EIO0000000827 11/2010 Modicon M218 Logic Controller...M218 - About the Modicon M218 Logic Controller EIO0000000827 11/2010 About the Modicon M218 Logic Controller Modicon M218 Logic

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Modicon M218 Logic ControllerProgramming Guide

11/2010

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.

No part of this document may be reproduced in any form or by any means, electronic or mechanical, including photocopying, without express written permission of Schneider Electric.

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.

© 2010 Schneider Electric. All rights reserved.

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Table of Contents

Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Chapter 1 About the Modicon M218 Logic Controller . . . . . . . . . . 13Modicon M218 Logic Controller Devices Overview. . . . . . . . . . . . . . . . . . 13

Chapter 2 How to Configure the Controller . . . . . . . . . . . . . . . . . . . 15How to Configure the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Chapter 3 Libraries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Libraries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Chapter 4 Supported Standard Data Types . . . . . . . . . . . . . . . . . . . 21Supported Standard Data Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Chapter 5 Memory Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23RAM Memory Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24Relocation Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Chapter 6 Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31Maximum Number of Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32Task Configuration Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33Task Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37System and Task Watchdogs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40Task Priorities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41Default Task Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Chapter 7 Controller States and Behaviors . . . . . . . . . . . . . . . . . . . 457.1 Controller State Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Controller State Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 477.2 Controller States Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Controller States Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517.3 State Transitions and System Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Controller States and Output Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . 56Commanding State Transitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58Error Detection, Types, and Management . . . . . . . . . . . . . . . . . . . . . . . . 63Remanent Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

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Chapter 8 Controller Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 67Controller Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68Managing the M218 Controller Applications . . . . . . . . . . . . . . . . . . . . . . 69M218 Controller Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70M218 Controller Services. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Chapter 9 M218 Embedded Functions . . . . . . . . . . . . . . . . . . . . . . . 73I/O Embedded Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74HSC Embedded Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79PTO_PWM Embedded Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81Analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Chapter 10 Expansion Modules Configuration. . . . . . . . . . . . . . . . . . 89Adding Expansion Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90TM2DMM16DRTN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Chapter 11 Modicon M218 Logic Controller Serial Line Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95Serial Lines Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96M218 Serial Line Protocol Manager. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98ASCII Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101SoMachine Network Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104Modbus Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Chapter 12 M218 Ethernet Configuration . . . . . . . . . . . . . . . . . . . . . . 111Ethernet Services. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112IP Address Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113Modbus TCP Server/Client . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

Chapter 13 Connecting the Modicon M218 Logic Controller to a PC 123Connecting the Controller to a PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

Chapter 14 Upgrading an M218 Firmware . . . . . . . . . . . . . . . . . . . . . 125Upgrading Through USB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126Launching the Exec Loader Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128Step 1 - Welcome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129Step 2 - Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130Step 3 - File and Device Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131Step 4 - Transfer Progress. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

Chapter 15 Modicon M218 Logic Controller - Troubleshooting and FAQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136Frequently Asked Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145Appendix A Function and Function Block Representation . . . . . . . . 147

Differences Between a Function and a Function Block . . . . . . . . . . . . . . 148How to Use a Function or a Function Block in IL Language . . . . . . . . . . 149How to Use a Function or a Function Block in ST Language . . . . . . . . . 152

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Appendix B Functions to get/set serial line configuration in user program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155GetSerialConf: Get the Serial Line Configuration . . . . . . . . . . . . . . . . . . . 156SetSerialConf: Change the Serial Line Configuration . . . . . . . . . . . . . . . . 157SERIAL_CONF: Structure of the Serial Line Configuration Data Type. . . 159

Appendix C Controller Performance . . . . . . . . . . . . . . . . . . . . . . . . . . 161 Processing Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

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§
Safety Information
Important Information

NOTICE

Read these instructions carefully, and look at the equipment to become familiar with the device before trying to install, operate, 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 the installation, and has received safety training to recognize and avoid the hazards involved.

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About the Book

At a Glance

Document Scope

The purpose of this document is to help you to configure your Modicon M218 Logic Controller.

NOTE: Read and understand this document and all related documents (see page 9) before installing, operating, or maintaining your Modicon M218 Logic Controller.

The Modicon M218 Logic Controller users should read through the entire document to understand all features.

Validity Note

This document has been updated with the release of SoMachine V2.0.

Related Documents

Title of Documentation Reference Number

Modicon M218 Logic Controller Hardware Guide EIO0000000843 (ENG); EIO0000000844 (CHS)

Modicon TM2 Expansion Modules Configuration Programming Guide

EIO0000000396 (ENG); EIO0000000401 (CHS)

Modicon M218 Logic Controller System Functions and Variables M218 PLCSystem Library Guide

EIO0000000835 (ENG); EIO0000000836 (CHS)

Modicon M218 Logic Controller High Speed Counting M218 HSC Library Guide

EIO0000000837 (ENG); EIO0000000838 (CHS)

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You can download these technical publications and other technical information from our website at www.schneider-electric.com.

Product Related Information

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.

Modicon M218 Logic Controller Pulse Train Output, Pulse Width Modulation M218 PTOPWM Library Guide

EIO0000000839 (ENG); EIO0000000840 (CHS)

PLCCommunication Library Guide EIO0000000361(ENG); EIO0000000746(CHS)

WARNINGLOSS 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.

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User Comments

We welcome your comments about this document. You can reach us by e-mail at [email protected].

WARNINGUNINTENDED 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.


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1

M218 - About the Modicon M218 Logic Controller

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About the Modicon M218 Logic Controller

Modicon M218 Logic Controller Devices Overview

Overview

The Schneider Electric Modicon M218 Logic Controller has a variety of powerful features. This Controller can service a wide range of applications.

Key Features

The Modicon M218 Logic Controller is supported and programmed with the SoMachine Programming Software, which provides the following IEC61131-3 programming languages: IL: Instruction List ST: Structured Text FBD: Function Block Diagram SFC: Sequential Function Chart LD: Ladder Diagram CFC: Continuous Function Chart

The Modicon M218 Logic Controller can manage up to 7 tasks (1 MAST task and up to 6 other tasks).

The power supply of Modicon M218 Logic Controller is 100...240 Vac.

The Modicon M218 Logic Controller is integrated with 2 Serial Links: SL1: RJ45 connector Non-isolated RS485 Protocol: Mater/Slave Modbus ASCII/RTU, ASCII, or SoMachine Protocol

SL2: Screw terminal block connector Non-isolated RS485 Protocol: Mater/Slave Modbus ASCII/RTU, or ASCII

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M218 - About the Modicon M218 Logic Controller

Modicon M218 Logic Controller Range

The following table describes the M218 range and features:

(1) The reduced fast inputs have maximum frequency of 10KHz. They can be used either as regular inputs or as reduced fast inputs for counting or event functions

(2) The fast inputs can be used either as regular inputs or as fast inputs for counting or event functions.

(3) The fast outputs can be used either as regular outputs or as fast outputs for PTO, PWM, Frequency Generator functions, or reflex output for HSC.

Reference Digital Input Digital Output Analog Input Analog Output Ethernet port

TM218LDA24DRN 14 digital inputs including 2 reduced fast

inputs(1)

10 relay outputs No No No

TM218LDA24DRHN 14 digital inputs, including 4 fast

inputs(2)

10 relay outputs No No No

TM218LDAE24DRHN 14 digital inputs, including 4 fast

inputs(2)

10 relay outputs No No 1 Ethernet port

TM218LDA40DRPHN 24 digital inputs, including 4 fast

inputs(2)

12 relay outputs and 4 transistor

fast outputs(3)

No No No

TM218LDAE40DRPHN 24 digital inputs, including 4 fast

inputs(2)


fast outputs(3)

No No 1 Ethernet port

TM218LDA40DR2HN 24 digital inputs, including 4 fast

inputs(2)

16 relay outputs No 2 analog outputs

No

TM218LDA40DR4PHN 24 digital inputs, including 4 fast

inputs(2)


fast outputs(3)

2 analog inputs

2 analog outputs

No

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2

How to Configure the Controller

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Introduction

Before configuring the controller, you must first create a new machine in the SoMachine software (see SoMachine, Programming Guide).

Graphical Configuration Editor

In the Graphical Configuration Editor (see SoMachine, Programming Guide), the controller is displayed as below:

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Click on the following element to add (if empty) or replace objects:

Controller Configuration Screen

To access to the controller configuration screen, proceed as follow:

In the left hand side, entries and sub-entries let you access the different item configuration windows:

Element Description

1 Serial Line 1 port manager (SoMachine_Network_Manager by default)

2 Ethernet port managerNOTE: Only available on TM218LDAE24DRHN and TM218LDAE40DRPHN.

3 Expansion modules

4 Serial Line 2 port manager (Modbus_Manager by default)

5 Access to the controller configuration screen (double click the controller)

Step Action

1 Select the Configuration tab.

2 Double click the controller.

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Device Tree

Many functions of the Configuration tab are also accessible from the Program tab. In the Program tab, the device tree describes the hardware configuration (for example, the following device tree is the default one when the controller is added):

Entry Sub-entry Refer to...

Parameters - Controller Device Editor (see page 68)

Embedded Functions

IOHSCPTO_PWM

Embedded Functions configuration (see page 73)NOTE: PTO_PWM is available only on TM218LDA40DRPHN, TM218LDAE40DRPHN and TM218LDA40DR4PHN.

Communication Serial Line 1Serial Line 2

Serial Line configuration

Ethernet Ethernet configuration (see page 111)NOTE: Only available on TM218LDAE24DRHN and TM218LDAE40DRPHN.

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NOTE: For TM218LDA40DR2HN andTM218LDA40DR4PHN, one more node Analog IO gives access to configuration of analog IO (see page 84).

Content of Device Tree

The device tree represents the objects managed by a specific target (controller or HMI). These objects are: application objects (Tasks, etc.), programming objects (POU, GVL, etc.), hardware-related objects (Embedded functions, Expansion modules, etc.)

By default, the device tree includes the following hardware-related objects:

Item Description

PLC Logic This part shows everything related to the application: Tasks configuration Programming Library manager POUs Relocation Table

Embedded Functions This representation shows the Embedded Functions of the M218.NOTE: PTO_PWM only available on TM218LDA40DRPHN, TM218LDAE40DRPHN and TM218LDA40DR4PHN.

Serial Line 1Serial Line 2Ethernet

These are the embedded communications.NOTE: Ethernet is available only on TM218LDAE24DRHN and TM218LDAE40DRPHN.

Reference Embedded IO Embedded communications

TM218LDA24DRNTM218LDA24DRHNTM218LDA40DR2HN

IOHSC

Serial Line 1 (SoMachine_Network_Manager)Serial Line 2 (Modbus_Manager)

TM218LDA40DRPHNTM218LDA40DR4PHN

IOHSCPTO_PWM

TM218LDAE24DRHN IOHSC

Serial Line 1 (SoMachine_Network_Manager)Serial Line 2 (Modbus_Manager)Ethernet (Modbus TCP)TM218LDAE40DRPHN IO

HSCPTO_PWM

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3

Libraries

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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 SoMachine provides information about the libraries included in your project and allows you to install new ones. Refer to CoDeSys online help for more information on the Library Manager.

Modicon M218 Logic Controller

When you select a Modicon M218 Logic Controller for your application, SoMachine automatically loads the following libraries:

Library name Description

IoStandard CmpIoMgr configuration types, ConfigAccess, Parameters and help functions: manages the I/Os in the application.

Standard Contains all functions and function blocks which are required matching IEC61131-3 as standard POUs for an IEC programming system. The standard POUs must be tied to the project (standard.library).

Util Analog Monitors, BCD Conversions, Bit/Byte Functions, Controller Datatypes, Function Manipulators, Mathematical Functions, Signals.

M218 PLCSystem (see Modicon M218 Logic Controller, System Functions and Variables, M218 PLCSystem Library Guide)

Contains functions and variables to get information and send commands to the controller system.

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Libraries

M218 HSC (see Modicon M218 Logic Controller, High Speed Counting, M218 HSC Library Guide)

Contains function blocks and variables to get information and send commands to the Fast Inputs/Outputs of the Modicon M218 Logic Controller. These function blocks permit you to implement HSC (High Speed Counting) functions on the Fast Inputs/Outputs of the Modicon M218 Logic Controller.

M218 PTOPWM (see Modicon M218 Logic Controller, Pulse Train Output, Pulse Width Modulation, M218 PTOPWM Library Guide)

Contains function blocks and variables to get information and send commands to the Fast Inputs/Outputs of the Modicon M218 Logic Controller. These function blocks permit you to implement PTO (Pulse Train Output) and PWM (Pulse With Modulation) functions on the Fast Outputs of the Modicon M218 Logic Controller.

M218 Relocation Table (see page 26)

The relocation table allows the user to organize data to optimize exchanges between the Modbus client and the controller, by regrouping non-contiguous data into a contiguous table of registers.

Library name Description

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4

Supported Standard Data Types

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The Controller supports the following IEC Data types:

Data type Lower limit Upper limit Information content

BOOL False True 1 Bit

BYTE 0 255 8 Bit

WORD 0 65,535 16 Bit

DWORD 0 4,294,967,295 32 Bit

LWORD 0 264-1 64 Bit

SINT -128 127 8 Bit

USINT 0 255 8 Bit

INT -32,768 32,767 16 Bit

UINT 0 65,535 16 Bit

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

UDINT 0 4,294,967,295 32 Bit

LINT -263 263-1 64 Bit

ULINT 0 264-1 64 Bit

REAL 1.175494351e-38 3.402823466e+38 32 Bit

STRING 1 character 255 characters 1 character = 1 byte

WSTRING 1 character 255 characters 1 character = 1 word

TIME - - 16 bit

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Unsupported Standard Data Types

The Controller does not support the following IEC Data types:

Data type Lower limit Upper limit Information content

LREAL 2.2250738585072014e-308

1.7976931348623158e+308

64 Bit

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5

Memory Mapping

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Memory Mapping

Introduction

This chapter describes the memory maps and sizes of the different memory areas in the Modicon M218 Logic Controller. These memory areas are used to store user program logic, data and the programming libraries.

What's in this Chapter?

This chapter contains the following topics:

Topic Page

RAM Memory Organization 24

Relocation Table 26

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Memory Mapping

RAM Memory Organization

Introduction

This section describes the RAM (Random Access Memory) size for different areas of the Modicon M218 Logic Controller.

Memory Mapping

The RAM size is 2 Mbytes composed of 2 areas: 1024 kbytes System Area for Operating System memory 1024 kbytes Customer Area for dedicated application and configuration data.

Memory containing Persistent and Retain variables is preserved and protected. The Persistent and Retain variables will be retained when the controller is powered off.

