Modicon M100/M200 Logic Controller

EIO0000002019 09/2015

Modicon M100/M200
Logic Controller
Programming Guide
09/2015
EIO0000002019.02

www.schneider-electric.com
 The information provided in this documentation contains general descriptions and/or technical
characteristics of the performance of the products contained herein. This documentation is not
intended as a substitute for and is not to be used for determining suitability or reliability of these
products for specific user applications. It is the duty of any such user or integrator to perform the
appropriate and complete risk analysis, evaluation and testing of the products with respect to the
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please notify us.
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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.
© 2015 Schneider Electric. All rights reserved.

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 Table of Contents

Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
About the Book. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Part I Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Chapter 1 About the Modicon M100/M200 Logic Controller . . . . 15
M100/M200 Logic Controller Description . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 2 Configuration Features . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.1 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Overview of Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Object Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Addressing Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Maximum Number of Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.2 Task Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Tasks and Scan Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Maximum Number of Tasks and Priorities. . . . . . . . . . . . . . . . . . . . . . 31
2.3 Controller States and Behaviors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Controller States Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Controller States Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Controller State Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Persistent Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Output Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.4 Post Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Post Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Post Configuration File Management . . . . . . . . . . . . . . . . . . . . . . . . . 45
Part II Configuring the M100/M200 Logic Controller . . . 47
Chapter 3 How to Configure a Controller . . . . . . . . . . . . . . . . . . . 49
Building a Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Optional I/O Expansion Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Configuring the M100/M200 Logic Controller . . . . . . . . . . . . . . . . . . . 58
Updating Firmware Using Executive Loader Wizard . . . . . . . . . . . . . . 59
Chapter 4 Embedded Input/Output Configuration . . . . . . . . . . . . 61
4.1 Configuring Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Configuring Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.2 Configuring Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Configuring Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

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 4.3 Configuring Pulse Generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Configuring Pulse Generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4.4 Configuring High Speed Counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Configuring High Speed Counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Configuring Single Phase and Dual Phase . . . . . . . . . . . . . . . . . . . . . 82
Configuring Frequency Meter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Chapter 5 I/O Bus Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 91
I/O Configuration General Practices . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Configuring Expansion Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Chapter 6 Cartridge Configuration. . . . . . . . . . . . . . . . . . . . . . . . . 95
6.1 Cartridge Configuration General Information . . . . . . . . . . . . . . . . . . . . 96
General Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Using Cartridges in a Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Configuring Cartridges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
6.2 TMCR2••• Cartridges Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
TMCR2DM4U. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
TMCR2AI2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
TMCR2AQ2C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
TMCR2AQ2V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
TMCR2AM3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
TMCR2TI2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
TMCR2SL1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
TMCR2SL1A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Chapter 7 TM3R Expansion Module Configuration . . . . . . . . . . . 123
I/O Configuration General Practices . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Configuring the TM3R Digital I/O Modules. . . . . . . . . . . . . . . . . . . . . . 125
Using I/O Modules in a Configuration . . . . . . . . . . . . . . . . . . . . . . . . . 126
Configuring Digital I/Os . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Chapter 8 Embedded Communication Configuration . . . . . . . . . 131
8.1 Ethernet Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Configuring Ethernet Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Configuring Modbus TCP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
8.2 Serial Line Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Configuring Serial Line. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
8.3 Supported Modbus Function Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Supported Modbus Function Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . 143

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 Chapter 9 Micro SD Card. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
File Management Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
SD Card Supported File Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Clone Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Firmware Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Application Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Post Configuration Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Error Log Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Part III Programming the M100/M200 Logic Controller . . 159
Chapter 10 How to Use the Source Code Examples. . . . . . . . . . . . 161
How to Use the Source Code Examples . . . . . . . . . . . . . . . . . . . . . . . 161
Chapter 11 I/O Objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Digital Inputs (%I) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Digital Outputs (%Q) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Analog Inputs (%IW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Analog Outputs (%QW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Chapter 12 Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
12.1 Fast Counter (%FC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Programming Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
12.2 High Speed Counter (%HSC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
High Speed Counter in Counting Modes . . . . . . . . . . . . . . . . . . . . . . . 183
One-shot Counting Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Modulo-loop Counting Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
High Speed Counter in Frequency Meter Mode . . . . . . . . . . . . . . . . . 194
12.3 Pulse (%PLS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Programming Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
12.4 Pulse Width Modulation (%PWM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Function Block Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Programming Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Chapter 13 Pulse Train Output (%PTO) . . . . . . . . . . . . . . . . . . . . . . 211
13.1 Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Pulse Train Output (PTO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

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 13.2 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
PTO Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Pulse Output Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Acceleration / Deceleration Ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Probe Event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Positioning Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
13.3 Home Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Homing Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Position Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Long Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Short Reference No Reversal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Short Reference Reversal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Short Reference with INDEX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Home Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
13.4 Data Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Function Block Object Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
13.5 Operation Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Motion State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
Buffer Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
13.6 Adding / Removing a Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . 252
Adding / Removing a Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . 252
13.7 Motion Task Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
MC_MotionTask_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . 254
13.8 Power Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
MC_Power_PTO Function Block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
13.9 Movement Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
MC_MoveVel_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
MC_MoveRel_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
MC_MoveAbs_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
MC_Stop_PTO Function Block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
MC_Halt_PTO Function Block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
13.10 Stopping / Position Function Blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . 281
MC_Home_PTO Function Block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
MC_SetPos_PTO Function Block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

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 13.11 Status Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
MC_ReadActVel_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . 288
MC_ReadActPos_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . 290
MC_ReadSts_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
MC_ReadMotionState_PTO Function Block. . . . . . . . . . . . . . . . . . . 294
13.12 Probe Function Blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
MC_TouchProbe_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . 297
MC_AbortTrigger_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . 299
13.13 Error Handling Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
MC_ReadAxisError_PTO Function Block . . . . . . . . . . . . . . . . . . . . . 302
MC_Reset_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
13.14 Parameters Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
MC_ReadPar_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
MC_WritePar_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . 309
Chapter 14 PID Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
14.1 PID Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
PID Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
14.2 PID Auto-Tuning Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
PID Auto-Tuning Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
14.3 PID Standard Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
PID Word Address Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
PID Tuning with Auto-Tuning (AT). . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
Manual Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
Determining the Sampling Period (Ts) . . . . . . . . . . . . . . . . . . . . . . . . 327
14.4 PID Assistant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
Access the PID Assistant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
General Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
Input Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
PID Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
AT Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
Output Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
14.5 PID Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
Programming and Configuring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
PID States and Detected Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . 348
14.6 PID Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
Role and Influence of PID Parameters . . . . . . . . . . . . . . . . . . . . . . . . 352
PID Parameter Adjustment Method . . . . . . . . . . . . . . . . . . . . . . . . . . . 354

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 Chapter 15 System Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
System Bits (%S) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358
System Words (%SW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391

8 EIO0000002019 09/2015
 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.

EIO0000002019 09/2015 9
PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by qualified
personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of
the use of this material.
A qualified person is one who has skills and knowledge related to the construction and operation
of electrical equipment and its installation, and has received safety training to recognize and avoid
the hazards involved.

10 EIO0000002019 09/2015
 About the Book

At a Glance

Document Scope
This document describes the configuration and programming of the Modicon M100/M200 Logic
Controller for SoMachine Basic. For further information, refer to the separate documents provided
in the SoMachine Basic online help.

Validity Note
This document has been updated with the release of SoMachine Basic V1.3 SP3 EL.
Go to the Schneider Electric home page www.schneider-electric.com/cn/zh.
The characteristics that are presented in this manual should be the same as those characteristics
that appear online. In line with our policy of constant improvement, we may revise content over time
to improve clarity and accuracy. If you see a difference between the manual and online information,
use the online information as your reference.

Related Documents

Title of Documentation Reference Number

SoMachine Basic - Operating Guide EIO0000001354 (ENG)
EIO0000001359 (CHS)
SoMachine Basic Generic Functions - Library Guide EIO0000001474 (ENG)
EIO0000001479 (CHS)
Modicon M100/M200 Logic Controller - Hardware Guide EIO0000002023 (ENG)
EIO0000002024 (CHS)
Modicon TM3 Expansion Modules Configuration - Programming EIO0000001396 (ENG)
Guide EIO0000001401 (CHS)
Modicon TM2 Expansion Modules Configuration - Programming EIO0000001390 (ENG)
Guide EIO0000001395 (CHS)

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

EIO0000002019 09/2015 11
Product Related Information

WARNING
LOSS OF CONTROL
 The designer of any control scheme must consider the potential failure modes of control paths
and, for certain critical control functions, provide a means to achieve a safe state during and
after a path failure. Examples of critical control functions are emergency stop and overtravel
stop, power outage and restart.
 Separate or redundant control paths must be provided for critical control functions.
 System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link.
 Observe all accident prevention regulations and local safety guidelines.1
 Each implementation of this equipment must be individually and thoroughly tested for proper
operation before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

1For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the
Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest
edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of
Adjustable-Speed Drive Systems" or their equivalent governing your particular location.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Only use software approved by Schneider Electric for use with this equipment.
 Update your application program every time you change the physical hardware configuration.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

12 EIO0000002019 09/2015
 Modicon M100/M200 Logic Controller
Introduction
EIO0000002019 09/2015

Part I
Introduction

Introduction

Overview
This part provides general information about the Modicon M100/M200 Logic Controller and its
configuration and programming features.

What Is in This Part?

This part contains the following chapters:
Chapter Chapter Name Page
1 About the Modicon M100/M200 Logic Controller 15
2 Configuration Features 17

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Introduction

14 EIO0000002019 09/2015
 Modicon M100/M200 Logic Controller
About the Modicon M100/M200 Logic Controller
EIO0000002019 09/2015

Chapter 1
About the Modicon M100/M200 Logic Controller

About the Modicon M100/M200 Logic Controller

M100/M200 Logic Controller Description

Overview
The M100/M200 Logic Controller has various powerful features and can service a wide range of
applications.
Software configuration, programming, and commissioning are accomplished with the SoMachine
Basic software described in the SoMachine Basic Operating Guide and the SoMachine Basic
Generic Functions Library Guide (see SoMachine Basic, Generic Functions Library Guide).

Programming Languages
The M100/M200 Logic Controller is configured and programmed with the SoMachine Basic
software, which supports the following IEC 61131-3 programming languages:
 IL: Instruction List
 LD: Ladder Diagram
 Grafcet (List)

Power Supply
The power supply of the M100 Logic Controller is 100...240 Vac.
The power supply of the M200 Logic Controller is 24 Vdc or 100...240 Vac.

Real Time Clock

The M200 Logic Controller includes a Real Time Clock (RTC) system (see Modicon M100/M200
Logic Controller, Hardware Guide).

Run/Stop
The M100/M200 Logic Controller can be operated externally by the following:
 A hardware Run/Stop switch (see Modicon M100/M200 Logic Controller, Hardware Guide)
 A Run/Stop (see Modicon M100/M200 Logic Controller, Hardware Guide) operation by a
dedicated digital input, defined in the software configuration. For more information, refer to
Configuring Digital Inputs (see page 62).
 SoMachine Basic software. For more information, refer to the SoMachine Basic Operating
Guide.

EIO0000002019 09/2015 15
About the Modicon M100/M200 Logic Controller

Memory
This table describes the different types of memory:

Memory Type Size Used to...

RAM 512 Kbytes RAM memory: 256 Kbytes execute the application and contain
for internal variables and 256 Kbytes data.
for application and data.
Flash 1 Mbyte, of which 256 Kbytes is used save the application.
to back up the application and data in
case of power outage.

Embedded Inputs/Outputs
The following embedded I/O types are available, depending on the controller reference:
 Regular inputs
 Fast inputs associated with counters
 Regular sink transistor outputs
 Fast sink transistor outputs associated with pulse generators
 Relay outputs

Removable Storage
The M100/M200 Logic Controller includes an embedded micro SD card slot.
The M100/M200 Logic Controller allows the following types of file management with an micro SD
card:
 Clone management (see page 150): back up the application, firmware, and post configuration
(if it exists) of the logic controller
 Firmware management (see page 152): download firmware updates directly to the logic
controller
 Application management (see page 153): back up and restore the logic controller application,
or copy it to another logic controller of the same reference
 Post configuration management (see page 155): add, change, or delete the post configuration
file of the logic controller
 Error log management (see page 157): back up or delete the error log file of the logic controller

Embedded Communication Features

The following types of communication ports are available depending on the controller reference:
 Ethernet
 USB Mini-B
 Serial Line

16 EIO0000002019 09/2015
 Modicon M100/M200 Logic Controller
Configuration Features
EIO0000002019 09/2015

Chapter 2
Configuration Features

Configuration Features

Introduction
This chapter provides information related to M100/M200 Logic Controller memory mapping, task,
states, behaviors, objects, and functions. The topics explained in this chapter allow the operator to
understand the featured specifications of M100/M200 Logic Controller that are primarily needed to
configure and program the controller in SoMachine Basic.

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
2.1 Objects 18
2.2 Task Structure 28
2.3 Controller States and Behaviors 32
2.4 Post Configuration 43

EIO0000002019 09/2015 17
Configuration Features

Section 2.1
Objects

Objects

What Is in This Section?

This section contains the following topics:
Topic Page
Overview of Objects 19
Object Types 20
Addressing Objects 24
Maximum Number of Objects 26

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 Configuration Features

Overview of Objects

Definition
In SoMachine Basic, the term object is used to represent an area of logic controller memory
reserved for use by an application. Objects can be:
 Simple software variables, such as memory bits and words
 Addresses of digital and analog inputs and outputs
 Controller-internal variables, such as system words and system bits
 Predefined system functions or function blocks, such as timers and counters.

Controller memory is either pre-allocated for certain object types, or automatically allocated when
an application is downloaded to the logic controller.
Objects can only be addressed by a program once memory has been allocated. Objects are
addressed using the prefix %. For example, %MW12 is the address of a memory word, %Q0.3 is the
address of an embedded digital output, and %TM0 is the address of a Timer function block.

