TCP User guide.
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.
Step Action
1 Click Load.
2 Modify the parameters (see page 243).
3 Click Save.
NOTE: The new parameters will be considered at next Post Configuration file reading
(see page 240).
Log Files
This page provided access to the /usr/Syslog/ folder of the controller flash memory
(see page 33).
File Description
My Machine Controller.gz GZIP file
My Machine Controller.ico Icon file
My Machine Controller.eds Electronic Data Sheet file
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.
FTP Server
Introduction
Any FTP client installed on a computer 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 implemen-
tation 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 unauthen-
ticated 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.
The FTP server is deactivated by default.
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 (see page 78).
To access the FTP server you must first connect to the controller with EcoStruxure Machine Expert
or Controller Assistant and modify the default user password.
Files Access
See File Organization (see page 33).
FTP Client
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 implemen-
tation 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 unauthen-
ticated 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.
SNMP
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:
SNMP Client
The M241 Logic Controller supports an SNMP client library to allow you to query SNMP servers.
For details, refer to the SNMP Library Guide.
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.
Step Action
1 Select EthernetIP in the Hardware Catalog.
2 Drag and drop it to the Devices tree on one of the highlighted nodes.
For more information on adding a device to your project, refer to:
• Using the Drag-and-drop Method (see EcoStruxure Machine Expert, Programming Guide)
• Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming
Guide)
Step Action
1 In the Devices tree, right-click the EthernetIP node and choose the Export as EDS command
from the context menu.
2 Modify the default file name and location as required.
3 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 website. You
must adapt this file to your application by editing it and defining the required Assembly instances
and sizes.
The table below describes the EthernetIP Slave I/O Mapping configuration:
The number of words depends on the size parameter configured in EtherNet/IP Target
Configuration (see page 149).
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.
The following table shows the EtherNet/IP connections limitations:
Characteristic Maximum
Explicit connections 8 (Class 3)
I/O connections 1 (Class 1)
Connections 8
Sessions 16
Simultaneous requests 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:
(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
The Reset common service has one specific parameter, Type of Reset (USINT), with the following
values:
(1)
Mapped in a WORD:
MSB: minor revision (second USINT)
LSB: major revision (first USINT)
Example: 0205 hex means revision V5.2.
(2) Status word (Attribute 5):
8 Minor TRUE indicates the device detected an error, which, under most circumstances,
Recoverable is recoverable.
Fault This type of event does not lead to a change in the device state.
9 Minor TRUE indicates the device detected an error, which, under most circumstances,
Unrecoverable is unrecoverable.
Fault This type of event does not lead to a change in the device state.
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:
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.
Instance Codes
Only instance 1 is supported.
The following table describes the Instance Services:
Instance Codes
Only instance 1 is supported.
The following table describes the instance services:
The following table describes the instance attributes of the EtherNet/IP Interface Diagnostic object:
The following table describes the instance attributes of the IOScanner Diagnostic object:
The following table describes the instance attributes of the I/O Connection Diagnostic object:
Instance Attributes
The following table describes the class services:
The following table describes the instance attributes of the Explicit Connection Diagnostic object:
The following table describes the instance attributes of the Explicit Connections Diagnostic List
object:
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
(see page 176).
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.
Step Action
1 Add a TM4ES4 expansion module to your configuration. To do this, you must have added the
Industrial_Ethernet_manager to your logic controller.
2 Select Modbus TCP Slave Device in the Hardware Catalog.
3 Drag and drop it to the Devices tree on one of the highlighted nodes.
For more information on adding a device to your project, refer to:
• Using the Drag-and-drop Method (see EcoStruxure Machine Expert, Programming Guide)
• Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming
Guide)
Element Description
IP Master Address IP address of the Modbus master
The connections are not closed on this address.
Watchdog Watchdog in 500 ms increments
NOTE: The watchdog applies to the IP master Address unless the address is
0.0.0.0.
Slave Port Modbus communication port (502)
NOTE: The port number can be modified using the changeModbusPort script
command (see page 188).
Unit ID Sends the requests to the Modbus TCP slave device (1...247), instead of to the
embedded Modbus server (255).
Holding Registers (%IW) Number of %IW registers to be used in the exchange (2...120) (each register is
2 bytes)
Input Registers (%QW) Number of %QW registers to be used in the exchange (2...120) (each register
is 2 bytes)
NOTE: Modbus requests that attempt to access registers above n+m-1 are answered by the 02 -
ILLEGAL DATA ADDRESS exception code.
To link I/O objects to variables, select the Modbus TCP Slave Device I/O Mapping tab:
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 time-consistency 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.
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
(see page 176).
The default Modbus port number is 502.
Command Description
changeModbusPort “portnum” portnum is the new Modbus port number to use is passed as
a string of characters.
Before running the command, refer to Used Ports
(see page 192) 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, the Modbus Server Active checkbox on the Ethernet
Configuration window (see page 123) is no longer taken into account, as the Modbus server
always uses port 502.
Step Action
1 Create a script file (see page 252), for example:
; Change Modbus slave port
changeModbusPort "1502";
2 Name the script file Script.cmd.
3 Copy the script file to the SD card.
4 Insert the SD card in the controller.
myExecSc(
xExecute:=myBExe ,
sCmd:=myCmd ,
xDone=>myBDone ,
xBusy=> myBBusy,
xError=> myBErr,
eError=> myIerr);
Section 13.2
Firewall 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 implemen-
tation 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 unauthen-
ticated 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 (see page 185).
A function block (see page 185) in the application.
Application Settings
See Ethernet Configuration (see page 123).
Using an SD Card
This table describes the procedure to execute a script file from an SD card:
Step Action
1 Create a valid script file (see page 188).
For example, name the script file FirewallMaintenance.cmd.
2 Load the script file on the SD card.
For example, load the script file in the usr/Cfg folder.
3 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"
4 Insert the SD card on the controller.
Step Action
1 Create a valid script file (see page 188).
For example, name the script file FirewallMaintenance.cmd.
2 Load the script file in the controller memory.
For example, load the script file in the usr/Syslog folder with FTP.
3 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.
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.
Command Description
Firewall Enable 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 Disable Firewall rules are not applied. Frames are not blocked
Firewall Ethx Default Allow (1) Frames are accepted by the controller.
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;
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
Ports Used
Chapter 14
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)
A Control network
B Device network
1 Logic controller (see EcoStruxure Machine Expert Industrial Ethernet Overview, User Guide)
2 Daisy-chained devices
3 Ethernet switch
4 I/O island (Modbus TCP)
5 Vision sensor (EtherNet/IP)
6 PC and HMI (TCP/UDP)
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.
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.
To manually add the Industrial_Ethernet_manager to the Ethernet_1 (Ethernet Network):
Step Action
1 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.
2 In the Add Device dialog box, select Protocol Managers → Industrial Ethernet manager.
3 Click the Add Device button.
4 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).
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).
Chapter 15
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.
Introduction
The Serial Line configuration window allows you to configure the physical parameters of a serial
line (baud rate, parity, and so on).
The following parameters must be identical for each serial device connected to the port.
Element Description
Baud rate Transmission speed in bits/s
Parity Used for error detection
Data bits Number of bits for transmitting data
Stop bits Number of stop bits
Physical Medium Specify the medium to use:
RS485 (using polarisation resistor or not)
RS232 (only available on Serial Line 1)
Polarization Polarization resistors are integrated in the controller. They are switched on or off by this
Resistor parameter.
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:
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 a Modem
To add a modem to the Machine Expert Network Manager, refer to Adding a Modem to a Manager
(see page 220).
Modbus Manager
Introduction
The Modbus Manager is used for Modbus RTU or ASCII protocol in master or slave mode.
Element Description
Transmission Specify the transmission mode to use:
Mode 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.
Addressing Specify the device type:
Master
Slave
Modbus Master
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 PLCCommu-
nication Library.
Modbus Slave
When the controller is configured as Modbus Slave, the following Modbus requests are supported:
This table contains the sub-function codes supported by the diagnostic Modbus request 08:
This table lists the objects that can be read with a read device identification request (basic identifi-
cation level):
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.
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.
Adding a Modem
To add a Modem to the Modbus Manager, refer to Adding a Modem to a Manager (see page 220).
ASCII Manager
Introduction
The ASCII manager is used on a Serial Line, to transmit and/or receive data with a simple device.
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 If 0, no first end character is used in the frame. Otherwise, in Receiving Mode, the
Character 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 If 0, no second end character is used in the frame. Otherwise, in Receiving Mode, the
Character 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 end of
Received frame at reception when the controller received the specified number of characters.
Note: This parameter cannot be used simultaneously with Frame Received Timeout (ms).
Frame Received If 0, this parameter is not used. This parameter allows the system to conclude the end of
Timeout (ms) frame at reception after a silence of the specified number of ms.
Serial Line Parameters specified in the Serial Line configuration window (see page 202).
Settings
NOTE: In the case of using several frame termination conditions, the first condition to be TRUE
terminates the exchange.
Adding a Modem
To add a Modem to the ASCII manager, refer to Adding a Modem to a Manager (see page 220).
Introduction
The Modbus IOScanner is used to simplify exchanges with Modbus slave devices.
Element Description
Transmission Specifies the transmission mode to use:
Mode 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.
Response Timeout Timeout used in the exchanges.
(ms)
Time between Delay to reduce data collision on the bus.
Frames (ms) 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.
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.
Introduction
This section describes how to add a device on the Modbus IOScanner.
Step Action
1 In the Devices tree, double-click Generic Modbus Slave.
Result: The configuration window is displayed.
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).
Step Action
1 Click the Modbus Slave Channel tab:
Step Action
2 Click the Add Channel button:
Step Action
3 Configure an exchange:
In the field Channel, you can add the following values:
Channel: Enter a name for your channel.
Access Type: Choose the exchange type: Read or Write or Read/Write multiple requests
(see page 219).
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 field 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 field 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.
4 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.
Step Action
1 Click the Modbus Slave Init tab:
Step Action
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.
Step Action
1 Click the Modbus Master I/O Mapping tab:
Access Types
This table describes the different access types available:
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.
Chapter 16
CANopen Configuration
CANopen Configuration
Step Action
1 In the Devices tree, double-click CAN_1.
2 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.
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 Drag-and-Drop Method (see EcoStruxure Machine Expert, Programming Guide)
Using the Contextual Menu or Plus button (see EcoStruxure Machine Expert, Programming
Guide)
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.
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.
Chapter 17
J1939 Configuration
J1939 Configuration
Step Action
1 Click the Plus button next to the CAN_1 node in the Devices tree.
2 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 Drag-and-drop Method (see EcoStruxure Machine Expert, Programming Guide)
• Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming
Guide)
3 Close the Add Device window.
4 Double-click J1939_Manager (J1939_Manager).
Result: The J1939_Manager configuration window appears:
Step Action
1 Click the Plus button next to the J1939_Manager (J1939_Manager) node in the Devices
tree.
2 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 Drag-and-drop Method (see EcoStruxure Machine Expert, Programming Guide)
• Using the Contextual Menu or Plus Button (see EcoStruxure Machine Expert, Programming
Guide)
3 Close the Add Device window.
4 Double-click J1939_ECU (J1939_ECU).
Result: The J1939_ECU configuration window appears:
5 To configure the J1939_ECU, refer to Configuring J1939 ECUs (see page 227).
Step Action
1 Add a J1393_ECU node to the J1939_Manager. Refer to ECU Creation and Configuration
(see page 226).
2 Select the Local Device option in the General tab.
3 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.
4 For P2P signals, configure the Destination Address of the receiving J1939 ECU device in the
parameter group properties window.
5 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.
6 Configure the Source Address of the parameter group by specifying the address of the sending
J1939 device.
Chapter 18
OPC UA Server Configuration
Introduction
This chapter describes how to configure the OPC UA server of the M241 Logic Controller.
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 re-published. Instead, the
OPC UA server sends regular KeepAlive messages to indicate to the client that the connection is
still active.
OPC UA Services
The following table describes the supported OPC UA services:
Introduction
The OPC UA Server Configuration window allows you to configure the OPC UA server.
Step Action
1 In the Devices tree, double-click MyController.
2 Select the OPC UA Server Configuration tab.
Sampling rates (ms) 200...5000 500 The sampling rate indicates a time interval, in
1000 milliseconds (ms). When this interval has
2000 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 sample 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.
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
String (255 bytes)
Sbyte
Step Action
1 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.
2 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 (see page 37)).
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 Description
Symbols The variable name followed by the address of the variable.
Type The data type of the variable.
Access type
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.
Comment An optional comment.
Overview
The following provides capacity and performance information for the OPC UA server of the M241
Logic Controller. Design considerations are also provided to help optimize the performance of the
OPC UA server.
This table presents average read/write request times for each of the sample configurations and for
different numbers of symbols:
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:
This table presents the average time required to refresh 50% of symbols for each of the sample
configurations:
This table presents the average time required to refresh 1% of symbols for each of the sample
configurations:
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 time-dependent purposes.
Do not use OPC UA server data exchanges to change equipment states without having done
a risk analysis and implementing appropriate safety-related 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 (see page 92).
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 (see page 45) 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.
Chapter 19
Post Configuration
Post Configuration
Introduction
This chapter describes how to generate and configure the post configuration file of the Modicon
M241 Logic Controller.
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 (see Modicon TM4, Expansion Modules, Programming Guide)
Serial Line parameters, for each serial line in the application (embedded port or PCI module):
Baud rate
Parity
Data bits
Stop bit
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.
Operating Mode
The Post Configuration file is read after:
A Reset Warm command (see page 68)
A Reset Cold command (see page 68)
A reboot (see page 70)
An application download (see page 72)
Refer to Controller States and Behaviors (see page 53) for further details on controller states and
transitions.
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=va
lue
where you have to modify only 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 in a comprehensive way.
The third line is the definition of the parameter (as described above) with its value.
Step Action
1 In the menu bar, choose Build → Post Configuration → Generate...
Result: An explorer window is displayed.
2 Select the destination folder of the Post Configuration file.
3 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.
Step Action
1 In the Devices tree, click the controller name.
2 Click Build → Post Configuration → Edit...
Result: The Post Configuration file opens in a text editor.
3 Edit the file.
4 If you want to apply the modifications after saving them, select Reset device after sending.
5 Click Save as.
6 Click Close.
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 (see page 68)
A Reset Cold command (see page 68)
A reboot (see page 70)
An application download (see page 72)
Chapter 20
Connecting a Modicon M241 Logic 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.
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.
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 Action
1 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.
2 Connect your USB cable to the computer.
3 Open the hinged access cover.
4 Connect the Mini connector of your USB cable to the controller USB connector.
Step Action
1 Connect the Ethernet cable to the PC.
2 Connect the Ethernet cable to the Ethernet port on the controller.
Chapter 21
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 (see page 188).
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 (see page 180) for Modbus TCP data exchanges.
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 (see page 254) (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.
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.
Clone Function
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 (see page 29).
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.
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 USBExecCommand object
on Everyone group (see page 86). As a result, cloning will be not allowed without using
FB_ControlClone. For more details about this function block, refer to the M262 System 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
(see page 142)) 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 controller to your SD card:
Step Action
1 Erase an SD card and set the card label as follows:
CLONExxx
NOTE: The label must begin with ‘CLONE’ (not case sensitive), followed by any normal character.
2 Select if you want to clone the Users Rights. Refer to the Clone Management subpage
(see page 142) of the web server.
Step Action
3 Remove power from the controller.
4 Insert the prepared SD card in the controller.
5 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.
6 Remove the SD card from the controller.
This procedure describes how to download the application stored in the SD card to your controller:
Step Action
1 Remove power from the controller.
2 Insert the SD card into the controller.
3 Restore power to the controller.
Result: The download procedure starts and the SD LED is flashing during this procedure.
4 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.
5 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 access-rights that may be enabled in the target
controller.
Element Description
New Create a new script.
Open Open a script.
Macros 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 Generate the script and all necessary files on the SD card.
Command Basic instructions.
Source Source file path on the PC or the controller.
Destination Destination directory on the PC or the controller.
Add New Add a script command.
Move Up/Down Change the script commands order.