This table shows the different types of memory areas with their sizes in the Modicon M218 Logic Controller memory:

Area Element Size (bytes)

System Area1024 kbytes

%MW0...%MW59999 120000

System variables (see page 25)(%MW60000...%MW60199)

400

Dynamic Memory Area: Read Relocation Table (see page 26)(60200...61999)

7600

Reserved Memory Area (62000...62199)

Dynamic Memory Area: Write Relocation Table (see page 26) (62200...63999)

Reserved 920576

Customer Area1024 kbytes

Variables (including Retain and Persistent variables, see table below)

838860(1)

Application

Libraries (see page 25)

Symbols 209716(1)

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Memory Mapping

NOTE:

(1) The memory size for variables, application,libraries and symbols are customized depending on the usage. It is recommonded that variables, application and libraries take up to 80% of customer area, and symbols takes 20% of the customer area.

(2) Not all the 744 bytes are available for the customer application because some libraries may use Retain Variables.

System Variables

For more information on System Variables, refer to the M218 PLCSystem Library Guide.

Library Sizes

1888 bytes Rentention RAM

744 bytes Retain Variables (2)

144 bytes Persistent Variables

1000 bytes %MW0...%MW499

Library Name Average Size Comment

M218 HSC (see Modicon M218 Logic Controller, High Speed Counting, M218 HSC Library Guide)

10 kbytes Depends on the functions used.

M218 PLCSystem (see Modicon M218 Logic Controller, System Functions and Variables, M218 PLCSystem Library Guide)

25 kbytes Always embedded in the application.The use of the functions does not consume additional memory.

D-SE-0009563.6M218 PTOPWM (see Modicon M218 Logic Controller, Pulse Train Output, Pulse Width Modulation, M218 PTOPWM Library Guide)

10 kbytes Depends on the functions used.

PLC Communication 20 kbytes Depends on the functions used.

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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 registers.

NOTE: A Relocation Table is considered as an object. Only one Relocation Table object can be added to a controller.

Relocation Table Description

This table describes the Relocation Table organization:

For further information refer to M218 PLCSystem Library Guide.

Adding a Relocation Table

The following table describes how to add a Relocation Table to your project:

Register Description

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

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

Step Action

1 Select the Program tab:

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Memory Mapping

2 In the Device tree of the Devices window, right-click the Application node and click Add Object... in the contextual menu:

3 Select Relocation Table in the list and click the Open button:

Result: The new Relocation Table is created and initialized.NOTE: As a Relocation Table must be unique for a controller, its name is Relocation Table and cannot be changed.

Step Action

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Memory Mapping

Relocation Table Editor

The Relocation Table Editor allows you to organize your variables under the Relocation Table.

To access the Relocation Table Editor, double-click the Relocation Table node in the Device tree of the Devices window:

The following picture describes the Relocation Table Editor:

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Memory Mapping

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

Icon Element Description

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

Move Down Moves down the selected element of the list.

Move Up Moves up the selected element of the list.

Delete Item Removes the selected elements of the list.

Copy Copies the selected elements of the list.

Paste Pastes the elements copied.

Erase Empty Item

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

- ID Automatic incremental integer (not editable)

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

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

- Length Variable length in word

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

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Memory Mapping

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6

Tasks

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Tasks

Introduction

The Task Configuration node in the SoMachine device tree allows you to define one or several 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 their relationship to task execution.



Topic Page

Maximum Number of Tasks 32

Task Configuration Screen 33

Task Types 37

System and Task Watchdogs 40

Task Priorities 41

Default Task Configuration 43

31

Tasks

Maximum Number of Tasks

Maximum Number of Tasks

The maximum number of tasks you can define for the Modicon M218 Logic Controller are: Total number of tasks = 7 Cyclic tasks = 3 Freewheeling tasks = 1 Event tasks = 2 External Event tasks = 4

NOTE: The total number of Freewheeling task, Cyclic task and Event task should not be greater than 3.

Special Considerations for Freewheeling

A Freewheeling task (see page 38) does not have a fixed duration. In Freewheeling mode, each task scan starts when the previous scan has been completed and after a period of system processing (30 % of the total duration of the Freewheeling task). If the system processing period is reduced to less than 15% for more than 3 seconds due to other tasks interruptions, a system error is detected. For more information refer to the System Watchdog (see page 40).

It is recommended not to use a Freewheeling task in a multi-tasks application when some high priority and time-consuming tasks are running.

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Tasks

Task Configuration Screen

Access to Task Configuration

Follow these steps to access the task configuration:

NOTE: For more information of adding a task, refer to the online help SoMachine Tutorials.

Step Action

1 Click on the Program menu:

2 Double click on the task that you want to configure in the device tree of the Device window:

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Tasks

Task Configuration Screen

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

The task configuration window is composed of 4 parts:

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Tasks

The following table describes the fields of the Task Configuration screen:

Field Name Definition

Priority You can configure the priority of each task with a number between 0 and 31 (0 is the highest priority, 31 is the lowest).Only one task at a time can be running. The priority determines when the task will run: a higher priority task will preempt a lower priority task tasks with same priority will run in turn (2 ms time-slice)

NOTE: Do not assign tasks with the same priority. If there are yet other tasks that attempt to preempt tasks with the same priority, the result could be indeterminate and unpredictable. For more information, refer to Task Priorities (see page 41).

Type 4 types of task are available: Cyclic (see page 37) Freewheeling (see page 38) Event (see page 38) External event (see page 39)

Watchdog (see page 40)

To configure the watchdog, you must define two parameters: Time: enter the timeout before watchdog execution. Sensitivity: defines the number of expirations of the watchdog timer before the

Controller stops program execution and enters into a HALT state (see page 51).

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Tasks

POUs (see SoMachine, Programming Guide)

The list of POUs (Programming Organization Unit) controlled by the task is defined in the task configuration window. To add a POU linked to the task, use the command Add POU. To remove a POU from the list, use the command Remove POU.You can create as many POUs as you want. An application with several small POUs, as opposed to one large POU, improves the refresh time of the variables in online mode.The command Open POU opens the currently selected POU in the appropriate editor. To access an item already stated in the system, use the Change POU...:

POUs are executed in the order shown in the list below. To rearrange the POUs in the list, click on Move Up or Move Down:

Field Name Definition

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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 duration using the Interval setting in the Type section of Configuration sub-tab for that task. Each Cyclic task type executes as follows:

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

2. Task Processing: The user code (POU, etc.) defined in the task is processed. The %Q output memory variable is updated according to your application program instructions but not written to the physical outputs during this operation.

3. Write Outputs: The %Q output memory variable is 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 Modicon M218 Logic Controller Settings (see page 70) and CoDeSys online help.For more information on I/O behavior, refer to Controller States Detailed Description (see page 51).

NOTE: Expansion I/Os are always physically updated by the MAST (see page 175)task.

4. Remaining Interval time: The controller OS 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

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 input states are written to the %I input memory variable and other system operations are executed.

2. Task Processing: The user code (POU, etc.) defined in the task is processed. The %Q output memory variable is updated according to your application program instructions but not written to the physical outputs during this operation.

3. Write Outputs: The %Q output memory variable is 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 Settings (see page 70) and CoDeSys online help.For more information on I/O behavior, refer to Controller States Detailed Description (see page 51).

4. System Processing: The controller OS carries out system processing and any other lower priority tasks. The length of the system processing period is set to 30 % of the total duration of the 3 previous operations ( 4 = 30 % x (1 + 2 + 3)). In any case, the system processing period won't be lower than 3 ms.

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 preempted by a higher priority task. In that case, the Event task will start as dictated by the task priority assignments.

For example, if you have defined a variable called my_Var and would like to assign it to an Event, select the Event type on the Configuration sub-tab and click on the

Input Assistant button to the right of the Event name field. This will cause the Input Assistant dialog box to appear. In the Input Assistant dialog box, you navigate the tree to find and assign the my_Var variable.

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Tasks

External Event Task

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

For example, an External Event task could be associated with an HSC Threshold cross event. To associate the HSC2_TH1 event to an External Event task, select it from the External event dropdown list on the Configuration sub-tab.

Depending on the related product, there are up to 2 types of events that can be associated with an External Event task: Rising edge on Fast input (%IX0.0 ... %IX0.3 inputs) HSC thresholds

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Tasks

System and Task Watchdogs

Introduction

Two types of watchdog functionality are implemented for the Modicon M218 Logic Controller. These are:

System Watchdogs: These watchdogs are defined in and managed by the controller OS (firmware). These are not configurable by the user.

Task Watchdogs: Optional watchdogs that can be defined for each task. These are managed by your application program and are configurable in SoMachine.

System Watchdogs

Two system watchdogs are defined for the Modicon M218 Logic Controller. They are managed by the controller OS (firmware) and are therefore sometimes referred to as hardware watchdogs in the SoMachine online help. When one of the system watchdogs exceeds its threshold conditions, an error is detected.

The threshold conditions for the 2 system watchdogs are defined as follows: If all of the tasks require more than 80 % of the processor resources for more than

3 seconds, a system error is detected. The controller enters the EMPTY state. If the lowest priority task of the system is not executed during an interval of 20

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

SoMachine 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 SoMachine 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.

A task watchdog is configured on the Configuration sub-tab of the Task Configuration tab for the individual task. To access this tab, double-click on the task in the device tree.

NOTE: For more details on watchdogs, refer to the CoDeSys online help.

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Tasks

Task Priorities

Introduction

You can configure the priority of each task between 0 and 31 (0 is the highest priority, 31 is the lowest). Each task must have a unique priority. If you assign the same priority to more than one task, execution for those tasks is indeterminate and unpredictable, which may lead to unintended consequences.


Do not assign the same priority to different tasks.


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Tasks

Task Preemption Due to Task Priorities

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

NOTE: If the same input is used in different tasks the input image may change during the task cycle of the lower priority task.

To improve the likelihood of proper output behavior during multitasking, an error is detected if outputs in the same byte are used in different tasks.


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


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Tasks

Default Task Configuration

Default Task Configuration

For the Modicon M218 Logic Controller: The MAST task can be configured in Freewheeling or Cyclic mode. The MAST

task is automatically created by default in Cyclic mode. Its preset priority is medium (15), its preset interval is 20 ms, and its task watchdog service is activated with a time of 100 ms and a sensitivity of 1. Refer to Task Priorities (see page 41) for more information on priority settings. Refer to System and Task Watchdogs (see page 40) for more information on watchdogs.

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

NOTE: Do not delete or change the Name of the MAST task. If you do so, SoMachine detects an error when you attempt to build the application, and you will not be able to download it to the controller.

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Tasks

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7

Controller States and Behaviors

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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 SoMachine task programming options on the behavior of your system.


This chapter contains the following sections:

Section Topic Page

7.1 Controller State Diagram 46

7.2 Controller States Description 51

7.3 State Transitions and System Events 55

45


7.1 Controller State Diagram

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Controller State Diagram

Controller State Diagram

The following diagram describes the controller operating mode:

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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 58).

(2) For details on RUNNING to STOPPED state transition, refer to Stop Command (see page 58).

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 56) for further details.

Note 2

The boot process can take up to 10 seconds under normal conditions. The outputs will assume their initialization states.

Note 3

In some cases, when a system error is detected, it will cause the controller to automatically reboot into the EMPTY state as if no Boot application were present in the Flash memory. However, the Boot application is not actually deleted from the Flash memory.

Note 4

The application is loaded into RAM after verification of a valid Boot application.

Note 5

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.

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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 or the last controller state before the download.

However, there are two important 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. 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.

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).

Note 8

The SoMachine 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 51) 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.


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


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Note 10

The RUNNING state has two exceptional conditions.

They are: RUNNING with External Error: This exceptional condition is indicated by the MS

Status LED, which displays solid green with 1 red flash. You may exit this state by clearing the external error. No controller commands are required.

RUNNING with Breakpoint: This exceptional condition is indicated by the MS Status LED, which displays 3 green flashes. Refer to Controller States Description (see page 51) for further details.

Note 11

The controller has a Run/Stop Switch to toggle the PLC status from RUN to STOP or from STOP to RUN. If the switch is set to Stop, the controller will be stopped irrespective of the Run/Stop input setting.

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7.2 Controller States Description

Controller States Description

Introduction

This section provides a detailed description of the controller states.

(1) Note: The controller states can be read in the PLC_R.i_wStatus system variable of the M218 PLCSystem library (see Modicon M218 Logic Controller, System Functions and Variables, M218 PLCSystem Library Guide)

Controller States Table

The following table describes the controller states:


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, checking for the presence of output forcing, and reviewing the controller status information

via SoMachine (1).


Controller State

Description RUN/MS LED

BOOTING The controller executes the boot firmware and its own internal self-tests. It then checks the checksum of the firmware and user applications. It does not execute the application nor does it communicate.

Flashing green / red

BOOTING after detection of a System Error

This state is the same as the normal BOOTING state except that a flag is set to make it appear as if no Boot application is present and the LED indications are different.

Rapid flashing red

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INVALID_OS There is not a valid firmware file present In the Flash memory. The controller does not execute the application. Communication is only possible through the USB host port, and then only for uploading a valid OS. Refer to Upgrading an M218 Firmware (see page 125).

Flashing red

EMPTY There is no or an invalid application. Single flash green

EMPTY after detection of a System Error

This state is the same as the normal EMPTY state except that a flag is set to make it appear as if no Boot Application is present (no Application is loaded) and the LED indications are different.

Rapid flashing red

RUNNING The controller is executing a valid application. Solid green

RUNNING with Breakpoint

This state is the same as the RUNNING state with the following exceptions: The task-processing portion of the program

does not resume until the breakpoint is cleared. The LED indications are different.

See CoDeSys online help in SoMachine for details on breakpoints management.

3 flash green

RUNNING with detection of an External Error

This state is the same as the normal RUNNING state except the LED indications are different.

Solid green / single flash red

STOPPED The controller has a valid application that is stopped. See Details of the STOPPED State (see page 53) for an explanation of the behavior of outputs and field buses in this state.

Flashing green

STOPPED with detection of an External Error

This state is the same as the normal STOPPED state except the LED indications are different.

Flashing green / single flash red

HALT The controller stops executing the application because it has detected an Application Error.This description is the same as for the STOPPED state with the following exceptions: The task responsible for the Application Error

always behaves as if the Update IO while in stop option was not selected. All other tasks follow the actual setting.

The LED indications are different

Single flash red

Controller State

Description RUN/MS LED

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Details of the STOPPED State

The following statements are always true for the STOPPED state: The input configured as the Run/Stop input remains operational. All outputs initially assume their configured state (Keep current values or Set all

outputs to default) or the state dictated by output forcing if used. The subsequent state of the outputs depends on the value of the Update IO while in stop setting and on commands received from remote devices.