EIO0000002019 09/2015 19
Configuration Features

Object Types

Introduction
The language object types for the M100/M200 Logic Controller are described in the following table:

Object Type Object Object Description

Function
Memory objects %M Memory bits Stores memory bit.
%MW Memory words Stores 16-bit memory word.
%MD Memory double Stores 32-bit memory word.
words
%MF Memory floating Stores memory floating point in a mathematical
point argument which has a decimal in its expression.
%KW Constant words Stores 16-bit constant word.
%KD Constant Stores 32-bit constant word.
double words
%KF Constant Stores constant floating point in a mathematical
floating points argument which has a decimal in its expression.
System objects %S System bits Stores system bit.
(see page 358)
%SW System words Stores system word.
(see page 366)

20 EIO0000002019 09/2015
 Configuration Features

Object Type Object Object Description

Function
I/O objects %I Input bits Stores value of the digital input.
(see page 166)
%Q Output bits Stores value of the digital output.
(see page 167)
%IW Analog input Stores value of the analog input.
words
(see page 168)
%QW Analog output Stores value of the analog output.
words
(see page 170)
%FC Fast counters Serves as either up-counter or down-counter and
(see page 172) counts the rising edge of discrete inputs in single word
or double word computational mode.
%HSC High speed Counts of discrete input in single word or double word
counters computational mode.
(see page 178)
%PLS Pulse Generates a square wave pulse signal on dedicated
(see page 197) output channels.
%PWM Pulse width Generates a modulated wave signal on dedicated
modulation output channels with a variable duty cycle.
(see page 205)
%PTO Pulse train Generates a pulse train output to control a linear single-
output axis stepper or servo drive in open loop mode.
(see page 211)

EIO0000002019 09/2015 21
Configuration Features

Object Type Object Object Description

Function
Software objects %TM Timers Specifies a time before triggering an action.
%C Counters Provides up and down counting of actions.
%MSG Messages Stores the status message at the communication port.
%R LIFO/FIFO Stores memory up to 16 words of16 bits each in 2
registers different ways, queue, and stacks.
%DR Drum registers Operates on a principle similar to an electromechanical
drum controller which changes step according to
external events.
%SBR Shift bit Provides a left or right shift of binary data bits (0 or 1).
registers
%SC Step counters Provides a series of steps to which actions can be
assigned.
SCH Schedule Controls actions at a predefined month, day, and time.
blocks
PID PID Provides a generic control loop feedback in which
(see page 311) output is proportional, integral, and derivative of the
input.

22 EIO0000002019 09/2015
 Configuration Features

Object Type Object Object Description

Function
PTO objects
Refer to Pulse Train Output (see page 211).
Communication %READ_ Read data from The %READ_VAR function block is used to read data
objects VAR a remote device from a remote device on Modbus SL or Modbus TCP
%WRITE_ Write data to a The %WRITE_VAR function block is used to write data
VAR Modbus device to an external device using the Modbus SL or Modbus
TCP protocol
%WRITE_ Read data from The %WRITE_READ_VAR function block is used to
READ_VAR and write data read and write data stored in internal memory words to
to a Modbus an external device using the Modbus SL or Modbus
device TCP protocol.
%SEND_ Communication The %SEND_RECV_MSG function block is used to
RECV_ MSG on an ASCII link send or receive data on a serial line configured for the
ASCII protocol.

Memory objects, software objects, and communication objects are generic objects used in
SoMachine Basic, whereas system objects and I/O objects are controller-specific. All controller-
specific objects are discussed in the section Programming (see page 159).
For programming details of memory objects, software objects, and communication objects, refer
to the SoMachine Basic Generic Functions Library Guide.

EIO0000002019 09/2015 23
Configuration Features

Addressing Objects

Addressing Examples
This table presents addressing examples for various object types:

Object Type Syntax Example Description

Memory objects
Memory bits %Mi %M25 Internal memory bit 25.
Memory words %MWi %MW15 Internal memory word 15.
Memory double words %MDi %MD16 Internal memory double word 16.
Memory floating points %MFi %MF17 Internal memory floating point 17.
Constant words %KWi %KW26 Constant word 26.
Constant double words %KDi %KD27 Internal constant double word 27.
Constant floating points %KFi %KF28 Internal constant floating point 28.
System objects
System bits %Si %S8 System bit 8.
System words %SWi %SW30 System word 30.
I/O objects
Digital inputs %Iy.z %I0.5 Digital input 5 on the controller (embedded
I/O).
Digital outputs %Qy.z %Q3.4 Digital output 4 on the expansion module at
address 3 (expansion module I/O).
Analog inputs %IW0.y0z %IW0.101 Analog input 1 on the cartridge 1.
Analog outputs %QW0.m0n %QW0.202 Analog output 2 on the cartridge 2.
Fast counters %FCi %FC2 Fast counter 2 on the controller.
High speed counters %HSCi %HSC1 High speed counter 1 on the controller.
Pulse %PLSi %PLS0 Pulse output 0 on the controller.
Pulse width modulation %PWMi %PWM1 Pulse width modulation output 1 on the
controller.
Pulse train output %PTOi %PTO1 Pulse train output 1 on the controller.
i Object instance identifier that indicates the instance of the object on the controller. For the maximum number of
instances of each object, refer to Maximum Number of Objects (see page 26). If n is the maximum number of an
object, the instance range is 0...n-1.
m Cartridge number on the controller.
n Channel number on the cartridge.
y Indicates the I/O type. It is 0 for the controller and 1, 2, and so on, for the expansion modules.
z Channel number on the controller or expansion module.

24 EIO0000002019 09/2015
 Configuration Features

Object Type Syntax Example Description

Software objects
Timers %TMi %TM5 Timer instance 5.
Counters %Ci %C2 Counter instance 2.
Message %MSGi %MSG1 Program compilation status message 1.
LIFO/FIFO registers %Ri %R3 FIFO/LIFO registers instance 3.
Drums %DRi %DR6 Drum register 6 on the controller.
Shift bit registers %SBRi %SBR5 Shift bit register 5 on the controller.
Step counters %SCi %SC5 Step counter 5 on the controller.
Schedule blocks SCH i SCH 3 Schedule block 3 on the controller.
PID PID i PID 7 PID feedback object 7 on the controller.
PTO objects
MC_Power_PTO %MC_POWER_PTOi %MC_POWER_PTO1 MC_POWER_PTO function block instance 1.
(motion function block) For more information on PTO function blocks,
refer to Pulse Train Output (%PTO)
(see page 211).
MC_Reset_PTO %MC_RESET_PTOi %MC_RESET_PTO0 MC_RESET_PTO function block instance 0.
(administrative function For more information on PTO function blocks,
block) refer to Pulse Train Output (%PTO)
(see page 211).
Communication objects
Read Var %READ_VARi %READ_VAR2 READ_VAR function block instance 2.
Write Var %WRITE_VARi %WRITE_VAR4 WRITE_VAR function block instance 4.
WriteRead Var %WRITE_READ_VARi %WRITE_READ_ WRITE_READ_VAR function block instance 0.
VAR0
Send Receive %SEND_RECV_MSGi %SEND_RECV_MSG6 SEND_RECV_MSG function block instance 6.
Message
i Object instance identifier that indicates the instance of the object on the controller. For the maximum number of
instances of each object, refer to Maximum Number of Objects (see page 26). If n is the maximum number of an
object, the instance range is 0...n-1.
m Cartridge number on the controller.
n Channel number on the cartridge.
y Indicates the I/O type. It is 0 for the controller and 1, 2, and so on, for the expansion modules.
z Channel number on the controller or expansion module.

EIO0000002019 09/2015 25
Configuration Features

Maximum Number of Objects

Description
This table provides information about the maximum number of objects supported by the
M100/M200 Logic Controller:

Object Type Object Maximum Number Allowed

Memory objects %M 1024
%MW  4000 for TM100•••
 8000 for TM200•••

%MD / %MF  3999 for TM100•••

 7999 for TM200•••

%KW 512
%KD / %KF 511
System objects %S 160
%SW 234
I/O objects %I  9 for TM100C16R / TM200C•16•
 14 for TM100C24R / TM200C•24•
 24 for TM100C40R / TM200C•40•
 24 for TM100C40R / TM200C•40•
 36 for TM200C•60•
%Q  7 for TM100C16R / TM200C•16•
 10 for TM100C24R / TM200C•24•
 16 for TM100C40R / TM200C•40•
 24 for TM200C•60•
%IW NOTE: The M100/M200 Logic Controller has no embedded
%QW analog I/Os. Use cartridges or expansion modules to add
analog I/Os to your configuration.
%FC 4
%HSC 4
%PLS / %PWM / %PTO  0 for TM100C•••R / TM200C•••R
 2 for TM200C•••U / TM200C•••T

26 EIO0000002019 09/2015
 Configuration Features

Object Type Object Maximum Number Allowed

Software objects %TM 255
%C 255
%MSG 1
%R 4
%DR 8
%SBR 8
%SC 8
%SCH 16
PID 14
PTO objects %MC_MOTIONTASK_PTO 2
%MC_POWER_PTO 86
%MC_MOVEVEL_PTO 86
%MC_MOVEREL_PTO 86
%MC_MOVEABS_PTO 86
%MC_HOME_PTO 86
%MC_READACTVEL_PTO 40
%MC_READACTPOS_PTO 40
%MC_READSTS_PTO 40
%MC_READMOTIONSTATE_PTO 40
%MC_READAXISERROR_PTO 40
%MC_RESET_PTO 40
%MC_TOUCHPROBE_PTO 40
%MC_ABORTTRIGGER_PTO 40
%MC_READPAR_PTO 40
%MC_WRITEPAR_PTO 40
Communication %READ_VAR 16
objects
%WRITE_VAR 16
%WRITE_READ_VAR 16
%SEND_RCV_MSG 16

EIO0000002019 09/2015 27
Configuration Features

Section 2.2
Task Structure

Task Structure

What Is in This Section?

This section contains the following topics:
Topic Page
Tasks and Scan Modes 29
Maximum Number of Tasks and Priorities 31

28 EIO0000002019 09/2015
 Configuration Features

Tasks and Scan Modes

Overview
SoMachine Basic has the following scan modes:
 Normal mode
Continuous cyclic scanning mode (Freewheeling mode); a new scan starts immediately after the
previous scan has completed.
 Periodic mode
Periodic cyclic scanning mode; a new scan starts only after the configured scan time of the
previous scan has elapsed. Every scan is therefore the same duration.
SoMachine Basic offers the following task types:
 Master task: Main task of the application.
Master task is triggered by continuous cyclic scanning (in normal scan mode) or by the software
timers (in periodic scan mode) by specifying the scan period of 2...150 ms (default 10 ms).
 Periodic task: A short duration subroutine processed periodically.
Periodic tasks are triggered by software timers, so are configured by specifying the scan period
of 2...255 ms (default 255 ms) in the periodic scan mode.
 Event task: A very short duration subroutine to reduce the response time of the application.
Event tasks are triggered by the physical inputs or the HSC function blocks. These events are
associated with embedded digital inputs (%I0.2...%I0.5) (rising, falling or both edges) or with the
high speed counters (%HSC0 and %HSC1) (when the count reaches the high speed counter
threshold). You can configure 2 events for each HSC function block.
Periodic tasks and events are configured in periodic scan mode. Master task can be configured in
either normal scan mode or periodic scan mode.
For more information, refer to the Configuring Program Behavior and Tasks (see SoMachine
Basic, Operating Guide).

Master Task in Normal Scan Mode

This graphic presents the relationship between master tasks and periodic task execution when the
master task is configured in normal scan mode:

EIO0000002019 09/2015 29
Configuration Features

Master Task in Periodic Scan Mode

This graphic presents the relationship between master tasks and periodic tasks when the master
task is configured in periodic scan mode:

Event Priority Over Master and Periodic Tasks

Event priorities control the relationship between the event tasks, master tasks, and periodic tasks.
The event task interrupts the master task and periodic task execution.
This figure presents the relationship between event tasks, master tasks, and periodic tasks in the
periodic mode:

The event tasks are triggered by a hardware interruption that sends a task event to the event task.

Watchdog Timer
You can configure a specific watchdog timer for the master task and periodic tasks. If the task
execution time exceeds the configured watchdog timer period, the logic controller goes to the
HALTED state. This watchdog timer is managed by the software timers.
A system watchdog timer verifies whether the program is using more than 80% of the processing
capacity.

30 EIO0000002019 09/2015
 Configuration Features

Maximum Number of Tasks and Priorities

Tasks Priorities
This table summarizes the task types and their priorities:

Task Type Scan Mode Triggering Condition Configurable Maximum Priority

Range Number of
Tasks
Master Normal Normal Not applicable 1 Lowest
Periodic Software timer 2...150 ms
Periodic Periodic Software timer 2...255 ms 1 Higher than master
task and lower than
event tasks
Event Periodic Physical inputs %I0.2...%I0.5 4 Highest
%HSC function blocks Up to two 4
events per
%HSC object

Events Priorities
Refer to Event Priorities and Queues (see SoMachine Basic, Operating Guide).

EIO0000002019 09/2015 31
Configuration Features

Section 2.3
Controller States and Behaviors

Controller States and Behaviors

Introduction
This section 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 persistent
variables and the effect of SoMachine Basic task programming options on the behavior of your
system.

What Is in This Section?

This section contains the following topics:
Topic Page
Controller States Diagram 33
Controller States Description 34
Controller State Transitions 37
Persistent Variables 40
Output Behavior 41

32 EIO0000002019 09/2015
 Configuration Features

Controller States Diagram

Controller States Diagram

This figure describes the controller operating states:

EIO0000002019 09/2015 33
Configuration Features

Controller States Description

Introduction
This section provides a detailed description of the controller states.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Never assume that your controller is in a certain controller state before commanding a change
of state, configuring your controller options, uploading a program, or modifying the physical
configuration of the controller and its connected equipment.
 Before performing any of these operations, consider the effect on all connected equipment.
 Before acting on a controller, always positively confirm the controller state by viewing its LEDs,
confirming the condition of the Run/Stop input, checking for the presence of output forcing, and
reviewing the controller status information via SoMachine Basic.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

When using the Start In Run feature, the controller will start executing program logic when power
is applied to the equipment. It is essential to know in advance how automatic reactivation of the
outputs will affect the process or machine being controlled. Configure the Run/Stop input to help
control the Start In Run feature. In addition, the Run/Stop input is designed to give local control
over remote RUN commands. If the possibility of a remote RUN command after the controller had
been stopped locally by SoMachine would have unintended consequences, you must configure
and wire the Run/Stop input to help control this situation.