Delete Delete a script command.
Commands descriptions:
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. For more details about User Rights, refer to the EcoStruxure Machine Expert
Programming Guide.
This table describes the macros:
Step Action
1 Remove power from the controller.
2 Insert the prepared SD card in the source controller.
3 Restore power to the source controller.
Result: The copy starts automatically. During the copy, the PWR and I/O LEDs are ON and the SD
LED flashes regularly.
4 Wait until the copy is completed.
Result: The SD LED is ON and the controller reboots with default user rights. If an error was
detected, the ERR LED is ON and the controller is in STOPPED state.
Transfer Procedure
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 Action
1 Create the script with the Mass Storage (USB or SDCard) editor.
2 Click Generate... and select the SD card root directory.
Result: The script and files are transferred on the SD card.
3 Insert the SD card into the controller.
Result: The transfer procedure starts and the SD LED is flashing during this procedure.
4 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.
5 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.
Introduction
The firmware updates for Modicon M241 Logic Controller are available on the
http://www.schneider-electric.com website (in .zip format).
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 current application program in the device, including the
Boot Application in Flash 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.
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.
Step Action
1 Extract the .zip file to the root of the SD card.
NOTE: The SD card folder \sys\cmd\ contains the download script file.
2 Remove power from the controller.
3 Insert the SD card into the controller.
4 Restore power to the controller.
NOTE: The SD LED (green) is flashing during the operation.
5 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.
6 Remove the SD card from the controller.
Result: The controller restarts automatically with new firmware if the download ended successfully.
Step Action
1 On the Home dialog, click the Read from.... controller button.
Result: The Controller selection dialog opens.
2 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.
3 Click the button New / Process... and then Update firmware....
Result: The dialog for updating the firmware opens.
4 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.
5 On the Home dialog, click the Write on.... controller button.
Result: The Controller selection dialog opens.
6 Select the required connection type and controller and click the Write button.
Result: The image is transmitted from your computer to the controller.
After the transmission, you are automatically returned to the Home dialog.
For more information about the firmware update and creating a new flash disk with firmware, refer
to Project Settings - Firmware Update and Flash Memory Organization (see page 33).
EIO0000003059 12/2019
Chapter 22
Firmware Management
Firmware Management
Overview
The firmware update for the controller and the expansion modules are available on the Schneider
Electric website (in .zip format).
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 Action
1 Insert an empty SD card into the PC.
2 Create the folder path /sys/Cmd and create a file called Script.cmd.
3 Edit the file and insert the following command for each firmware file you wish to transfer to the
controller:
Download "usr/TM3fwupdate/<filename>"
4 Create the folder path /usr/TM3fwupdate/ in the SD card root directory and copy the
firmware files to the TM3fwupdate folder.
5 Ensure that power is removed from controller.
6 Remove the SD card from the PC and insert it into the SD card slot of the controller.
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:
Step Action
1 Ensure that the correct firmware is present in the /usr/TM3fwupdate/ directory of the
controller.
2 Remove power from the controller.
3 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.
4 Apply power to the controller.
NOTE: The TM3 update process adds approximatively 15 seconds to the controller boot
duration.
5 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.
6 Remove power from the controller.
EIO0000003059 12/2019
Appendices
Overview
This appendix lists the documents necessary for technical understanding of the Modicon M241
Logic Controller Programming Guide.
Appendix A
How to Change the IP Address of the Controller
Graphical Representation
Parameter Description
Appendix B
Functions to Get/Set Serial Line Configuration in User Program
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.
Function Description
GetSerialConf returns the configuration parameters for a specific serial line communication
port.
Graphical Representation
Parameter Description
Example
Refer to the SetSerialConf (see page 276) example.
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
Example
VAR
MySerialConf: SERIAL_CONF
result: WORD;
END_VAR
Structure Description
The SERIAL_CONF structure contains configuration information about the serial line port. It
contains these variables:
Appendix C
Controller Performance
Controller 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:
Glossary
A
analog output
Converts numerical values within the logic controller and sends out proportional voltage or current
levels.
application
A program including configuration data, symbols, and documentation.
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.
ARP
(address resolution protocol) An IP network layer protocol for Ethernet that maps an IP address to
a MAC (hardware) address.
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
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.
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.
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).
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 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.
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.
H
HE10
Rectangular connector for electrical signals with frequencies below 3 MHz, complying with IEC
60807-2.
I
I/O
(input/output)
ICMP
(Internet control message protocol) Reports errors detected and provides information related to
datagram processing.
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).
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).
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.
LWORD
(long word) A data type encoded in a 64-bit format.
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.
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).
monitored items
In OPC UA, the items of data (samples) made available by the OPC UA server that clients
subscribe to.
ms
(millisecond)
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.
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
In OPC UA, messages sent by the OPC UA server to inform clients that new items of data are
available.
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.
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).
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 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.
publishing interval
In OPC UA, the frequency at which the OPC_UA server sends notifications to clients informing
them that data updates are available.
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.
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.
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
(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.
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.
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.
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
(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.
Index
A Ethernet
FTP Server, 145
ASCII Manager, 209
Modbus TCP Client/Server, 127
Modbus TCP slave device, 175
Services, 119
C SNMP, 148
changeIPAddress, 269 Web server, 129
changing the controller IP address, 269 EtherNet/IP Adapter, 149
changeModbusPort ExecuteScript example, 181
command syntax, 180 External Event, 47
script example, 181
Controller Configuration
Communication Settings, 80 F
PLC Settings, 81
Fast Device Replacement, 199
Services, 83
features
cyclic data exchanges, generating EDS file
key features, 15
for, 150
file transfer with SD card, 253
firewall
configuration, 186
D default script file, 186
DHCP server, 198 script commands, 188
Download application, 72 firmware
downloading to TM3 expansion modules,
263
E FTP client, 147
ECU, creating for J1939, 226 FTP Server
EDS file, generating, 150 Ethernet, 145
Embedded Functions Configuration FTPRemoteFileHandling library, 147
Embedded HSC Configuration, 97
Embedded I/O Configuration, 87
embedded functions configuration G
embedded pulse generators configura- GetSerialConf
tion, 99 getting the serial line configuration, 274
Ethernet
changeIPAddress function block, 269
EtherNet H
EtherNet/IP device, 149
Hardware Initialization Values, 65
I
I/O bus configuration, 110
K P
Post Configuration, 239
KeepAlive (OPC UA), 230
baud rate, 240, 240
KeepAlive interval (OPC UA), 232
data bits, 240
device name, 240
Example, 244
L file management, 242
libraries, 25 gateway address, 240
Libraries IP address, 240
FTPRemoteFileHandling, 147 IP configuration mode, 240
IP master name, 240
parity, 240
M presentation, 240
M2•• communication station address, 240
GetSerialConf, 274 stop bit, 240
SetSerialConf, 275 subnet mask, 240
Memory Mapping, 29 transfer rate, 240
Modbus programming languages
Protocols, 127 IL, LD, Grafcet, 15
Modbus Ioscanner, 211 Protocols, 119
Modbus Manager, 205 IP, 121
Modbus TCP Client/Server Modbus, 127
Ethernet, 127 protocols
Modbus TCP port, changing, 180 SNMP, 148
monitored items (OPC UA), 230 publishing interval (OPC UA), 230, 232
R
Reboot, 70
Remanent variables, 75
Reset cold, 68
Reset origin, 69
Reset warm, 68 W
Run command, 67
Web server
Ethernet, 129
S
sampling interval (OPC UA), 230, 232
script commands
firewall, 188
script file
syntax rules, 252
SD card
commands, 253
serial line
ASCII Manager, 209
GetSerialConf, 274
Modbus Manager, 205
SetSerialConf, 275
SERIAL_CONF, 277
SetSerialConf, 275
setting the serial line configuration, 275
SNMP
Ethernet, 148
protocols, 148
Software Initialization Values, 65
State diagram, 54
Stop command, 67
symbols (OPC UA), 234
T
Task
Cyclic task, 45
Event task, 47
External Event Task, 47
Freewheeling task, 46
Types, 45
Watchdogs, 48
TM3 analog I/O modules
downloading firmware to, 263
U
updating the firmware of TM3 expansion
modules, 263
EIO0000003065 12/2019
www.schneider-electric.com
The information provided in this documentation contains general descriptions and/or technical
characteristics of the performance of the products contained herein. This documentation is not
intended as a substitute for and is not to be used for determining suitability or reliability of these
products for specific user applications. It is the duty of any such user or integrator to perform the
appropriate and complete risk analysis, evaluation and testing of the products with respect to the
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your own risk. All other rights are reserved.
All pertinent state, regional, and local safety regulations must be observed when installing and
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When devices are used for applications with technical safety requirements, the relevant
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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
EIO0000003065 12/2019 3
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
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/ .
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.
1For 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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Modicon M241 Logic Controller
M241 System Variables
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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
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M241 System Variables
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.
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M241 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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M241 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.
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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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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M241 System Variables
Section 1.2
PLC_R and PLC_W Structures
Overview
This section lists and describes the different system variables included in the PLC_R and PLC_W
structures.
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M241 System Variables
Variable Structure
This table describes the parameters of the PLC_R system variable (PLC_R_STRUCT type):
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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 PLC_R_ Status of the USB Programming Port (USB
Status TERMINAL_PORT_ Mini-B).
STATUS
(see page 77)
n/a i_wSdCardStatus PLC_R_SDCARD_ Status of the SD card.
STATUS
(see page 73)
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
NOTE: n/a means that there is no pre-defined Modbus address mapping for this system variable.
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M241 System Variables
Variable Structure
This table describes the parameters of the PLC_W system variable (PLC_W_STRUCT type):
NOTE: n/a means that there is no pre-defined %MW mapping for this system variable.
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M241 System Variables
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.
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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:
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M241 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:
NOTE: n/a means that there is no predefined %MW mapping for this system variable.
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Section 1.4
ETH_R and ETH_W Structures
Overview
This section lists and describes the different system variables included in the ETH_R and ETH_W
structures.
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Variable Structure
This table describes the parameters of the ETH_R system variable (ETH_R_STRUCT type):
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NOTE: n/a means that there is no predefined %MW mapping for this system variable.
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Variable Structure
This table describes the parameters of the ETH_W system variable (ETH_W_STRUCT type):
NOTE: n/a means that there is no predefined %MW mapping for this system variable.
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M241 System Variables
Section 1.5
TM3_MODULE_R Structure
TM3_MODULE_R Structure
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:
NOTE: n/a means that there is no predefined %MW mapping for this system variable.
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Section 1.6
TM3_BUS_W Structure
TM3_BUS_W Structure
Variable Structure
This table describes the parameters of the TM3_BUS_W system variable (TM3_BUS_W_STRUCT
type):
For more information, refer to I/O Configuration General Description (see Modicon M241 Logic
Controller, Programming Guide).
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M241 System Variables
Section 1.7
PROFIBUS_R Structure
PROFIBUS_R Structure
Variable Structure
This table describes the parameters of the PROFIBUS_R system variable (PROFIBUS_R_STRUCT
type):
NOTE: n/a means that there is no predefined %MW mapping for this system variable.
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Section 1.8
CART_R Structure
CART_R Structure
Variable Structure
The following table describes the parameters of the CART_R_STRUCT system variable:
NOTE: n/a means that there is no predefined %MW mapping for this system variable.
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Modicon M241 Logic Controller
M241, System Functions
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Chapter 2
M241 System Functions
Overview
This chapter describes the system functions included in the M241 PLCSystem library.
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M241, System Functions
Section 2.1
M241 Read Functions
Overview
This section describes the read functions included in the M241 PLCSystem library.
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M241, System Functions
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).
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M241, System Functions
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).
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).
Example
Refer to the function IsFirstMastCycle (see page 44).
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M241, System Functions
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).
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).
Example
Refer to the function IsFirstMastCycle (see page 44).
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M241, System Functions
Section 2.2
M241 Write Functions
Overview
This section describes the write functions included in the M241 PLCSystem library.
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M241, System Functions
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).
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
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).
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:
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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, System Functions
Section 2.3
M241 User Functions
Overview
This section describes the FB_Control_Clone, DataFileCopy and ExecuteScript
functions included in the M241 PLCSystem library.
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M241, System Functions
Function block setting When user rights enabled When user rights disabled
xEnable = 1 Cloning is allowed Cloning is still allowed
xEnable = 0 Cloning is not allowed Cloning is not allowed
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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M241, System Functions
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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M241, System Functions
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.
NOTE: If you write to memory variable within the area of the file write, a CRC integrity error results.
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M241, System Functions
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=> );
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M241, System Functions
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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M241, System Functions
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, System Functions
Section 2.4
M241 Disk Space Functions
Overview
This section describes the disk space functions included in the SystemInterface library.
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M241, System Functions
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).
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M241, System Functions
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).
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M241, System Functions
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).
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M241, System Functions
Section 2.5
TM3 Read Functions
Overview
This section describes the TM3 read functions included in the M241 PLCSystem library.
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M241, System Functions
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).
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M241, System Functions
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).
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M241, System Functions
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).
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.
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M241, System Functions
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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M241 Library Data Types
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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.
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M241 Library 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.
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M241 Library Data Types
For more information for reasons the controller has stopped, refer to the Controller State
Description.
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Section 3.2
DataFileCopy System Variables Data Types
Overview
This section lists and describes the system variable data types included in the DataFileCopy
structures.
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Section 3.3
ExecScript System Variables Data Types
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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.
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M241 Library 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.
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Description
The TM3_MODULE_R_ARRAY_TYPE is an array of 0...13 TM3_MODULE_R_STRUCT.
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Section 3.6
Cartridge System Variables Data Types
Overview
This section lists and describes the system variable data types included in the Cartridge
structure.
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Description
The CART_R_ARRAY_TYPE is an array of 0..1 CART_R_STRUCT.
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Section 3.7
System Function Data Types
Overview
This section describes the different system function data types of the M241 PLCSystem library.
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Appendices
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.
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.
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:
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.
Step Action
1 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).
2 Create the variables that the function requires.
3 If the function has 1 or more inputs, start loading the first input using LD instruction.
4 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).
5 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.
6 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:
IL example of a function
with input parameters:
SetRTCDrift
Step Action
1 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).
Step Action
2 Create the variables that the function block requires, including the instance name.
3 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.
4 In the CAL right-side field, replace ??? with the instance name.
5 Replace other ??? with an appropriate variable or immediate value.
To illustrate the procedure, consider this example with the TON Function Block graphically
presented below:
In IL language, the function block name is used directly in the operator column:
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.
Step Action
1 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).
2 Create the variables that the function requires.
3 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:
Step Action
1 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).
2 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
3 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:
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.
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.
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.
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).
LWORD
(long word) A data type encoded in a 64-bit format.
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.
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
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.
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.
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).
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.