Task and I/O Behavior When Update IO While In Stop Is Selected When the Update IO while in stop setting is selected: The Read Inputs operation continues normally. The physical inputs are read

and then written to the %I input memory variable. The Task Processing operation is not executed. The Write Outputs operation continues. The %Q output memory variable is

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

NOTE: if Q0, Q1, Q2 or Q3 outputs are configured for PTO, PWM, FG, or HSC operation, they fallback to a value of 0 irrespective of the configured fallback setting. For PTO operation, outputs Q0, Q1, Q2, and Q3 execute a fast stop deceleration. Outputs configured for PWM, FG, and HSC go immediately to 0.

NOTE: Commands received by Serial, USB, and Ethernet communications can continue to write to the memory variables. Changes to the %Q output memory variables are written to the physical outputs.


Design and program your system so that controlled equipment assumes a safe state when the controller enters fallback mode if you use outputs Q0, Q1, Q2, or Q3 for PTO, PWM, FG, or HSC operation.


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Task and I/O Behavior When Update IO While In Stop Is Not Selected When the Update IO while in stop setting is not selected, the controller sets the I/O to either the Keep current values or Set all outputs to default condition (as adjusted for output forcing if used). After this, the following becomes true: The Read Inputs operation ceases. The %I input memory variable is frozen at

its last values. The Task Processing operation is not executed. The Write Outputs operation ceases. The %Q output memory variables can be

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

NOTE: if Q0, Q1, Q2 or Q3 outputs are configured for PTO, PWM, FG, or HSC operation, they fallback to a value of 0 irrespective of the configured fallback setting. For PTO operation, outputs Q0, Q1, Q2, and Q3 execute a fast stop deceleration. Outputs configured for PWM, FG, and HSC go immediately to 0.


Design and program your system so that controlled equipment assumes a safe state when the controller enters fallback mode if you use outputs Q0, Q1, Q2, or Q3 for PTO, PWM, FG, or HSC operation.


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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.

What's in this Section?

This section contains the following topics:

Topic Page

Controller States and Output Behavior 56

Commanding State Transitions 58

Error Detection, Types, and Management 63

Remanent Variables 65

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Controller States and Output Behavior

Introduction

The Modicon M218 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 Initialization Values Output Forcing

Managed by Application Program

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

Keep Current Values

You can select this option by choosing Keep current values in the Behaviour for outputs in Stop dropdown menu of the PLC Settings sub-tab of the Controller Editor. To access the Controller Editor, right-click on the controller in the device tree and select Edit Object.

You can also double click on MyController (or the name given by the user to the controller) in the device tree to access the Controller Editor.

This output behavior applies in the STOPPED and HALT controller states. Outputs are set to and maintained in their current state, although the details of the output behavior varies greatly depending on the setting of the Update IO while in stop option and the actions commanded via configured fieldbuses. Refer to Controller States Description (see page 51) for more details on these variations.

Set All Outputs to Default

You can select this option by choosing Set all outputs to default in the Behaviour for outputs in Stop dropdown menu of the PLC Settings sub-tab of the Controller Editor. To access the Controller Editor, right-click on the controller in the device tree and select Edit Object.

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This output behavior applies in the STOPPED and HALT controller states. Outputs are set to and maintained in their current state, although the details of the output behavior varies greatly depending on the setting of the Update IO while in stop option and the actions commanded via configured fieldbuses. Refer to Controller States Description (see page 51) for more details on these variations.

Initialization Values

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

In the initialization state, analog, transistor and relay outputs assume the following values: For an analog output : Z (High Impedance) For a fast transistor output: Z (High Impedance) For a regular transistor output: 0 Vdc For a relay output: Open

Output Forcing

The controller allows you to force the state of selected outputs to a defined value for the purposes of system testing and commissioning. Output forcing overrides all other commands to an output irrespective of task programming. You are only able to force the value of an output while your controller is connected to SoMachine. To do so you use the Force Values command in the Debug/Watch menu. When you logout of SoMachine 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.

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Commanding State Transitions

Run Command

Effect: Commands a transition to the RUNNING controller state.

Starting Conditions: BOOTING or STOPPED state.

Methods for Issuing a Run Command: Run/Stop Input: If configured, command a rising edge to the Run/Stop input. The

Run/Stop input must be 1 for all of the subsequent options to be effective. Refer to Run/Stop Input (see page 77) for more information.

Run/Stop Switch: manually set the switch to RUN. With SoMachine software: Click on the menu Online → Start Click on the start icon which is symbolized by an arrow in the icon bar

NOTE: The controller muxt be logged on with SoMachine.

By an external call via Modbus request using the PLC_W. q_wPLCControl and PLC_W. q_uiOpenPLCControl system variables of the M218 PLCSystem Library (see Modicon M218 Logic Controller, System Functions and Variables, M218 PLCSystem Library Guide).

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.

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

Refer to Controller State Diagram (see page 47) 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 77) for more information. Run/Stop Switch: manually set the switch to STOP. With SoMachine software: Click on the menu Online → Stop Click on the stop icon which is symbolized by an square in the icon bar

NOTE: The controller muxt be logged on with SoMachine.

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 M218 PLCSystem Library (see Modicon M218 Logic Controller, System Functions and Variables, M218 PLCSystem Library Guide).

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

conditions.

Refer to Controller State Diagram (see page 47) 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: SoMachine 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 M218 PLCSystem Library (see Modicon M218 Logic Controller, System Functions and Variables, M218 PLCSystem Library Guide).

Effects of the Reset Warm Command:1. The application stops.2. Forcing is erased.3. Diagnostic indications for detected 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 500 %MW registers are maintained.8. The values of %MW500 to %MW59999 registers are reset to 0.9. All fieldbus communications are stopped and then restarted after the reset is

complete.10.All I/O are briefly reset to their initialization values and then to their user-

configured default values.

For details on variables, refer to Remanent Variables (see page 65).

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.


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Methods for Issuing a Reset Cold Command: SoMachine 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 M218 PLCSystem Library (see Modicon M218 Logic Controller, System Functions and Variables, M218 PLCSystem Library Guide).

Effects of the Reset Cold Command:1. The application stops.2. Forcing is erased.3. Diagnostic indications for detected errors are reset.4. The values of the retain variables are reset to their initialization value.5. The values of the retain-persistent variables are maintained.6. All non-located and non-remanent variables are reset to their initialization values.7. The values of the first 500 %MW registers are maintained.8. The values of %MW500 to %MW59999 registers are reset to 0.9. All fieldbus communications are stopped and then restarted after the reset is

complete.10.All I/O are briefly reset to their initialization values and then to their user-

configured default values.


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.


Methods for Issuing a Reset Origin Command: SoMachine Online Menu: Select the Reset origin command.

Effects of the Reset Origin Command:1. The application stops.2. Forcing is erased.3. The Boot application file is erased.4. Diagnostic indications for detected errors are reset.5. The values of the retain variables are reset.6. The values of the retain-persistent variables are reset.7. All non-located and non-remanent variables are reset.8. The values of the first 500 %MW registers are reset to 0.9. The values of %MW500 to %MW59999 registers are reset to 0.10.All fieldbus communications are stopped.11.All I/O are reset to their initialization values.


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Reboot

Effect: Commands a reboot of the controller.

Starting Conditions: Any state.

Methods for Issuing the Reboot Command: Power cycle.

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

a. The controller state will be RUNNING if:- The Reboot was provoked by a power cycle, and- If configured, the Run/Stop input is set to RUN, and- Controller state was RUNNING prior to the power cycle.

b. The controller state will be STOPPED if:- The boot application is different than the application loaded prior to the reboot, or- If configured, the Run/Stop input is set to STOP, or- Controller state was STOPPED prior to a power cycle, or- The previously saved context is invalid.

c. The controller state will be EMPTY if:- There is no boot application or the boot application is invalid, or- The reboot was provoked by a detected System Error.

d. The controller state will be INVALID_OS if there is no valid OS.

2. Forcing is erased.3. Diagnostic indications for detected 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 500 %MW registers are restored if saved context is valid.8. The values of %MW500 to %MW59999 registers are reset to 0.9. All fieldbus communications are stopped and restarted after the boot application

is loaded successfully.10.All I/O are reset to their initialization values and then to their user-configured

default values if the controller assumes a STOPPED state after the reboot.


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

NOTE: If you provide power to the Run/Stop input from the same source as the controller, the loss of power to this input 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.

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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 will detect a difference in context at the next reboot, the remanent variables will be reset as per a Reset cold command, and the controller will enter 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: SoMachine Online Menu: select Download command.

Effects of the SoMachine 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 detected 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 500 %MW registers are maintained.9. The values of %MW500 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.All I/O are reset to their initialization values and then set to the new user-

configured default values after the download is complete.


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Error Detection, Types, and Management

Detected Error Management

The controller manages 3 types of detected errors: external detected errors application detected errors system detected errors

The following table describes the types of errors that may be detected:

Type of Error Detected

Description Resulting Controller State

External Error Detected

External errors are detected by the system while RUNNING or STOPPED but do not affect the ongoing controller state. An external error is detected in the following cases: A connected device reports an error to the controller The controller detects an error with an external device

whether or not it reports an error, for example when the external device is communicating but not properly configured for use with the controller

The controller detects an error with the state of an output The controller detects a loss of communication with a device The controller is configured for an expansion module that is

not present or not detected The boot application in Flash memory is not the same as the

one in RAM.

Examples: output short circuit missing expansion module communication lost etc.

RUNNING with External Error DetectedOrSTOPPED with External Error Detected

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NOTE: refer to the M218 PLCSystem Library Guide (see Modicon M218 Logic Controller, System Functions and Variables, M218 PLCSystem Library Guide) for more detailed information on diagnostics.

Application Error Detected

An application error is detected when improper programming is encountered or when a task watchdog threshold is exceeded.Examples: task (software) watchdog exception execution of an unknown function etc.

HALT

System Error Detected

A system error is detected when the controller enters a condition that cannot be managed during runtime. Most such conditions result from firmware or hardware exceptions, but there are some cases when incorrect programming can result in the detection of a system error, for example, when attempting to write to memory that was reserved during runtime. Examples: System (hardware) watchdog overflow exceeding the defined size of an array etc.

BOOTING → EMPTY

Type of Error Detected

Description Resulting Controller State

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Remanent Variables

Remanent Variables

Remanent variables can 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 have the same behavior as variables declared as retain-persistent.

The following table describes the behavior of remanent variables in each case:

NOTE: The first 500 %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 will behave like myVariable (not retained and not persistent).

Action VAR VAR RETAIN VAR PERSISTENT and RETAIN-PERSISTENT

Online change to application program

X X X

Stop X X X

Power cycle - X X

Reset warm - X X

Reset cold - - X

Reset origin - - -

Download of application program

- - X

X The value is maintained- The value is re initialized

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8

Controller Configuration

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Introduction

This chapter describes how to configure the Modicon M218 Logic Controller.



Topic Page

Controller Configuration 68

Managing the M218 Controller Applications 69

M218 Controller Settings 70

M218 Controller Services 71

67



Controller Configuration Window

Double-click on the controller name (MyController by default) to access the Controller Configuration window:

The table below describes the tabs of the Controller Configuration Editor screen:

Tab Name Description

Communication Settings Allows you to configure the connection between SoMachine and the controller.For more information, refer to the CoDeSys online help.

Applications (see page 69) Shows the applications currently running in the controller and allows you to remove applications from the controller.

Files File management between the PC and the controller.For more information, refer to the CoDeSys online help.

PLC Settings (see page 70)

Configuration of: Application for I/O handing I/O behavior in stop Bus cycle options

Services Allows configuring on-line services of the controller (RTC, device identification).

Status Displays device-specific status and diagnostic messages.

Information Displays general information on the device (name, description, provider, version, image).

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Managing the M218 Controller Applications

Overview

The figure below show the Applications tab:

This dialog box serves to scan and to remove applications on the Controller.

For more information, refer to the CoDeSys online help.

Element Description

Applications on the Controller List of the names of applications which have been found on the Controller during the last scan.

Buttons Refresh List The Controller will be scanned for applications, the list will be updated.

Remove The application currently selected in the list will be removed from the Controller.

Remove all All applications will be removed from the Controller.

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M218 Controller Settings

Overview

The figure below show the PLC Settings tab:

The following table describes the elements of the PLC Settings Tab:

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 stop

If this option is activated (default), the values of the input channels will be updated when the Controller is stopped.

Behavior for outputs in Stop

From the selection list choose one of the following options to configure how the values at the output channels should be handled in case of Controller stop: Keep current values: The current values will not be modified. Set all outputs to default: The default (fallback) values resulting from the

mapping will be assigned.

NOTE: This option is not taken into account for the outputs used by the HSC, PTO, PWM or Frequency Generator.

Update all variables in all devices

If this option is activated, then for all devices of the current Controller configuration all I/O variables will get updated in each cycle of the bus cycle task. This corresponds to the option Always update variables, which can be set separately for each device in the I/O Mapping dialog.

Bus cycle options

Bus cycle task This configuration setting is the parent for all Bus cycle task parameters used in the application device tree.The selection list offers all tasks currently defined in the Task Configuration of the active application. The default setting is the MAST task.NOTE: The selection <unspecified> signifies that the slowest cyclic task possible is used.

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M218 Controller Services

Services Tab

The tab Services is divided in two parts: RTC Configuration Device Identification

The figure below show the Services tab:

NOTE: To have controller information in this tab, you need to be connected with the controller.

The following table describes the elements of the Services Tab:

Element Description

RTC Configuration

PLC time Displays the date/time read from the controller. This read-only field is initially empty. To read and display the date/time in the controller, click on the Read button.

Local time Allows defining a date and a time which are sent to the controller by a click on the Write button. A message box informs the user on the success of the command. Local time fields are initialized with the current settings of the PC.

Synchronize with local’s date/time

Allows sending directly the current time and date settings of the PC. A message box informs the user of the success of the command.

Device Identification Displays the Firmware version, the Boot Version and the Coprocessor Version of the selected device if connected.

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9

M218 Embedded Functions

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Overview

This chapter describes the embedded functions of the Modicon M218 Logic Controller.

The number of inputs and outputs dedicated to the embedded function depends on the controller reference (see page 13).



Topic Page

I/O Embedded Function 74

HSC Embedded Function 79

PTO_PWM Embedded Function 81

Analog I/O 84

73


I/O Embedded Function

Overview

The embedded I/O selection allows configuring the controller inputs.

The following table shows the IO feature of Modicon M218 Logic Controller

Access the Configuration Menu

Follow these steps to access the I/O embedded function configuration window with the Configuration menu:

Reference Total digital inputs

Numbers of fast Inputs

Total digital outputs

Numbers of transistor output

Numbers of relay output

Analog IO

TM218LDA24DRN 14 2 reduced fast input (I0,I1)

10 – 10 –

TM218LDA24DRHN 14 4 (I0 to I3) 10 – 10 –

TM218LDAE24DRHN 14 4 (I0 to I3) 10 – 10 –

TM218LDA40DRPHN 24 4 (I0 to I3) 16 4 12 –

TM218LDAE40DRPHN 24 4 (I0 to I3) 16 4 12 –

TM218LDA40DR2HN 24 4 (I0 to I3) 16 – 16 2 analog outputs

TM218LDA40DR4PHN 24 4 (I0 to I3) 16 4 12 2 analog inputs and 2 analog outputs

Step Description

1 Click on the Configuration menu:

2 Double click on the controller you want.NOTE: You can also right-click on the controller you want and select Edit Parameters.