WARNING
UNINTENDED MACHINE START-UP
 Confirm that the automatic reactivation of the outputs does not produce unintended
consequences before using the Start In Run feature.
 Use the Run/Stop input to help control the Start In Run feature and to help prevent the
unintentional start-up from a remote location.
 Verify the state of security of your machine or process environment before applying power to
the Run/Stop input or before issuing a Run command from a remote location.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

34 EIO0000002019 09/2015
 Configuration Features

Controller States Table

This table provides detailed description of the controller operating states:

Controller state Description Communication Application LED

execution PWR RUN ERR
BOOTING The logic controller does not have Restricted No On Off On
valid firmware.
The communication channels are
enabled to allow updating of the
runtime firmware.
It is not possible to log in with
SoMachine Basic.
Outputs are set to initialization
values (see page 41).
EMPTY This state indicates that there is Yes No On Off 1 flash
not a valid application.
It is possible to log in with
SoMachine Basic
(download/watchlist).
Inputs are forced to 0.
Outputs are set to initialization
values (see page 41).
STOPPED This state indicates that the logic Yes No On Flashing Off
controller has a valid application
which is stopped.
Inputs are read.
Outputs are set to fallback values
(see page 42), or forced values
(see page 42) from SoMachine
Basic.
Status alarm output is set to 0.
RUNNING This state indicates that the logic Yes Yes On On Off
controller is executing the
application.
Inputs are read by the application
tasks.
Outputs are written by the
application tasks, or from
SoMachine Basic in online mode
(watchlist, output forcing
(see page 42)).
Status alarm output is set to 1.

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Configuration Features

Controller state Description Communication Application LED

execution PWR RUN ERR
HALTED This state indicates that the Yes No On Flashing On
application is stopped because of
an application software error.
(see page 42)
Objects retain their current values,
allowing analysis of the cause of
the detected error. All tasks are
stopped on the current instruction.
The communication capabilities
are the same as in STOPPED state.
Inputs are not read, and keep their
last values.
Outputs are set to fallback values
(see page 42).
Status alarm output is set to 0.
POWERLESS This state indicates that the logic Yes (only USB) No Off Flashing Off
controller is powered only by the
USB cable. This mode can only be
used to update the firmware (by
USB) or to download/upload the
user application (by USB).
In this state, all state transitions are
not allowed. So the only way to
change the state of the logic
controller is to connect the main
power. In this case, the logic
controller boots and reloads all
installed components.
It is possible to log in with
SoMachine Basic
(download/upload/watchlist).
Inputs are forced to 0.
Outputs are set to initialization
values (see page 41).

NOTE: The system word %SW6 indicates the logic controller state (EMPTY, STOPPED, RUNNING,
HALTED, and POWERLESS).

36 EIO0000002019 09/2015
 Configuration Features

Controller State Transitions

Boot Controller
Effect: Command a reboot of the logic controller. For details about power-on sequence, refer to the
controller state diagram (see page 33).
Methods:
 Power cycle
 Reboot by script
 The script on a micro SD card can issue a REBOOT as its last command.

Application Download
Effect: Download the application into the logic controller memory.
Methods:
 SoMachine Basic online button:
 Select the PC to controller (download) command.
Effect: Erase the application in the logic controller and set the logic controller in EMPTY state.
Download the application in the logic controller memory. If download is successful, a Cold
Start is done and the logic controller is set in STOPPED state.
 Application file transfer by SD card:
 Effect: At the next reboot, erase the application in the logic controller and download the
application files from the micro SD card to the logic controller memory. If download is
successful, a Cold Start is done and the logic controller is set in STOPPED state.

Initialize Controller
Effect: Set the controller in EMPTY state, and then, after a Cold Start, in STOPPED state.
Methods:
 SoMachine Basic online button:
 Select the Initialize controller command.

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Configuration Features

RUN Controller
Effect: Command a transition to the RUNNING state.
Methods:
 Run/Stop (see Modicon M100/M200 Logic Controller, Hardware Guide) switch on front face:
 It commands a transition to RUNNING state on rising edge.

 Run/Stop (see Modicon M100/M200 Logic Controller, Hardware Guide) input:

 The input must be configured in the application (Configuring Digital Inputs (see page 62)).
 It commands a transition to RUNNING state on rising edge.

 SoMachine Basic online button:

 Select the Run Controller command.

 Application starting mode (see SoMachine Basic, Operating Guide) setting:

 Start in Run or Start in Previous State.

STOP Controller
Effect: Command a transition to the STOPPED state.
Methods:
 Run/Stop (see Modicon M100/M200 Logic Controller, Hardware Guide) switch on front face:
 It forces a transition to STOPPED state on low level.

 Run/Stop (see Modicon M100/M200 Logic Controller, Hardware Guide) input:

 The input must be configured in the application (Configuring Digital Inputs (see page 62)).
 It forces a transition to STOPPED state on low level.

 SoMachine Basic online button:

 Select the Stop Controller command.

 Application starting mode (see SoMachine Basic, Operating Guide) setting:

 Start in Stop or Start in Previous State.

 Download command:
 It needs the controller to be set in STOPPED state (after the download the controller is in
STOPPED state).

Error Detected (Transition to HALTED State)

Effect: Command a transition to the HALTED state.
Reasons for switching to HALTED state:
 Application Watchdog timeout (configured by the user)
 System Watchdog timeout (system overrun, over 80% of the CPU processing capacity is used)

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 Configuration Features

Cold Start
Cold Start is defined to be a power-up with all data initialized to its default values, and program
started from the beginning with program variables cleared. Software and hardware settings are
initialized.
Cold Start occurs for the following reasons:
 Boot controller without validated application online modification.
 Download application
 Initialize logic controller

Effects of the Cold Start:

 Initialize the function blocks.
 Clear the user memory.
 Put the system bits %S and system words %SW to their initial values.
 Reload parameters from post configuration (changes in the post configuration are applied).
 Restore application from flash memory (unsaved online changes are lost).
 Restart the internal components of the controller.

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Configuration Features

Persistent Variables

Automatic Save on Power Outage

The controller automatically saves the first 3000 memory words (%MW0 to %MW2999) in the internal
flash memory following any removal of power. The data is restored to the memory word region
during the initialization, even if the controller performs a cold start.
These automatically saved persistent variables are reinitialized in case of a new download, INIT
command, or %S0 activation. Refer to System Bits (see page 358).

Save by User Request

You can save up to 1000 memory words (%MW3000 up to %MW3999) in the flash memory. The
number of memory words saved is specified in the system word %SW148. Refer to System Words
(see page 366).
The save operation can only be performed when the controller is in the STOP mode. To perform
the save operation, set system bit %S93 to 1. Refer to System Bits (see page 359). The save
operation occupies the controller for approximately 40 ms. The system bit %S92 is set to 1 to signal
the end of the save operation. Refer to System Bits (see page 359).
The writing of memory words to flash memory is performed in stages between MAST cycles. The
flash memory region is erased at the end of the MAST cycle.

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 Configuration Features

Output Behavior

Introduction
The controller defines output behavior in response to commands and system events in a way that
allows for greater flexibility. An understanding of this behavior is necessary before discussing the
commands and events that affect controller states.
The possible output behaviors and the controller states to which they apply are:
 Managed by application program
 Initialization values
 Fallback Mode (see SoMachine Basic, Operating Guide)
 Maintain values
 Fallback values

 Output forcing

Managed by Application
Your application manages outputs normally. This applies in the RUNNING state.

Hardware Initialization Values

This output state applies in the BOOTING, EMPTY and POWERLESS states.
In the initialization state, the outputs assume the following values:
 For embedded outputs:
 Fast transistor output: 0 Vdc
 Regular transistor output: 0 Vdc
 Relay output: Open
 Expert I/O functions (HSC, PLS, PWM, and PTO): 0 Vdc

 For expansion module outputs:

 Regular transistor output: 0 Vdc
 Relay output: Open

Software Initialization Values

This output state applies when downloading or when resetting the application. It applies at the end
of the download or at the end of a cold start.
Input objects %I and %IW are set to 0. Output objects %Q and %QW are set according to the
fallback strategy (refer to Fallback Behavior).

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Configuration Features

Fallback Values
This output state applies in the STOPPED and HALTED states.
In the fallback mode, the outputs assume the following values:
 For embedded outputs:
 Fast transistor output: according to fallback setting (Fallback Behavior (see SoMachine
Basic, Operating Guide))
 Regular transistor output: according to fallback setting (Fallback Behavior)
 Relay output: according to fallback setting (Fallback Behavior)
 Expert I/O functions (HSC, PLS, PWM, and PTO):
- Fallback value: according to fallback setting (Fallback Behavior)
- Maintain values (see SoMachine Basic, Operating Guide): 0 Vdc
 For expansion module outputs:
 Regular transistor output: according to fallback setting (Fallback Behavior)
 Relay output: according to fallback setting (Fallback Behavior)

Output Forcing
The controller allows you to force the state of selected outputs to a defined value for the purposes
of system testing, commissioning, and maintenance.
You are only able to force the value of an output while your controller is connected to SoMachine
Basic.
To do so, use the Force command in an animation table.
Output forcing overrides all other commands to an output irrespective of the task programming that
is being executed.
The forcing is not released by online change or logout of SoMachine Basic.
The forcing is automatically released by Cold Start (see page 39) and Application Download
(see page 37) command.
The forcing does not apply for expert I/O functions (HSC, PLS, PWM, and PTO).

WARNING
UNINTENDED EQUIPMENT OPERATION
 You must have a thorough understanding of how forcing will affect the outputs relative to the
tasks being executed.
 Do not attempt to force I/O that is contained in tasks that you are not certain will be executed
in a timely manner, unless your intent is for the forcing to take affect at the next execution of
the task whenever that may be.
 If you force an output and there is no apparent affect on the physical output, do not exit
SoMachine Basic without removing the forcing.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

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 Configuration Features

Section 2.4
Post Configuration

Post Configuration

Introduction
This section describes how to manage and configure the post configuration file of the Modicon
M100/M200 Logic Controller.

What Is in This Section?

This section contains the following topics:
Topic Page
Post Configuration 44
Post Configuration File Management 45

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Configuration Features

Post Configuration

Introduction
Post configuration is an option that allows you to modify some parameters of the application
without changing the application. Post configuration parameters are defined in a file called
Machine.cfg, which is stored in the controller.
By default, all communication parameters are set in the configuration of the application. However,
under certain conditions, some or all of these parameters can be modified automatically using the
post configuration mechanism. One or more communication parameters can be specified in the
post configuration file, and those parameters can override the parameters specified by the
configuration. For example, one parameter may be stored in the post configuration file to change
the EtherNet/IP address of the controller while leaving the other Ethernet parameters, such as the
gateway address, unchanged.

Parameters
The post configuration file allows you to modify network parameters.
Ethernet parameters:
 Address configuration mode
 IP address
 Subnet mask
 Gateway address
 Device name

Serial line parameters, for each serial line in the application (embedded port or
TMCR2SL1/TMCR2SL1A cartridge):
 Physical medium
 Baud rate
 Parity
 Data bits
 Stop bit
 Modbus address
 Polarization (for RS-485)

Operating Mode
The post configuration file is read and applied:
 after a Cold Start (see page 39)
 after a reboot (see page 37)
 after an application download (see page 37)

For further details on controller states and transitions, refer to Controller States and Behaviors
(see page 32).

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 Configuration Features

Post Configuration File Management

Introduction
The file Machine.cfg must be stored in the directory /usr/cfg of the controller.
The post configuration file can be transferred, modified, or deleted with a micro SD card.
The Ethernet parameters of the post configuration file can also be modified with SoMachine Basic
during the connection with a logic controller.
NOTE: A post configuration file example is available in the directory
Firmwares & PostConfiguration\PostConfiguration\add_change\usr\cfg of the
SoMachine Basic installation directory.

Post Configuration File Format

A valid configuration must use the following format:
 The character ’#’ means beginning of comment, everything after this sign until the end of the
line is ignored. Comments are not saved in the post configuration area of the M100/M200 Logic
Controller.
 Rule is channel.parameter=value (no space around the ’=’ sign).
 Channel and parameter are case-sensitive.
 Allowed channel, parameter, and values are in the following table.

Channel Parameter Description Value

ETH IPMODE Address configuration mode 0 = Fixed
1 = BOOTP
2 = DHCP
IP IP address Dotted decimal string
MASK Subnet mask Dotted decimal string
GATEWAY Gateway address Dotted decimal string
NETWORKNAME Device name on the network ASCII string (maximum 16 characters)
SL1 HW Physical medium 0 = RS-232
SL2 1 = RS-485
BAUDS Data transmission rate 1200, 2400, 4800, 9600, 19200, 38400,
57600 or 115200
PARITY Parity for error detection 0 = None
1 = Odd
2 = Even
DATAFORMAT Data format 7 or 8
STOPBIT Stop bit 1 or 2
MODBUSADDR Modbus address 1...247
POLARIZATION Polarization 0 = No
1 = Yes

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Configuration Features

Post Configuration File Transfer

After creating and modifying your post configuration file, it must be transferred to the logic
controller. The transfer is performed by using a script to copy the post configuration file to a micro
SD card.
Refer to Adding or Changing a Post Configuration (see page 155).

Modifying a Post Configuration File

Use a text editor to modify the post configuration file on the PC.
NOTE: Do not change the text file encoding. The default encoding is ANSI.
NOTE: The Ethernet parameters of the post configuration file can be modified with SoMachine
Basic. For more information, refer to Connecting to a Logic Controller (see SoMachine Basic,
Operating Guide).