Index
Specials D
Data Types
CART_R_ARRAY_TYPE, 98
C CART_R_MODULE_ID, 99
CART_R_ARRAY_TYPE CART_R_STATE, 100
Data Types, 98 DataFileCopyError, 81
CART_R_MODULE_ID DataFileCopyLocation, 82
Data Types, 99 ETH_R_FRAME_PROTOCOL, 85
CART_R_STATE ETH_R_IP_MODE, 86
Data Types, 100 ETH_R_PORT_DUPLEX_STATUS, 87
CART_R_STRUCT ETH_R_PORT_IP_STATUS, 88
System Variable, 37 ETH_R_PORT_LINK_STATUS, 89
cycle ETH_R_PORT_SPEED, 90
IsFirstMastColdCycle, 43 ETH_R_RUN_IDLE, 91
IsFirstMastCycle, 44 ExecuteScriptError, 83
IsFirstMastWarmCycle, 46 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
E GetRtc
getting real time clock (RTC) value, 42
embedded I/O
GetImmediateFastInput, 41
PhysicalWriteFastOutputs, 48 I
ETH_R
IMMEDIATE_ERR_TYPE
System Variable, 28
Data Types, 102
ETH_R_FRAME_PROTOCOL
IsFirstMastColdCycle
Data Types, 85
first cold start cycle, 43
ETH_R_IP_MODE
IsFirstMastCycle
Data Types, 86
first mast cycle, 44
ETH_R_PORT_DUPLEX_STATUS
IsFirstMastWarmCycle
Data Types, 87
first warm start cycle, 46
ETH_R_PORT_LINK_STATUS
Data Types, 89
ETH_R_PORT_SPEED
Data Types, 90
M
ETH_W M241 PLCSystem
System Variable, 33 DataFileCopy, 53
ExecuteScript ExecuteScript, 56
running script commands, 56 GetImmediateFastInput, 41
ExecuteScriptError GetRtc, 42
Data Types, 83 IsFirstMastColdCycle, 43
IsFirstMastCycle, 44
IsFirstMastWarmCycle, 46
F PhysicalWriteFastOutputs, 48
SetRTCDrift, 49
FB_ControlClone
TM3_GetModuleBusStatus, 63, 65
function block, 52
TM3_GetModuleFWVersion, 64
FC_GetFreeDiskSpace, 59
FC_GetLabel, 60
FC_GetTotalDiskSpace, 61
file copy commands
P
DataFileCopy, 53 PhysicalWriteFastOutputs
functions writing output of an embedded expert I/O,
differences between a function and a 48
function block, 108 PLC_R
how to use a function or a function block System Variable, 18
in IL language, 109 PLC_R_APPLICATION_ERROR
how to use a function or a function block Data Types, 69
in ST language, 112 PLC_R_BOOT_PROJECT_STATUS
Data Types, 71
PLC_R_IO_STATUS
G Data Types, 72
PLC_R_SDCARD_STATUS
GetImmediateFastInput
Data Types, 73
getting the value of a fast input, 41
EIO0000003071 12/2019
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© 2019 Schneider Electric. All rights reserved.
2 EIO0000003071 12/2019
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
EIO0000003071 12/2019 3
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 EIO0000003071 12/2019
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 EIO0000003071 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.
EIO0000003071 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 EIO0000003071 12/2019
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
EIO0000003071 12/2019 9
You can download these technical publications and other technical information from our website
at https://www.se.com/ww/en/download/ .
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.
1For 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 EIO0000003071 12/2019
Modicon M241 Logic Controller
Introduction
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Part I
Introduction
Introduction
Overview
This part provides an overview description, available modes, functionality and performances of the
different functions.
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Introduction
12 EIO0000003071 12/2019
Modicon M241 Logic Controller
EIO0000003071 12/2019
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)
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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 Description
Counters HSC Simple The HSC functions can execute fast counts of pulses from
sensors, switches, etc. that are connected to the fast or regular
HSC Main Single Phase
inputs. HSC functions connected to regular inputs operate at a
HSC Main Dual Phase maximum frequency of 1 kHz.
Frequency Meter For more information about the HSC functions, refer to High
Speed Counter types (see page 21).
Period Meter
Pulse PTO The PTO function provides 2 pulse train output channels to
Generators 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.
PWM 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.
Frequency Generator 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.
14 EIO0000003071 12/2019
Maximum number of expert functions by logic controller reference:
The maximum number of expert functions possible may be further limited by the number of I/Os
used by each expert function.
Example configurations:
(2) + 14 HSC Simple on 24 I/O controller references
4 PTO
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 Description
1 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.
16 EIO0000003071 12/2019
Embedded Expert I/O Assignment
I/O Assignment
The following regular or fast I/Os can be configured for use by expert functions:
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:
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Expert Function Name Input (Fast or Output (Fast or
Regular) Regular)
PTO Output A/CW/Pulse M
Output B/CCW/Dir C
REF (Origin) C
INDEX (Proximity) C
PROBE C
M Mandatory
C Optionally configurable
18 EIO0000003071 12/2019
I/O Summary
The IO Summary window displays the I/Os used by the expert functions.
To display the IO Summary window:
Step Action
1 In the Devices tree tab, right-click the MyController node and choose IO Summary.
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20 EIO0000003071 12/2019
Modicon M241 Logic Controller
High Speed Counter Types
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Chapter 2
High Speed Counter Types
Overview
This chapter provides an overview of the different types of HSC.
EIO0000003071 12/2019 21
High Speed Counter Types
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 HSC Simple HSC Main HSC Main Dual Frequency Period Meter
Mode Single Phase Phase Meter
One-shot X X – – –
Modulo-loop X X X – –
Event Counting – X – – –
Free-large – – X – –
Edge to Edge – – – – X
Edge to – – – – X
Opposite
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 Modulo-loop Mode
Counting mode Count down Count up
Enable with an HSC physical input No No
22 EIO0000003071 12/2019
High Speed Counter Types
Feature Function
One-shot Mode Modulo-loop Mode
Synchronization / preset with an No No
HSC physical input
Comparison function No No
Capture function No No
Feature Function
One-shot Mode Modulo-loop Mode Event Counting Mode
Counting mode Count down Count up Pulse counting during
given time base (10 ms,
100 ms, or 1000 ms)
Enable with an HSC Yes Yes No
physical input
Synchronization / preset Yes Yes Yes
with an HSC physical
input
Comparison function Yes, 4 thresholds, 2 Yes, 4 thresholds, 2 No
outputs, and 4 events outputs, and 4 events
Capture function Yes, 1 capture register Yes, 1 capture register No
Feature Function
Modulo-Loop Mode Free-Large Mode
Counting mode Count up / down Count up / down
Pulse / direction Pulse / direction
Quadrature 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 Function
Counting mode Pulse frequency in Hz with updated value available
every time base value (10 ms, 100 ms, or 1000 ms)
Enable with an HSC physical input Yes
Synchronization / preset with an HSC physical input No
Comparison function No
Capture function No
Period Meter
This table presents an overview of the specifications available in Period Meter type according to
the mode requested:
Feature Function
Counting modes Edge to edge: Measure the time between two events
Edge to opposite: Measure the duration of an event
Enable with an HSC physical input Yes
Synchronization / preset with an HSC No
physical input
Comparison function No
Capture function No
Resolution Duration counting with configurable resolution (0.1 µs, 1 µs,
100 µs, or 1000 µs)
Timeout 0...858993459, calculated using resolution units
0 means no timeout
24 EIO0000003071 12/2019
High Speed Counter Types
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.
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).
EIO0000003071 12/2019 25
High Speed Counter Types
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.
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.
26 EIO0000003071 12/2019
High Speed Counter Types
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.
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.
EIO0000003071 12/2019 27
High Speed Counter Types
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.
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).
28 EIO0000003071 12/2019
Modicon M241 Logic Controller
One-shot Mode
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Part II
One-shot Mode
One-shot Mode
Overview
This part describes the use of a HSC in One-shot Mode.
EIO0000003071 12/2019 29
One-shot Mode
30 EIO0000003071 12/2019
Modicon M241 Logic Controller
One-shot Mode Principle
EIO0000003071 12/2019
Chapter 3
One-shot Mode Principle
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
EIO0000003071 12/2019 31
One-shot Mode Principle
Stage Action
1 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.
2 When the Enable condition = 1, the current counter value decrements on each pulse on input A
until it reaches 0.
3 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.
4 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.
32 EIO0000003071 12/2019
Modicon M241 Logic Controller
One-shot With a Simple Type
EIO0000003071 12/2019
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.
EIO0000003071 12/2019 33
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.
34 EIO0000003071 12/2019
One-shot With a Simple Type
Procedure
Follow this procedure to configure a Simple type in One-shot mode:
Step Action
1 Double-click MyController → Counters.
Result: The Counters editor tab opens for HSC configuration.
2 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.
3 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.
4 Set the value of the General → Counting Mode parameter to One-shot.
5 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.
6 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).
7 Enter the value of the Range → Preset parameter to set the counting initial value.
8 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
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.
Step Description
1 Select the Libraries tab in the Software Catalog and click Libraries.
Select Controller → M241 → M241 HSC → HSC → HSCSimple_M241 in the list, drag-and-
drop the item onto the POU window.
2 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.
36 EIO0000003071 12/2019
One-shot With a Simple Type
EIO0000003071 12/2019 37
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 Description
EXPERT_PRESET to get or set the Preset value of an HSC
38 EIO0000003071 12/2019
Modicon M241 Logic Controller
One-shot with a Main Type
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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.
EIO0000003071 12/2019 39
One-shot with a Main Type
Synopsis Diagram
Synopsis Diagram
This diagram provides an overview of the Main type in One-shot mode:
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)
40 EIO0000003071 12/2019
One-shot with a Main Type
Procedure
Follow this procedure to configure a Main type single phase in One-shot mode:
Step Action
1 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.
2 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.
3 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.
4 Set the value of the General → Counting Mode parameter to One-shot.
5 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.
6 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).
7 Enter the value of the Range → Preset parameter to set the initial counting value of the Preset
function (see page 134).
8 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)
9 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.
EIO0000003071 12/2019 41
One-shot with a 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.
Step Description
1 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.
2 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.
42 EIO0000003071 12/2019
One-shot with a Main Type
EIO0000003071 12/2019 43
One-shot with a Main Type
44 EIO0000003071 12/2019
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 Description
EXPERT_PRESET to get or set the Preset value of an HSC
EXPERT_THRESHOLD0 to get or set the Threshold 0 value of an HSC
EXPERT_THRESHOLD1 to get or set the Threshold 1 value of an HSC
EXPERT_THRESHOLD2 to get or set the Threshold 2 value of an HSC
EXPERT_THRESHOLD3 to get or set the Threshold 3 value of an HSC
EXPERT_REFLEX0 to get or set output 0 reflex mode of an EXPERT function
EXPERT_REFLEX1 to get or set output 1 reflex mode of an EXPERT function
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One-shot with a Main Type
46 EIO0000003071 12/2019
Modicon M241 Logic Controller
Modulo-loop Mode
EIO0000003071 12/2019
Part III
Modulo-loop Mode
Modulo-loop Mode
Overview
This part describes the use of a HSC in Modulo-loop mode.
EIO0000003071 12/2019 47
Modulo-loop Mode
48 EIO0000003071 12/2019
Modicon M241 Logic Controller
Modulo-loop Principle
EIO0000003071 12/2019
Chapter 6
Modulo-loop Principle
Modulo-loop Principle
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:
Reverse Quadrature X2
Reverse Quadrature X4
EIO0000003071 12/2019 49
Modulo-loop Principle
Stage Action
1 On the rising edge of Sync condition, the current value is reset to 0 and the counter is activated.
2 When Enable condition = 1, each pulses on A increments the counter value.
3 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.
4 On the rising edge of Sync condition, the current counter value is reset to 0.
5 When Enable condition = 1, each pulse on B decrements the counter.
6 When the counter reaches 0, the counter loops to (modulo-1) at the next pulse and the counting
continues.
7 When Enable condition = 0, the pulses on the inputs are ignored.
8 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.
50 EIO0000003071 12/2019
Modulo-loop Principle
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Modulo-loop Principle
52 EIO0000003071 12/2019
Modicon M241 Logic Controller
Modulo-loop with a Simple Type
EIO0000003071 12/2019
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.
EIO0000003071 12/2019 53
Modulo-loop with a Simple Type
Synopsis Diagram
Synopsis Diagram
This diagram provides an overview of the Simple type in Modulo-loop mode:
54 EIO0000003071 12/2019
Modulo-loop with a Simple Type
Procedure
Follow this procedure to configure a Simple type in Modulo-loop mode:
Step Action
1 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.
2 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.
3 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.
4 Set the value of the General → Counting Mode parameter to Modulo-loop.
5 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.
6 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).
7 Enter the value of the Range → Modulo parameter to set the counting modulo value.
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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.
Step Description
1 Select the Libraries tab in the Software Catalog and click Libraries.
Select Controller → M241 → M241 HSC → HSC → HSCSimple_M241 in the list, drag-and-
drop the item onto the POU window.
2 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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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 Description
EXPERT_MODULO to get or set the modulo value of an HSC
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Modicon M241 Logic Controller
Modulo-loop with a Main Type
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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.
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Synopsis Diagram
Synopsis Diagram
This diagram provides an overview of the Main type in Modulo-loop mode:
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)
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Modulo-loop with a Main Type
Procedure
Follow this procedure to configure a Main type single phase in Modulo-loop mode:
Step Action
1 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.
2 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.
3 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.
4 Set the value of the General → Counting Mode parameter to Modulo-loop.
5 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.
6 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).
7 Enter the value of the Range → Modulo parameter to set the counting modulo value.
8 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
Procedure
Follow this procedure to configure a Main type dual phase in Modulo-loop mode:
Step Action
1 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.
2 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.
3 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.
4 Set the value of the General → Counting Mode parameter to Modulo-loop.
5 Set the value of the General → Input mode parameter to select the modulo loop input mode
(see page 49).
6 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.
7 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).
8 In Counting Inputs → B input → Location select the regular or fast input to use as the B input.
9 Set the value of the Counting inputs → B input → Bounce filter parameter to reduce the bounce
effect on the input..
10 Enter the value of the Range → Modulo parameter to set the counting modulo value.
11 Optionally, you can enable these control functions:
Capture function (see page 129)
Comparison function (see page 119)
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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.
Step Description
1 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.
2 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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Modulo-loop 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 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 Description
EXPERT_MODULO to get or set the Modulo value of an HSC
EXPERT_THRESHOLD0 to get or set the Threshold 0 value of an HSC
EXPERT_THRESHOLD1 to get or set the Threshold 1 value of an HSC
EXPERT_THRESHOLD2 to get or set the Threshold 2 value of an HSC
EXPERT_THRESHOLD3 to get or set the Threshold 3 value of an HSC
EXPERT_REFLEX0 to get or set output 0 reflex mode of an EXPERT function
EXPERT_REFLEX1 to get or set output 1 reflex mode of an EXPERT function
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Free-large Mode
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Part IV
Free-large Mode
Free-large Mode
Overview
This part describes the use of an HSC in Free-large mode.
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Free-large Mode
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Modicon M241 Logic Controller
Free-large Mode Principle
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Chapter 9
Free-large Mode Principle
Overview
This chapter describes the principle of the Free-large mode.
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Free-large Mode Principle
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:
Reverse Quadrature X2
Reverse Quadrature X4
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Free-large Mode Principle
Stage Action
1 On the rising edge of Preset condition, the current value is set to the preset value
and the counter is activated.
2 When Enable condition = 1, each pulse on A increment the counter value.
3 On the rising edge of Preset condition, the current value is set to the preset value.
4 When Enable condition = 1, each pulse on B decrements the counter value.
5 When Enable condition = 0, the pulses on A or B are ignored.
6 On the rising edge of Preset condition, the current value is set to the preset value.
7 When Enable condition = 1, the pulses on B decrements the counter value.
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Free-large Mode Principle
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.
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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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Free-large with a Main Type
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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.
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Synopsis Diagram
Synopsis Diagram
This diagram provides an overview of the Main type in Free-large mode:
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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Procedure
Follow this procedure to configure a Main type dual phase in Free-large mode:
Step Action
1 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.
2 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.
3 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.
4 Set the value of the General → Counting Mode parameter to Free-large.
5 Set the value of the General → Input mode parameter to select the input mode (see page 70).
6 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.
7 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).
8 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.
9 Set the value of the Counting inputs → B input → Bounce filter parameter.
10 Enter the value of the Range → Preset parameter to set the counting initial value.
11 Enter the value of the Range → Limits for limits management (see page 73).
12 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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Free-large with a 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.
Step Description
1 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.
2 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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Free-large 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)
enumeration which can be read or modified while the program is running:
Parameter Description
EXPERT_PRESET to get or set the Preset value of the HSC
EXPERT_THRESHOLD0 to get or set the Threshold 0 value of an HSC
EXPERT_THRESHOLD1 to get or set the Threshold 1 value of an HSC
EXPERT_THRESHOLD2 to get or set the Threshold 2 value of an HSC
EXPERT_THRESHOLD3 to get or set the Threshold 3 value of an HSC
EXPERT_REFLEX0 to get or set output 0 reflex mode of an expert function
EXPERT_REFLEX1 to get or set output 0 reflex mode of an expert function
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Modicon M241 Logic Controller
Event Counting Mode
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Part V
Event Counting Mode
Overview
This part describes the use of an HSC in Event Counting mode.