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3 In the Task Pane click on Embedded Functions → IO:

Step Description

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Input Configuration Window

The following window allows you to configure the embedded inputs:

NOTE: For more information on the I/O Mapping tab, refer to the CoDeSys online help .

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When you click on the IO Summarize button, the IO summary window appears. It allows to check your configuration I/O mapping:

Configuration Parameters

For each input, you can define:

Parameter Value Description Constraint

Filter No*3 ms12 ms

Reduce the effect of noise on a controller input.

Available if Latch and Event are disabled.In the other cases, this parameter is disabled and its value is No.

Latch No*Yes

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

This parameter is only available for the fast inputs I0 to I3.Available if:Event disabled AND Run/Stop disabled.

Event No*Rising edgeFalling edgeBoth edges

Event detection This parameter is only available for the fast inputs I0 to I3.Available if:Latch disabled AND Run/Stop disabled.

Legend *: Parameter default value

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

Bounce Filtering

No*0.004 ms0.4 ms1.2 ms4 ms

Reduces the effect of bounce on a controller input.

Available if Latch is enabled or Event is enabled.In the other cases, this parameter is disabled and its value is No.

Run/Stop No*Yes

The Run/Stop input can be used to run or stop a program in the controller

Any of the inputs can be configured as Run/Stop, but only one at a time.


Legend *: Parameter default value

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HSC Embedded Function

Overview

The HSC function can execute fast counts of pulses from sensors, encoders, switches, etc... that are connected to the dedicated fast inputs

There are 2 types of HSC: Simple type: a single input counter (see Modicon M218 Logic Controller, High

Speed Counting, M218 HSC Library Guide). Main type: a counter that uses up to 4 fast inputs and 4 reflex outputs.

(see Modicon M218 Logic Controller, High Speed Counting, M218 HSC Library Guide)


Follow these steps to access the HSC embedded function configuration window with the Configuration menu:

Step Description



3 In the Task Pane click on Embedded Functions → HSC:

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HSC Configuration Window

This figure is a sample HSC configuration window used to configure the HSC.

The following table describes the fields of the HSC configuration window:

For detail information on configuration parameters, refer to M218 HSC choice matrix (see Modicon M218 Logic Controller, High Speed Counting, M218 HSC Library Guide).

Mark Action

1 Select the HSC tab to access each of the HSC Configuration window.

2 Select one of these tabs according to the HSC channel you need to configure.

3 After choosing the type of HSC (Simple or Main) you want, use the field Variable to change the instance.

4 If the parameters are collapsed, you can expand them by clicking the plus signs. You then have access to the settings of each parameter.

5 Configuration window where the HSC parameters are determined depending on the mode used.

6 When you click on the IO Summarize button, the IO summary window appears. It allows to check your configuration I/O mapping.

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PTO_PWM Embedded Function

Overview

The PTO embedded function can provide 3 different functions:PTO The PTO (Pulse Train Output) implements digital technology (see Modicon

M218 Logic Controller, Pulse Train Output, Pulse Width Modulation, M218 PTOPWM Library Guide) 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 (see Modicon M218 Logic Controller, Pulse Train Output, Pulse Width Modulation, M218 PTOPWM Library Guide) with adjustable duty cycle and frequency.

FG The FG (Frequency Generator) function generates a square wave signal on dedicated output (see Modicon M218 Logic Controller, Pulse Train Output, Pulse Width Modulation, M218 PTOPWM Library Guide) channels with a fixed duty cycle (50%).


Follow these steps to access the PTO_PWM embedded function configuration window with the Configuration menu:

Step Description



3 In the Task Pane click on Embedded Functions → PTO_PWM:

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PTO_PWM Configuration Window

This figure is a sample PTO_PWM configuration window used to configure a PTO, PWM or FG:

The following table describes the fields of the PTO_PWM configuration window:

Mark Action

1 Select the PTO tab to access each of the PTO_PWM Configuration window.

2 Select one of these tabs according to the PTO_PWM channel you need to configure.

3 After choosing the type of PTO_PWM (PTO, PWM or Frequency Generator) you want, use the field Variable to change the instance name.

4 If the parameters are collapsed, you can expand them by clicking the plus signs. You then have access to the settings of each parameter.

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For detail information on configuration parameters, refer to: PTO configuration. (see Modicon M218 Logic Controller, Pulse Train Output,

Pulse Width Modulation, M218 PTOPWM Library Guide) PWM and FG configuration. (see Modicon M218 Logic Controller, Pulse Train

Output, Pulse Width Modulation, M218 PTOPWM Library Guide)

5 Configuration window where the embedded function is used for: a PTO (see Modicon M218 Logic Controller, Pulse Train Output, Pulse Width

Modulation, M218 PTOPWM Library Guide) a PWM (see Modicon M218 Logic Controller, Pulse Train Output, Pulse Width

Modulation, M218 PTOPWM Library Guide) a Frequency Generator (see Modicon M218 Logic Controller, Pulse Train

Output, Pulse Width Modulation, M218 PTOPWM Library Guide)

6 When you click on the IO Summarize button, the IO summary window appears. It allows to check your configuration I/O mapping.

Mark Action

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Analog I/O

Overview

The following Modicon M218 Logic Controller have embedded analog I/O. TM218LDA40DR2HN: 2 analog outputs. TM218LDA40DR4PHN: 2 analog inputs and 2 analog outputs.

Access to the Configuration Menu

Follow these steps to access to the Analog I/O embedded function configuration Window with the Program menu.

Step Action

1 Click on the Program menu.

2 Click on the controller you want, and expand the device tree.

3 Double click on the node Analog to open the configuration window.

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Analog I/O configuration Window

The following table allow you to configure the analog I/O.

NOTE: For more information on the Analog I/O Mapping tab, refer to the online help CoDeSys part.

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Parameters Configuration

You can define the parameters as the following table:


Inputs

Type Not used *– 10...10 V0...10 V0...20 mA4...20 mA

Range mode –

Scope Normal *Customized

Unit Available if Type value is defined.

Filter Level 0 * to 6 Filter value reduces the effect of noise on a controller analog input

Available if Type value is defined.

Minimum – 32768 to 32767NOTE: If Scope is Normal, the default value is -4096 if Type is – 10...10 V and is 0 for other Types, The default value is – 32768 if Scope is Customized

Minimum value Available if Scope is customized.

Maximum – 32768 to 32767NOTE: The default value is 4095 if Scope is Normal. The default value is 32767 if Scope is Customized

Maximum value Available if Scope is customized.

Outputs

Type Not used *– 10...10 V0...10 V0...20 mA4...20 mA

Range mode –

Scope Normal *Customized

Unit Available if Type value is defined.

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

Minimum – 32768 to 32767NOTE: If Scope is Normal, the default value is -4096 if Type is – 10...10 V and is 0 for other Types, The default value is – 32768 if Scope is Customized

Minimum value Available if Scope is customized.

Maximum – 32768 to 32767NOTE: The default value is 4095 if Scope is Normal. The default value is 32767 if Scope is Customized

Maximum value Available if Scope is customized.

Legend *: Parameter default value.


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10

Expansion Modules Configuration

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Overview

This chapter describes the way to add expansion modules with SoMachine.



Topic Page

Adding Expansion Module 90

TM2DMM16DRTN 92

89


Adding Expansion Module

Introduction

In your project, you can add analog, digital, and high-speed counting expansion modules to a controller.

Use the GetRightBusStatus (see Modicon M218 Logic Controller, System Functions and Variables, M218 PLCSystem Library Guide) function regularly to monitor the expansion bus status.

Adding an Expansion Module

There are two methods to add an expansion module: Click on Add Expansion on the PLC graphic in the configuration tab, and select

the expansion module in the popup dialog box. Right click on My controller (or the name given by user) in the device tree in

Program tab, select Add Device, and then select the expansion module in the popup dialog box.

Expansion Module Configuration

For more information about modules configuration, refer to the hardware and programming guides of each Expansion Module:

Expansion Module Programming Guide Hardware Guide

TM2 Digital I/O Modules TM2 I/O Modules Configuration Programming Guide (see Modicon TM2, Expansion Modules Configuration, Programming Guide)

TM2 Digital I/O Modules Hardware Guide (see Modicon TM2, Digital I/O Modules, Hardware Guide)

TM2 Analog I/O Modules TM2 I/O Modules Configuration Programming Guide (see Modicon TM2, Expansion Modules Configuration, Programming Guide)

TM2 Analog I/O Modules Hardware Guide (see Modicon TM2, Analog I/O Modules, Hardware Guide)

TM2 High-Speed Counting Modules TM2 I/O Modules Configuration Programming Guide (see Modicon TM2, Expansion Modules Configuration, Programming Guide)

TM2 High Speed Counter Modules Hardware Guide (see Modicon TM2, High Speed Counter Modules, Hardware Guide)

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Limitation

The following table identities the maximum quantity of expansion modules for each controller.

Controller Maximum Quantity of Expansion Modules

Maximum I/O points Maximum relay outputs

TM218LDA24DRNTM218LDA24DRHNTM218LDAE24DRHN

4 152 42

TM218LDA40DRPHNTM218LDAE40DRPHNTM218LDA40DR2HNTM218LDA40DR4PHN

7 248 90

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TM2DMM16DRTN

Introduction

This expansion module is a 8-point input /8-point output module with a terminal block.

For further hardware information, refer to TM2DMM16DRTN (see Modicon M218 Logic Controller, Hardware Guide).

Expansion Bus I/O Mapping Tab

The table below identifies the addresses of each input and output with the channel name.

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For further generic descriptions, refer to Expansion Bus I/O Mapping Tab Description (see Modicon TM2, Expansion Modules Configuration, Programming Guide).

Channel Type Default value

Description

Inputs IB0 BYTE - State of all inputs

I0 BOOL - State of input 0

... ...

I7 State of input 7

Outputs QB0 BYTE - Command byte of all outputs

Q0 BOOL -TRUEFALSE

Command bit of output 0

... ...

Q7 Command bit of output 7

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11

Modicon M218 Logic Controller Serial Line Configuration

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Overview

This chapter explains the Serial Lines configuration of the Modicon M218 Logic Controller (supported managers, Serial Line type, parameters, etc.).



Topic Page

Serial Lines Configuration 96

M218 Serial Line Protocol Manager 98

ASCII Manager 101

SoMachine Network Manager 104

Modbus Manager 105

95


Serial Lines Configuration

Introduction

The Serial Line configuration window allows to configure the physical parameters of serial line (baud rate, parity, etc.).

Serial Line Configuration

To configure the Serial Line, proceed as follows:

Step Action

1 Select the Configuration tab and double click on the controller.

2 Click the Communication → Serial Line 1 or Serial Line 2 entry on the left hand side.

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NOTE: You can also select the Program tab and double click on the Serial Line 1 or Serial Line 2 in the device tree to access the configuration window.

The following parameters must be identical for each serial device connected to the port:

3 Click the Physical Settings entry.The configuration window is displayed.

Element Description

Baud rate Transmission speed

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 polarization resistor or not.NOTE: Two line polarization resistors are integrated in the controller, they are switched on or off by this parameter.

Step Action

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M218 Serial Line Protocol Manager

Overview

Modicon M218 Logic Controller is integrated with 2 serial lines.

The following table indicates the Manager baud rate characteristic:

Serial Line Supported protocol

Serial Line 1 ASCII ManagerModbus ManagerSoMachine Network Manager *

Serial Line 2 ASCII ManagerModbus Manager *

Legend. *: Default setting for serial line

Manager Maximum Baud Rate (bits/s)

Supported Baud Rate (bits/s)

SoMachine Network Manager 115200 115200, 57600, 38400, 19200, 9600, 4800, 2400, 1200

Modbus Manager 38400 38400, 19200, 9600, 4800, 2400, 1200

ASCII Manager

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Adding the Serial Line Protocol Manager

Follow these steps to add a protocol manager on serial line:

Step Action

1 Select Configuration tab and double click on the controller.

2 Click the Communication → Serial Line 1 or Serial Line 2

3 Click the Protocol Settings entry.

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The Serial Line 1 is configured for SoMachine protocol by default when you add a new controller or when you update the controller firmware. The SoMachine 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 commmunication. Make sure that the controller’s Serial Line 1 port is not connected to an active Modbus serial line network before first downloading a valid application having the port propertly configured for the intended protocol.

4 Click on the Remove/Change Protocol, and the Add device window is displayed.

NOTE: You also can access this window by selecting Configuration tab and clicking the SL port of the controller in graphical configuration editor

5 Select the manager and click Add and close.

Step Action

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ASCII Manager

Introduction

The ASCII Manager is used to transmit and/or receive data with a simple device.

Configure the Manager

To configure the ASCII Manager of your controller, proceed as follows:

Step Action

1 Select the Configuration tab and double-click on the controller.


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Set the parameters as described in the following table:

3 Click the Protocol Settings entry.Result: The ASCII_Manager configuration window is displayed.

NOTE: The above configuration window only occurred when ASCII_Manager is selected for this serial link port. If not, Click on Remove/Change Protocol button in the bottom of the screen to change the protocol to ASCII_Manager.

Step Action

Parameter Description

Start Character If 0, no start character is used in the frame. Otherwise, in Receiving Mode the corresponding character in ASCII is used to detect the beginning of a frame. In Sending Mode, this character is added at the beginning of the frame.

First End Character

If 0, no first end character is used in the frame. Otherwise, in Receiving Mode the corresponding character in ASCII is used to detect the end of a frame. In Sending Mode, this character is added at the end of the frame.

Second End Character

If 0, no second end character is used in the frame. Otherwise, in Receiving Mode the corresponding character in ASCII is used to detect the end of a frame. In Sending Mode, this character is added at the end of the frame.

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NOTE: In the case of using several frame termination conditions, the first condition to be TRUE will terminate the exchange.

Frame Length Received

If 0, this parameter is not used. This parameter allows the system to conclude an end of frame at reception, when the controller received the specified number of characters.NOTE: This parameter cannot be used simultaneously with Frame Received Timeout (ms).

Frame Received Timeout (ms)

If 0, this parameter is not used. This parameter allows the system to conclude the end of frame at reception after a silence of the specified number of ms.

Serial Line Settings

Parameters specified in the Serial Line configuration window (see page 96).


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SoMachine Network Manager

Introduction

The SoMachine Network Manager must be used if you want to exchange variables with a XBTGT/XBTGK device with SoMachine software protocol.

NOTE: The parameters of Physical Setting can only be kept as default values under SoMachine Network Manager. They are not modifiable.