Deleting the Post Configuration File

Refer to Removing a Post Configuration File (see page 156).
NOTE: The parameters defined in the application will be used instead of the corresponding
parameters defined in the post configuration file.

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 Modicon M100/M200 Logic Controller
Configuring the M100/M200 Logic Controller
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Part II
Configuring the M100/M200 Logic Controller

Configuring the M100/M200 Logic Controller

Overview
This part provides information about how to configure the M100/M200 Logic Controller references.

What Is in This Part?

This part contains the following chapters:
Chapter Chapter Name Page
3 How to Configure a Controller 49
4 Embedded Input/Output Configuration 61
5 I/O Bus Configuration 91
6 Cartridge Configuration 95
7 TM3R Expansion Module Configuration 123
8 Embedded Communication Configuration 131
9 Micro SD Card 145

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Configuring the M100/M200 Logic Controller

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 Modicon M100/M200 Logic Controller
How to Configure a Controller
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Chapter 3
How to Configure a Controller

How to Configure a Controller

Overview
This chapter describes how to build a configuration in SoMachine Basic and configure the
M100/M200 Logic Controller.

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Building a Configuration 50
Optional I/O Expansion Modules 55
Configuring the M100/M200 Logic Controller 58
Updating Firmware Using Executive Loader Wizard 59

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How to Configure a Controller

Building a Configuration

Introduction
Configure a controller by building a configuration in SoMachine Basic. To build a configuration, first
create a new project or open an existing project.
Refer to SoMachine Basic Operating Guide for information on how to:
 Create or open an existing project
 Replace the default logic controller
 Add an expansion module to the logic controller
 Add a cartridge to the logic controller
 Save the project.

Some general information about the SoMachine Basic user interface is provided below.

Start Page
The start page window is always displayed when you launch SoMachine Basic. Use this window
to register the SoMachine Basic software, manage the connection to the logic controller, and
create or select a project to work with.

SoMachine Basic Window

Once you have selected a project to work with, SoMachine Basic displays the main window.
At the top of the main window, a toolbar (see SoMachine Basic, Operating Guide) contains icons
that allow you to perform common tasks, including returning to the start page window.
Next to the toolbar, the status bar (see SoMachine Basic, Operating Guide) displays informational
messages about the state of the connection to the logic controller.
Below the toolbar and the status bar, the main window is divided into a number of modules. Each
module controls a different stage of the development cycle, and is accessible by clicking the
module tab.

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 How to Configure a Controller

This figure presents the toolbar, status bar, and the module tabs in the main window:

1 Toolbar
2 Status bar
3 Module tabs

Item Description
Toolbar Provides easy access to commonly used functions.
For more information, refer to the Toolbar (see SoMachine Basic, Operating Guide).
Status bar Displays status and information messages on the system status.
For more information, refer to the Status bar (see SoMachine Basic, Operating Guide).
Module tabs To develop an application, work your way through the module tabs from left to right:
 Properties
Set up the project properties.
 Configuration
Replicate and configure the hardware configuration of the logic controller and
associated expansion modules.
 Programming
Develop the program in one of the supported programming languages.
 Commissioning
Manage the connection between SoMachine Basic and the logic controller,
upload/download applications, test, and commission the application.

Hardware Tree
The hardware tree is displayed on left-hand side in the Configuration window. It presents a
structured view of the hardware configuration. When you add a controller, an expansion module,
or a cartridge to the project, several nodes are automatically added to the hardware tree.
NOTE: The nodes in the hardware tree are specific to the controller and the hardware
configuration. These nodes depend on the I/O functions that the controller, expansion modules,
and cartridges provide.

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How to Configure a Controller

This figure presents the hardware tree of the controller configuration:

Item Description
Digital inputs Use to configure the embedded digital inputs of the logic controller.
Digital outputs Use to configure the embedded digital outputs of the logic controller.
High Speed Counters Use to configure the embedded high speed counting functions (HSC).
Pulse Generators Use to configure the embedded pulse generator functions (PLS/PWM/PTO).
IO Bus Use to configure the expansion modules and cartridges connected to the logic
controller.
ETH1 Use to configure the embedded Ethernet communications.
Modbus TCP Use to configure the Modbus TCP protocol for Ethernet communications.
SLn (Serial line) Use to configure the embedded serial line or the serial line added using a cartridge.
NOTE: All M100/M200 references can support only one serial line cartridge.
n Serial line number (1 or 2, controller-specific).

Editor
The editor area is displayed in center of the Configuration window. It displays the graphical
representation of hardware configuration of the devices. The hardware configuration in a project
can be:
 Only a controller
 A controller with cartridge(s)
 A controller with expansion modules
 A controller with cartridge(s) and expansion modules.

The editor area displays:

 A short description about the device when you click the device image or when you click the
device node in the hardware tree.
 Configuration properties of the item selected in the hardware tree.

If you add an expansion module to the configuration, the expansion module appears at the right-
hand side of the controller or the previously added expansion module. Cartridges are added on the
controller in the cartridge slot.

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 How to Configure a Controller

When configuring a controller, a cartridge, or an expansion module, the configuration properties of

the node selected in the hardware tree are displayed below the graphical configuration. These
properties allow you to configure the device.
This figure presents the configuration of a controller with an expansion module (the controller is
selected):

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How to Configure a Controller

Catalog
The catalog area is displayed on right-hand side in the Configuration window. It displays the
complete range of the logic controllers, expansion modules, and cartridges that can be configured
using SoMachine Basic. It also provides a short description of the selected device.
You can drag-and-drop the objects from the catalog area to the editor area. You can also replace
the existing controller by a different controller with simple drag-and-drop from the catalog.
This figure presents the catalog of the logic controllers and the expansion modules:

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 How to Configure a Controller

Optional I/O Expansion Modules

Presentation
I/O expansion modules can be marked as optional in the configuration. The Optional module
feature provides a more flexible configuration by the acceptance of the definition of modules that
are not physically attached to the logic controller. Therefore, a single application can support
multiple physical configurations of I/O expansion modules, allowing a greater degree of scalability
without the necessity of maintaining multiple application files for the same application.
Without the Optional module feature, when the logic controller starts up the I/O expansion bus
(following a power cycle, application download or initialization command), it compares the
configuration defined in the application with the physical I/O modules attached to the I/O bus.
Among other diagnostics made, if the logic ontroller determines that there are I/O modules defined
in the configuration that are not physically present on the I/O bus, an error is detected and the I/O
bus does not start.
With the Optional module feature, the logic controller ignores the absent I/O expansion modules
that you have marked as optional, which then allows the logic controller to start the I/O expansion
bus.
The logic controller starts the I/O expansion bus at configuration time (following a power cycle,
application download, or initialization command) even if optional expansion modules are not
physically connected to the logic controller.
The following module types can be marked as optional:
 TM3R I/O expansion modules
 TM3 I/O expansion modules
 TM2 I/O expansion modules

The application must be configured with a functional level of at least Level 3.2 for modules marked
as optional to be recognized as such by the logic controller.
You must be fully aware of the implications and impacts of marking I/O modules as optional in your
application, both when those modules are physically absent and present when running your
machine or process. Be sure to include this feature in your risk analysis.

WARNING
UNINTENDED EQUIPMENT OPERATION
Include in your risk analysis each of the variations of I/O configurations that can be realized
marking I/O expansion modules as optional, and in particular the establishment of TM3 Safety
modules (TM3S…) as optional I/O modules, and make a determination whether it is acceptable
as it relates to your application.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

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How to Configure a Controller

Marking an I/O Expansion Module as Optional in Offline Mode

To add a module and mark it as optional in the configuration:

Step Action
1 Drag-and-drop the I/O expansion module from the catalog to the editor.
2 In the Device information area, select the Optional module check box:

To mark an existing I/O expansion module as optional in the configuration:

Step Action
1 Select the I/O expansion module in the editor.
2 In the Device information area, select the Optional module check box.

Optional I/O Expansion Modules in Online Mode

SoMachine Basic operates in online mode when a physical connection to a logic controller has
been established.
When in SoMachine Basic online mode, the modification of the Optional module feature is
disabled. You can visualize the downloaded configuration in the application:
 An I/O expansion module represented in yellow is marked as optional and not physically
connected to the logic controller at start-up. An information message to that effect is displayed
in the Device information area.
 An I/O expansion module represented in red is not marked as optional and not detected at start-
up. An information message to that effect is displayed in the Device information area.

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 How to Configure a Controller

The selection of the Optional module feature is used by the logic controller to start the I/O bus.
The following system words are updated to indicate the status of the physical I/O bus configuration:

System Word Comment

%SW118 Bits 13 and 14 are pertinent to the I/O module status relative to the I/O bus.
Logic controller status word Bit 13, if FALSE, indicates that there are mandatory modules as defined by the
I/O expansion bus configuration that are absent or otherwise inoperative when
the logic controller attempts to start the I/O expansion bus. In this case, the I/O
bus does not start.
Bit 14, if FALSE, indicates that one or more modules have ceased
communication with the logic controller after the I/O expansion bus is started.
This is the case whether an I/O expansion module is defined as mandatory or
as an optional module but present at start-up.
%SW119 Each bit, starting with bit 1 (bit 0 is reserved), is dedicated to a configured I/O
I/O expansion module expansion module and indicates whether the module is optional (TRUE) or
configuration mandatory (FALSE) when the controller attempts to start the I/O bus.
%SW120 Each bit, starting with bit 1 (bit 0 is reserved), is dedicated to a configured I/O
I/O expansion module status expansion module and indicates the status of the module.
When the logic controller attempts to start the I/O bus, if the value of %SW120
is non-zero (indicating that an error is detected for at least one of the modules),
the I/O expansion bus does not start unless the corresponding bit in %SW119
is set to TRUE (indicating the module is marked as an optional module).
When the I/O bus is started, if the value of %SW120 is modified by the system,
it indicates that an error is detected on one or more I/O expansion modules
(regardless of the Optional module feature).

Refer to System Words (see page 366) for more information.

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How to Configure a Controller

Configuring the M100/M200 Logic Controller

Controller Configuration
Controller configuration depends on the number and type of embedded input/outputs, I/O objects,
and communication ports.
Use the Configuration tab to configure the properties of your controller and the expansion
modules. Select a node in the hardware tree to configure the properties of the controller.
This table shows the available configurations of the M100/M200 Logic Controller:

Reference Digital Digital High Speed Pulse Ethernet Serial Line

inputs Outputs Counters Generators
TM100C••R / X X X – – X
TM200C••R
TM200C••U X X X X – X
TM200CE••R X X X – X X
TM200CE••U X X X X X X
TM200C•••T X X X X – X
TM200CE••T X X X X X X
– Not available for configuration in SoMachine Basic.

X Available for configuration in SoMachine Basic. For information on how to configure:

 Digital inputs, refer to Configuring Digital Inputs (see page 62)
 Digital outputs, refer to Configuring Digital Outputs (see page 66)
 High speed counters, refer to Configuring High Speed Counters (see page 78)
 Pulse generators, refer to Configuring Pulse Generators (see page 68)
 Ethernet, refer to Configuring Ethernet (see page 132)
 Serial line, refer to Configuring Serial Line (see page 138).

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 How to Configure a Controller

Updating Firmware Using Executive Loader Wizard

Overview
You can update the executives of the controller using the executive loader wizard (OS loader).
Refer to Controller States and Behavior (see page 32) for information on the logic controller
operating states and status of the LEDs.

Updating the Firmware of the Controller

To launch the Exec Loader Wizard, follow these steps:

Step Action
1 Close all Windows applications, including virtual machines.
2 Click Start  Programs  Schneider Electric  SoMachine Basic  SoMachine Basic
Firmware Update or run the ExecLoaderWizard.exe from the SoMachine Basic installation
folder\Execloader folder.
3 Follow the steps on the wizard to complete the firmware update.

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How to Configure a Controller

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 Modicon M100/M200 Logic Controller
Embedded Input/Output Configuration
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Chapter 4
Embedded Input/Output Configuration

Embedded Input/Output Configuration

Overview
This chapter describes how to configure the embedded I/O objects of the M100/M200 Logic
Controller.
The number of embedded inputs and outputs depends on the controller reference. For more
information, refer to the table of M100/M200 Logic Controller references (see Modicon M100/M200
Logic Controller, Hardware Guide).

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
4.1 Configuring Digital Inputs 62
4.2 Configuring Digital Outputs 66
4.3 Configuring Pulse Generators 68
4.4 Configuring High Speed Counters 77

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Embedded Input/Output Configuration

Section 4.1
Configuring Digital Inputs

Configuring Digital Inputs

Configuring Digital Inputs

Introduction
By default, all digital inputs are used as regular inputs. Some of the digital inputs are fast and can
be used by configuring the high speed counters (see page 78) while other inputs can be configured
as event sources.

Digital Inputs Configuration

This table describes how to configure the digital inputs:

Step Action
1 Click the Digital inputs node in the hardware tree to display the digital input properties.
This figure shows the properties of the digital inputs in the editor area:

2 Edit the properties to configure the digital inputs.

For detailed information on the digital input configuration parameters, refer to the table below.