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Event Counting Principle
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Chapter 11
Event Counting Principle
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 Action
1 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.
2 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.
3 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
4 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
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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.
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Event Counting with a Main Type
Synopsis Diagram
Synopsis Diagram
This diagram provides an overview of the Main type in Event Counting mode.
Optional Function
In addition to the Event Counting mode, the Main type provides the Preset function (see page 134).
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Procedure
Follow this procedure to configure a Main type single phase in Event Counting mode:
Step Action
1 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.
2 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.
3 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.
4 Set the value of the General → Counting Mode parameter to Event Counting.
5 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.
6 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).
7 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
8 Optionally, set the value of the Control inputs → SYNC input → Location parameter to enable
the Preset Function (see page 134).
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Event Counting with a 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.
Step Description
1 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.
2 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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Event Counting with a Main Type
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Event Counting 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:
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Modicon M241 Logic Controller
Frequency Meter Type
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Part VI
Frequency Meter Type
Overview
This part describes the use of an HSC in Frequency meter type.
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Frequency Meter Type
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Modicon M241 Logic Controller
Frequency Meter Principle
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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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Modicon M241 Logic Controller
Frequency Meter with a Main Type
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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.
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Synopsis Diagram
Synopsis Diagram
This diagram provides an overview of the Main type in Frequency meter type:
Optional Function
In addition to the Frequency meter type, the Main type can provide the following function:
Enable function (see page 137)
Procedure
Follow this procedure to configure a Frequency Meter type:
Step Action
1 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.
2 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.
3 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.
4 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.
5 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).
6 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)
7 Optionally, set the value of the Control inputs → EN input → Location parameter to enable the
Enable Function (see page 137).
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.
Step Description
1 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.
2 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.
Part VII
Period Meter Type
Overview
This part describes the use of an HSC in Period meter type.
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 measurement is expressed in the units defined by the Resolution parameter (0.1 µs, 1 µs,
100 µs, 1000 µs).
For example, if the current value CurrentValue = 100 and the Resolution parameter is:
0.0001 (0.1 µs) measurement = 0.01 ms
0.001 (1 µs) measurement = 0.1 ms
0.1 (100 µs) measurement = 10 ms
1 (1000 µs) 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.
Operating Limits
The module can perform a maximum of one measurement every 5 ms.
The shortest pulse that can be measured is 100 μs, even if the unit defined in the configuration is
1 μs.
The maximum duration that can be measured is 1,073,741,823 units.
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.
Synopsis Diagram
Synopsis Diagram
This diagram provides an overview of the Main type in Period meter type:
Optional Function
In addition to the Period meter type, the Main type can provide the following function:
Enable function (see page 137)
Procedure
Follow this procedure to configure a Period Meter type in Edge to Edge mode:
Step Action
1 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.
2 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.
3 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.
4 Set the value of the General → PeriodMeter Mode parameter to Edge to Edge.
5 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.
6 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).
7 Set the value of the Range → Resolution parameter.
Select the unit of measurement:
0.1 µs
1 µs (default value)
100 µs
1000 µs
8 Enter the value of the Range → Timeout parameter to set the time value that a measured period
must not exceed.
9 Optionally, you can enable these functions:
Enable function (see page 137)
Procedure
Follow this procedure to configure a Period Meter type in Edge to Opposite mode:
Step Action
1 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.
2 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.
3 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.
4 Set the value of the General → PeriodMeter Mode parameter to Edge to Opposite.
5 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.
6 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).
7 Set the value of the Range → Resolution parameter.
Select the unit of measurement:
0.1 µs
1 µs (default value)
100 µs
1000 µs
8 Enter the value of the Range → Timeout parameter to set the time value that a measured period
must not exceed.
9 Optionally, you can enable these functions:
Enable function (see page 137)
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.
Step Description
1 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.
2 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.
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 Description
EXPERT_TIMEBASE To get or set the Resolution value of the HSC.
EXPERT_PERIODMETER_ To dynamically read or modify the time base.
RESOLUTION_TYPE For more information, refer to Type for period meter (see page 152).
Part VIII
Optional Functions
Optional Functions
Overview
This part provides information on optional functions for HSC.
Chapter 17
Comparison Function
Comparison Function
Overview
This chapter provides information on the comparison function for the HSC.
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.
The following example for Modulo loop with two thresholds shows comparison in the
HSCMain_M241 function block:
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.
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 Action
1 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.
2 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.
3 Set SuspendCompare to 0.
The new threshold values are applied and the comparison is resumed.
Configuration Procedure
Follow this procedure to configure the comparison function on a Main type:
Step Action
1 In the Devices tree, double-click MyController → Counters.
2 Set the value of the Counting function parameter to HSC Main Single Phase or HSC Main Dual
Phase.
3 In the Number of thresholds parameter, select the number of thresholds to use.
4 Set the value of each threshold.
NOTE: Follow this rule to configure the threshold values: TH0 < TH1 < TH2 < TH3
5 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.
Procedure
The following procedure describes how to configure an external event (see Modicon M241 Logic
Controller, Programming Guide) to activate a task:
Step Action
1 In the Applications tree tab, add a task.
2 Double-click the task node to associate it with to an external event.
3 In the Type dropdown menu, select External.
4 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:
NOTE: The Stop event is only available on HSC Main Single Phase, One-shot mode.
Chapter 18
Capture Function
Capture Function
Overview
This chapter provides information on capture function for HSC.
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)
Principle of a Capture
This graphic illustrates how the capture works in Modulo-loop mode:
Stage Action
1 When EN_Cap = 0, the function is not operational.
2 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.
3 Get the stored value using EXPERTGetCapturedValue (see page 156).
4 While Cap_Flag = 1, any new edge on the physical input CAP is ignored.
5 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.
Configuration Procedure
Follow this procedure to configure the capture function on a Main type:
Step Action
1 In the Devices tree, double-click MyController → Counters.
2 Set the value of the Counting function parameter to HSC Main Single Phase or HSC Main Dual
Phase.
3 Select a value for the Capture → CAP input → Location.
4 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).
5 Select a triggering mode for the Capture → Mode parameter:
Preset (see page 134) (default value)
CAP Rising
CAP Falling
CAP Both
Chapter 19
Preset and Enable Functions
Overview
This chapter provides information on preset and enable functions for an HSC.
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:
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).
Configuration
This procedure describes how to configure a preset function:
Step Action
1 In the Devices tree, double-click MyController → Counters.
2 Set the value of the Counting function parameter to HSC Main Single Phase or HSC Main Dual
Phase.
3 Select the value of the Control inputs → SYNC input → Location parameter.
4 Select the value of the Control inputs → SYNC input → Bounce filter parameter.
5 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
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)
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:
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.
Configuration
This procedure describes how to configure an Enable function:
Step Action
1 In the Devices tree, double-click MyController → Counters.
2 Select the Counters tab.
3 Select a Counting function that supports the Enable function:
HSC Main Single Phase (One-shot or Modulo-loop)
Frequency Meter
Period Meter
EIO0000003071 12/2019
Appendices
Overview
This appendix extracts parts of the programming guide for technical understanding of the library
documentation.
Appendix A
General Information
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 Maximum Counter Frequency
Expert Regular
A 0.000 200 kHz 1 kHz
B
0.001 200 kHz 1 kHz
0.002 200 kHz 1 kHz
0.005 100 kHz 1 kHz
0.01 50 kHz 1 kHz
0.05 25 kHz 1 kHz
0.1 5 kHz 1 kHz
0.5 1 kHz 1 kHz
1 500 Hz 500 Hz
5 100 Hz 100 Hz
A is the counting input of the counter.
B is the counting input of the dual phase counter.
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.
Appendix B
Data Types
Data Types
Overview
This chapter describes the data types of the HSC Library.
Name Value
EXPERT_FREQMETER_10ms 10
EXPERT_FREQMETER_100ms 100
EXPERT_FREQMETER_1000ms 1000
Name Value
EXPERT_HSCMAIN_100ms 00 hex
EXPERT_HSCMAIN_1s 01 hex
EXPERT_HSCMAIN_10s 02 hex
EXPERT_HSCMAIN_60s 03 hex
Name Value
EXPERT_PERIODMETER_100ns FFFFFFFF hex (-1 decimal)
EXPERT_PERIODMETER_1µs 00 hex (0 decimal)
EXPERT_PERIODMETER_100µs 01 hex (1 decimal)
EXPERT_PERIODMETER_1000µs 02 hex (2 decimal)
Appendix C
Function Blocks
Function Blocks
Overview
This chapter describes the functions and the function blocks of the HSC Library.
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).
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).
Step Description
1 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.
2 Link the EXPERT_REF_IN input to the HSC_REF output of the 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).
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:
Step Description
1 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.
2 Link the EXPERT_REF_IN input to the HSC_REF output of the 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).
Step Description
1 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.
2 Link the EXPERT_REF_IN input to the HSC_REF output of the 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).
NOTE: For more information about Done, Busy and Execution pins, refer to General Information
on Function Block Management (see page 143).
Step Description
1 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.
2 Link the EXPERT_REF_IN input to the HSC_REF output of the 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).
NOTE: For more information about Done, Busy, and Execution pins, refer to General
Information on Function Block Management (see page 143).
Step Description
1 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.
2 Link the EXPERT_REF_IN input to the HSC_REF output of the HSC.
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).
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).
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).
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.
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.
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:
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.
Step Action
1 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).
2 Create the variables that the function requires.
3 If the function has 1 or more inputs, start loading the first input using LD instruction.
4 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).
5 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.
6 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:
IL example of a function
with input parameters:
SetRTCDrift
Step Action
1 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).
2 Create the variables that the function block requires, including the instance name.
Step Action
3 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.
4 In the CAL right-side field, replace ??? with the instance name.
5 Replace other ??? with an appropriate variable or immediate value.
To illustrate the procedure, consider this example with the TON Function Block graphically
presented below:
In IL language, the function block name is used directly in the operator column:
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.
Step Action
1 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).
2 Create the variables that the function requires.
3 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:
Step Action
1 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).
2 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
3 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:
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.
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.
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.
Index
B Error
handling a detected error, 143
Busy
management of status variables, 143
management of status variables, 143
Event Counting
HSC Modes of Embedded HSC, 85
C Execute
management of status variables, 143
Capture EXPERT_DIAG_TYPE
HSCMain, 130 data types, 146
capture register of HSC EXPERT_ERR_TYPE, 147
EXPERTGetCapturedValue, 156 EXPERT_FREQMETER_TIMEBASE_TYPE
CommandAborted data types, 148
management of status variables, 143 EXPERT_HSCMAIN_TIMEBASE_TYPE
Comparison data types, 149
HSCMain, 120 EXPERT_IMMEDIATE_ERR_TYPE, 150
EXPERT_PARAMETER_TYPE, 151
EXPERT_PERIODMETER_RESOLUTION_-
D TYPE
data types data types, 152
EXPERT_DIAG_TYPE, 146 EXPERTGetCapturedValue
EXPERT_ERR_TYPE, 147 getting a capture register value, 156
EXPERT_FREQMETER_TIMEBASE_- EXPERTGetDiag
TYPE, 148 getting the detected error on EXPERT I/O
EXPERT_HSCMAIN_TIMEBASE_TYPE, function, 158
149 EXPERTGetImmediateValue
EXPERT_IMMEDIATE_ERR_TYPE, 150 getting the counter value of an HSC, 160
EXPERT_PARAMETER_TYPE, 151 EXPERTGetParam
EXPERT_PERIODMETER_RESOLU- getting parameters values of an HSC, 162
TION_TYPE, 152 EXPERTSetParam
HSC_REF, 153 setting parameters values of an HSC, 164
dedicated features, 142
Done
management of status variables, 143 F
Free-large
HSC Modes of Embedded HSC, 70
E frequency meter
Enable description, 97
authorize counting operation, 137 programming, 102
ErrID synopsis, 100
handling a detected error, 143 functions
management of status variables, 143 differences between a function and a
EIO0000003077 12/2019
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2 EIO0000003077 12/2019
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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Chapter 5 Data Unit Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
AXIS_REF_PTO Data Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
MC_BUFFER_MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
MC_DIRECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
PTO_HOMING_MODE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
PTO_PARAMETER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
PTO_ERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Chapter 6 Motion Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . 89
6.1 Operation Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Motion State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Buffer Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Timing Diagram Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
6.2 MC_Power_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
MC_Power_PTO: Manage the Power of the Axis State . . . . . . . . . . . . 106
6.3 MC_MoveVelocity_PTO Function Block. . . . . . . . . . . . . . . . . . . . . . . . 109
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
MC_MoveVelocity_PTO: Control the Speed of the Axis . . . . . . . . . . . 111
6.4 MC_MoveRelative_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . 115
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
MC_MoveRelative_PTO: Command Relative Axis Movement. . . . . . . 117
6.5 MC_MoveAbsolute_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . 122
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
MC_MoveAbsolute_PTO: Command Movement to Absolute Position. 124
6.6 MC_Home_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
MC_Home_PTO: Command the Axis to Move to a Reference Position 130
6.7 MC_SetPosition_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . 133
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
MC_SetPosition_PTO: Force the Reference Position of the Axis . . . . 135
6.8 MC_Stop_PTO Function Block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
MC_Stop_PTO: Command a Controlled Motion Stop . . . . . . . . . . . . . 138
6.9 MC_Halt_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
MC_Halt_PTO: Command a Controlled Motion Stop until the Velocity
equals Zero . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
4 EIO0000003077 12/2019
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
6 EIO0000003077 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.
EIO0000003077 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.
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 point-
of-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.
8 EIO0000003077 12/2019
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.
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.
EIO0000003077 12/2019 9
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.
10 EIO0000003077 12/2019
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
You can download these technical publications and other technical information from our website
at https://www.se.com/ww/en/download/ .
EIO0000003077 12/2019 11
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.
1For 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.
12 EIO0000003077 12/2019
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 Description
IEC 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.
ISO 13849-1:2015 Safety of machinery: Safety related parts of control systems.
General principles for design.
EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.
Part 1: General requirements and tests.
ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment and risk
reduction
EN 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part 1: General
requirements
ISO 14119:2013 Safety of machinery - Interlocking devices associated with guards - Principles
for design and selection
ISO 13850:2015 Safety of machinery - Emergency stop - Principles for design
IEC 62061:2015 Safety of machinery - Functional safety of safety-related electrical, electronic,
and electronic programmable control systems
IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: General requirements.
IEC 61508-2:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.
IEC 61508-3:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Software requirements.
IEC 61784-3:2016 Industrial communication networks - Profiles - Part 3: Functional safety
fieldbuses - General rules and profile definitions.
2006/42/EC Machinery Directive
2014/30/EU Electromagnetic Compatibility Directive
2014/35/EU Low Voltage Directive
EIO0000003077 12/2019 13
In addition, terms used in the present document may tangentially be used as they are derived from
other standards such as:
Standard Description
IEC 60034 series Rotating electrical machines
IEC 61800 series Adjustable speed electrical power drive systems
IEC 61158 series Digital data communications for measurement and control – Fieldbus for use in
industrial control systems
Finally, the term 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.
14 EIO0000003077 12/2019
Modicon M241 Logic Controller
Introduction
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Part I
Introduction
Introduction
Overview
This part provides an overview description, available modes, functionality and performances of the
different functions.
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Introduction
16 EIO0000003077 12/2019
Modicon M241 Logic Controller
EIO0000003077 12/2019
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)
EIO0000003077 12/2019 17
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).
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.
18 EIO0000003077 12/2019
Example configurations:
4 PTO
(2) + 14 HSC Simple on 24 I/O controller references
Step Description
1 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.
EIO0000003077 12/2019 19
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.
20 EIO0000003077 12/2019
Embedded Expert I/O Assignment
I/O Assignment
The following regular or fast I/Os can be configured for use by expert functions:
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:
EIO0000003077 12/2019 21
Expert Function Name Input (Fast or Output (Fast or
Regular) Regular)
PTO Output A/CW/Pulse M
Output B/CCW/Dir C
REF (Origin) C
INDEX (Proximity) C
PROBE C
M Mandatory
C Optionally configurable
22 EIO0000003077 12/2019
I/O Summary
The IO Summary window displays the I/Os used by the expert functions.