There is no configuration for SoMachine Network Manager.

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Modbus Manager

Introduction

The Modbus Manager is used for Modbus RTU or ASCII protocol in master or slave mode.

It is recommended to use the Relocation Table (see page 26) to optimize the communication between the controller and other equipment.


To configure the Modbus_Manager of your controller, proceed as follows:

Step Action

1 Select the Configuration tab and double-click on the controller.


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Set the parameters as described in the following table:

3 Click the Protocol Settings entry.Result: The Modbus_Manager configuration window will be displayed.

NOTE: The above configuration window only occurred when Modbus_Manager is selected for this serial link port. If not, Click on Remove/Change Protocol button in the bottom of the screen to change the protocol to Modbus_Manager.

Step Action

Element Description

Transmission Mode

Specify the transmission mode to use: RTU: uses binary coding and CRC error-checking (8 data bits). ASCII: messages are in a ASCII format, LRC error-checking (7 data

bits).

This parameter must be identical for each Modbus device on the link.

Addressing Specify if the M218 device is master or slave.

Address Modbus address of the device.

Time between frames (ms)

Time to avoid bus-collision.This parameter must be identical for each Modbus device on the link.

Serial Line Settings

Parameters specified in the Serial Line configuration window.

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Modbus Master

When the controller is configured as a Modbus Master, the following Function Block 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 SoMachine, Modbus and ASCII Read/Write Functions, PLCCommunication Library Guide) of the PLCCommunication Library (see SoMachine, Modbus and ASCII Read/Write Functions, PLCCommunication Library Guide).

Modbus Slave

When the controller is configured as Modbus Slave, the following Modbus requests are supported:

NOTE: Only located variables of the controller application can be accessed via Modbus.

The following table contains the Sub-function codes supported by the diagnostic Modbus request 08:

Types Function Function CodesCode/Sub Code

Data Access (1 Bit)

Physical Discrete Inputs and Outputs

Read Coils 01

Read Discrete Inputs 02

Write Multiple Coils 15

Data Access (16 Bits)

Physical Input Registers

Read Holding Registers 03

Write Single Register 06

Write Multiple Registers 16

Read/Write Multiple Registers 23

Diagnostics Diagnostics 08

Read Device Identification 43/14

Sub-Function Code Function

Dec Hex

10 0A Clear Counters and Diagnostic Register

11 0B Return Bus Message Count

12 0C Return Bus Communication Error Count

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The table below list the objects that can be read with a read device identification request (basic identification 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 and it will be possible for incorrect values to be written to memory areas responsible for output operations.

When the controller and the HMI are connected via Modbus (HMI is master of Modbus requests), the data exchange uses simple word requests.

13 0D Return Bus Exception Error Count

14 0E Return Slave Message Count

15 0F Return Slave No Response Count

16 10 Return Slave NAK Count

17 11 Return Slave Busy Count

18 12 Return Bus Character Overrun Count

Object ID Object Name Type Value

00 hex Vendor code ASCII String Schneider Electric

01 hex Product code ASCII String Controller referencee.g. TM218LDA24DRN

02 hex Major / Minor revision ASCII String aa.bb.cc.dd (same as device descriptor)


Program your application to translate between the Modbus memory mapping used by the controller and that used by attached HMI devices.


Sub-Function Code Function

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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.

NOTE: If %MD is used for data exchange between PLC and HMI, the word order should be consistent between PLC and HMI. For Modicon M218 Logic Controller, the order of double word variable is low word first.

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12

Ethernet Configuration

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M218 Ethernet Configuration

Indroduction

This Chapter describes how to configure the Ethernet network interface of the Modicon M218 Logic Controller



Topic Page

Ethernet Services 112

IP Address Configuration 113

Modbus TCP Server/Client 118

111


Ethernet Services

Ethernet Services

The controller supports the following services: Modbus TCP Server (see page 118) Modbus TCP Client (see page 118)

Ethernet Protocol

The controller supports the following protocols: IP (Internet Protocol) TCP (Transmission Control Protocol) ARP (Address Resolution Protocol) ICMP (Internet Control Messaging Protocol), only support Ping function.

TCP Server Connection

The maximum number of TCP connection: 4 Modbus servers 3 Modbus servers and 1 client

Each server based on TCP manages its own pool of connections.

When a client tries to open a connection that exceeds the poll size, the controller closes the oldest connection.

If all connections are busy (exchange in progress) when a client tries to open a new one, the new connection is denied.

All server connections stay open as long as the controller stays in operational states (RUN, STOP, HALT).

All server connections are closed when leaving or entering operational states (RUN, STOP, HALT), except in case of power outage (because the controller did not have time to close the connections).

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IP Address Configuration

Introduction

There are four different ways to assign the IP address of the controller: address assignment by DHCP server address assignment by BOOTP server fixed IP address

NOTE: If the attempted addressing method is unsuccessful, the controller will start using a default IP address (see page 116) derived from the MAC address.

You must 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 unpredictable operation of your network and associated equipment.

NOTE: It is good practice to ensure that your system administrator maintains a record of all assigned IP addresses on the network and subnetwork, and to inform the system administrator of all configuration changes performed.

WARNINGUNINTENTED EQUIPMENT OPERATION

Be sure that there is only one master controller configured on the network or remote link.

Be sure that all slave devices have unique addresses. Be sure that all slave devices have unique addresses. You cannot have duplicated addresses.

Obtain your IP address from your system administrator. Confirm that the device’s IP address is unique before placing the system into

service. Do not assign the same IP address to any other equipment on the network.


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Address Management

The different types of address systems for the controller are shown in the following diagram:

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 will, however, constantly reiterate its request.

The IP process automatically 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.

IP Mode = Fixed

IP Mode = BOOTP

IP Mode = DHCP

IP acquired ? Valid IP ?

Duplicated IP?

NO

NO

YES

YES

NO NO

NO

Restart IP Process

YES YES YES

Initiate BOOTP process

Initiate BOOTP process

Errordetected

Final state (default IP used)

Final state (IP acquired and checked)

Use default IP

Initial IP acquisition state Close connection

Initiate DHCP process

IP acquired ?

Duplicated IP?

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In the Devices tree, double click on the Ethernet item:

Element Description

Interface Name Name of the network interface, maximum 16 characters

Network Name Used as device name to retrieve IP address through DHCP, maximum 16 characters

IP Address by DHCP IP address is obtained via DHCP.

IP Address by BOOTP IP address is obtained via BOOTP.

Fixed IP Address IP address, Subnet Mask and Gateway Address are defined by the user.

Transfer Rate Transfer rate and direction on the bus are automatically configured.

Ethernet Protocol Protocol type used, only support Ethernet 2)

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Default IP Address

The default IP address is based on the device’s MAC address. The first two bytes are 10 and 10. The last two bytes are the last two bytes of the device’s MAC address.

The default subnet mask is 255.0.0.0.

NOTE: A MAC address is always written in hexadecimal format, and an IP address in decimal format. You must 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 (known as the host) to the network to which the device is connected

An IP address is always coded using 4 bytes.

The distribution of these bytes between the network address and the device address may vary. This distribution is defined by the address classes.

The different IP address classes are defined in the following table:

Subnet Mask

The subnet mask is used to address several physical networks with a single network address. The mask is used to separate the sub-network and the device address in the host ID.

The subnet address is obtained by retaining the bits of the IP address which 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 which correspond to the positions of the mask containing 0, and replacing the others with 1.

Address Class Byte 1 Byte 2 Byte 3 Byte 4

Class A 0 Network ID Host ID

Class B 1 0 Network ID Host ID

Class C 1 1 0 Network ID Host ID

Class D 1 1 1 0 Multicast address

Class E 1 1 1 1 0 Address reserved for subsequent use

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Example of a subnet address:

NOTE: The device does not communicate on its sub-network when there is no gateway.

Gateway

The gateway allows a message to be routed to a device which is not on the current network.

If there is no gateway, the gateway address is 0.0.0.0.

IP address 192 (11000000) 1 (00000001) 17 (00010001) 11 (00001011)

Subnet mask 255 (11111111) 255 (11111111) 240 (11110000) 0 (00000000)

Subnet address 192 (11000000) 1 (00000001) 16 (00010000) 0 (00000000)

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Modbus TCP Server/Client

Introduction

The Modbus protocol is widely used in industry. Unlike Modbus serial link, Modbus TCP/IP is not based on a hierarchical structure, but on a client / server model.

The transfer of information between a Modbus client and server is initiated when the client sends a request to the server to transfer information, to execute a command, or to perform one of many other possible functions.

After the server receives the request, it executes the command or retrieves the required data from its memory. The server then responds to the client by either acknowledging that the command is complete or by providing the requested data.

The Modicon M218 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.

Without any configuration, the embedded Ethernet port of the controller supports Modbus Server.

The Modbus Server/Client is included in the firmware, and does not require any programming action from the user. Due to this feature, it is accessible in RUNNING, STOPPED and EMPTY states.

Modbus TCP Client

The Modbus TCP Client supports the following function blocks from the PLCCommunication library without any configuration: ADDM READ_VAR SEND_RECV_MSG SINGLE_WRITE WRITE_READ_VAR WRITE_VAR

For further information, see Function Block Descriptions (see SoMachine, Modbus and ASCII Read/Write Functions, PLCCommunication Library Guide) of the PLCCommunication Library.

Modbus TCP Server

The Modbus Server supports the following Modbus requests:

Function CodeDec (Hex)

Sub-functionDec (Hex)

Function

1 (1h) Read digital outputs (%Q)

2 (2h) Read digital inputs (%I)

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Diagnostic Request

The following table contains the Data Selection Code list:

Basic Network Diagnostics

Basic Network Diagnostics

3 (3h) Read holding register (%MW)

6 (6h) Write single register (%MW)

8 (8h) Diagnostic (see page 119)

15 (Fh) Write multiple digital outputs (%Q)

16 (10h) Write multiple registers (%MW)

23 (17h) Read/write multiple registers (%MW)

43 (2Bh) 14 (Eh) Read device identification (see page 122)

Function CodeDec (Hex)

Sub-functionDec (Hex)

Function

Data Selection Code Description

0x00 Reserved

0x01 Basic Network Diagnostics (see page 119)

0x02 Ethernet Port Diagnostic (see page 120)

0x03 Modbus TCP/Port 502 Diagnostics (see page 121)

0x04 Modbus TCP/Port 502 Connection Table (see page 121)

0x05 - 0x7E Reserved for other public codes

0x7F Data Structure Offsets

Field Name Bytes TR Designation

Basic NW Diag Validity 4 -

Communication Global Status 2 -

Supported Communication Services 2 -

Status of Communication Services 2 -

IP Address 4 IP Address

Subnet Mask 4 Subnet Mask

Default Gateway 4 Default Gateway

MAC Address 6 MAC Address

Ether Frame Format Capability / Configuration / Operational

6 Ethernet Frame Format

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Ethernet Port Diagnostic

Ethernet Port Diagnostic: Port Diagnostics Data Validity

Ethernet Port Diagnostic: Media Counters Diagnostic Data Validity

Ether Rcv Frames OK 4 Total number of Ethernet Frames received OK

Ether Xmit Frames OK 4 Total number of Ethernet Frames Transmitted OK

Reserved 2 -

Num MB Open Server Connections 2 Num_Open_ServerCnx

Num MB Error Msgs Sent 4 Num_MB_Error_Msgs_Sent

Num MB Msgs Sent 4 Num_MB_Msgs_Sent

Num MB Msgs Rcvd 4 Num_MB_Msgs_Rcvd

Device Name 16 Device Name

IP Assignment Mode Capability / Operational

4 IPAssignment ModeCapability; IPAssignmentModeOperational

Total: 78



Port Diagnostics Data Validity 2 -

Logical/Physical Port Number 2 -

Ether Control Capability 2 Cable Type - Duplex Status

Link Speed Capability 2 Speed

Ether Control Configuration 2 -

Link Speed Configuration 2 Speed

Ether Control Operational 2 -

Link Speed Operational 2 Speed

Port MAC Address 6 MAC Address

Media Counters 72 -

Reserved 46 -

Total: 140


Media Counters Data Validity 4 -

Num Frames Xmit OK 4 Frames transmitted OK

Num Frames Received OK 4 Frames received OK

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Modbus TCP/Port 502 Diagnostics

Modbus TCP/Port 502 Diagnostics:

Modbus TCP/Port 502 Connection Table

Modbus TCP/Port 502 Connection Table:

Reserved 60 -

Total: 72



Modbus TCP/Port 502 Diag Validity 4 -

Port 502 Status 2 -

Num Open Connections 2 Num_Open_Cnx

Num MB Msgs Sent 4 Num_MB_Msgs_Xmit

Num MB Msgs Received 4 Num_MB_Msgs_Rcvd

Num Open Client Connections 2 Num_Open_ClientCnx

Reserved 2 -

Max Num Connections 2 Max_Num_Cnx

Max Num Client Connections 2 Max_Num_ClientCnx

Reserved 2 -

Num MB Error Msgs Sent 4 Num_MB_Error_Msgs_Sent

Reserved 102 -

Total: 34 + 6*N + 2


Connection Table Validity 2 -

Number of Entries (NE) 2 -

Starting Entry Index (SE) 2 -

Connection Table Entry 1 16 -

Connection Table Entry 2 16 -

Reserved ... -

Connection Table Entry N 16 -

Total: 6 + 16 * N

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Read Device Identification Request

The table below list the objects that can be read with a read device identification request (basic identification level):

Object ID Object Name Type Value

00h Vendor name ASCII string Schneider Electric

01h Product code ASCII string Controller referenceeg: TM218LDA40DR2HN

02h Major / minor revision ASCII string aa.bb.cc.dd (same as device descriptor)

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13

Connecting the Modicon M218 Logic Controller to a PC

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Connecting the Controller to a PC

Overview

To transfer, run and monitor the applications, connect the controller to a computer, that has SoMachine installed. Use one of the following USB cables:TCS XCNA MUM3P : This USB cable is suitable for short duration connection like

quick updates or retrieving data values.BMX XCA USBH045 : Grounded and shielded, this USB cable is suitable for long

duration connection.

NOTE: You can only connect 1 controller to the PC at the same time.

The USB Mini-B Port is the programming port you can use to connect a PC with a USB host port using SoMachine 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.

The communication cable should be connected to the PC first to minimize the possibility of electrostatic discharge affecting the controller.

WARNINGINOPERABLE EQUIPMENT OR UNINTENDED EQUIPMENT OPERATION

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 at a time using USB connections.


123


USB Mini-B Port Connection

The following figure shows the USB connection to a PC:

To connect the USB cable to your controller, do the following:

CAUTIONINOPERABLE 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.

Step Action

1 1a If making a long term connection using the cable BMX XCA USBH045, 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 TCS XCNA MUM3P 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.