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 Embedded Input/Output Configuration

This table describes each parameter of the digital input configuration:

Parameter Editable Value Default value Description

Used No True/False False Indicates whether the input channel is being used in a
program or not.
Address No %I0.x – Displays the address of the digital input on the controller,
where x represents the channel number.
If the controller has 8 digital input channels, x varies from
0...7.
If the controller has 16 digital input channels, x varies from
0...15.
For example, %I0.2 is the third digital input channel of the
logic controller.
Symbol Yes – – Allows you to associate a symbol with the digital input
object.
Double-click in the Symbol column, type the name of the
symbol, and press Enter.
Used by No Any Filtering Displays the name of the component that uses the input
channel.
For example, if the input channel is used by a subroutine,
this field displays User logic. The possible values in this
field are:
 User logic
 Filtering
 Latch
 Run/Stop
 Event
 %HSCx
where x is the high speed counter instance on the
controller
 %FCy
where y is the fast counter instance on the controller
If an input is being used by more than one operation, all
values, separated by commas, are displayed in this field.
Filtering Yes No Filter 3 ms Allows you to select the noise filter duration for the input
3 ms channel.
12 ms Using a filter for the digital inputs reduces the noise on the
controller input.
If you select filter for an input, you cannot configure that
input for:
 Latch
 Event

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Embedded Input/Output Configuration

Parameter Editable Value Default value Description

Latch Yes True/False False Allows you to enable or disable latching for the inputs
configured as events (%I0.2...%I0.5).
By default, this option is disabled due to default value of
Filtering. Set the Filtering to No Filter to enable the
Latch option.
Latching enables pulses with a duration shorter than the
controller scan time to be memorized.
When a pulse duration is shorter than a scan time and has
a value greater than or equal to 1 ms, the controller latches
the pulse, which is then updated in the next scan.
If you enable Latch for an input, you cannot configure that
input for:
 Filtering
 Run/Stop
 Event

Run/Stop Yes True/False False Allows you to configure 1 digital input as an additional
Run/Stop switch.
If you configure a digital input as Run/Stop switch, you
cannot use the input in any other function block (for
example, high speed counter function block, fast counter
function block, and so on).
If you enable Run/Stop for an input, you cannot configure
that input for:
 Latch
 Event

Event Yes Not Used Not Used Allows you to select an event that triggers the inputs
Falling Edge %I0.2...%I0.5.
Rising Edge By default, this option is disabled due to default value of
Both edges Filtering. Set the Filtering to No Filter to enable the
Event option.
If you select an event from the drop-down list (other than
Not Used), the Priority parameter enables for editing to
set the priority of the event.
Priority Yes 0...7 7 Allows you to set the priority of the triggering event for the
inputs %I0.2...%I0.5.
You can set the priority of each event using the Priority
parameter that is editable only for the inputs configured as
event.
Assign each configured event a different priority: if 2
events have same priority, a detected error message
appears in the window.

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Parameter Editable Value Default value Description

Subroutine No – – Displays the number of the subroutine associated with an
input configured as an event.
Comment Yes – – Allows you to associate a comment with the digital input
object.
Double-click in the Comment column, type an optional
comment, and press Enter.

Additional configuration details are displayed in the Programming tab. For more information, refer
to Digital Inputs (%I) (see page 166).

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Section 4.2
Configuring Digital Outputs

Configuring Digital Outputs

Configuring Digital Outputs

Introduction
By default, all digital outputs are used as regular outputs. For controllers equipped with transistor
outputs, two outputs are fast transistor outputs and can be used by configuring the pulse
generators (see page 68).

Digital Outputs Configuration

This table describes how to configure the digital outputs:

Step Action
1 Click the Digital outputs node in the hardware tree to display the digital output properties.
This figure shows the properties of the digital outputs in the editor area:

2 Edit the properties to configure the digital outputs.

For detailed information on the digital output configuration parameters, refer to the table below.

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This table describes each parameter of the digital output configuration:

Parameter Editable Value Default value Description

Used No True/False False Indicates whether the output channel is being used
in a program or not.
Address No %Q0.x – Displays the address of the digital output on the
controller, where x represents the channel number.
If the controller has 8 digital output channels, x
varies from 0...7.
If the controller has 16 digital output channels, x
varies from 0...15.
If the controller has 24 digital output channels, x
varies from 0...23.
For example, %Q0.2 is the third digital output
channel on the controller.
Symbol Yes – – Allows you to associate a symbol with the digital
output object.
Double-click in the Symbol column, type the name
of the symbol, and press Enter.
Used by No Any Empty Displays the name of the component that uses the
output channel.
For example, if the output channel is used as status
alarm, it displays Alarm.
Status Alarm Yes True/False False Allows you to enable or disable the status alarm for
the output (%Q0.0...%Q0.7).
You can configure only one output channel for the
status alarm.
You cannot configure an output as status alarm if the
output is used in a program.
The value of the status alarm is 1 when the controller
is in the RUNNING state, and 0 in all other states.
Fallback value Yes 1 or 0 0 Specifies the value to apply to this output (fallback to
0 or fallback to 1) when the logic controller enters the
STOPPED or an exception state. The default value is
0. If Maintain values fallback mode is configured,
the output retains its current value when the logic
controller enters the STOPPED or an exception state.
This field is disabled for the output configured as
Status Alarm.
Comment Yes – – Allows you to associate a comment with the digital
output object.
Double-click in the Comment column, type an
optional comment, and press Enter.

Additional configuration details are displayed in the Programming tab. For more information, refer
to Digital Outputs (%Q) (see page 167).

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Section 4.3
Configuring Pulse Generators

Configuring Pulse Generators

Configuring Pulse Generators

Introduction
The pulse generator function blocks, Pulse (PLS), Pulse Width Modulation (PWM), and
Pulse Train Output (PTO) are used to generate square or modulated wave signals on
dedicated output channels %Q0.0 or %Q0.1.
The PWM outputs feature a modulated wave signal with a variable width and duty cycle while the
PTO outputs generate a square wave to control a linear single-axis stepper or servo drive in open
loop mode. The PLS also creates a square wave for a programmed number of pulses.

Pulse Generators Configuration

This table describes how to configure the pulse generators:

Step Action
1 Click the Pulse Generators node in the hardware tree to display the pulse generator properties.
This figure presents the properties of the pulse generators in the editor area:

2 Edit the properties to configure the pulse generator output.

For detailed information on the pulse generator configuration parameters, refer to the table below.

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This table describes each parameter of the pulse generator configuration:

Parameter Editable Value Default Value Description

Used No True/False False Indicates whether the pulse generated output is
being used in a program or not.
Address No %PLSx %PLSx/%PWMx/ Displays the address of the Pulse output,
%PWMx %PTOx Pulse Width Modulation output, or Pulse
%PTOx Train Output, where x is the output number.
If the controller has 2 pulse generators, then the
value for x is 0 and 1. For example, %PLS0 is the
address of the first pulse output on the controller.
If you select the output type PLS, the Address
field displays only %PLSx and if you select
PWM, it displays only %PWMx.
Symbol Yes – – Allows you to specify a symbol to associate with
the pulse generator object.
Double-click in the Symbol column, type the
name of the symbol and press Enter.
NOTE: This field is enabled only if the pulse
generator is configured.
Type No Not Configured Not Configured Displays the type of the pulse generator used for
PLS the output channel.
PWM
PTO
Configuration Yes [...] Enabled Allows you to choose the type of pulse
(Button) generator.
Click this button to open the Pulse Generator
Assistant window (see page 70) for
configuration, where x is the pulse generator
number on the controller.
Comment Yes – – Allows you to specify a comment to associate
with the pulse generator object.
Double-click in the Comment column, type the
comment and press Enter.

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Pulse Generator Assistant Window

This graphic presents the Pulse Generator Assistant window:

This table describes the parameter of the Pulse Generator Assistant window:

Parameter Editable Value Default Value Description

General
Type of pulse Yes Not Configured Not Configured Allows you to choose the type of pulse generator
generator PLS and configure the output properties.
PWM Select:
PTO  PLS to configure the output channels in PLS
mode. Refer to PLS Configuration
(see page 71).
 PWM to configure the output channels in PWM
mode. Refer to PWM Configuration
(see page 73).
 PTO to configure the output channels in PTO
mode. Refer to PTO Configuration
(see page 74).

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PLS Configuration
This graphic presents the Pulse Generator Assistant window when the Type of pulse generator
is set to PLS:

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The table describes each parameter available when the channel is configured in PLS mode:

Parameter Editable Value Default Value Description

Behavior
Double Word Yes False True/False Allows you to toggle between the data size of
Word (16 bits) and Double Word (32 bits).
By default, this parameter is disabled, which
indicates that the current data size is Word
(16 bits).
Enabling this field changes the data size to
Double Word (32 bits).
Period
Time Base Yes 0.1 ms 1s Allows you to select the time base for the
1 ms frequency measurement.
10 ms
1s
Preset Yes Refer to the table 0 Allows you to specify the preset value for the
below for complete pulse output.
range of preset
values for PLS
type pulse
generator.

This table presents the range of values of the Preset parameter:

Type Time Base Preset Value Range

PLS 0.1 ms 1...20000
1 ms 1...2000
10 ms 1...200
1s 1 or 2

Additional configuration details are displayed in the Programming tab.

For more details on the Pulse function block, refer to Pulse (%PLS) (see page 197).

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PWM Configuration
This graphic presents the Pulse Generator Assistant window when the Type of pulse generator
is set to PWM:

The table describes each parameter available when the channel is configured in PWM mode:

Parameter Editable Value Default Value Description

Period
Time Base Yes 0.1 ms 1s Allows you to select the time base for the
1 ms frequency measurement.
10 ms
1s
Preset Yes Refer to the table 0 Allows you to specify the preset value for the
below for complete PWM output.
range of preset
values for PWM
type pulse
generator.

This table presents the range of values of the Preset parameter:

Type Time Base Preset Value Range

PWM 0.1 ms 1...10000
1 ms 1...1000
10 ms 1...100
1s 1

Additional configuration details are displayed in the Programming tab.

For more details on the Pulse Width Modulation function block, refer to Pulse Width
Modulation (%PWM) (see page 205).

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PTO Configuration
This graphic presents the Pulse Generator Assistant window when the Type of pulse generator
is set to PTO:

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The table describes each parameter available when the channel is configured in PTO mode:

Parameter Value Default Description

General
Output Mode Clock Wise / Counter Pulse / Select the pulse output mode.
(see page 219) Clock Wise Direction CW = ClockWise / CCW =
Pulse / Direction CounterClockWise
NOTE: The CW / CCW output mode is
only valid for PTO0. This mode disables
PTO1.
Software Position Limits
Enable the Enabled Enabled Select whether to use the software limits.
software position Disabled
limits
(see page 227)
Low Limit -2,147,483,648... - Set the software limit position to be
2,147,483,647 2,147,483,648 detected in the negative direction.
High Limit -2,147,483,648... 2,147,483,647 Set the software limit position to be
2,147,483,647 detected in the positive direction.
Motion
Maximum Velocity 0...100,000 100,000 Set the pulse output maximum velocity
(in Hz).
Start Velocity 0...100,000 0 Set the pulse output start velocity (in Hz).
(see page 221) 0 if not used.
Stop Velocity 0...100,000 0 Set the pulse output stop velocity (in Hz).
(see page 221) 0 if not used.
Maximum 1...100,000 100,000 Set the acceleration maximum value (in
Acceleration Hz).
Fast Stop 1...100,000 5,000 Set the deceleration value in case an
Deceleration error is detected (in Hz)
Maximum 1...100,000 100,000 Set the deceleration maximum value (in
Deceleration Hz).
Homing
Enable the REF Enabled Disabled Select whether to use the REF input to
input Disabled set the homing position.
Contact type Normally opened Normally Select whether the switch contact default
Normally closed opened state is open or closed.
NOTE: The input type is only available
when the “Enable the REF input” is
selected.
Enable the INDEX Enabled Disabled Select whether to use the INDEX input as
input (%I0.x) Disabled a positive limit signal.

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Parameter Value Default Description

Contact type Normally opened Normally Select whether the switch contact default
Normally closed opened state is open or closed.
NOTE: The input type is only available
when the “Enable the INDEX input” is
selected.
Probe activation
Enable the PROBE Enabled Disabled Select whether to use the PROBE input.
input Disabled

Additional configuration details are displayed in the Programming tab.

For more details on the Pulse Train Output function block, refer to Pulse Train Output (%PTO)
(see page 211).

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Section 4.4
Configuring High Speed Counters

Configuring High Speed Counters

What Is in This Section?

This section contains the following topics:
Topic Page
Configuring High Speed Counters 78
Configuring Single Phase and Dual Phase 82
Configuring Frequency Meter 88

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Configuring High Speed Counters

Introduction
You can configure high speed counters to perform any one of the following functions:
 Single phase
 Dual phase [Pulse / Direction]
 Dual phase [Clock Wise / Counter Clock Wise]
 Dual phase [Quadrature X1]
 Dual phase [Quadrature X2]
 Dual phase [Quadrature X4]
 Frequency meter

Several modes are available with Single Phase and Dual Phase HSC type counter:
 Single Phase
 One Shot
 Modulo Loop
 Free Large

 Dual Phase
 Modulo Loop
 Free Large

In One Shot mode, each pulse applied to the input increments the current value. The counter stops
when its current value reaches the maximum value. The overflow flag is then set. For more details,
refer to One-shot Counting Mode (see page 191).
In Modulo Loop mode, the counter repeatedly counts from 0 to a user-defined modulo value. It then
returns to 0 and restarts counting. In reverse, the counter counts down from the modulo value to 0
then presets to the modulo value and restarts counting. For more details, refer to Modulo-Loop
Counting Mode (see page 192).
In Free Large mode, the counter behaves like a standard up and down counter. This mode can be
used with one encoder.
The high speed counter supports counting of digital inputs up to frequencies of 100 kHz in single
word or double word computational mode.

Dedicated I/O Assignments

The High Speed Counter function blocks use dedicated inputs and auxiliary inputs and outputs.
These inputs and outputs are not reserved for the exclusive use of High Speed Counter
function blocks.
If %I0.0 is in use by the program as a regular digital input, %HSC0 is not available.
If %I0.1 is in use by the program as a regular digital input, %HSC0and %HSC2 are not available.
If %I0.6 is in use by the program as a regular digital input, %HSC1 is not available.
If %I0.7 is in use by the program as a regular digital input, %HSC1 and %HSC3 are not available.