To display the IO Summary window:
Step Action
1 In the Devices tree tab, right-click the MyController node and choose IO Summary.
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24 EIO0000003077 12/2019
Modicon M241 Logic Controller
Generalities
EIO0000003077 12/2019
Chapter 2
Generalities
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.
EIO0000003077 12/2019 25
Generalities
26 EIO0000003077 12/2019
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 Maximum Counter Frequency
Expert Regular
A 0.000 200 kHz 1 kHz
B
0.001 200 kHz 1 kHz
0.002 200 kHz 1 kHz
0.005 100 kHz 1 kHz
0.01 50 kHz 1 kHz
0.05 25 kHz 1 kHz
0.1 5 kHz 1 kHz
0.5 1 kHz 1 kHz
1 500 Hz 500 Hz
5 100 Hz 100 Hz
A is the counting input of the counter.
B is the counting input of the dual phase counter.
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
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
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Part II
Pulse Train Output (PTO)
Overview
This part describes the Pulse Train Output function.
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PTO
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Modicon M241 Logic Controller
PTO - Overview
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Chapter 3
Overview
Overview
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
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 - Overview
PTO Characteristics
The PTO function has the following characteristics:
Characteristic Value
Number of channels 4
Number of axes 1 per channel
Position range -2,147,483,648...2,147,483,647 (32 bits)
Minimum velocity 1 Hz
Maximum velocity For a 40/60 duty cycle and max. 200 mA:
Fast outputs (Q0...Q3): 100 kHz
Regular outputs (Q4...Q7): 1 kHz
Minimum step 1 Hz
Acceleration / deceleration min 1 Hz/ms
Acceleration / deceleration max 100,000 Hz/ms
Start move IEC 300 µs + 1 pulse output time
Start move on probe event
Change move parameter
Accuracy on velocity 0.5 %
Accuracy in position Depends on the pulse output time
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PTO - Overview
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Modicon M241 Logic Controller
Configuration
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Chapter 4
Configuration
Configuration
Overview
This chapter describes how to configure a PTO channel and the associated parameters.
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Configuration
Section 4.1
Configuration
Configuration
Overview
This section describes how to configure a PTO channel and the associated parameters.
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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.
The other output, DriveEnable, is used through the MC_Power_PTO function block.
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Configuration
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Configuration
The table describes each parameter available when the channel is configured in PTO mode:
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Configuration
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Configuration
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Configuration
Overview
There are four possible output modes:
A ClockWise / B CounterClockwise
A Pulse
A Pulse / B direction
Quadrature
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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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
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
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.
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
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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:
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Configuration
This example illustrates a move of pre-programmed distance, with simple profile and no enable
window:
This example illustrates a move of pre-programmed distance, with complex profile and enable
window:
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Configuration
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Configuration
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.
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_WriteParame-
ter_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
Section 4.2
Home Modes
Home Modes
Overview
This section describes the PTO home modes.
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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:
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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:
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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Configuration
Long Reference
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Configuration
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Configuration
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Configuration
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Configuration
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Configuration
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Configuration
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Configuration
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Configuration
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Configuration
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Configuration
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Configuration
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Configuration
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Configuration
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Configuration
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Configuration
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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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Configuration
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Modicon M241 Logic Controller
Data Unit Types
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Chapter 5
Data Unit Types
Overview
This chapter describes the data unit types of the M241 PTO Library.
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Data Unit Types
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Data Unit Types
MC_BUFFER_MODE
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Data Unit Types
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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Data Unit Types
MC_DIRECTION
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Data Unit Types
PTO_HOMING_MODE
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Data Unit Types
PTO_PARAMETER
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Data Unit Types
PTO_ERROR
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Data Unit Types
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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Modicon M241 Logic Controller
Motion Function Blocks
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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.
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Motion Function Blocks
Section 6.1
Operation Modes
Operation Modes
Overview
This section describes the operation modes.
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Motion Function Blocks
State Diagram
The axis is always in one of the defined states in this diagram:
State Description
Disabled Initial state of the axis, no motion command is allowed. The axis is not homed.
Standstill Power is on, there is no error detected, and there are no motion commands active on
the axis. Motion command is allowed.
ErrorStop 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.
Homing Applicable when MC_Home_PTO controls the axis.
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Motion Function Blocks
State Description
Discrete Applicable when MC_MoveRelative_PTO, MC_MoveAbsolute_PTO, or
MC_Halt_PTO controls the axis.
Continuous Applicable when MC_MoveVelocity_PTO controls the axis.
Stopping 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.
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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Motion Function Blocks
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).
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Motion Function Blocks
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.
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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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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.
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.
Section 6.2
MC_Power_PTO Function Block
Overview
This section describes the MC_Power_PTO function block.
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.
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:
(1) DriveReady, LimP, and LimN are read at the task cycle time.
Output Variables
This table describes the output variables:
Section 6.3
MC_MoveVelocity_PTO Function Block
Overview
This section describes the MC_MoveVelocity_PTO function block.
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.
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:
Output Variables
This table describes the output variables:
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.
The diagram illustrates a complex profile from Continuous state with change of direction:
Section 6.4
MC_MoveRelative_PTO Function Block
Overview
This section describes the MC_MoveRelative_PTO function block.
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.
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:
Output Variables
This table describes the output variables:
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.
The diagram illustrates a complex profile from Continuous state with change of direction:
The diagram illustrates a complex profile from Discrete state with change of direction:
Section 6.5
MC_MoveAbsolute_PTO Function Block
Overview
This section describes the MC_MoveAbsolute_PTO function block.
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).
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:
Output Variables
This table describes the output variables:
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.
The diagram illustrates a complex profile from Discrete state with change of direction:
Section 6.6
MC_Home_PTO Function Block
Overview
This section describes the MC_Home_PTO function block.
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.
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:
Output Variables
This table describes the output variables:
NOTE: The acceleration/deceleration duration of the segment block must not exceed 80 seconds.
Section 6.7
MC_SetPosition_PTO Function Block
Overview
This section describes the MC_SetPosition_PTO function block.
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.
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:
Output Variables
This table describes the output variables:
Section 6.8
MC_Stop_PTO Function Block
Overview
This section describes the MC_Stop_PTO function block.
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.
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:
Output Variables
This table describes the output variables:
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.
Section 6.9
MC_Halt_PTO Function Block
Overview
This section describes the MC_Halt_PTO function block.
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.
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:
Output Variables
This table describes the output variables:
Section 6.10
Adding a Motion Function Block
Procedure
Follow these steps to add and create the instance of a motion function block:
Step Action
1 Add a POU (see EcoStruxure Machine Expert, Programming Guide) in the Applications tree.
2 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.
3 Create the function block instance by clicking:
4 Associate the input/output variables (see page 89) of the function block.
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).
Section 7.1
Status Function Blocks
Overview
This section describes the status function blocks.
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:
Output Variables
This table describes the output variables:
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:
Output Variables
This table describes the output variables:
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:
Output Variables
This table describes the output variables:
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:
Output Variables
This table describes the output variables:
Section 7.2
Parameters Function Blocks
Overview
This section describes the parameters function blocks.
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:
Output Variables
This table describes the output variables:
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:
Output Variables
This table describes the output variables:
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:
Output Variables
This table describes the output variables:
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:
Output Variables
This table describes the output variables:
Section 7.3
Probe Function Blocks
Overview
This section describes the probe function blocks.
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:
Output Variables
This table describes the output variables:
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.
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:
Output Variables
This table describes the output variables:
Section 7.4
Error Handling Function Blocks
Overview
This section describes the error handling function blocks.
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:
Output Variables
This table describes the output variables:
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:
Output Variables
This table describes the output variables:
Section 7.5
Adding an Administrative Function Block
Procedure
Follow these steps to add and create the instance of an administrative function block:
Step Action
1 Add a POU (see EcoStruxure Machine Expert, Programming Guide) in the Applications tree.
2 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.
3 Create the function block instance by clicking:
4 Associate the input/output variables (see page 147) of the function block.
Part III
Pulse Width Modulation (PWM)
Overview
This part describes the Pulse Width Modulation function.
Chapter 8
Introduction
Introduction
Overview
This chapter provides a description of the PWM functions.
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.
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 Description
SYNC Synchronization function (see page 181).
EN Enable function (see page 181).
IN_SYNC Physical input dedicated to the SYNC function.
IN_EN Physical input dedicated to the EN function.
OUT_PWM Physical output dedicated to the FreqGen or PWM.
Introduction
This section presents the functions used by the FreqGen/PWM:
Synchronization function
Enable function
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:
Chapter 9
Configuration and Programming
Overview
This chapter provides configuration and programming guidelines for using PWM functions.
Configuration
Overview
Four pulse width modulation functions can be configured on the controller.
Step Action
1 Double-click the Pulse Generators node of your controller in the Devices Tree.
2 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:
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:
Output Variables
This table describes the output variables:
NOTE: When the required frequency cannot be reached for any reason, the InFrequency output
is not set to TRUE, but Error stays to FALSE.
Procedure
Follow these steps to program a PWM function block:
Step Action
1 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.
2
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.
3 The inputs/outputs are detailed in the function block (see page 187).
Chapter 10
Data Types
Data Types
FREQGEN_PWM_ERR_TYPE
Part IV
Frequency Generator (FreqGen)
Overview
This part describes the Frequency Generator function.
Chapter 11
Introduction
Introduction
Overview
This chapter provides a description of the FreqGen functions.
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.
Description
FreqGen/PWM Naming Convention (see page 180)
Description
Synchronization and Enable Functions (see page 181)
Chapter 12
Configuration and Programming
Overview
This chapter provides configuration and programming guidelines for using FreqGen functions.
Configuration
Overview
Up to 4 frequency generator functions can be configured on the controller.
Step Action
1 Double-click the Pulse Generators node of your controller in the Devices Tree.
2 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:
Overview
The Frequency Generator function block commands a square wave signal output at the
specified frequency.
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:
Output Variables
This table describes the output variables:
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.
Programming
Procedure
Follow these steps to program a Frequency Generator function block:
Step Action
1 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.
2
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.
3 The inputs/outputs are detailed in the function block (see page 203).
EIO0000003077 12/2019
Appendices
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.
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.
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:
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.
Step Action
1 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).
2 Create the variables that the function requires.
3 If the function has 1 or more inputs, start loading the first input using LD instruction.
4 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).
5 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.
6 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:
IL example of a function
with input parameters:
SetRTCDrift
Step Action
1 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).
2 Create the variables that the function block requires, including the instance name.
3 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.
4 In the CAL right-side field, replace ??? with the instance name.
5 Replace other ??? with an appropriate variable or immediate value.
To illustrate the procedure, consider this example with the TON Function Block graphically
presented below:
In IL language, the function block name is used directly in the operator column:
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.
Step Action
1 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).
2 Create the variables that the function requires.
3 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:
Step Action
1 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).
2 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
3 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:
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.
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.
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.
Index
A E
acceleration ramp, 44 error handling
axis ErrID, 28
MC_AbortTrigger_PTO, 169 Error, 28
MC_Halt_PTO, 143
MC_Home_PTO, 130
MC_MoveAbsolute_PTO, 124 F
MC_MoveRelative_PTO, 117 FreqGen
MC_MoveVelocity_PTO, 111 FrequencyGenerator_M241, 203
MC_Power_PTO, 106 programming FrequencyGenera-
MC_ReadActualPosition_PTO, 151 tor_M241, 205
MC_ReadActualVelocity_PTO, 149 FREQGEN_PWM_ERR_TYPE, 191
MC_ReadAxisError_PTO, 171 frequency generator
MC_ReadBoolParameter_PTO, 162 configuration, 200
MC_ReadMotionState_PTO, 155 description, 196
MC_ReadParameter_PTO, 158 programming FrequencyGenera-
MC_ReadStatus_PTO, 153 tor_M241, 205
MC_Reset_PTO, 173 FrequencyGenerator_M241
MC_SetPosition_PTO, 135 commanding a square wave signal , 203
MC_Stop_PTO, 138 programming, 205
MC_TouchProbe_PTO, 167 function blocks
MC_WriteBoolParameter_PTO, 164 FrequencyGenerator_M241, 203
MC_WriteParameter_PTO, 160 PWM_M241, 187
AXIS_REF_PTO, 80 functionalities
PTO, 31
functions
D differences between a function and a
data unit types function block, 210
AXIS_REF_PTO, 80 enable, 181
FREQGEN_PWM_ERR_TYPE, 191 how to use a function or a function block
MC_BUFFER_MODE, 81 in IL language, 211
MC_DIRECTION, 83 how to use a function or a function block
PTO_ERROR, 86 in ST language, 215
PTO_HOMING_MODE, 84 synchronization, 181
PTO_PARAMETER, 85
deceleration ramp, 44
dedicated features, 27 J
JerkRatio, 44
M MC_MoveAbsolute_PTO
commanding the axis to absolute position,
M241 PTOPWM
124
FrequencyGenerator_M241, 203
MC_MoveRelative_PTO
MC_AbortTrigger_PTO, 169
commanding the relative axis movement,
MC_Halt_PTO, 143
117
MC_Home_PTO, 130
MC_MoveVelocity_PTO
MC_MoveAbsolute_PTO, 124
controlling the speed of the axis, 111
MC_MoveRelative_PTO, 117
MC_Power_PTO
MC_MoveVelocity_PTO, 111
managing the power of the axis state, 106
MC_Power_PTO, 106
MC_ReadActualPosition_PTO
MC_ReadActualPosition_PTO, 151
getting the position of the axis, 151
MC_ReadActualVelocity_PTO, 149
MC_ReadActualVelocity_PTO
MC_ReadAxisError_PTO, 171
getting the velocity of the axis, 149
MC_ReadBoolParameter_PTO, 162
MC_ReadAxisError_PTO
MC_ReadMotionState_PTO, 155
getting the axis control error, 171
MC_ReadParameter_PTO, 158
MC_ReadBoolParameter_PTO
MC_ReadStatus_PTO, 153
getting boolean parameters from the
MC_Reset_PTO, 173
PTO, 162
MC_SetPosition_PTO, 135
MC_ReadMotionState_PTO
MC_Stop_PTO, 138
getting the motion status of the axis, 155
MC_TouchProbe_PTO, 167
MC_ReadParameter_PTO
MC_WriteBoolParameter_PTO, 164
getting parameters from the PTO, 158
MC_WriteParameter_PTO, 160
MC_ReadStatus_PTO
programming FrequencyGenera-
getting the motion status of the axis, 153
tor_M241, 205
MC_Reset_PTO
programming PWM_M241, 189
resetting axis-related errors, 173
management of status variables
MC_SetPosition_PTO
Busy, 28
forcing the reference position of the axis,
CommandAborted, 28
135
Done, 28
MC_Stop_PTO
ErrID, 28
commanding a controlled motion stop,
Error, 28
138
Execute, 28
MC_TouchProbe_PTO
MC_AbortTrigger_PTO
activating a trigger event on the PTO
aborting or deactivating PTO function
probe input, 167
blocks, 169
MC_WriteBoolParameter_PTO
MC_BUFFER_MODE, 81
setting boolean parameters to the PTO,
MC_DIRECTION, 83
164
MC_Halt_PTO
MC_WriteParameter_PTO
commanding a controlled PTO motion
setting parameters to the PTO, 160
halt, 143
MC_Home_PTO
commanding the axis to move to a refer-
ence position, 130
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
EIO0000003083 12/2019
www.schneider-electric.com
The information provided in this documentation contains general descriptions and/or technical
characteristics of the performance of the products contained herein. This documentation is not
intended as a substitute for and is not to be used for determining suitability or reliability of these
products for specific user applications. It is the duty of any such user or integrator to perform the
appropriate and complete risk analysis, evaluation and testing of the products with respect to the
relevant specific application or use thereof. Neither Schneider Electric nor any of its affiliates or
subsidiaries shall be responsible or liable for misuse of the information contained herein. If you
have any suggestions for improvements or amendments or have found errors in this publication,
please notify us.