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14

Upgrading an M218 Firmware

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Overview

Detailed instructions are provided for using the M218 Windows ExecLoader to update the Firmware of your controller.



Topic Page

Upgrading Through USB 126

Launching the Exec Loader Wizard 128

Step 1 - Welcome 129

Step 2 - Settings 130

Step 3 - File and Device Properties 131

Step 4 - Transfer Progress 133

125


Upgrading Through USB

Introduction

Performing a firmware update will delete the current application program in the device, including the Boot Application in Flash memory.

If there is a power outage or communication interruption during the transfer of the application program or a firmware update, your device may become inoperative. If a communication interruption or a power outage occurs, reattempt the transfer.

The Serial Line port 1 of your controller is configured for the SoMachine protocol by default when new or when you update the controller firmware. The SoMachine 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 that has the concerned port or ports properly configured for the intended protocol.

CAUTIONLOSS 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 injury or equipment damage.


Do not interrupt the transfer of the application program or a firmware update once the transfer has begun.

Do not place the device into service until the transfer is completed successfully.


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Before starting the firmware update procedure, ensure you have:

USB cable TCS XCNA MUM3P Modicon M218 Logic Controller

This updating procedure is a maintenance operation. It requires that the controller be disconnected from the systems and applications it effects. The PC and the controller must stay connected during this operation.

NOTE: If the PC and the controller are unintentionally disconnected during a firmware update, the controller will not function correctly until a new, successful firmware update operation is performed.

Installing Cables

Follow these steps to install the cables properly:

CAUTIONUNINTENDED EQUIPMENT OPERATION

Be sure your application has the Serial Line port(s) properly configured for Modbus before physically connecting the controller to an operational Modbus Serial Line network.


Step Action

1 Plug the TCS XCNA MUM3P cable to an USB Port of your PC.

2 Plug the second end of the cable to the USB port of the controller.

3 Launch the Exec Loader Wizard USB (see page 128)

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Launching the Exec Loader Wizard

Introduction

The M218 Exec Loader Wizard is a Windows-based wizard that guides you through the steps necessary to update the firmware in your Schneider Electric controller.

Opening the Exec Loader Wizard

To launch the Exec Loader Wizard, complete the following steps:

Overview of Upgrade Steps

The wizard provides a screen for each step. The following table summarizes the 4 steps required to upgrade your firmware:

Step Action

1 Close all your windows applications, including virtual machines.

2 If the gateway is running, right-click the CoDeSys Gateway SysTray (running) icon in the task bar and select Stop Gateway.

When the gateway is stopped, the CoDeSys Gateway SysTray (stopped) icon appears in the task bar:

3 ClickStart → Programs → Schneider Electric → SoMachine → Tools → Exec Loader Wizard USB

Step Screen Function

1 Welcome (see page 129)

Introduction to the Exec Loader Wizard.

2 Settings (see page 130)

Select the correct firmware file to transfer to your controller.

3 File and Device Properties (see page 131)

Compare the hardware IDs and the firmware version information of the firmware file and the controller.

4 Transfer Progress (see page 133)

Monitor the transfer of the firmware file to the controller.

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Step 1 - Welcome

Step 1 - Welcome

The wizard provides a screen for each step. The welcome screen is an introduction to the Exec Loader Wizard.

To continue:

Select Next to continue the procedure and display the next screen, Step#2 Settings (see page 130).

Select Close to close the screen without changing the firmware on your controller.

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Step 2 - Settings

Selecting Settings

Use these steps to select the appropriate firmware:

Step Action

1 In Settings, click on the Browse button and select the correct file for your controller model. Example: C:\Program Files\Schneider Electric\SoMachine\Firmware\M238\TM238LFDC24DT.mfw

2 Power off the Controller, as indicated on the screen.

3 Select Next.During the progress bar, turn on the power of the controller.

When the Exec Loader Wizard has successfully opened a connection with the controller, it goes automatically to step 3 (see page 131).

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Step 3 - File and Device Properties

Overview

At this step, the following information is checked by the Exec Loader Wizard for both the firmware file and your controller before the procedure can continue:

Hardware ID - the selected firmware file is correct for the target controller. Exec Version Number - the selected firmware file is newer than the currently

installed firmware.

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Hardware ID

The Hardware ID is a unique identifier for each controller reference:

Green check mark: OK Red cross: incorrect firmware file. Select a firmware file corresponding to your

controller reference (go back to step 2 (see page 130))

Exec Version Number

The Exec Version Number identifies the version of the firmware:

Green check mark: you will upgrade your controller to a newer version of the firmware

Yellow check mark: you will downgrade your controller to an older version of the firmware or update your controller with the same version of the current firmware

Starting the Transfer

Click on the Next button to start the transfer.

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Step 4 - Transfer Progress

Overview

In this screen you can monitor the transfer progress.

The remaining time information is available after a while.

If Transfer is Successful

If the transfer is successful, a message box is displayed to allow for another transfer. Two options are available:

Yes - the wizard returns to Step 2 - Settings (see page 130) and you can set up another transfer.

No - click on the Close button to exit the wizard. This completes the update procedure.

If Transfer is not successful

If the transfer is interrupted (for example, due to a loss of communication), a message box is displayed allowing a retry of the transfer. Two options are available:

Yes - the wizard returns to Step 3 - Files and Device Properties (see page 131) and you can try another transfer.

No - click on the Close button to exit the wizard.

Your controller remains inoperative until a successful transfer has been accomplished.


Do not interrupt the transfer of the application program or a firmware update once the transfer has begun.

Do not place the device into service until the transfer is completed successfully.


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15

Modicon M218 Logic Controller - Troubleshooting and FAQ

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Topic Page

Troubleshooting 136

Frequently Asked Questions 142

135


Troubleshooting

Introduction

This section describes the procedures to troubleshoot your Modicon M218 Logic Controller.

Transferring the Application is not Possible

Possible causes: PC cannot communicate with the controller. Is your application valid? Is the CoDeSys gateway running?

Resolution: Refer to the part below (Communication Between SoMachine and the Modicon

M218 Logic Controller (see page 136)). Your application program must be valid. Refer to the debugging part of the

CoDeSys help. The CoDeSys gateway must be running:

a. click the CoDeSys Gateway SysTray(stopped) icon in the task bar,b. select Start Gateway.

Communication Between SoMachine on a Computer and the Modicon M218 Logic Controller is not Possible.

Possible causes: Incorrect cable usage. PLC not detected by the PC. Communication settings are not correct. The controller is not correctly operating.

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Resolution:

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Application program is not executed

Possible causes:

No POU declared in the task.

Resolution:

As POUs are managed by tasks, you must at least add a POU to a task:1. double click a task in the Devices window,2. click Add POU in the task window,3. select the POU you want to execute in the Input Assistant window and click OK.

Check Action

1 Check that: the cable is correctly linked to the controller and to the PC and not damaged, you use the specific cable depending on the connection type: TCS XCNA MUM3P cable for an USB connection.

2 Check that the Modicon M218 Logic Controller has been detected by your PC:1. click Start → Control Panel → System, select the Hardware tab and click Device Manager,

2. check that the Modicon M218 Logic Controller node appears in the list: .

3. If the Modicon M218 Logic Controller node does not appear or if there is an icon in front of the node, unplug/plug the cable on the controller side.

3 Check that the active path is correct:1. double click the Controller node in the Devices window, 2. check that the Modicon M218 Logic Controller node appears in bold and not in italic.

If not:a. stop the CoDeSys Gateway: right click the CoDeSys Gateway SysTray(running) icon

in the task bar and select Stop Gateway,b. unplug/plug the cable on the controller side,c. start the CoDeSys gateway: right click the CoDeSys Gateway SysTray(stopped) icon

in the task bar and select Start Gateway ,d. select the gateway in the Controller configuration window of SoMachine and click Scan network.

Select the Modicon M218 Logic Controller node and click Set active path.

NOTE: If your PC is connected to an Ethernet network, its address might change. In this case, the currently active path set is not correct anymore and the Modicon M218 Logic Controller node appears in italic. Select the Modicon M218 Logic Controller node and click Resolve Name. The node must not appear in italic anymore, click Set Active Path.

4 Refer to the System Diagnostic using LED Display section (see Modicon M218 Logic Controller, Hardware Guide).

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Possible causes: Application does not go to RUN state. One input is configured in RUN/STOP mode. Run/Stop Switch is switched to Stop position.

Resolution: Use the input configured in RUN/STOP mode to run the application. Turn Run/Stop Switch to the Run position.

CoDeSys Gateway does not start (CoDeSys Gateway SysTray icon is black)

Possible cause:

Connection during a long time.

Resolution:

If the CoDeSys Gateway SysTray icon is black (stopped):1. Open the task Manager,2. stop the Gatewayservice.exe, and start it again: Reset your computer or, in Control Panel, open Administrative Tools and Computer Management, in Service, double click CoDeSys Gateway, Click Start Service button.

3. Control if the CoDeSys Gateway SysTray icon is red (running).

Serial Line Communication is not Possible

Possible causes: Communication settings are not identical between serial line devices. The controller is not correctly operating.

Resolution:

Check that: protocol communication settings (baud rate, parity...) are identical for all serial

line devices. The correct communication manager is added on the Serial Line object: Modbus manager if the line is used for Modbus protocol, SoMachine-Network Manager if the line is used for communication to access

IEC variable.

the controller operates correctly. Refer to the System Diagnostic using LED Display part (see Modicon M218 Logic Controller, Hardware Guide).

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Creating the Boot Application is not Possible

Possible cause:

Operation not possible while the controller is in RUN state.

Resolution:

Select Stop Application, Select Create Boot Project.

PTO Function does not Start

Possible cause:

The AUX input is configured as Drive ready but not used.

Resolution:

If the AUX variable is set to Drive_Ready, check that the Drive is correctly operating, or

set the Dis_Drive_Ready variable of the PTOsimple function block to 0.

Changing Device Name do not work

Possible cause:

Application is running.

Resolution:

Select Stop Application, Change device name.

Monitoring of the POU is slow

Possible cause:

Task interval is too small or POUs is too great.

Resolution:

Increase the configured task interval. Split the application in smaller POUs.

ERR LED is flashing fast on the PLC

Possible cause:

A system error was detected.

Resolution:

Check your application program (pointer management, arrays management, etc...).

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Controller is in HALT State

Possible cause:

The PLC has stopped due to a watchdog event.

Resolution: If a task watchdog is configured:

a. Run the application without task watchdogb. Get the maximum task cycle time from the task monitorc. Set the task watchdog greater than the maximum task cycle time

If a task watchdog is not configured: If a Cyclic task is configured, increase the cycle time to a value > 1.25 times

the average task time If several tasks are configured, one of these is a Freewheeling task, try

reconfiguring the Freewheeling task as a Cyclic task

Possible cause:

A division by 0 is detected in the application program.

Resolution:

Check your application program. Use POUs for implicit checks in your application to manage this kind of situation.

Source Download leads to Communication Error

The following table describes the possible causes of a communication error during Source Download:

Possible Cause Resolution

You attempted to download the source while the controller was in a RUN state.

Stop the controller before attempting the download.

The source file exceeded the available memory space in the controller.

If sending additional files with the source, considering deselecting them to reduce the overall size of the download. See Project → Project Settings → Source Download → Additional Files... in the SoMachine main menu.

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Frequently Asked Questions

How can I Determine the Firmware, Boot and Coprocessor Version of the Controller?

In online mode, double click the Controller node in the Devices window. In the Controller window, select the Services tab. The device identification area gives information about versions:

What Programming Languages are supported by a Modicon M218 Logic Controller?

Refer to key features of Modicon M218 Logic Controller (see page 13).

What Variable Types are supported by a Modicon M218 Logic Controller?

Refer to supported data types. (see page 21)

When should I use Freewheeling or Cyclic Task Type?

Freewheeling or cyclic task type usage Task Configuration (see page 37): Freewheeling: use this setting if you accept to have a variable cycle time. The

next cycle will start after a waiting duration equals 30% of the last cycle execution duration.

Cyclic: use this mode if you want to control the cycle time.

What are the Effects of Cold/Warm Restart?

Refer to the effects of reset cold/warm section (see page 58).

Can I connect the PC (SoMachine) and the Controller through 499TWD01100 Ethernet Gateway?

No, because Ethernet Gateway only supports Modbus protocol.

Can I connect several M218, through several USB ports of my PC?

No, because driver conflicts may occur.

Device Identification

Firmware Version:

Boot Version:

Coprocessor Version:

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Why the communication between the HMI and the controller is interrupted when making online changes?

When online changes are made to a M218 application, the Symbol Configuration is downloaded. This results in a temporary interruption of the communication. It occurs when the protocol used between the controller and the HMI is the SoMachine network protocol.

Can I simulate the real PLC behavior with the Simulation mode?

No. The simulation mode is only used to simulate the user application, not the PLC behavior.

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Appendices

Overview

This appendix lists the documents necessary for technical understanding of the M218 Programming Guide.

What's in this Appendix?

The appendix contains the following chapters:

Chapter Chapter Name Page

A Function and Function Block Representation 147

B Functions to get/set serial line configuration in user program 155

C Controller Performance 161

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A

Function and Function Block Representation

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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.



Topic Page

Differences Between a Function and a Function Block 148

How to Use a Function or a Function Block in IL Language 149

How to Use a Function or a Function Block in ST Language 152

147


Differences Between a Function and a Function Block

Function

A function: is a POU (Program Organization Unit) that returns one immediate result is directly called with its name (not through an Instance) has no persistent state from one call to the other can be used as an operand in other expressions

Examples: boolean operators (AND), calculations, conversion (BYTE_TO_INT)

Function Block

A function block: is a POU (Program Organization Unit) that returns one or more outputs is always called through 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

Examples: timers, counters

In the example below, Timer_ON is an instance of the Function Block TON:

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How to Use a Function or a Function Block in IL Language

General Information

This part explains how to implement a Function and a Function Block in IL language.

Functions IsFirstMastCycle and SetRTCDrift and Function Block TON are used as examples to show implementations.

Using a Function in IL Language

The following procedure describes how to insert a function in IL language:

To illustrate the procedure, consider the Functions IsFirstMastCycle (without input parameter) and SetRTCDrift (with input parameters) graphically presented below:

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 the SoMachine global help.

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 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.

Function Graphical Representation

without input parameter:IsFirstMastCycle

with input parameters:SetRTCDrift

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In IL language, the function name is used directly in the Operator Column:

Using a Function Block in IL language

The following procedure describes how to insert a function block in IL language:

Function Representation in SoMachine POU IL Editor

IL example of a function without input parameter:IsFirstMastCycle

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 the SoMachine global help.

2 Create the variables that the function block requires, including the instance name.

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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:

3 Function Blocks are called using a CAL instruction: Use the Input Assistant to select the FB (right-click and select Insert Box in context menu). Automatically, the CAL instruction and the necessary I/O are created.