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This table summarizes the assignments for %HSC0 and %HSC1:

Counter type Main inputs Auxiliary inputs Reflex outputs

TM200•••U/TM200•••T TM100•••R /
TM200•••R
%HSC0 %I0.0 %I0.1 %I0.2 %I0.3 %Q0.4 %Q0.5 %Q0.0 %Q0.1
%HSC1 %I0.6 %I0.7 %I0.5 %I0.4 %Q0.6 %Q0.7 %Q0.2 %Q0.3
Single phase Pulse input Not used Preset Catch Reflex Reflex Reflex Reflex
input* input* output R* output S* output R* output S*
Dual phase Pulse input Direction Preset Catch Reflex Reflex Reflex Reflex
[Pulse / Direction] input input* input* output R* output S* output R* output S*
Dual phase CW input CCW input Preset Catch Reflex Reflex Reflex Reflex
[Clock Wise / Phase A Phase B input* input *
output R *
output S *
output R *
output S*
Counter Clock
Wise]
Dual phase Pulse input Pulse input Preset Catch Reflex Reflex Reflex Reflex
[Quadrature X1] Phase A Phase B input* input *
output R *
output S *
output R *
output S*
Dual phase Pulse input Pulse input Preset Catch Reflex Reflex Reflex Reflex
[Quadrature X2] Phase A Phase B input* input* output R* output S* output R* output S*
Dual phase Pulse input Pulse input Preset Catch Reflex Reflex Reflex Reflex
[Quadrature X4] Phase A Phase B input* input* output R* output S* output R* output S*
Frequency meter Pulse input Not used Not used Not used Not used Not used Not used Not used
* When not used, the input or output functions as a normal digital I/O available to be managed by the application in
the main task cycle.

This table summarizes the assignments for %HSC2 and %HSC3:

Counter type Main inputs Auxiliary inputs Reflex outputs

TM200•••U/TM200•••T TM100•••R /
TM200•••R
%HSC2 %I0.0 %I0.1 %I0.2 %I0.3 %Q0.4 %Q0.5 %Q0.0 %Q0.1
%HSC3 %I0.6 %I0.7 %I0.5 %I0.4 %Q0.6 %Q0.7 %Q0.2 %Q0.3
Single phase Not used Pulse input Not used Not used Not used Not used Not used Not used
* When not used, the input or output functions as a normal digital I/O available to be managed by the application in
the main task cycle.

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High Speed Counters Configuration

This table describes how to configure the high speed counters:

Step Action
1 Click the High Speed Counters node in the hardware tree to display the high speed counter
properties.
Result: The properties of the high speed counters are displayed in the editor area:

For detailed information on the high speed counter configuration, refer to the following table.
2 Click the [...] button to configure a high speed counter.
Result: The high speed counter configuration parameters are displayed in the assistant window.
For more details on configuration of single phase and dual phase modes with the assistant, refer to
Configuring Single Phase and Dual Phase (see page 82).
For more details on configuration of frequency meter mode with the assistant, refer to Configuring
Frequency Meter (see page 88).

This table describes each parameter of the high speed counters configuration:

Parameter Editable Value Default value Description

Used No True/False False Indicates whether the high speed counter
is being used in a program or not.
Address No %HSCx Displays the address of the high speed
counter, where x is the object number. For
example, %HSC1 is the address of the
second high speed counter on the
controller.
Symbol Yes – – Allows you to associate a symbol with the
high speed counter object.
Double-click in the Symbol column, type
the name of the symbol, and press Enter.
Type Yes Not Configured Not Configured Allows you to select the counter
Single Phase operational mode from the drop-down list.
Dual Phase
Frequency Meter

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Parameter Editable Value Default value Description

Configuration Yes [...] Disabled Allows you to configure the high speed
(Button) counter parameters using an assistant
window.
This button is enabled only if the high
speed counter function is selected from
the list. When the counter type is Not
Configured, the assistant configuration
button is disabled.
The High Speed Counter Assistant
(%HSCx) window appears when you click
the configuration button, where x is the
counter number on the controller.
Comment Yes – – Allows you to associate a comment with
the high speed counter object.
Double-click in the Comment column,
type an optional comment, and press
Enter.

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Configuring Single Phase and Dual Phase

Single Phase and Dual Phase with Assistant Window

This figure presents an instance of the assistant window for %HSC0 configured as Dual Phase:

Item Description
1 Displays the title of the assistant dialog window.
If you are configuring the counter %HSC0, the window title appears as High Speed Counter Assistant
(%HSC0) and for the counter %HSC1, the window title appears as High Speed Counter Assistant
(%HSC1).

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Item Description
2 Displays the input mode of particular type of high speed counter.
3 Displays the dedicated inputs, auxiliary inputs, and reflex outputs.
Properties in this area of the assistant window are different for each counter type and %HSC instance.
For more details, refer to the Dedicated I/O Assignments (see page 78) section.

This table describes each parameter of the assistant screen for high speed counters for both
%HSC0 and %HSC1:

Parameter Editable Value Default value Description

Pre-Configuration
Type of HSC Yes Not Configured Not Configured Indicates the selected counter operational
Single Phase mode and allows you to change it.
Dual Phase
Frequency Meter
Counting Mode Yes Free Large Free Large Indicates the selected counter operational
when configuring Modulo Loop mode and allows you to change it.
single phase One Shot The options depend on the instance and on
the type of HSC in the other instances. Refer
to Dedicated I/O Assignments
(see page 78).
Counting Mode Yes Free Large Free Large Indicates the selected counter operational
when configuring Modulo Loop mode and allows you to change it.
dual phase The options depend on the instance and on
the type of HSC in the other instances. Refer
to Dedicated I/O Assignments
(see page 78).
Input Mode when Yes Pulse / Direction Pulse / Direction Indicates the selected counter operational
configuring dual Clock Wise / mode and allows you to change it.
phase Counter Clock The options depend on the instance and on
Wise the type of HSC in the other instances. Refer
Quadrature X1 to Dedicated I/O Assignments.
Quadrature X2
Quadrature X4
General
Double Word Yes True/False False Allows you to toggle between input data size
of Word (16 bits) and Double Word (32 bits).
By default, this parameter is disabled, which
indicates that the current data size is Word
(16 bits).
Enabling this field changes the data size to
Double Word (32 bits).
* for X1 the value is limited to 2147483647

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Parameter Editable Value Default value Description

Preset Yes 0...65535 0 Allows you to specify the preset value for the
(Word) (Word) counting functions.

0...4294967295* 0
(Double Word) (Double Word)
when configuring
Dual Phase
[Quadrature X1]
Modulo Value Yes 0...65535 0 Allows you to specify the modulo value for
(%HSC.P/.PD) (Word) (Word) the counting functions.
0...4294967295*
(Double Word) 0
0...2147483647 (Double Word)
(Double Word)
when configuring
Dual Phase
[Quadrature X1]
Threshold S0 Yes 0...65535 65535 Allows you to specify the value of the HSC
(Word) (Word) flag S0 that contains the value of the
threshold TH0.
0...4294967295* 4294967295*
(Double Word) (Double Word)
0...2147483647
(Double Word)
when configuring
Dual Phase
[Quadrature X1]
Threshold S1 Yes 0...65535 65535 Allows you to specify the value for the HSC
(Word) (Word) flag S1 that contains the value of the
threshold TH1.
0...4294967295* 4294967295*
(Double Word) (Double Word)
0...2147483647
(Double Word)
when configuring
Dual Phase
[Quadrature X1]
Trigger Yes Not Used Not Used Allows you to select a triggering function for
Falling Edge an event (for both threshold TH0 and TH1)
Rising Edge from the drop-down list.
Both edges If you select a triggering function from the
drop-down list (other than Not Used), the
Priority parameter enables for editing to set
the priority of the event.
* for X1 the value is limited to 2147483647

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Parameter Editable Value Default value Description

Priority Yes 0...7 7 Allows you to set the priority of the triggering
function of an event (for both threshold TH0
and TH1).
This field enables only when you select a
Trigger function for the event.
Subroutine No Any Empty Displays the subroutine associated with an
input configured as an event (for both
threshold TH0 and TH1).
Inputs Configuration
When configuring Single Phase:
Pulse Input No True/False True  For %HSC0: %I0.0 is used as pulse input.
 For %HSC1:%I0.6 is used as pulse input.

When configuring Dual Phase [Pulse / Direction]:

Pulse Input No True/False True  For %HSC0: %I0.0 is used as pulse input.
 For %HSC1:%I0.6 is used as pulse input.

Direction Input No True/False True  For %HSC0: %I0.1 is used as directional

input.
 For %HSC1: %I0.7 is used as directional
input.
When configuring Dual Phase [Clock Wise / Counter Clock Wise]:
Clock Wise No True/False True  For %HSC0: %I0.0 is used as pulse input
Phase A for phase A.
 For %HSC1: %I0.6 is used as pulse input
for phase A.
Counter Clock No True/False True  For %HSC0: %I0.1 is used as pulse input
Wise Phase B for phase B.
 For %HSC1: %I0.7 is used as pulse input
for phase B.
When configuring Dual Phase [Quadrature X1], Dual Phase [Quadrature X2], and Dual Phase [Quadrature X4]:
Pulse Input No True/False True  For %HSC0: %I0.0 is used as pulse input
Phase A for phase A.
 For %HSC1: %I0.6 is used as pulse input
for phase A.
Pulse Input No True/False True  For %HSC0: %I0.1 is used as pulse input
Phase B for phase B.
 For %HSC1: %I0.7 is used as pulse input
for phase B.
* for X1 the value is limited to 2147483647

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Parameter Editable Value Default value Description

When configuring Single Phase and Dual Phase:
Normal Input Yes True/False False  For %HSC0: %I0.2 is used as normal
input.
 For %HSC1: %I0.5 is used as normal
input.
Click the Use as check box to use this input
as Preset Input.
Normal Input Yes True/False False  For %HSC0: %I0.3 is used as normal
input.
 For %HSC1: %I0.4 is used as normal
input.
Click the Use as check box to use this input
as Catch Input.
Reflex Outputs Configuration
Reflex Output 0 No True/False False Allows you to enable or disable the reflex
output at the address:
For TM200•••U/TM200•••T:
 %Q0.4 for %HSC0
 %Q0.6 for %HSC1

For TM100•••R/TM200•••R:
 %Q0.0 for %HSC0
 %Q0.2 for %HSC1

Reflex Output 1 No True/False False Allows you to enable or disable the reflex
output at the address:
For TM200•••U/TM200•••T:
 %Q0.5 for %HSC0
 %Q0.7 for %HSC1

For TM100•••R/TM200•••R:
 %Q0.1 for %HSC0
 %Q0.3 for %HSC1

Value < S0 Yes True/False False Allows you to enable or disable the condition
in which the counter is constantly compared
to the output value to set the reflex output
when the output value is less than the value
of HSC flag S0.
* for X1 the value is limited to 2147483647

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Parameter Editable Value Default value Description

S0 <= Value < S1 Yes True/False False Allows you to enable or disable the condition
in which the counter is constantly compared
to the output value to set the reflex output
when the output value is:
 Greater than or equal to the value of the
HSC flag S0 and
 Less than the value of the HSC flag S1.

NOTE: S1 is not a variable when configuring

Modulo-loop mode.
Value >= S1 Yes True/False False Allows you to enable or disable the condition
in which the counter is constantly compared
to the output value to set the reflex output
when the output value is greater than or
equal to the value of HSC flag S1.
NOTE: S1 is not a variable when configuring
Modulo-loop mode.
* for X1 the value is limited to 2147483647

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Configuring Frequency Meter

Frequency Meter Assistant Window

This figure presents the High Speed Counter Assistant (%HSC0) window for the counter type
Frequency Meter:

This table describes each parameter of the High Speed Counter Assistant (%HSCx) window for
the counter type Frequency Meter:

Parameter Editable Value Default value Description

Type of HSC Yes Not Configured Not Indicates the selected counter
Single Phase Configured operational mode and allows you to
Dual Phase change it.
Frequency Meter The Frequency Meter is configurable on
%HSC0 and/or %HSC1. Refer to the
Frequency Meter I/O Assignment.
(1) By default, the time base value is set to 1 s. You can select only 1 time base value for the counter.

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Parameter Editable Value Default value Description

General
Double Word Yes TRUE/FALSE FALSE Allows you to toggle between the input
data size from Word (16 bits) to Double
Word (32 bits).
Enabling this field changes the data size
from Word (16 bits) to Double Word
(32 bits).
Time Window Yes TRUE/FALSE FALSE Allows you to select the time base of
100 ms (1) 100 ms to measure the frequency
between 100 Hz and 100 kHz.
Time Window Yes TRUE/FALSE TRUE Allows you to select the time base of 1 s
1 s (1) to measure the frequency between
100 Hz and 100 kHz.
Inputs
Pulse Input No TRUE/FALSE TRUE Indicates the input used as pulse input,
%I0.0 for %HSC0 or %I0.6 for %HSC1.
(1)
By default, the time base value is set to 1 s. You can select only 1 time base value for the counter.

Additional configuration details are displayed in the Programming tab.

For more details on the High Speed Counter function block, refer to High Speed Counter
Function Block (%HSC) (see page 178).

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I/O Bus Configuration
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Chapter 5
I/O Bus Configuration

I/O Bus Configuration

Overview
This chapter describes how to configure the I/O bus (expansion modules) of the M100/M200 Logic
Controller.

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
I/O Configuration General Practices 92
Configuring Expansion Modules 93

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I/O Configuration General Practices

Match Software and Hardware Configuration

The I/O that may be embedded in your controller is independent of the I/O that you may have
added in the form of I/O expansion. It is crucial that the logical I/O configuration within your program
matches the physical I/O configuration of your installation. If you add or remove any physical I/O
to or from the I/O expansion bus, or, depending on the controller reference, to or from the controller
(in the form of cartridges), it is imperative that you update your application configuration. This is
also true for any field bus devices you may have in your installation. Otherwise, there is the
possibility that the I/O expansions will no longer function while the embedded I/O that may be
present in your controller will continue to operate.