You agree not to reproduce, other than for your own personal, noncommercial use, all or part of
this document on any medium whatsoever without permission of Schneider Electric, given in
writing. You also agree not to establish any hypertext links to this document or its content.
Schneider Electric does not grant any right or license for the personal and noncommercial use of
the document or its content, except for a non-exclusive license to consult it on an "as is" basis, at
your own risk. All other rights are reserved.
All pertinent state, regional, and local safety regulations must be observed when installing and
using this product. For reasons of safety and to help ensure compliance with documented system
data, only the manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant
instructions must be followed.
Failure to use Schneider Electric software or approved software with our hardware products may
result in injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 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
EIO0000003083 12/2019 3
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 EIO0000003083 12/2019
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
EIO0000003083 12/2019 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.
EIO0000003083 12/2019 9
Related Documents
10 EIO0000003083 12/2019
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
EIO0000003083 12/2019 11
You can download these technical publications and other technical information from our website
at https://www.se.com/ww/en/download/ .
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.
12 EIO0000003083 12/2019
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.
1For 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.
Standard Description
IEC 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.
ISO 13849-1:2015 Safety of machinery: Safety related parts of control systems.
General principles for design.
EIO0000003083 12/2019 13
Standard Description
EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.
Part 1: General requirements and tests.
ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment and risk
reduction
EN 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part 1: General
requirements
ISO 14119:2013 Safety of machinery - Interlocking devices associated with guards - Principles
for design and selection
ISO 13850:2015 Safety of machinery - Emergency stop - Principles for design
IEC 62061:2015 Safety of machinery - Functional safety of safety-related electrical, electronic,
and electronic programmable control systems
IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: General requirements.
IEC 61508-2:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.
IEC 61508-3:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Software requirements.
IEC 61784-3:2016 Industrial communication networks - Profiles - Part 3: Functional safety
fieldbuses - General rules and profile definitions.
2006/42/EC Machinery Directive
2014/30/EU Electromagnetic Compatibility Directive
2014/35/EU Low Voltage Directive
In addition, terms used in the present document may tangentially be used as they are derived from
other standards such as:
Standard Description
IEC 60034 series Rotating electrical machines
IEC 61800 series Adjustable speed electrical power drive systems
IEC 61158 series Digital data communications for measurement and control – Fieldbus for use in
industrial control systems
Finally, the term 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.
14 EIO0000003083 12/2019
Modicon M241 Logic Controller
Modicon M241 Logic Controller Introduction
EIO0000003083 12/2019
Part I
Modicon M241 Logic Controller Introduction
EIO0000003083 12/2019 15
Modicon M241 Logic Controller Introduction
16 EIO0000003083 12/2019
Modicon M241 Logic Controller
M241 General Overview
EIO0000003083 12/2019
Chapter 1
M241 General Overview
Overview
This chapter provides general information about the M241 Logic Controller system architecture
and its components.
EIO0000003083 12/2019 17
M241 General Overview
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).
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.
18 EIO0000003083 12/2019
M241 General Overview
Memory
This table describes the different types of memory:
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
EIO0000003083 12/2019 19
M241 General Overview
Reference Digital Inputs Digital Outputs Communication Terminal Type Power supply
Ports
TM241C24R 6 regular inputs(1) 6 2A relay outputs 2 serial line ports Removable 100...240 Vac
(see page 107) 8 fast inputs 4 source fast outputs 1 USB programming screw terminal
(counters)(2) (pulse generators)(3) port blocks
TM241CE24R 6 regular inputs(1) 6 2A relay outputs 2 serial line ports Removable 100...240 Vac
(see page 191) 8 fast inputs 4 source fast outputs 1 USB programming screw terminal
(counters)(2) (pulse generators)(3) port blocks
1 Ethernet port
TM241CEC24R 6 regular inputs(1) 6 2A relay outputs 2 serial line ports Removable 100...240 Vac
(see page 119)
8 fast inputs 4 source fast outputs 1 Ethernet port screw terminal
(counters)(2) (pulse generators)(3) 1 CANopen master blocks
port
1 USB programming
port
TM241C24T 6 regular inputs(1) Source outputs 2 serial line ports Removable 24 Vdc
(see page 125) 8 fast inputs 6 regular transistor 1 USB programming screw terminal
(counters)(2) outputs port blocks
4 fast outputs
(pulse generators)(3)
TM241CE24T 6 regular inputs(1) Source outputs 2 serial line ports Removable 24 Vdc
(see page 131) 8 fast inputs 6 regular transistor 1 USB programming screw terminal
(counters)(2) outputs port blocks
4 fast outputs 1 Ethernet port
(pulse generators)(3)
TM241CEC24T 6 regular inputs(1) Source outputs 2 serial line ports Removable 24 Vdc
(see page 137)
8 fast inputs 6 regular transistor 1 USB programming screw terminal
(counters)(2) outputs port blocks
4 fast outputs 1 Ethernet port
(pulse generators)(3) 1 CANopen master
port
TM241C24U 6 regular inputs(1) Sink outputs 2 serial line ports Removable 24 Vdc
(see page 143) 8 fast inputs 6 regular transistor 1 USB programming screw terminal
(counters)(2) outputs port blocks
4 fast outputs
(pulse generators)(3)
(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 EIO0000003083 12/2019
M241 General Overview
Reference Digital Inputs Digital Outputs Communication Terminal Type Power supply
Ports
TM241CE24U 6 regular inputs(1) Sink outputs 2 serial line ports Removable 24 Vdc
(see page 149) 8 fast inputs 6 regular transistor 1 USB programming screw terminal
(counters)(2) outputs port blocks
4 fast outputs 1 Ethernet port
(pulse generators)(3)
TM241CEC24U 6 regular inputs(1) Sink outputs 2 serial line ports Removable 24 Vdc
(see page 155)
8 fast inputs 6 regular transistor 1 USB programming screw terminal
(counters)(2) outputs port blocks
4 fast outputs 1 Ethernet port
(pulse generators)(3) 1 CANopen master
port
TM241C40R 16 regular 12 2A relay outputs 2 serial line ports Removable 100...240 Vac
(see page 161) inputs(1) 4 source fast outputs 1 USB programming screw terminal
8 fast inputs (pulse generators)(3) port blocks
(counters)(2)
TM241CE40R 16 regular 12 2A relay outputs 2 serial line ports Removable 100...240 Vac
(see page 167) inputs(1) 4 source fast outputs 1 USB programming screw terminal
8 fast inputs (pulse generators)(3) port blocks
(counters)(2) 1 Ethernet port
EIO0000003083 12/2019 21
M241 General Overview
Reference Digital Inputs Digital Outputs Communication Terminal Type Power supply
Ports
TM241CE40U 16 regular Sink outputs 2 serial line ports Removable 24 Vdc
(see page 191) inputs(1) 12 regular transistor 1 USB programming screw terminal
8 fast inputs outputs port blocks
(counters)(2) 4 fast outputs 1 Ethernet port
(pulse generators)(3)
(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:
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M241 General Overview
Introduction
The M241 Logic Controller is a control system that offers an all-in-one solution with optimized
configurations and an expandable architecture.
Application requirements determine the architecture of your M241 Logic Controller configuration.
The following figure represents the components of a local configuration:
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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:
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:
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M241 General Overview
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.
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M241 General Overview
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
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.
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M241 General Overview
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M241 General Overview
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M241 General Overview
30 EIO0000003083 12/2019
M241 General Overview
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)
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M241 General Overview
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M241 General Overview
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M241 General Overview
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M241 General Overview
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M241 General Overview
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M241 General Overview
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M241 General Overview
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M241 General Overview
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M241 General Overview
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.
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M241 General Overview
Introduction
The range of TM4 expansion modules includes communication modules.
For more information, refer to the TM4 Expansion Modules Hardware Guide.
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M241 General Overview
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.
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M241 General Overview
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.
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M241 General Overview
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.
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M241 General Overview
Accessories
Overview
This section describes the accessories and cables.
Accessories
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M241 General Overview
Cables
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Modicon M241 Logic Controller
M241 Features
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Chapter 2
M241 Features
M241 Features
Overview
This chapter describes the Modicon M241 Logic Controller features.
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M241 Features
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:
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 Description
Use In the event of a transient power outage, the battery powers the RTC.
Backup life At least 2 years at 25 °C maximum (77 °F). At higher temperatures, the time
is reduced.
Battery monitoring Yes
Replaceable Yes
Controller battery type Lithium carbon monofluoride, type Panasonic BR2032
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M241 Features
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.
Step Action
1 Remove power from your controller.
2 Use an insulated screw-driver to pull out the battery holder.
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M241 Features
Step Action
3 Slide out the battery holder of the controller.
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 Action
6 Replace the battery holder on the controller and verify that the latch clicks into place.
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.
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M241 Features
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.
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M241 Features
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
Fast
output Q2 X Reflex output 0 or 1 Output A Output A Output A or B
Q3 X Reflex output 0 or 1 Output A Output A Output A or B
Q4 X Reflex output 0 or 1 Output A Output A Output A or B
TM241C•40T / TM241C•40U
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M241 Features
The following table shows the possible usage of the M241 Logic Controller on references with relay
outputs:
Q4 X Reflex output 0 or 1 – – –
Q5 X Reflex output 0 or 1 – – –
Q6 X Reflex output 0 or 1 – – –
TM241C•40R
Q7 X Reflex output 0 or 1 – – –
Q8 X – – – –
Regular Q9 X – – – –
output Q10 X – – – –
Q11 X – – – –
Q12 X – – – –
Q13 X – – – –
Q14 X – – – –
Q15 X – – – –
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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 Transistor outputs automatically go into over-current
outputs protection or thermal protection mode.
For more information, refer to transistor output wiring
diagrams.
If you have short-circuit at 24 V on transistor Transistor outputs automatically go into over-current
outputs 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... then...
If you have short-circuit at 0 V on transistor outputs Transistor outputs automatically go into thermal
protection mode.
For more information, refer to transistor output wiring
diagrams.
If you have short-circuit at 24 V on transistor outputs No action is taken and no error is detectable. A short-
circuit 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
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 overloads or short-circuits on sink transistor
outputs from Q4 to Q15:
If... then...
If you have short-circuit at 0 V on transistor outputs no action is taken and no error is detectable. A short-
circuit or undervoltage less than 0 V may result in
equipment damage.
If you have short-circuit at 24 V on transistor outputs Transistor outputs automatically go into thermal
protection mode.
For more information, refer to transistor output wiring
diagrams.
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M241 Features
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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M241 Features
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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M241 Features
The interaction of the 2 external operators on the controller state behavior is summarized in the
table below:
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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M241 Features
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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M241 Features
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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M241 Features
Step Action
1 Insert the SD card into the SD card slot:
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M241 Features
TMASD1 Characteristics
Characteristics Description
Card removal durability Minimum 1000 times
File retention time 10 years @ 25 °C (77 °F)
Flash type SLC NAND
Memory size 256 MB
Ambient operation temperature –10 … +85°C (14...185 °F)
Storage temperature –25 … +85°C (–13...185 °F)
Relative humidity 95% max. non-condensing
Write/Erase cycles 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:
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Modicon M241 Logic Controller
M241 Installation
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Chapter 3
M241 Installation
M241 Installation
Overview
This chapter provides installation safety guidelines, device dimensions, mounting instructions, and
environmental specifications.
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M241 Installation
Section 3.1
M241 Logic Controller General Rules for Implementing
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M241 Installation
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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M241 Installation
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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M241 Installation
Electromagnetic Susceptibility
The M241 Logic Controller system meets electromagnetic susceptibility specifications as indicated
in the following table:
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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M241 Installation
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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M241 Installation
Section 3.2
M241 Logic Controller Installation
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M241 Installation
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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M241 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.
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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M241 Installation
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 Installation
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).
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M241 Installation
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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M241 Installation
The following figure shows the minimum clearances that apply to all M241 Logic Controller
references:
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M241 Installation
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M241 Installation
The following illustration and table show the references of the symmetric top hat section rails (DIN
rail) for the metal enclosure range:
The following illustration and table shows the references of the symmetric top hat section rails (DIN
rail) of 2000 mm (78.74 in.):
NSYSDR200D2 A
1 Unperforated galvanized steel
2 Perforated galvanized steel
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M241 Installation
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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M241 Installation
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M241 Installation
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).
Step Action
1 Fasten the top hat section rail (DIN rail) to a panel surface using screws.
2 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
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M241 Installation
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 Action
1 Remove all power from your controller and expansion modules.
2 Insert a flat screwdriver into the slot of the top hat section rail (DIN rail) clip.
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M241 Installation
The following diagram shows the mounting hole layout for M241 Logic Controller with 40 I/O
channels:
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M241 Installation
Section 3.3
M241 Electrical Requirements
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M241 Installation
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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M241 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 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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M241 Installation
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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Step Action
1 Remove power from your controller.
2 Pull down the protective cache:
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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 de-
energized. 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.
Protective circuit B: this protection circuit can be used for DC load power circuits.
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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M241 Installation
Overview
This section provides the characteristics and the wiring diagrams of the DC power supply.
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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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 character-
istics 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 Value
Rated voltage 24 Vdc
Power supply voltage range 20.4...28.8 Vdc
Power interruption time 1 ms at 24 Vdc
Maximum inrush current 50 A
Power consumption 32.6 W max. 40.4 W(1)
Isolation between DC power supply and internal Not isolated
logic
between DC power supply and protective 500 Vac
earth ground (PE)
(1) Controller + 7 TM3 expansion modules
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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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* 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
Overview
This section provides the wiring diagrams and the characteristics of the AC power supply.
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 Value
Voltage rated 100...240 Vac
limit (including ripple) 85...264 Vac
Frequency 50/60 Hz
Power interruption time at 100 Vac 10 ms
Maximum inrush current at 240 Vac 42.5 A
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M241 Installation
Characteristic Value
Typical power consumption at 100 Vac 78 VA
at 240 Vac 98.4 VA
Isolation 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.
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M241 Installation
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.
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.
Step Description
1 Strip the shielding for a length of
15 mm (0.59 in.)
NOTE: The shielding must be clamped securely to the conductive backplane to ensure a good
contact.
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.
NOTE: Use the TM2XMTGB Grounding Bar for Functional Ground (FE) connections.
Part II
Modicon M241 Logic Controller
Chapter 4
TM241C24R
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:
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) –
Status LEDs
The following figure shows the status LEDs:
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:
Chapter 5
TM241CE24R
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:
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) –
Status LEDs
The following figure shows the status LEDs:
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:
Chapter 6
TM241CEC24R
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:
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) –
Status LEDs
The following figure shows the status LEDs:
1For 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:
Chapter 7
TM241C24T
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:
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) –
Status LEDs
The following figure shows the status LEDs:
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:
Chapter 8
TM241CE24T
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:
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) –
Status LEDs
The following figure shows the status LEDs:
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:
Chapter 9
TM241CEC24T
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:
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) –
Status LEDs
The following figure shows the status LEDs:
1For 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:
Chapter 10
TM241C24U
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:
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) –
Status LEDs
The following figure shows the status LEDs:
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:
Chapter 11
TM241CE24U
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:
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) –
Status LEDs
The following figure shows the status LEDs:
1For 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:
Chapter 12
TM241CEC24U
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:
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) –
Status LEDs
The following figure shows the status LEDs:
1For 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:
Chapter 13
TM241C40R
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:
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) –
Status LEDs
The following figure shows the status LEDs:
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:
Chapter 14
TM241CE40R
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:
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) –
Status LEDs
The following figure shows the status LEDs:
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:
Chapter 15
TM241C40T
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:
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) –
Status LEDs
The following figure shows the status LEDs:
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:
Chapter 16
TM241CE40T
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:
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) –
Status LEDs
The following figure shows the status LEDs:
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:
Chapter 17
TM241C40U
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:
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) –
Status LEDs
The following figure shows the status LEDs:
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:
Chapter 18
TM241CE40U
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:
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) –
Status LEDs
The following figure shows the status LEDs:
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:
Chapter 19
Embedded I/O Channels
Overview
This chapter describes the embedded I/O channels.