Each parameter (I/O) is an instruction: Value to inputs are set by ":=". Values to outputs are set by "=>".

4 In the CAL right-side field, replace ??? with the instance name.

5 Replace other ??? with an appropriate variable or immediate value.

Step Action

Function Block Graphical Representation

TON

Function Block Representation in SoMachine POU IL Editor

TON

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How to Use a Function or a Function Block in ST Language

General Information

This part explains how to implement a Function and a Function Block in ST language.

Function SetRTCDrift and Function Block TON are used as examples to show implementations.

Using a Function in ST Language

The following procedure describes how to insert a function in ST language:

To illustrate the procedure, consider the function SetRTCDrift graphically presented below:

The ST language of this function is the following:

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 the SoMachine global help.

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);

Function Graphical Representation

SetRTCDrift

Function Representation in SoMachine POU ST Editor

SetRTCDrift PROGRAM MyProgram_STVAR myDrift: SINT(-29..29) := 5;myDay: DAY_OF_WEEK := SUNDAY;myHour: HOUR := 12;myMinute: MINUTE;myRTCAdjust: RTCDRIFT_ERROR;END_VAR

myRTCAdjust:= SetRTCDrift(myDrift, myDay, myHour, myMinute);

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Using a Function Block in ST Language

The following procedure describes how to insert a function block in ST language:

To illustrate the procedure, consider this example with the TON function block 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, refer to the SoMachine global help.

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,...);

Function Block Graphical Representation

TON

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The following table shows examples of a function block call in ST language:

Function Block Representation in SoMachine POU ST Editor

TON

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B

Functions to get/set serial line configuration in user program

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Overview

This section describes the functions to get/set the serial line configuration in your program.

To use these functions, you must add the M218 Communication library.

For further information on adding a library, refer to the SoMachine Programming Guide (see SoMachine, Programming Guide).



Topic Page

GetSerialConf: Get the Serial Line Configuration 156

SetSerialConf: Change the Serial Line Configuration 157

SERIAL_CONF: Structure of the Serial Line Configuration Data Type 159

155


GetSerialConf: Get the Serial Line Configuration

Function Description

GetSerialConf returns the configuration parameters for a specific serial line communication port.

Graphical Representation


Example

Refer to the SetSerialConf (see page 158) example.

Input Type Comment

Link LinkNumber Link is the communication port number.

PointerToSerialConf POINTER TO SERIAL_CONF (see page 159)

PointerToSerialConf is the address of the configuration structure (variable of SERIAL_CONF type) in which the configuration parameters are stored. The ADR standard function must be used to define the associated pointer. (See the example below.)

Output Type Comment

GetSerialConf WORD This function returns: 0: The configuration parameters are returned 255: The configuration parameters are not returned because: the function was not successful the function is in progress

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SetSerialConf: Change the Serial Line Configuration

Function Description

SetSerialConf is used to change the serial line configuration.

Graphical Representation

NOTE: Changing the configuration of the Serial Line(s) port(s) during programming execution can interrupt ongoing communications with other connected devices.


WARNINGLOSS OF CONTROL DUE TO UNEXPECTED CONFIGURATION CHANGE

Be sure to validate and test all the parameters of the SetSerialConf function before putting your program into service.


Input Type Comment

Link LinkNumber LinkNumber is the communication port number.

PointerToSerialConf POINTER TO SERIAL_CONF (see page 159)

PointerToSerialConf is the address of the configuration structure (variable of SERIAL_CONF type) in which the new configuration parameters are stored. The ADR standard function must be used to define the associated pointer. (See the example below.) If 0, set the application default configuration to the serial line.

Output Type Comment

SetSerialConf WORD This function returns: 0: The new configuration is set 255: The new configuration is refused because: the function is in progress the input parameters are not valid

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Example

VAR

MySerialConf: SERIAL_CONF

result: WORD;

END_VAR

(*Get current configuration of serial line 1*)

GetSerialConf(1, ADR(MySerialConf));

(*Change to modbus RTU slave address 9*)

MySerialConf.Protocol := 0; (*Modbus RTU/Somachine protocol (in this case CodesysCompliant selects the protocol)*)

MySerialConf.CodesysCompliant := 0; (*Modbus RTU*)

MySerialConf.address := 9; (*Set modbus address to 9*)

(*Reconfigure the serial line 1*)

result := SetSerialConf(1, ADR(MySerialConf));

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SERIAL_CONF: Structure of the Serial Line Configuration Data Type

Structure Description

The SERIAL_CONF structure contains configuration information about the serial line port. It contains these variables:

Variable Type Description

Bauds DWORD baud rate

InterframeDelay WORD minimum time (in ms) between 2 frames in Modbus (RTU, ASCII)

FrameReceivedTimeout WORD In the ASCII protocol, FrameReceivedTimeout allows the system to conclude the end of a frame at reception after a silence of the specified number of ms. If 0 this parameter is not used.

FrameLengthReceived WORD In the ASCII protocol, FrameLengthReceived allows the system to conclude the end of a frame at reception, when the controller received the specified number of characters. If 0, this parameter is not used.

Protocol BYTE 0: Modbus RTU or SoMachine (see CodesysCompliant)

1: Modbus ASCII

2: ASCII

Address BYTE Modbus address 0 to 255 (0 for Master)

Parity BYTE 0: none

1: odd

2: even

Rs485 BYTE 0: RS232

1: RS485

ModPol (polarizartion resistor)

BYTE 0: no

1: yes

DataFormat BYTE 7 bits or 8 bits

StopBit BYTE 1: 1 stop bit

2: 2 stop bits

CharFrameStart BYTE In the ASCII protocol, 0 means there is no start character in the frame. Otherwise, the corresponding ASCII character is used to detect the beginning of a frame in receiving mode. In sending mode, this character is added at the beginning of the user frame.

CharFrameEnd1 BYTE In the ASCII protocol, 0 means there is no second end character in the frame. Otherwise, the corresponding ASCII character is used to detect the end of a frame in receiving mode. In sending mode, this character is added at the end of the user frame.

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CharFrameEnd2 BYTE In the ASCII protocol, 0 means there is no second end character in the frame. Otherwise, the corresponding ASCII character is used (along with CharFrameEnd1) to detect the end of a frame in receiving mode. In sending mode, this character is added at the end of the user frame.

CodesysCompliant BYTE 0: Modbus RTU

1: SoMachine (when Protocol = 0)

CodesysNetType BYTE not used

Variable Type Description

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C

M218 - Controller Performance)

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Controller Performance

Processing Performance

Introduction

This chapter provides information about the processing performance.

Logic Processing

The following table shows logic processing performance for various logical instructions:

Basic System Time

The following table shows the basic overhead performance for each MAST cycle:

IL Instruction Type Duration for 1000 instructions

Addition/subtraction/multiplication of INT 380 μs

Addition/subtraction/multiplication of DINT 401 μs

Addition/subtraction/multiplication of REAL 7608 μs

Division of REAL 15978 μs

Operation on BOOLEAN, e.g. Status:= Status and value

572 μs

LD INT + ST INT 386 μs

LD DINT + ST DINT 430 μs

LD REAL + ST REAL 750 μs

I/O type Overhead for each MAST cycle

Embedded Inputs & Internal Processing 1500 μs

Embedded Outputs 450 μs

161

M218 - Controller Performance)

HSC, PWM, PTO and Frequency Generator Processing

The following table shows the processing performance for complex functions for each MAST cycle:

Communication and System Processing Time

The communication processing time varies, depending on the number of sent/received requests.

Response Time on Event

The response time shown in the following table represents the time between a signal rising edge on an input triggering an external task and the edge of an output set by this task. The event task also process 100 IL instructions before setting the output:

Complex function type Overhead for each MAST cycle

HSC Simple 150 μs

HSC Main 350 μs

PWM 150 μs

PTO Simple 200 μs

Frequency Generator 150 μs

Minimum Typical Maximum

950 μs 1200 μs 2000 μs

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Glossary

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Glossary

0-9

%IAccording to the IEC standard, %I represents an input bit (for example a language object of type digital IN).

%IWAccording to the IEC standard, %IW represents an input word register (for example a language object of type analog IN).

%MWAccording to the IEC standard, %MW represents a memory word register (for example a language object of type memory word).

%QAccording to the IEC standard, %Q represents an output bit (for example a language object of type digital OUT).

%QWAccording to the IEC standard, %QW represents an output word register (for example a language object of type analog OUT).

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Glossary

A

analog inputAn analog input module contains circuits that convert an analog DC input signal to a digital value that can be manipulated by the processor. By implication, the analog input is usually direct. That means a data table value directly reflects the analog signal value.

analog outputAn analog output module contains circuits that transmit an analog DC signal proportional to a digital value input to the module from the processor. By implication, these analog outputs are usually direct. That means a data table value directly controls the analog signal value.

application sourceThe application source file can be uploaded to the PC to reopen a SoMachine project. This source file can support a full SoMachine project (for example, one that includes HMI application).

ARPThe address resolution protocol is the IP network layer protocol for Ethernet that maps an IP address to a MAC (hardware) address.

ARRAYAn ARRAY is a table containing elements of a single type. The syntax is as follows: ARRAY [<limits>] 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 10x20 elements of type INT.

ASCIIThe american standard code for information interchange is a communication protocol for representing alphanumeric characters (letters, numbers, and certain graphic and control characters).

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Glossary

assigned variableA variable is "assigned" if its location in controller memory can be known. For example, the Water_pressure variable is said to be assigned through its association with memory location %MW102.Water_pressure.

AWGThe american wire gauge standard specifies wire gauges in North America.

B

BCDThe binary coded decimal format represents decimal numbers between 0 and 9 with a set of 4 bits (a nybble/nibble, also titled as Halfbyte). 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

BOOLA Boolean type is the 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 a memory word number 10.

Boot applicationFiles that contain machine dependent parameters: machine name device name or IP address Modbus Serial Line address Routing table

BOOTPThe bootstrap protocol is 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’s 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.

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Glossary

bpsbit per second as a definition of transmission rate, also given in conjunction with multiplicator kilo (kbps) and mega (mbps).

BYTEWhen 8 bits are grouped together, they are called a BYTE. You can enter a BYTE either in binary mode or in base 8. The BYTE type is encoded in an 8-bit format that ranges from 16#00 to 16#FF (in hexadecimal format).

C

CFCThe continuous function chart (an extension of the IEC61131-3 standard) is a graphical programming language that works like a flowchart. By adding simple logicals blocks (AND, OR, etc.), each function or function block in the program is represented in this graphical format. For each block, the inputs are on the left and the outputs on the right. Block outputs can be linked to inputs of other blocks in order to create complex expressions.

controllerA controller (or “programmable logic controller,” or “programmable controller”) is used to automate industrial processes.

controller status outputThe controller status output is a special function used in circuits that are external to the controller that control the power supply to the output devices or the controller’s power supply.

CRCA network message's cyclic redundancy check field contains a small number of bits that produce a checksum. The message is calculated by the transmitter according to the message’s content. Receiving nodes then recalculate the field. Any discrepancy in the two CRC fields indicates that the transmitted message and the received message are different.

CTSClear to send is a data transmission signal and acknowledges the RDS signal from the transmitting station.

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Glossary

cyclic taskThe cyclic scan time has a fixed duration (interval) specified by the user. If the current scan time is shorter than the cyclic scan time, the controller waits until the cyclic scan time has elapsed before starting a new scan.

D

data logThe controller logs events relative to the user application in a data log.

DHCPThe dynamic host configuration protocol is an advanced extension of BOOTP. DHCP is a more advanced, but both DHCP and BOOTP are common. (DHCP can handle BOOTP client requests.)

digital I/OA digital input or output has an individual circuit connection at the electronic module that corresponds directly to a data table bit that holds the value of the signal at that I/O circuit. It gives the control logic digital access to I/O values.

DINDeutsches Institut für Normung is a German institution that sets engineering and dimensional standards.

DINTA double integer type is encoded in a 32-bit format.

DNSThe domain name system is the naming system for computers and devices connected to a LAN or the Internet.

drop cableA drop cable is the unterminated derivation cord used to connect a TAP to a device.

DSRData set ready is a data transmission signal.

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Glossary

DTMWith device type managers representing the field device in SoMachine, direct communications are possible to every single field device via SoMachine, the controller and the field bus, thus avoiding the need for individual cable connections.

DWORDA double word type is encoded in a 32-bit format.

E

EDSElectronic data sheet contains for example the properties of a device e.g. parameters and settings of a drive.

EEPROMElectrically erasable programmable read-only memory is a type of non-volatile memory used to store data that must be saved when power is removed.

EIAThe electronic industries alliance is the trade organization for establishing electrical/electronic and data communication standards (including RS-232 and RS-485) in the United States.

EIA rackAn electronic industries alliance rack is 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.

electronic moduleIn a programmable controller system, most electronic modules directly interface to the sensors, actuators, and external devices of the machine/process. This electronic module is the component that mounts in a bus base and provides electrical connections between the controller and the field devices. Electronic modules are offered in a variety of signal levels and capacities. (Some electronic modules are not I/O interfaces, including power distribution modules and transmitter/receiver modules.)

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Glossary

ENEN 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).

encoderAn encoder is a device for length or angular measurement (linear or rotary encoders).

EthernetEthernet is a physical and data link layer technology for LANs, also known as IEE 802.3.

EtherNet/IPThe ethernet industrial protocol is an open communications protocol for manufacturing automation solutions in industrial systems. EtherNet/IP is in a family of networks that implements Common Industrial Protocol at its upper layers. The supporting organization (ODVA) specifies EtherNet/IP to accomplish global adaptability and media independence.

expansion I/O moduleAn expansion input or output module is either a digital or analog module that adds additional I/O to the base controller.

F

FAST I/OFAST I/Os are specific I/Os with some electrical features (response time, for example) but the treatment of these channels is done by the Controller CPU.

FAST taskThe FAST task is a periodic, high-priority task of a short duration that is run on a processor through its programming software. The task’s fast speed keeps it from interfering with the execution of lower priority master (MAST) tasks. A FAST task is useful when fast periodic changes in discrete inputs need to be monitored.

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Glossary

FBA function block performs a specific automation function, such as speed control, interval control, or counting. A function block comprises configuration data and a set of operating parameters.

FBDA function block diagram is a graphically oriented programming language, compliant with IEC 61131-3. It works with a list of networks whereby 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.

FDTField device tool for standardized communications between field devices and SoMachine.

FEFunctional ground is the point of a system or device that must be grounded to help prevent equipment damage.

FGfrequency generator

firmwareThe firmware represents the operating system on a controller.

Flash memoryFlash memory is nonvolatile memory that can be overwritten. It is stored on a special EEPROM that can be erased and reprogrammed.