WARNING
UNINTENDED EQUIPMENT OPERATION
Update the configuration of your program each time you add or delete any type of I/O expansions
on your I/O bus, or you add or delete any devices on your field bus.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

Presentation of the Optional Feature for I/O Expansion Modules

I/O expansion modules can be marked as optional in the configuration. The Optional module
feature provides a more flexible configurtion by the acceptance of the definition of modules that are
not physically attached to the logic controller. Therefore, a single application can support multiple
physical configurations of I/O expansion modules, allowing a greater degree of scalability without
the necessity of maintaining multiple application files for the same application.
You must be fully aware of the implications and impacts of marking I/O modules as optional in your
application, both when those modules are physically absent and present when running your
machine or process. Be sure to include this feature in your risk analysis.

WARNING
UNINTENDED EQUIPMENT OPERATION
Include in your risk analysis each of the variations of I/O configurations that can be realized
marking I/O expansion modules as optional, and in particular the establishment of TM3 Safety
modules (TM3S…) as optional I/O modules, and make a determination whether it is acceptable
as it relates to your application.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

NOTE: For more details about this feature, refer to Optional I/O Expansion Modules (see page 55).

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Configuring Expansion Modules

Introduction
In your project, you can add the following devices to the controller:
 TM3 Digital I/O Modules
 TM3R Digital Mixed I/O Modules
 TM3 Analog I/O Modules
 TM2 Digital I/O Modules
 TM2 Analog I/O Modules

TM3/TM3R Expansion Modules

For more information about module configuration, refer to the following programming and
hardware guides of each expansion module type:

Expansion module type Hardware Guide Programming Guide

TM3 Digital I/O Expansion Modules TM3 Digital I/O Expansion Modules TM3 Expansion Modules
Hardware Guide Programming Guide
TM3R Digital Mixed I/O Expansion Modicon M100/M200 Logic Controller TM3R Expansion Module
Modules Hardware Guide Configuration (see page 125)
TM3 Analog I/O Expansion Modules TM3 Analog Modules Hardware Guide TM3 Expansion Modules
Programming Guide

TM2 Expansion Modules

For more information about module configuration, refer to the programming and hardware guides
of each expansion module type:

Expansion module type Hardware Guide Programming Guide

TM2 Digital I/O Modules TM2 Digital I/O Modules Hardware TM2 Expansion Modules
Guide Programming Guide
TM2 Analog I/O Modules TM2 Analog I/O Modules Hardware
Guide

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 Modicon M100/M200 Logic Controller
Cartridge Configuration
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Chapter 6
Cartridge Configuration

Cartridge Configuration

Overview
This chapter describes how to configure the cartridges of the M100/M200 Logic Controller.

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
6.1 Cartridge Configuration General Information 96
6.2 TMCR2••• Cartridges Configuration 102

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Section 6.1
Cartridge Configuration General Information

Cartridge Configuration General Information

What Is in This Section?

This section contains the following topics:
Topic Page
General Description 97
Using Cartridges in a Configuration 99
Configuring Cartridges 100

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General Description

Introduction
The TMCR2••• cartridges connect to Modicon M100/M200 Logic Controllers to increase the
number of I/Os or serial lines available on the controller.
Cartridges can be:
 Digital cartridges
 Analog cartridges
 Serial line cartridges

Cartridges Features
The following table describes the TMCR2••• cartridge features:

Reference Description
TMCR2DM4U TMCR2 cartridge with 2 digital inputs and 2 transistor sink outputs
TMCR2AI2 TMCR2 cartridge with 2 analog voltage or current inputs (0...10 V, 0...20 mA,
4...20 mA), 12 bits
TMCR2AQ2C TMCR2 cartridge with 2 analog current outputs (4...20 mA), 12 bits
TMCR2AQ2V TMCR2 cartridge with 2 analog voltage outputs (0...10 V), 12 bits
TMCR2AM3 TMCR2 cartridge with 2 analog voltage inputs and 1 analog voltage output
(0...10 V), 16 bits
TMCR2TI2 TMCR2 cartridge with 2 analog temperature inputs (thermocouple, RTD),
14 bits
TMCR2SL1 TMCR2 cartridge with 1 serial line (RS-232 or RS-485)
TMCR2SL1A TMCR2 cartridge with 1 isolated serial line (RS-485)

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Logic Controller Compatibility

NOTE: For more information on cartridge compatibility with specific controllers, refer to the
Modicon M100/M200 Logic Controller hardware guide (see Modicon M100/M200 Logic Controller,
Hardware Guide).
The following table describes the number of TMCR2••• cartridges that can be installed in a Modicon
M100/M200 Logic Controller:

Reference Cartridge Slots Compatible Cartridges Combination

TMCR2DM4U TMCR2SL1
TMCR2AI2 TMCR2SL1A
TMCR2AQ2V
TMCR2AQ2C
TMCR2AM3
TMCR2TI2
TM200C•16• 1 1 0
TM200C•24•
0 1
TM200C•40• 2 (1) 1 0
TM200C•60• 0 1
1 1
2 0
(1) Only one serial line cartridge (TMCR2SL1 or TMCR2SL1A) may be added to a logic controller.

NOTICE
ELECTROSTATIC DISCHARGE
 Verify that empty cartridge slots have their covers in place before applying power to the
controller.
 Do not touch the contacts of the cartridge.
 Only handle the cartridge on the housing.
 Take the necessary protective measures against electrostatic discharges.
Failure to follow these instructions can result in equipment damage.

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Using Cartridges in a Configuration

Adding a Cartridge
TMCR2••• cartridges can be connected to the M100/M200 Logic Controller with 1 or 2 cartridge
slots.
NOTE: It is not possible to add 2 serial line cartridges to the same logic controller. For more
information on cartridge compatibility with the M100/M200 Logic Controller, refer to Logic
Controller Compatibility (see page 98).
NOTE: The controller must have at least one free cartridge slot.
The following steps explain how to add a cartridge to a logic controller in a SoMachine Basic
configuration:

Step Description
1 Click the Configuration tab in the SoMachine Basic window.
2 In the hardware catalog area of the window, select M200 Cartridges.
3 Select a cartridge reference.
Result: A description of the physical characteristics of the selected cartridge appears in the bottom
right-hand corner of the SoMachine Basic window.
4 Drag and drop the cartridge onto an empty cartridge slot of the M100/M200 Logic Controller.
Result: The cartridge is added to the MyController  IO Bus area of the device tree.
For serial line cartridges, the SL2 (Serial line) node appears. For analog cartridges, the Analog
inputs or Analog outputs subnode appears immediately below the cartridge reference.
The following information about the selected cartridge is displayed in the lower central area of the
SoMachine Basic window:
 Information about the current status of the cartridge.
 For application cartridges, a list of project templates available for the cartridge.

Replacing an Existing Cartridge

To replace an existing cartridge with a difference reference, drag and drop the new cartridge onto
the cartridge to be replaced.
A message appears asking you to confirm the operation. Click Yes to continue.

Removing a Cartridge
To remove a cartridge from a controller, either click the cartridge and press the Delete key, or right-
click on the cartridge and click Remove on the contextual menu that appears.
If the cartridge contains at least one address being used in the user logic of the program, a
message appears asking you to confirm the operation. Click Yes to continue.

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Configuring Cartridges

Overview
You can configure cartridges on:
 The Configuration tab
 The Programming tab

Displaying Configuration Details

The steps below describe how to view the configuration of digital inputs on the Configuration tab:

Step Description
1 Select the Configuration tab.
2 For digital cartridges, select Cartridge x  Digital inputs or Cartridge x  Digital outputs in
the device tree on the left of the SoMachine Basic window.
For analog cartridges, select Cartridge x  Analog inputs or Cartridge x  Analog outputs
in the device tree on the left of the SoMachine Basic window.
For serial line cartridges, select Cartridge x  SL2 (Serial line) in the device tree on the left of
the SoMachine Basic window.
The properties of the selected cartridge are displayed.
3 Refer to TMCR2 Standard Cartridges Configuration (see page 102) for configuration details.

Displaying Programming Properties

The Programming tab allows you to configure programming-related properties of digital or analog
cartridges, such as symbols and comments.
To display cartridge properties in the Programming tab:

Step Description
1 Select the Programming tab.
2 For digital cartridges, click Tools  I/O objects  Digital inputs or Tools  I/O objects 
Digital outputs
For analog cartridges, click Tools  I/O objects  Analog inputs or Tools  I/O objects 
Analog outputs
A list of I/O addresses appears in the lower central area of the SoMachine Basic window
(%I for digital inputs, %Q for digital outputs, %IW for analog inputs, %QW for analog outputs).

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Step Description
3 Scroll down to the range of addresses corresponding to the cartridge you are configuring. The
following properties are displayed:
 Used. Whether the address is being used in your program
 Address. The analog input or analog output address.
 Symbol. An optional symbol associated with the address.
Double-click in the Symbol column and type the name of a symbol to associate with this input.
If a symbol already exists, right-click in the Symbol column and choose Search and Replace
to find and replace occurrences of this symbol in the application.
 Comment. An optional comment associated with the address.
Double-click in the Comment column and type a comment to associate with this address.

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Section 6.2
TMCR2••• Cartridges Configuration

TMCR2••• Cartridges Configuration

What Is in This Section?

This section contains the following topics:
Topic Page
TMCR2DM4U 103
TMCR2AI2 104
TMCR2AQ2C 106
TMCR2AQ2V 107
TMCR2AM3 108
TMCR2TI2 110
TMCR2SL1 113
TMCR2SL1A 118

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TMCR2DM4U

Introduction
The TMCR2DM4U is a standard M200 cartridge featuring 2 digital sink/source inputs and 2 digital
transistor sink outputs.
For further hardware information, refer to TMCR2DM4U (see Modicon M100/M200 Logic
Controller, Hardware Guide).

Configuring the Cartridge Module

For each digital input, you can define:

Parameter Value Default value Description

Used True/False False Indicates whether the address is being used
in a program.
Address %I0.x0y - Shows the address of the input channel,
where x is the cartridge number and y is the
channel number
Symbol - Specify a optional symbol to associate with
the corresponding digital input object to be
used in the program.
Comment - Type an optional comment to associate with
the corresponding digital input object.

For each digital output, you can define:

Parameter Value Default value Description

Used True/False False Indicates whether the address is being used
in a program.
Address %Q0.x0y - Shows the address of the output channel,
where x is the cartridge number and y is the
channel number
Symbol - Specify a optional symbol to associate with
the corresponding digital output object to be
used in the program.
Fallback value 0...1 0 Specifies the fallback value of the output
channel.
Comment - Type an optional comment to associate with
the corresponding digital output object.

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TMCR2AI2

Introduction
The TMCR2AI2 is a standard cartridge featuring 2 analog voltage or current input channels with
12-bit resolution.
The channel input types are:
 0...10 V
 0...20 mA
 4...20 mA

For further hardware information, refer to TMCR2AI2 (see Modicon M100/M200 Logic Controller,
Hardware Guide).
If you have physically wired, for example, your analog channel for a voltage signal and you
configure the channel for a current signal in SoMachine Basic, you may damage the analog circuit.

NOTICE
INOPERABLE EQUIPMENT
Verify that the physical wiring of the analog circuit is compatible with the software configuration
for the analog channel.
Failure to follow these instructions can result in equipment damage.

Configuring the Module

For each input, you can define:

Parameter Value Default value Description

Used True/False False Indicates whether the address is being used
in a program.
Address %IW0.x0y - The address of the input channel, where x is
the cartridge number and y is the channel
number
Symbol - - Double-click and type an optional symbol to
associate with the corresponding analog
input object to be used in the program.
Type 0 - 10 V 0 - 10 V Select the mode of the channel.
0 - 20 mA
4 - 20 mA
Scope Normal Normal The range of values for a channel.
Min. 0 - 10 V -32768...32767 0 Specifies the lower measurement limit.
0 - 20 mA 0
4 - 20 mA 4000

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Parameter Value Default value Description

Max. 0 - 10 V -32768...32767 10000 Specifies the upper measurement limit.
0 - 20 mA 20000
4 - 20 mA 20000
Filter 0...100 0 Specifies the filtering value. Multiply by the
Filter Unit value to obtain the filtering time.
Filter Unit 100 ms 100 ms Specifies the unit of time for the filtering
value.
Units - - -
Comment - - Double-click and type an optional comment
to associate with the channel.

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TMCR2AQ2C

Introduction
The TMCR2AQ2C is a standard cartridge featuring 2 analog current output channels with 12-bit
resolution.
The channel output types are:
 4...20 mA
For further hardware information, refer to TMCR2AQ2C (see Modicon M100/M200 Logic
Controller, Hardware Guide).
If you have physically wired, for example, your analog channel for a voltage signal and you
configure the channel for a current signal in SoMachine Basic, you may damage the analog circuit.

NOTICE
INOPERABLE EQUIPMENT
Verify that the physical wiring of the analog circuit is compatible with the software configuration
for the analog channel.
Failure to follow these instructions can result in equipment damage.

Configuring the Cartridge Module

For each output, you can define:

Parameter Value Default value Description

Used True/False False Indicates whether the address is being used in a
program.
Address %QW0.x0y - Shows the address of the output channel, where x is
the cartridge number and y is the channel number
Symbol - - Double-click and type an optional symbol to associate
with the corresponding analog output object to be used
in the program.
Type 4 - 20 mA 4 - 20 mA The mode of the channel.
Scope Normal Normal The range of values for a channel.
Minimum -32768...32767 4000 Specifies the lower measurement limit.
Maximum -32768...32767 20000 Specifies the upper measurement limit.
Fallback value Min....Max. 0 (Min. if 0 is not in the Specifies the fallback value of the output channel.
range)
Units - - -
Comment - - Double-click and type an optional comment to
associate with the channel.

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TMCR2AQ2V

Introduction
The TMCR2AQ2V is a standard cartridge featuring 2 analog voltage output channels with 12-bit
resolution.
The channel output types are:
 0...10 V
For further hardware information, refer to TMCR2AQ2V (see Modicon M100/M200 Logic
Controller, Hardware Guide).
If you have physically wired, for example, your analog channel for a voltage signal and you
configure the channel for a current signal in SoMachine Basic, you may damage the analog circuit.