Digital Inputs
Overview
The Modicon M241 Logic Controller has digital inputs embedded:
Reference Total number of Fast inputs which can Total number of Regular inputs which
digital inputs be used as 200 kHz regular inputs can be used as 1 kHz
HSC inputs HSC inputs
TM241C••24R 14 8 6 6
TM241C••24T
TM241C••24U
TM241C•40R 24 8 16 8
TM241C•40T
TM241C•40U
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.
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 kΩ
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)
Characteristic Values
TM241C••24• TM241C•40•
Turn on time 50 µs + filter value 1
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 kΩ
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 µs + filter value1
Turn off time 2 µs + 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)
Characteristic Value
HSC supported operation mode A/B phase counter
Pulse/Direction counter
Single/Dual phase counter
1
For more information, refer to Integrator Filter Principle (see page 53)
* Type T fuse
(1) The COM0, COM1 and COM2 terminals are not connected internally.
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.
* Type T fuse
(1) The COM0, COM1 and COM2 terminals are not connected internally.
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.
* Type T fuse
(1) The COM0, COM1 and COM2 terminals are not connected internally.
A Sink wiring (positive logic).
B Source wiring (negative logic).
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.
* Type T fuse
(1) The COM0, COM1 and COM2 terminals are not connected internally.
A Sink wiring (positive logic).
B Source wiring (negative logic).
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.
Relay Outputs
Overview
The Modicon M241 Logic Controller has digital outputs embedded:
Reference Total number of Fast transistor outputs Relay outputs Regular transistor
digital outputs (see page 219) (1) (see page 207) outputs
(see page 213)
TM241C••24R 10 4 6 0
TM241C••24T 10 4 0 6
TM241C••24U
TM241C•40R 16 4 12 0
TM241C•40T 16 4 0 12
TM241C•40U
(1)
Fast transistor outputs which can be used as 100 kHz PTO outputs
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.
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 Q4...Q7
1 common line for Q6, Q7 1 common line for Q8, Q9
1 line for Q8 1 common line for Q10, Q11
1 line for Q9 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.
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 mΩ 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 1500 Vac
groups
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.
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 24 Vdc 120 Vac 240 Vac Number of
operations
Power of resistive loads – 240 VA 480 VA 100,000
AC-12 80 VA 160 VA 300,000
Power of inductive loads – 60 VA 120 VA 100,000
AC-15 (cos ϕ = 0.35) 18 VA 36 VA 300,000
Power of inductive loads – 120 VA 240 VA 100,000
AC-14 (cos ϕ = 0.7) 36 VA 72 VA 300,000
Power of resistive loads 48 W – – 100,000
DC-12 16 W 300,000
Power of inductive loads 24 W – – 100,000
DC-13 L/R = 7 ms 7.2 W 300,000
* 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.
* 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.
Overview
The Modicon M241 Logic Controller has digital outputs embedded:
Reference Total number of Fast transistor outputs Relay outputs Regular transistor
digital outputs (see page 219) (1) (see page 207) outputs
(see page 213)
TM241C••24R 10 4 6 0
TM241C••24T 10 4 0 6
TM241C••24U
TM241C•40R 16 4 12 0
TM241C•40T 16 4 0 12
TM241C•40U
(1)
Fast transistor outputs which can be used as 100 kHz PTO outputs
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.
* 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.
* 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.
* 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.
* 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.
Overview
The Modicon M241 Logic Controller has digital outputs embedded:
Reference Total number of Fast transistor outputs Relay outputs Regular transistor
digital outputs (see page 219) (1) (see page 207) outputs
(see page 213)
TM241C••24R 10 4 6 0
TM241C••24T 10 4 0 6
TM241C••24U
TM241C•40R 16 4 12 0
TM241C•40T 16 4 0 12
TM241C•40U
(1)
Fast transistor outputs which can be used as 100 kHz PTO outputs
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.
Characteristic Value
TM241C•••R TM241C•••T TM241C•••U
Number of fast transistor outputs 4 outputs 4 outputs (Q0...Q3)
(TR0...TR3)
Number of channel groups 1 common line for 1 common line for Q0...Q3
TR0...TR3
Output type Transistor
Logic type Source Source Sink
Rated output voltage 24 Vdc
Output voltage range 19.2...28.8 Vdc
Rated output current 0.1 A when configured for a fast function
0.5 A when used as a regular output
Leakage current Source ≤ 0.3 mA
Sink ≤ 2 mA
Total output current per group 2A
Characteristic Value
TM241C•••R TM241C•••T TM241C•••U
Maximum power of filament lamp 2.4 W max
Derating No Derating
Turn on time Max. 2 µs
Turn off time Max. 2 µs
Protection against short circuit Yes
Short circuit output peak current 1.3 A max.
Automatic rearming after short circuit or overload Yes, 12 s
Protection against reverse polarity Yes
Clamping voltage Typically 39 Vdc +/- 1 Vdc
Maximum output frequency PTO 100 kHz
PWM 20 kHz
PWM mode duty rate step 0.1% at 20...1 kHz
Duty rate range 1...99 %
Isolation Between output 500 Vac
and internal logic
Between channel 500 Vac
groups
Connection type Removable screw terminal block
Connector insertion/removal durability Over 100 times
Cable Type Shielded, including 24 Vdc power supply
Length Maximum 3 m (9.84 ft)
* 2 A fast-blow fuse
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.
* 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.
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.
* 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.
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.
Part III
Modicon M241 Logic Controller Communication
Chapter 20
Integrated Communication Ports
CAN Port
CANopen Capabilities
The Modicon M241 Logic Controller CANopen master has the following features:
Feature Description
Maximum number of slaves on the bus 63 CANopen slave devices
Maximum length of CANopen fieldbus cables According to the CAN specification (see Transmission
Speed and Cable Length (see page 231)).
Maximum number of PDOs managed by the master 252 TPDOs + 252 RPDOs
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.
J1939 Capabilities
The Modicon M241 Logic Controller J1939 master has the following features:
Feature Description
Maximum number of ECUs (slaves) on the Limited only by the address range of 0...253 for Electronic
bus Control Units (ECUs).
Maximum length of J1939 fieldbus cables 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.
Maximum number of PGNs managed by the Given implicitly by the maximum number of input bits (%I) and
master 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).
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.
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 Description
Function Modbus TCP/IP
Connector type RJ45
Auto negotiation from 10 M half duplex to 100 M full duplex
Cable type Shielded
Automatic cross-over Yes
detection
Pin Assignment
The following figure shows the RJ45 Ethernet connector pin assignment:
Pin N° Signal
1 TD+
2 TD-
3 RD+
4 -
5 -
6 RD-
7 -
8 -
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.
Status LED
The following figure shows the RJ45 connector status LED:
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:
Characteristics
This table describes the characteristics of the USB Mini-B programming port:
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 Description
Function RS485 or RS232 software configured
Connector type RJ45
Isolation Non-isolated
Maximum baud rate 1200 up to 115 200 bps
Cable 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)
Characteristic Description
Polarization Software configuration is used to connect when the
node is configured as a Master.
560 Ω resistors are optional.
5 Vdc power supply for RS485 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:
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:
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 Description
Function RS485
Connector type Removable screw terminal block
Isolation Non-isolated
Maximum baud rate 1200 up to 115 200 bps
Cable Type Shielded
Maximum length 15 m (49 ft) for RS485
Polarization Software configuration is used to connect
when the node is configured as a Master.
560 Ω resistors are optional.
5 Vdc power supply for RS485 No
Pin Assignment
The following figure shows the pins of the removable terminal block:
Pin RS485
COM 0 V com.
Shield Shield
D0 D0 (B-)
D1 D1 (A+)
Status LED
The following graphic show the status LED:
Chapter 21
Connecting the M241 Logic 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.
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.
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 Action
1 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.
2 Connect your USB cable to the computer.
3 Open the hinged access cover.
4 Connect the Mini connector of your USB cable to the controller USB connector.
Step Action
1 Connect the Ethernet cable to the PC.
2 Connect the Ethernet cable to the Ethernet port on the controller.
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).
D
DIN
(Deutsches Institut für 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
(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).
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.
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).
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).
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.
Index
Symbols E
Short-circuit or Over-current on Sink Transis- ECUs, max. number of J1939, 229
tor Outputs, 59 Electrical Requirements
Installation, 87
Electromagnetic Susceptibility, 71
A Environmental Characteristics, 69
accessories, 45
analog input modules
specifications, 35 F
analog mixed I/O modules fallback
specifications, 37 configuring modes, 57
analog output modules features
specifications, 36 key features, 18
fieldbus interface
specifications, 42
B Filter
bus coupler Bounce Filter, 53
specifications, 40
G
C Grounding, 100
CANopen communication, 228
certifications and standards, 72
communication I
CANopen, 228 inductive load, output protection
Communication Ports, 227 output protection, inductive load, 92
Ethernet Port, 232 Input Management, 52
Serial Line 1, 237 Installation, 67
Serial Line 2, 240 Electrical Requirements, 87
USB Programming Port, 235 installation
connections logic/motion controller installation, 73
to CANopen slaves, 228 intended use, 8
to J1939 ECUs, 229
J
D J1939
digital I/O modules capabilities, 229
specifications, 27, 28, 31, 32, 34
Digital I/O modules
Specifications, 28
L presentation
TM241C24R, 107
Latching, 54
TM241C24T, 125
logic/motion controller installation, 73
TM241C24U, 143
TM241C40R, 161
TM241C40T, 173
M TM241C40U, 185
M241 TM241CE24R, 113
TM241C24R, 107 TM241CE24T, 131
TM241C24T, 125 TM241CE24U, 149
TM241C24U, 143 TM241CE40R, 167
TM241C40R, 161 TM241CE40T, 179
TM241C40T, 173 TM241CE40U, 191
TM241C40U, 185 TM241CEC24R, 119
TM241CE24R, 113 TM241CEC24T, 137
TM241CE24T, 131 TM241CEC24U, 155
TM241CE24U, 149 programming languages
TM241CE40R, 167 IL, LD, Grafcet, 18
TM241CE40T, 179
TM241CE40U, 191
TM241CEC24R, 119 Q
TM241CEC24T, 137
qualification of personnel, 8
TM241CEC24U, 155
mounting positions, 77
R
N real time clock, 48
regular inputs, 31, 32, 34
notice
regular transistor outputs, 31, 32, 34
loss of application data, 63
relay outputs, 31, 32, 34
Run/Stop, 61
O
output management, 56 S
SD Card, 63
P Serial Line 1
Communication Ports, 237
PGNs, max. number of J1939, 229 Serial Line 2
Power Supply, 94, 98 Communication Ports, 240
short-circuit or over-current on relay outputs,
60
short-circuit or over-current on transistor out-
puts, 57
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
EIO0000003107 05/2019
Modicon TMC4
Cartridges
Programming Guide
05/2019
EIO0000003107.00
www.schneider-electric.com
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© 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
EIO0000003107 05/2019 7
Title of Documentation Reference Number
Modicon M241 Logic Controller - Hardware Guide 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
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 EIO0000003107 05/2019
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 Description
IEC 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.
ISO 13849-1:2015 Safety of machinery: Safety related parts of control systems.
General principles for design.
EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.
Part 1: General requirements and tests.
ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment and risk
reduction
EN 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part 1: General
requirements
ISO 14119:2013 Safety of machinery - Interlocking devices associated with guards - Principles
for design and selection
ISO 13850:2015 Safety of machinery - Emergency stop - Principles for design
IEC 62061:2015 Safety of machinery - Functional safety of safety-related electrical, electronic,
and electronic programmable control systems
IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: General requirements.
IEC 61508-2:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.
IEC 61508-3:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Software requirements.
IEC 61784-3:2016 Industrial communication networks - Profiles - Part 3: Functional safety
fieldbuses - General rules and profile definitions.
2006/42/EC Machinery Directive
2014/30/EU Electromagnetic Compatibility Directive
2014/35/EU Low Voltage Directive
EIO0000003107 05/2019 9
In addition, terms used in the present document may tangentially be used as they are derived from
other standards such as:
Standard Description
IEC 60034 series Rotating electrical machines
IEC 61800 series Adjustable speed electrical power drive systems
IEC 61158 series Digital data communications for measurement and control – Fieldbus for use in
industrial control systems
Finally, the term 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 EIO0000003107 05/2019
Modicon TMC4
Cartridge Configuration General Information
EIO0000003107 05/2019
Chapter 1
Cartridge Configuration General Information
Introduction
This chapter provides general information to help you configure TMC4 cartridges for EcoStruxure
Machine Expert.
EIO0000003107 05/2019 11
Cartridge Configuration General Information
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 EIO0000003107 05/2019
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
EIO0000003107 05/2019 13
Cartridge Configuration General Information
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)
14 EIO0000003107 05/2019
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.
EIO0000003107 05/2019 15
Cartridge Configuration General Information
Parameter Description
Variable 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.
Mapping Indicates whether the channel is mapped on a new variable or an existing variable.
16 EIO0000003107 05/2019
Cartridge Configuration General Information
Parameter Description
Channel Displays the channel name of the device.
Address 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.
Type Displays the data type of the channel.
Default Value 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.
Unit Displays the unit of the channel value.
Description Allows you to enter a short description of the channel.
EIO0000003107 05/2019 17
Cartridge Configuration General Information
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 Action
1 Copy the .bin file onto the SD card (see Modicon M241 Logic Controller, Programming Guide).
2 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.
3 Insert the SD card into the controller.
4 Restart the controller.
NOTE: The PWR LED of the cartridge is OFF to indicate that the firmware update is in progress.
5 Wait until the PWR LED of the cartridge is ON or flashing, indicating that the firmware update is
complete.
18 EIO0000003107 05/2019
Modicon TMC4
TMC4 Standard Cartridges
EIO0000003107 05/2019
Chapter 2
TMC4 Standard Cartridges
EIO0000003107 05/2019 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.
20 EIO0000003107 05/2019
TMC4 Standard Cartridges
For further generic descriptions, refer to I/O Mapping Tab Description (see page 15).
EIO0000003107 05/2019 21
TMC4 Standard Cartridges
22 EIO0000003107 05/2019
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).
EIO0000003107 05/2019 23
TMC4 Standard Cartridges
For further generic descriptions, refer to I/O Mapping Tab Description (see page 15).
24 EIO0000003107 05/2019
TMC4 Standard Cartridges
EIO0000003107 05/2019 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 EIO0000003107 05/2019
TMC4 Standard Cartridges
For further generic descriptions, refer to I/O Mapping Tab Description (see page 15).
EIO0000003107 05/2019 27
TMC4 Standard Cartridges
28 EIO0000003107 05/2019
Modicon TMC4
TMC4 Application Cartridges
EIO0000003107 05/2019
Chapter 3
TMC4 Application Cartridges
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
For further generic descriptions, refer to I/O Mapping Tab Description (see page 15).
EIO0000003107 05/2019 31
TMC4 Application Cartridges
32 EIO0000003107 05/2019
TMC4 Application Cartridges
TMC4PACK01
Introduction
The TMC4PACK01 cartridge module 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 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.
EIO0000003107 05/2019 33
TMC4 Application Cartridges
For further generic descriptions, refer to I/O Mapping Tab Description (see page 15).
34 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.
EIO0000003107 05/2019 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 37
Index
38 EIO0000003107 05/2019
Modicon TMC4
EIO0000003113 05/2019
Modicon TMC4
Cartridges
Hardware Guide
05/2019
EIO0000003113.00
www.schneider-electric.com
The information provided in this documentation contains general descriptions and/or technical
characteristics of the performance of the products contained herein. This documentation is not
intended as a substitute for and is not to be used for determining suitability or reliability of these
products for specific user applications. It is the duty of any such user or integrator to perform the
appropriate and complete risk analysis, evaluation and testing of the products with respect to the
relevant specific application or use thereof. Neither Schneider Electric nor any of its affiliates or
subsidiaries shall be responsible or liable for misuse of the information contained herein. If you
have any suggestions for improvements or amendments or have found errors in this publication,
please notify us.
You agree not to reproduce, other than for your own personal, noncommercial use, all or part of
this document on any medium whatsoever without permission of Schneider Electric, given in
writing. You also agree not to establish any hypertext links to this document or its content.