FTPFile transfer protocol is a standard network protocol (built on a client-server architecture), to exchange and manipulate files over TCP/IP based networks.

functionA function: is a POU that returns 1 immediate result is directly called with its name (as opposed to through an instance) has no persistent state from one call to the next can be used as an operand in expressions

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Glossary

Examples: boolean (AND) operators, calculations, conversions (BYTE_TO_INT)

function block (FB)See FB.

function block diagram (FBD)See FBD.

G

GVLThe global variable list manages global variables that are available in every application POU.

H

HE10Rectangular connector for electrical signals with frequencies below 3MHz, complying with IEC60807-2.

HMIA human-machine interface is an operator interface (usually graphical) for industrial equipment.

HSChigh-speed counter

HVACHeating ventilation and air conditioning applications monitor and control indoor environments.

I

I/Oinput/output

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Glossary

I/O scanAn input/output scan continuously polls I/O modules to collect data bits and status, error, and diagnostics information. This process monitors inputs and controls outputs.

I/O terminalAn input/output terminal on the front of an expansion I/O module connects input and output signals.

ICMPThe internet control message protocol reports errors and provides information related to datagram processing.

IECThe international electrotechnical commission is a non-profit and non-governmental international standards organization that prepares and publishes international standards for all electrical, electronic, and related technologies.

IEC 61131-3The IEC 61131-3 is an international electrotechnical commission standard for industrial automation equipment (like controllers). IEC 61131-3 deals with controller programming languages and defines 2 graphical and 2 textual programming language standards: graphical: ladder diagram, function block diagram textual: structured text, instruction list

IEEEThe institute of electrical and electronics engineers is a non-profit international standards and conformity assessment body for advances in all fields of electrotechnology.

IEEE 802.3IEEE 802.3 is a collection of IEEE standards defining the physical layer, and the media access control (MAC) sublayer of the data link layer, of wired Ethernet.

ILA program written in the instruction list language is composed of a series of instructions executed sequentially by the controller. Each instruction includes a line number, an instruction code, and an operand. (IL is IEC 61131-3 compliant.)

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Glossary

immediate addressingThe direct method of addressing memory objects, including physical inputs and outputs, used in programming instructions as operands and parameters by using their direct address (for example, %Iwx or %QWx).

The use of immediate addressing in your program may avoid the need to create symbols for these objects, but there are also disadvantages. For example, if you change the program’s configuration by adding or deleting devices or I/O modules or slices, the immediate addresses used as programming instruction operands and/or parameters are not updated and must be corrected manually, which may cause extensive program modifications and lead to incorrect programming instructions. (See symbolic addressing.)

input filterAn input filter is a special function that rejects input noises. It is useful for eliminating input noises and chatter in limit switches. All inputs provide a level of input filtering using the hardware. Additional filtering with software is also configurable through the programing or the configuration software.

input terminalAn input terminal on the front of an expansion I/O module connects input signals from input devices (such as sensors, push buttons, and limit switches). For some modules, input terminals accept both sink and source DC input signals.

instruction list language (IL)Refer to IL.

INTA single integer is encoded in 16 bits.

IPThe internet protocol is part of the TCP/IP protocol family that tracks the Internet addresses of devices, routes outgoing messages, and recognizes incoming messages.

IP 20Ingress protection rating according to IEC 60529. IP20 modules are protected against ingress and contact of objects larger than 12.5 mm. The module is not protected against harmful ingress of water.

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Glossary

IP 67Ingress protection rating according to IEC 60529. IP67 modules are completely protected against ingress of dust and contact. Ingress of water in harmful quantity is not possible when the enclosure is immersed in water up to 1 m.

K

Kdderivative gain

Kiintegral gain

Kpproportional gain

L

Ladder Diagram languageSee LD.

LANA local area network local area network is a short-distance communications network that is implemented in a home, office, or institutional environment.

latching inputA latching input module interfaces with devices that transmit messages in short pulses. Incoming pulses are captured and recorded for later examination by the application.

LDA program in the ladder diagram language includes a graphical representation of instructions of a controller program with symbols for contacts, coils, and blocks in a series of rungs executed sequentially by a controller. IEC 61131-3 compliant.

LEDA light emitting diode is an indicator that lights up when electricity passes through it.

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Glossary

LINTLong integer is a 64-bit variable (4 times INT or two times DINT).

located variableA located variable has an address. (See unlocated variable.)

LRClongitudinal redundancy checking

LREALLong real is a 64-bit variable.

LSBThe least significant bit (or least significant byte) is the part of a number, address, or field that is written as the right-most single value in conventional hexadecimal or binary notation.

LWORDA long word type is encoded in a 64-bit format.

M

MAC addressThe media access control address is 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.

MagelisMagelis is the commercial name for Schneider Electric's range of HMI terminals.

MASTA master (MAST) task is a processor task that is run through its programming software. The MAST task has two 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.

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Glossary

master/slaveThe single direction of control in a network that implements the master/slave model is always from a master device or process to one or more slave devices.

MIBThe management information base is an object database that is monitored by a network management system like SNMP. SNMP monitors devices that are defined by their MIBs. Schneider has obtained a private MIB, groupeschneider (3833).

minimum I/O update timeThe minimum I/O update time is the minimum time it takes for the bus cycle to shut down to force an I/O update at each cycle.

ModbusThe Modbus communication protocol allows communications between many devices connected to the same network.

Modbus SLModbus serial line

MSBThe most significant bit (or most significant byte) is the part of a number, address, or field that is written as the left-most single value in conventional hexadecimal or binary notation.

N

NAKnegative acknowledge

NCA normally closed contact is a contact pair that is closed when the actuor is de-energized (no power is applied) and open when the actuor is energized (power is applied).

NECThe national electric code standard dictates the safe installation of electrical wiring and equipment.

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Glossary

NEMAThe national electrical manufacturers association publishes standards for the performance of various classes of electrical enclosures. The NEMA standards cover corrosion resistance, ability to protect from rain and submersion, etc. For IEC member countries, the IEC 60529 standard classifies the ingress protection rating for enclosures.

networkA network includes interconnected devices that share a common data path and protocol for communications.

NMTNetwork management protocols provide services for network initialization, error control, and device status control.

NMT state machineA network management state machine defines the communication behavior of any CANopen device. The CANopen NMT state machine consists of an initialization state, a pre-operational state, an Operational state, and a stopped state. After power-on or reset, the device enters the initialization state. After the device initialization is finished, the device automatically enters the pre-operational state and announces the state transition by sending the boot-up message. In this manner, the device indicates that it is ready to work. A device that stays in pre-operational state may start to transmit SYNC-, Time Stamp-, or Heartbeat message. In this state, the device cannot communicate through a PDO; it must do so with an SDO. In the operational state, the device can use all supported communication objects.

NOA normally open contact is a contact pair that is open when the actuor is de-energized (no power is applied) and closed when the actuor is energized (power is applied).

nodeA node is an addressable device on a communication network.

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O

ODVAThe open deviceNet vendors association supports the family of network technologies that are built on CIP (EtherNet/IP, DeviceNet, and CompoNet).

OSOperating system. Can be used for Firmware that can be uploaded/downloaded by the user.

OSIThe open system interconnection reference model is a 7-layer model that describes network protocol communications. Each abstract layer receives services from the layer below it and provides services to the layer above.

output terminalAn output terminal connects output signals to output devices (such as electrome-chanical relays and solenoid valves).

P

PCIA peripheral component interconnect is an industry-standard bus for attaching peripherals.

PDUprotocol data unit

PEProtective ground is a return line across the bus for fault currents generated at a sensor or actuator device in the control system.

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periodic executionThe master task is executed either cyclically or periodically. In periodic mode, you determine a specific time (period) in which the master task must be executed. If it is executed under this time, a waiting time is generated before the next cycle. If it is executed over this time, a control system indicates the overrun. If the overrun is too high, the controller is stopped.

persistent dataValue of persistent data that will be used at next application change or cold start. Only get re-initialized at a reboot of the controller or reset origin. Especially they maintain their values after a download.

PIproportional integral

PIDproportional, integral and derivative control

PLCThe programmable logic controller is the “brain” of an industrial manufacturing process. It automates a process, used instead of relay control systems. PLCs are computers suited to survive the harsh conditions of the industrial environment.

PLCopenThe PLCopen standard brings efficiency, flexibility, and manufacturer independence to the automation and control industry through the standardization of tools, libraries, and modular approaches to software programming.

PLIpulse latch input

POUA program organization unit includes a variable declaration in source code and the corresponding instruction set. POUs facilitate the modular reuse of software programs, functions, and function blocks. Once declared, POUs are available to one another. SoMachine programming requires the utilization of POUs.

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POU FBProgram organization unit function block types are user programs that can be defined by the user in the ST, IL, LD, or FBD languages. You can use POU FB types in an application to:

simplify the design and entry of the program make the program easier to read simplify debugging reduce the amount of generated code

power supply terminalsThe power supply is connected to these terminals to provide power to the controller.

protocolA protocol is a convention or standard that controls or enables the connection, communication, and data transfer between two computing endpoints.

PTOPulse train outputs are used to control for instance stepper motors in open loop.

PWMPulse width modulation is used for regulation processes (e.g. actuators for temperature control) where a pulse signal is modulated in its length. For these kind of signals, transistor outputs are used.

R

RAMrandom access memory

REALReal is a numeric data type. The REAL type is encoded in a 32-bit format.

real-time clock (RTC)See RTC

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reflex outputIn a counting mode, the high speed counter’s current value is measured against its configured thresholds to determine the state of these dedicated outputs.

retained dataA retained data value is used in the next power-on or warm start. The value is retained even after an uncontrolled shutdown of the controller or a normal switch-off of the controller.

RJ-45This registered jack is a modular connector that is commonly implemented in communication networks.

RPMrevolutions per minute

RPSrevolutions per second

RS-232RS-232 (also known as EIA RS-232C or V.24) is a standard type of serial communication bus, based on three wires.

RS-485RS-485 (also known as EIA RS-485) is a standard type of serial communication bus, based on two wires.

RTCThe real-time clock option keeps the time for a limited amount of time even when the controller is not powered.

RTSRequest to send is a data transmission signal and will be acknowledged by the CTS signal from the destination node.

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RTUA remote terminal unit is a device that interfaces with objects in the physical world to a distributed control system or SCADA system by transmitting telemetry data to the system and/or altering the state of connected objects based on control messages received from the system.

RxDreceiving data (data transmission signal)

S

SCADAA supervisory control and data acquisition system monitors, manages, and controls industrial applications or processes.

scanA controller’s scanning program performs 3 basic functions: [1] It reads inputs and places these values in memory; [2] it executes the application program 1 instruction at a time and stores results in memory; [3] It uses the results to update outputs.

SEL-VA system that follows IEC 61140 guidelines for safety extra low voltage is protected in such a way that voltage between any 2 accessible parts (or between 1 accessible part and the PE terminal for Class 1 equipment) does not exceed a specified value under normal conditions or under single-fault conditions.

Sequential Function ChartSee SFC.

SFCA program written in the sequential function chart language can be used for processes that can be split into steps. SFC 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.)

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sink inputA sink input is a wiring arrangement in which the device provides current to the input electronic module. A sink input is referenced to 0 Vdc.

SINTSigned integer is a 16-bit value.

SLserial line

SNMPThe simple network management protocol can control a network remotely by polling the devices for their status, performing security tests, and viewing information relating to data transmission. It can also be used to manage software and databases remotely. The protocol also permits active management tasks, such as modifying and applying a new configuration

source outputA source output is a wiring arrangement in which the output electronic module provides current to the device. A source output is referenced to +24 Vdc.

SSISerial synchronous interface is a common interface for relative and absolute measurement systems like encoders.

STSee structured text.

STRINGA STRING variable is a series of ASCII characters.

Structured TextA program written in the structured text (ST) language includes complex statements and nested instructions (such as iteration loops, conditional executions, or functions). ST is compliant with IEC 61131-3.

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symbolA symbol is a string of a maximum of 32 alphanumeric characters, of which the first character is alphabetic. It allows you to personalize a controller object to facilitate the maintainability of the application.

symbolic addressingThe indirect method of addressing memory objects, including physical inputs and outputs, used in programming instructions as operands and parameters by first defining symbols for them using these symbols in association with the programming instructions.

In contrast to immediate addressing, this is the recommended method because if the program’s configuration changes, symbols are automatically updated with their new immediate address associations, whereas any immediate addresses used as operands or parameters are not. (See immediate addressing.)

system timeAn internal clock provides a device with the system time.

system variableA system variable structure provides controller data and diagnostic information and allows sending commands to the controller.

T

TAPA terminal access point is a junction box connected to the trunk cable that allows you to plug in drop cables.

taskA 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 consequence.

A controller can have several tasks.

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TCPA transmission control protocol is a connection-based transport layer protocol that provides a reliable simultaneous bi-directional transmission of data. TCP is part of the TCP/IP protocol suite.

terminal blockThe terminal block is the component that mounts in an electronic module and provides electrical connections between the controller and the field devices.

threshold outputThreshold outputs are controlled directly by the HSC according to the settings established during configuration.

trunk cableA trunk cable is the main cable that is terminated at both physical ends with line termination resistors.

TVDAtested validated documented architectures

TxDTxD represents a transmit signal.

U

UDINTAn unsigned double integer is encoded in 32 bits.

UDPThe user datagram protocol is 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).

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UINTAn unsigned integer is encoded in 16 bits.

ULUnderwriters laboratories, US organization for product testing and safety certification.

unlocated variableAn unlocated variable does not have an address. (See located variable.)

UTCcoordinated universal time

V

VSDvariable speed drive

W

WORDThe WORD type is encoded in a 16-bit format.

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Index

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CBA
Index
CController Configuration

Access Controller Configuration, 68Applications, 69PLC Settings, 70Services, 71

DDownload application, 62

EEmbedded Functions Configuration

Embedded HSC Configuration, 79Embedded I/O Configuration, 74Embedded PTO_PWM Configuration, 81

Expansion ModuleAdding Expansion Module, 90Configure Expansion Module, 90

FFAQ, 142features

key features, 13

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Firmware UpdateExecLoader Introduction, 128File and Device Properties, 131Settings, 130Transfer Progress, 133Update Through USB, 126Welcome, 129

FunctionsDifferences Between a Function and a Function Block, 148How to Use a Function or a Function Block in IL Language, 149How to Use a Function or a Function Block in ST Language, 152

GGetSerialConf, 156

Llibraries, 19

Mmain features, 13

Ooverview, 13

187

Index

Pprogramming languages

IL, ST, FBD, SFC, LD, CFC, 13

RReboot, 61Remanent variables, 65Reset cold, 59Reset origin, 60Reset warm, 59Run command, 58

SSerial Line

Serial Line Configuration, 96SERIAL_CONF, 159SetSerialConf, 157State diagram, 47Stop command, 58

TTask

Cyclic task, 37Event task, 38External Event Task, 39Freewheeling task, 38Types, 37Watchdogs, 40

Troubleshooting, 136

188
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