Schneider Electric does not grant any right or license for the personal and noncommercial use of
the document or its content, except for a non-exclusive license to consult it on an "as is" basis, at
your own risk. All other rights are reserved.
All pertinent state, regional, and local safety regulations must be observed when installing and
using this product. For reasons of safety and to help ensure compliance with documented system
data, only the manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant
instructions must be followed.
Failure to use Schneider Electric software or approved software with our hardware products may
result in injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 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
EIO0000003113 05/2019 3
Chapter 7 TMC4PACK01 Packaging . . . . . . . . . . . . . . . . . . . . . . . . 69
TMC4PACK01 Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
TMC4PACK01 Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
TMC4PACK01 Wiring Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
4 EIO0000003113 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.
EIO0000003113 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.
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.
6 EIO0000003113 05/2019
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 Action
1 Go to the Schneider Electric home page www.schneider-electric.com.
2 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 (*).
3 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.
4 If more than one reference appears in the Products search results, click on the reference that
interests you.
5 Depending on the size of your screen, you may need to scroll down to see the datasheet.
6 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.
EIO0000003113 05/2019 7
Related Documents
You can download these technical publications and other technical information from our website
at https://www.schneider-electric.com/en/download
8 EIO0000003113 05/2019
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.
EIO0000003113 05/2019 9
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.
1For 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 EIO0000003113 05/2019
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 Description
IEC 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.
ISO 13849-1:2015 Safety of machinery: Safety related parts of control systems.
General principles for design.
EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.
Part 1: General requirements and tests.
ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment and risk
reduction
EN 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part 1: General
requirements
ISO 14119:2013 Safety of machinery - Interlocking devices associated with guards - Principles
for design and selection
ISO 13850:2015 Safety of machinery - Emergency stop - Principles for design
IEC 62061:2015 Safety of machinery - Functional safety of safety-related electrical, electronic,
and electronic programmable control systems
IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: General requirements.
IEC 61508-2:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.
IEC 61508-3:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Software requirements.
IEC 61784-3:2016 Industrial communication networks - Profiles - Part 3: Functional safety
fieldbuses - General rules and profile definitions.
2006/42/EC Machinery Directive
2014/30/EU Electromagnetic Compatibility Directive
2014/35/EU Low Voltage Directive
EIO0000003113 05/2019 11
In addition, terms used in the present document may tangentially be used as they are derived from
other standards such as:
Standard Description
IEC 60034 series Rotating electrical machines
IEC 61800 series Adjustable speed electrical power drive systems
IEC 61158 series Digital data communications for measurement and control – Fieldbus for use in
industrial control systems
Finally, the term 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 EIO0000003113 05/2019
Modicon TMC4
TMC4 General Overview
EIO0000003113 05/2019
Part I
TMC4 General Overview
EIO0000003113 05/2019 13
TMC4 General Overview
14 EIO0000003113 05/2019
Modicon TMC4
TMC4 Description
EIO0000003113 05/2019
Chapter 1
TMC4 Description
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 Description
TMC4AI2 TMC4 cartridge with 2 analog voltage or current inputs (0...10 V, 0...20 mA,
(see page 41) 4...20 mA), 12 bits
TMC4TI2 TMC4 cartridge with 2 analog temperature inputs (thermocouple, RTD), 14 bits
(see page 47)
TMC4AQ2 TMC4 cartridge with 2 analog voltage or current outputs (0...10 V, 4...20 mA), 16 bits
(see page 55)
TMC4HOIS01 TMC4 application cartridge with 2 analog voltage or current inputs for hoisting load
(see page 63) cells
TMC4PACK01 TMC4 application cartridge with 2 analog voltage or current inputs for packaging
(see page 69)
EIO0000003113 05/2019 15
TMC4 Description
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 EIO0000003113 05/2019
Modicon TMC4
TMC4 Installation
EIO0000003113 05/2019
Chapter 2
TMC4 Installation
TMC4 Installation
EIO0000003113 05/2019 17
TMC4 Installation
Section 2.1
TMC4 General Rules for Implementing
18 EIO0000003113 05/2019
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).
EIO0000003113 05/2019 19
TMC4 Installation
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 EIO0000003113 05/2019
TMC4 Installation
Section 2.2
TMC4 Installation
TMC4 Installation
EIO0000003113 05/2019 21
TMC4 Installation
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 EIO0000003113 05/2019
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.
EIO0000003113 05/2019 23
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 EIO0000003113 05/2019
TMC4 Installation
The following table describes the different steps to install a TMC4 cartridge on the controller:
Step Action
1 Disconnect all power from all equipment prior to removing any covers or installing a cartridge.
2 Remove the cartridge from the packaging.
3 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.
EIO0000003113 05/2019 25
TMC4 Installation
Step Action
4 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.
26 EIO0000003113 05/2019
TMC4 Installation
Step Action
5 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.
EIO0000003113 05/2019 27
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 Action
1 Disconnect all power from all equipment, including connected devices, prior to removing a cartridge.
2 Pull out by hand the removable spring terminal block from the cartridge.
28 EIO0000003113 05/2019
TMC4 Installation
Step Action
3 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.
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.
EIO0000003113 05/2019 29
TMC4 Installation
Section 2.3
TMC4 Electrical Requirements
30 EIO0000003113 05/2019
TMC4 Installation
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.
EIO0000003113 05/2019 31
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.
32 EIO0000003113 05/2019
TMC4 Installation
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.
EIO0000003113 05/2019 33
TMC4 Installation
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.
34 EIO0000003113 05/2019
TMC4 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.
EIO0000003113 05/2019 35
TMC4 Installation
Step Description
1 Strip the shielding for a length of
15 mm (0.59 in.)
NOTE: The shielding must be clamped securely to the conductive backplane to ensure a good
contact.
36 EIO0000003113 05/2019
TMC4 Installation
Step Description
1 Install the Grounding Bar directly on the
conductive backplane below the M241
Logic Controller system as illustrated.
NOTE: Use the TM2XMTGB Grounding Bar for Functional Ground (FE) connections.
EIO0000003113 05/2019 37
TMC4 Installation
38 EIO0000003113 05/2019
Modicon TMC4
TMC4 Standard Cartridges
EIO0000003113 05/2019
Part II
TMC4 Standard Cartridges
EIO0000003113 05/2019 39
TMC4 Standard Cartridges
40 EIO0000003113 05/2019
Modicon TMC4
TMC4AI2 Analog Voltage, Current Inputs
EIO0000003113 05/2019
Chapter 3
TMC4AI2 Analog Voltage/Current Inputs
Overview
This chapter describes the TMC4AI2 cartridge, its characteristics, and its connections.
EIO0000003113 05/2019 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 Value
Signal type Voltage Current
Number of input channels 2
Input range 0...10 Vdc 0...20 mA
4...20 mA
Resolution 12 bits (4096 steps)
Connection type 3.81 mm (0.15 in.) pitch, removable spring terminal block
Weight 55 g (1.94 oz)
42 EIO0000003113 05/2019
TMC4AI2 Analog Voltage, Current Inputs
Power LED
The following diagram shows a TMC4AI2 cartridge with its power LED labeled PWR:
EIO0000003113 05/2019 43
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 EIO0000003113 05/2019
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 MΩ < 250 Ω
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 ± 0.2 % of full scale
(77 °F)
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 μV
Data type in application program scalable from –32768 to 32767
Input data out of detection range yes
Noise resistance maximum temporary deviation ± 2.0 % of full scale
during perturbations
cable type and maximum length shielded
< 30 m (98.4 ft)
crosstalk (minimum) 80 dB
common-mode rejection ratio 65 dB
(minimum)
Isolation isolation between inputs and 500 Vdc
internal logic
isolation between inputs not isolated
Maximum continuous overload allowed (without 30 Vdc 40 mA dc
damage)
Input filter software filter: 6 levels
External power supply voltage 24 Vdc ± 15 %
supply
power consumption 2W
EIO0000003113 05/2019 45
TMC4AI2 Analog Voltage, Current Inputs
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:
46 EIO0000003113 05/2019
Modicon TMC4
TMC4TI2 Analog Temperature Inputs
EIO0000003113 05/2019
Chapter 4
TMC4TI2 Analog Temperature Inputs
Overview
This chapter describes the TMC4TI2 cartridge, its characteristics, and its connections.
EIO0000003113 05/2019 47
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 Value
Signal type Thermocouple RTD
Number of input channels 2
Input range type: K, J, R, S, B, E, T, N type: Pt100, Pt1000, Ni100,
Ni1000
Resolution 14 bits (16384 steps)
Connection type 3.81 mm (0.15 in.) pitch, removable spring terminal block
Weight 55 g (1.94 oz)
48 EIO0000003113 05/2019
TMC4TI2 Analog Temperature Inputs
Power LED
The following diagram shows a TMC4TI2 cartridge with its power LED labeled PWR:
EIO0000003113 05/2019 49
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 EIO0000003113 05/2019
TMC4TI2 Analog Temperature Inputs
Input Characteristics
The following table describes the cartridge input characteristics:
Characteristics Value
Signal Type Thermocouple RTD (2, 3, or 4 wires)
Rated input range thermocouple type: RTD type:
K: –200...+1300 °C Pt100: –200...+850 °C
(–328...+2372 °F) (–328...+1562 °F)
J: –200...+1000 °C Pt1000: –200...+850 °C
(–328...+1832 °F) (–328...+1562 °F)
R: 0...+1760 °C Ni100: –60...+180 °C
(+32...+3200 °F) (–76...+356 °F)
S: 0...+1760 °C Ni1000: –60...+180 °C
(+32...+3200 °F) (–76...+356 °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)
Cold junction compensation internal compensation –
Input impedance > 1 MΩ
Sample duration time 100 ms per enabled channel + 1 scan time
Input type single-ended
Operating mode self-scan
Conversion mode SAR type
Maximum accuracy at ambient temperature: K, J, R, S, E, T, N: ± 0.2 % ± 0.5 °C (± 0.9 °F)
25 °C (77 °F) 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)
Temperature drift ± 0.008 % of full scale per 1 °C (1.8 °F)
Repeatability after stabilization time ± 0.1 % of full scale
Non-linearity ± 0.05 % of full scale
Digital resolution 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 ± 2 % of full scale
deviation during
perturbations
total cable type, length, and twisted-pair shielded
resistance < 100 m (328.1 ft)
< 100 Ω < 30 Ω
external crosstalk 80 dB
(minimum)
50/60 Hz common-mode 90 dB
rejection ratio (minimum)
50/60 Hz differential-mode 60 dB
rejection ratio (minimum)
Isolation isolation between inputs 500 Vdc
and internal logic
isolation between inputs not isolated
Maximum continuous overload allowed (without 6 Vdc
damage)
Behavior when the temperature sensor is detected
disconnected or broken
External power supply voltage 24 Vdc ± 15 %
supply
power consumption 2W
52 EIO0000003113 05/2019
TMC4TI2 Analog Temperature Inputs
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
(1): RTD
A: External power supply
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TMC4TI2 Analog Temperature Inputs
(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
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 EIO0000003113 05/2019
Modicon TMC4
TMC4AQ2 Analog Voltage, Current Outputs
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Chapter 5
TMC4AQ2 Analog Voltage/Current Outputs
Overview
This chapter describes the TMC4AQ2 cartridge, its characteristics, and its connections.
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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 Value
Signal type Voltage Current
Number of output channels 2
Output range 0...10 Vdc 4...20 mA (dc)
Resolution 16 bits (65536 steps)
Connection type 3.81 mm (0.15 in.) pitch, removable spring terminal block
Weight 55 g (1.94 oz)
56 EIO0000003113 05/2019
TMC4AQ2 Analog Voltage, Current Outputs
Power LED
The following diagram shows a TMC4AQ2 cartridge with its power LED labeled PWR:
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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 EIO0000003113 05/2019
TMC4AQ2 Analog Voltage, Current Outputs
IOutput Characteristics
The following table describes the cartridge output characteristics:
Characteristics Value
Signal Type Voltage Current
Rated output range 0...10 Vdc 4...20 mA (dc)
Load impedance > 2 KΩ < 500 Ω
Application load type resistive load
Settling time 10 ms
Total output system transfer time 10 ms + 1 scan time
Maximum accuracy at ambient temperature without ± 0.2 % of full scale
EMC disturbance: 25 °C (77 °F)
Temperature drift ± 0.006 % of full scale per 1 °C (1.8 °F)
Repeatability after stabilization time ± 0.5 % of full scale
Non-linearity ± 0.05 % of full scale
Output ripple ± 20 mV
Output voltage drop 1%
Overshoot 0%
Maximum output deviation ± 0.5 % of full scale
Digital resolution 16 bits (65536 steps)
Output value of LSB 0.153 mV 0.305 μA
Data type in application program 0...4095
Noise resistance maximum temporary deviation ± 2 % of full scale
during perturbations
cable type and maximum length shielded
< 30 m (98.4 ft)
external crosstalk (minimum) 80 dB
50/60 Hz common-mode 90 dB
rejection ratio (minimum)
Isolation isolation between outputs and 500 Vdc
internal logic
isolation between outputs not isolated
Output protection short circuit protection open circuit protection
Behavior when internal power supply level is lower outputs are set to 0
than threshold
Behavior when external power is not applied PWR LED flashing
External power supply voltage 24 Vdc ± 15 %
supply
power consumption 2W
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TMC4AQ2 Analog Voltage, Current Outputs
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:
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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Modicon TMC4
TMC4 Application Cartridges
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Part III
TMC4 Application Cartridges
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TMC4 Application Cartridges
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Modicon TMC4
TMC4HOIS01 Hoisting
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Chapter 6
TMC4HOIS01 Hoisting
TMC4HOIS01 Hoisting
Overview
This chapter describes the TMC4HOIS01 cartridge, its characteristics, and its connections.
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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 Value
Signal type Voltage Current
Number of input channels 2
Input range 0...10 Vdc 0...20 mA
4...20 mA
Resolution 12 bits (4096 steps)
Connection type 3.81 mm (0.15 in.) pitch, removable spring terminal block
Weight 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:
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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:
66 EIO0000003113 05/2019
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 MΩ < 250 Ω
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 μV
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 65 dB
(minimum)
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 voltage 24 Vdc ± 15 %
supply
power consumption 2W
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TMC4HOIS01 Hoisting
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:
68 EIO0000003113 05/2019
Modicon TMC4
TMC4PACK01 Packaging
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Chapter 7
TMC4PACK01 Packaging
TMC4PACK01 Packaging
Overview
This chapter describes the TMC4PACK01 cartridge, its characteristics, and its connections.
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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 Value
Signal type Voltage Current
Number of input channels 2
Input range 0...10 Vdc 0...20 mA
4...20 mA
Resolution 12 bits (4096 steps)
Connection type 3.81 mm (0.15 in.) pitch, removable spring terminal block
Weight 55 g (1.94 oz)
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TMC4PACK01 Packaging
Power LED
The following diagram shows a TMC4PACK01 cartridge with its power LED labeled PWR:
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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:
72 EIO0000003113 05/2019
TMC4PACK01 Packaging
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 MΩ < 250 Ω
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 μV
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 65 dB
(minimum)
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 voltage 24 Vdc ± 15 %
supply
power consumption 2W
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TMC4PACK01 Packaging
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:
74 EIO0000003113 05/2019
Modicon TMC4
Glossary
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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
76 EIO0000003113 05/2019
Modicon TMC4
Index
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Index
C T
cartridge TMC4
compatibility, 16 cartridge, 39, 61
description, 15 TMC4AI2
features, 15 cartridge, 41
TMC4, 39, 61 TMC4AQ2
TMC4AI2, 41 cartridge, 55
TMC4AQ2, 55 TMC4HOIS01
TMC4HOIS01, 63 cartridge, 63
TMC4PACK01, 69 TMC4PACK01
TMC4TI2, 47 cartridge, 69
certifications and standards, 20 TMC4TI2
compatibility cartridge, 47
cartridge, 16
W
D wiring, 32
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 77
Index
78 EIO0000003113 05/2019