NOTICE
INOPERABLE EQUIPMENT
Verify that the physical wiring of the analog circuit is compatible with the software configuration
for the analog channel.
Failure to follow these instructions can result in equipment damage.

Configuring the Cartridge Module

For each output, you can define:

Parameter Value Default value Description

Used True/False False Indicates whether the address is being used in a
program.
Address %QW0.x0y - Shows the address of the output channel, where x is
the cartridge number and y is the channel number
Symbol - - Double-click and type an optional symbol to
associate with the corresponding analog output
object to be used in the program.
Type 0 - 10 V 0 - 10 V The mode of the channel.
Scope Normal Normal The range of values for a channel.
Minimum -32768...32767 0 Specifies the lower measurement limit.
Maximum -32768...32767 10000 Specifies the upper measurement limit.
Fallback value Min....Max. 0 (Min. if 0 is not in the Specifies the fallback value of the output channel.
range)
Units - - -
Comment - - Double-click and type an optional comment to
associate with the channel.

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TMCR2AM3

Introduction
The TMCR2AM3 is a standard M200 cartridge featuring 2 analog current or voltage input channels
and 1 analog current or voltage output channels with 16-bit resolution.
The channel input types are:
 0...5V
 0...10 V
 0...20 mA
 4...20 mA

The channel output types are:

 0...5V
 0...10 V
 0...20 mA
 4...20 mA

For further hardware information, refer to TMCR2AM3 (see Modicon M100/M200 Logic Controller,
Hardware Guide).
If you have physically wired, for example, your analog channel for a voltage signal and you
configure the channel for a current signal in SoMachine Basic, you may damage the analog circuit.

NOTICE
INOPERABLE EQUIPMENT
Verify that the physical wiring of the analog circuit is compatible with the software configuration
for the analog channel.
Failure to follow these instructions can result in equipment damage.

Configuring the Cartridge Module

For each input, you can define:

Parameter Value Default value Description

Used True/False False Indicates whether the address is being used
in a program.
Address %IW0.x0y - Shows the address of the input channel,
where x is the cartridge number and y is the
channel number
Symbol - - Double-click and type an optional symbol to
associate with the corresponding analog
input object to be used in the program.

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Parameter Value Default value Description

Type 0-5V 0-5V The mode of the channel.
0 - 10 V
0 - 20 mA
4 - 20 mA
Scope Customized Customized The range of values for the channel.
Normal
Minimum -32768...32767 4000 Specifies the lower measurement limit.
Maximum -32768...32767 20000 Specifies the upper measurement limit.
Filter 0...6 0 Specifies the filtering level to apply on this
channel:
 0: No filtering
 1, 2: Smooth filtering
 3, 4: Average filtering
 5, 6: High filtering

Filter Unit - -
Units - -
Comment Double-click and type an optional comment
to associate with the channel.

For the output, you can define:

Parameter Value Default value Description

Used True/False False Indicates whether the address is being used in a program.
Address %QW0.x0y - Shows the address of the output channel, where x is the
cartridge number and y is the channel number
Symbol - - Double-click and type an optional symbol to associate
with the corresponding analog output object to be used in
the program.
Type 0-5V 0-5V The mode of the channel.
0 - 10 V
0 - 20 mA
4 - 20 mA
Scope Customized Customized The range of values for a channel.
Normal
Minimum -32768...32767 4000 Specifies the lower measurement limit.
Maximum -32768...32767 20000 Specifies the upper measurement limit.
Fallback value Min....Max. 0 (Min. if 0 is not in Specifies the fallback value of the output channel.
the range)
Units - -
Comment Double-click and type an optional comment to associate
with the channel.

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TMCR2TI2

Introduction
The TMCR2TI2 is a standard cartridge featuring 2 analog input channels with 14-bit resolution.
The channel input types are:
 K Thermocouple
 J Thermocouple
 R Thermocouple
 S Thermocouple
 B Thermocouple
 E Thermocouple
 T Thermocouple
 N Thermocouple
 C Thermocouple
 PT100
 PT1000
 NI100
 NI1000

For further hardware information, refer to TMCR2TI2 (see Modicon M100/M200 Logic Controller,
Hardware Guide).
If you have physically wired, for example, your analog channel for a voltage signal and you
configure the channel for a current signal in SoMachine Basic, you may damage the analog circuit.

NOTICE
INOPERABLE EQUIPMENT
Verify that the physical wiring of the analog circuit is compatible with the software configuration
for the analog channel.
Failure to follow these instructions can result in equipment damage.

Configuring the Module

For each input, you can define:

Parameter Value Default value Description

Used True/False False Indicates whether the address is being
used in a program.
Address %IW0.x0y - The address of the input channel, where
x is the module number and y is the
channel number

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Parameter Value Default value Description

Symbol - - Double-click and type an optional
symbol to associate with the
corresponding analog input object to be
used in the program./P
Type K Thermocouple K Thermocouple Choose the mode of the channel.
J Thermocouple
R Thermocouple
S Thermocouple
B Thermocouple
E Thermocouple
T Thermocouple
N Thermocouple
C Thermocouple
PT100
PT1000
NI100
NI1000
Scope Normal Normal Choose the temperature units for a
Celsius (0.1C) channel.
Fahrenheit
(0.1F) (except
Thermocouple B
and C)
Fahrenheit
(0.2F) (for
Thermocouple B
and C only)
Minimum See the table below Specifies the lower measurement limit.
Maximum See the table below Specifies the upper measurement limit.
Filter 0...100 0 Specifies the filtering value. Multiply by
the Filter Unit value to obtain the
filtering time.
Filter Unit 100 ms 100 ms Specifies the unit of time for the filtering
value.
Units See the table below Displays the temperature unit
configured.
Comment - - Double-click and type an optional
symbol to associate with the
corresponding analog input object to be
used in the program.

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Type Customized Celsius Fahrenheit

Min. Max. Min. Max. Units Min. Max. Units
K Thermocouple -32768 32767 -2000 13000 0.1 C -3280 23720 0.1 F
J Thermocouple -32768 32767 -2000 10000 0.1 C -3280 18320 0.1 F
R Thermocouple -32768 32767 0 17600 0.1 C 320 32000 0.1 F
S Thermocouple -32768 32767 0 17600 0.1 C 320 32000 0.1 F
B Thermocouple -32768 32767 0 18200 0.1 C 160 16540 0.2 F
E Thermocouple -32768 32767 -2000 8000 0.1 C -3280 14720 0.1 F
T Thermocouple -32768 32767 -2000 4000 0.1 C -3280 7520 0.1 F
N Thermocouple -32768 32767 -2000 13000 0.1 C -3280 23720 0.1 F
C Thermocouple -32768 32767 0 23150 0.1 C 160 20995 0.2 F
PT100 -32768 32767 -2000 8500 0.1 C -3280 15620 0.1 F
PT1000 -32768 32767 -2000 6000 0.1 C -3280 11120 0.1 F
NI100 -32768 32767 -600 1800 0.1 C -760 3560 0.1 F
NI1000 -32768 32767 -600 1800 0.1 C -760 3560 0.1 F

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TMCR2SL1

Introduction
The TMCR2SL1 is a standard cartridge module featuring 1 serial line.
For further hardware information, refer to TMCR2SL1 (see Modicon M100/M200 Logic Controller,
Hardware Guide).
The serial line can be configured for any one of the following protocols:
 Modbus RTU
 Modbus ASCII
 ASCII

You can configure both physical and protocol settings for the serial line. Serial lines are configured
for the Modbus RTU protocol by default.
NOTE: You can only add one serial line cartridge to the controller.

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Serial Line Configuration

This table describes how to configure the serial line:

Step Action
1 Click the SL2 (Serial line) node in the Hardware Tree to display the serial line properties.
This figure shows the properties of the serial line for Modbus RTU and Modbus ASCII protocols:

This figure shows the properties of the serial line for ASCII protocol:

2 Edit the properties to configure the serial line.

For detailed information on the serial line configuration parameters, refer to the table below.

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This table describes each parameter of the serial line:

Parameter Editable Value Default value Description

Physical settings
Baud rate Yes 1200 19200 Allows you to select the data
2400 transmission rate (bits per second) for
4800 the modem from the drop-down list.
9600
19200
38400
57600
115200
Parity Yes None Even Allows you to select the parity of the
Even transmitted data for error detection.
Odd Parity is a method of error detection in
transmission.
When parity is used with a serial port,
an extra data bit is sent with each data
character, arranged so that the
number of 1 bits in each character,
including the parity bit, is always odd
or always even.
If a byte is received with the wrong
number of 1 bits, the byte is corrupt.
However, an even number of
detected errors can pass the parity
check.
Data bits Yes 7 7 for Modbus Allows you to select the number of
(only for the 8 ASCII, 8 for data bits from the drop-down list.
ASCII protocol Modbus RTU The number of data bits in each
character can be 7 (for true ASCII) or
8 (for any kind of data, as this
matches the size of a byte). 8 data bits
are almost universally used in all
applications.
Stop bits Yes 1 1 Allows you to select the number of
2 stop bits from the drop-down list.
A stop bit is a bit indicating the end of
a byte of data. For electronic devices,
1 stop bit is usually used. For slow
devices like electromechanical
teleprinters, 2 stop bits are used.

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Parameter Editable Value Default value Description

Physical medium Yes RS-485 RS-485 Allows you to select the physical
True/False True medium for communication.
You can only select either the RS-485
RS-232 or RS-232 medium. Enabling one
True/False medium disables the other one.
A physical medium in data
communications is the transmission
path over which a signal propagates.
It is an interface for interconnection of
devices with the logic controller.
Polarization Yes Yes No Polarization resistors are integrated in
No the cartridge module. Specify whether
to switch on or off polarization.
Protocol settings
Protocol Yes Modbus RTU Modbus RTU Allows you to select the protocol
Modbus ASCII transmission mode for
ASCII communication from the drop-down
list.
Protocol advanced parameters are
displayed based on the selected
protocol. Refer to the following figures
and tables.
Protocol settings for the Modbus RTU and Modbus ASCII protocols:
Addressing Yes Slave Slave Allows you to select the addressing
Master mode. You can only select either of
the Slave or Master addressing.
Enabling one addressing mode
disables the other one.
Address [1...247] Yes 1...247 1 Allows you to specify the address ID
of the slave.
NOTE: This field is displayed only for
the addressing of the slave. For
master, this field does not appear on
the screen.
Response time Yes 10...255 ms 10 Allows you to specify the response
(x 100 ms) time of the protocol to the queries.
Time between Yes 3...255 ms 10 Allows you to specify the time
frames (ms) between frames of the protocol.

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Parameter Editable Value Default value Description

Protocol settings for the ASCII protocol:
Stop condition
Response time Yes 1...255 10 Allows you to specify the response
(x 100 ms) time of the protocol to the queries.
Frame length Yes 0...255 0 Allows you to specify the frame length
received received.
Frame received Yes 0...255 10 Allows you to specify the frame
timeout (ms) received timeout.
Frame structure
Start character Yes 0...255 58 (if check Allows you to specify the start
box is character of the frame.
selected)
First end character Yes 0...255 10 (if check Allows you to specify the first end
box is character of the frame.
selected)
Second end Yes 0...255 10 (if check Allows you to specify the second end
character box is character of the frame.
selected)
Send frame Yes True/False False Allows you to enable or disable
characters sending first end character of the
frame to the ASCII protocol.

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Cartridge Configuration

TMCR2SL1A

Introduction
The TMCR2SL1A is a standard cartridge module featuring 1 isolated serial line.
For further hardware information, refer to TMCR2SL1A (see Modicon M100/M200 Logic
Controller, Hardware Guide).
The serial line can be configured for any one of the following protocols:
 Modbus RTU
 Modbus ASCII
 ASCII

You can configure both physical and protocol settings for the serial line. Serial lines are configured
for the Modbus RTU protocol by default.
NOTE: You can only add one serial line cartridge to the controller.

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Serial Line Configuration

This table describes how to configure the serial line:

Step Action
1 Click the SL2 (Serial line) node in the Hardware Tree to display the serial line properties.
This figure shows the properties of the serial line for Modbus RTU and Modbus ASCII protocols:

This figure shows the properties of the serial line for ASCII protocol:

2 Edit the properties to configure the serial line.

For detailed information on the serial line configuration parameters, refer to the table below.

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Cartridge Configuration

This table describes each parameter of the serial line:

Parameter Editable Value Default value Description

Physical settings
Baud rate Yes 1200 19200 Allows you to select the data transmission
2400 rate (bits per second) for the modem from
4800 the drop-down list.
9600
19200
38400
57600
115200
Parity Yes None Even Allows you to select the parity of the
Even transmitted data for error detection.
Odd Parity is a method of error detection in
transmission.
When parity is used with a serial port, an
extra data bit is sent with each data
character, arranged so that the number of
1 bits in each character, including the
parity bit, is always odd or always even.
If a byte is received with the wrong
number of 1 bits, the byte is corrupt.
However, an even number of detected
errors can pass the parity check.
Data bits Yes 7 7 for Modbus Allows you to select the number of data
(only for the 8 ASCII, 8 for bits from the drop-down list.
ASCII protocol Modbus RTU The number of data bits in each character
can be 7 (for true ASCII) or 8 (for any kind
of data, as this matches the size of a
byte). 8 data bits are almost universally
used in all applications.
Stop bits Yes 1 1 Allows you to select the number of stop
2 bits from the drop-down list.
A stop bit is a bit indicating the end of a
byte of data. For electronic devices,
1 stop bit is usually used. For slow
devices like electromechanical
teleprinters, 2 stop bits are used.

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Parameter Editable Value Default value Description

Physical medium Yes RS-485 RS-485 Allows you to select the physical medium
True/False True for communication.
You can only select either the RS-485 or
RS-232 RS-232 medium. Enabling one medium
True/False disables the other one.
A physical medium in data
communications is the transmission path
over which a signal propagates. It is an
interface for interconnection of devices
with the logic controller.
Polarization Yes Yes No Polarization resistors are integrated in the
No cartridge module. Specify whether to
switch on or off polarization.
Protocol settings
Protocol Yes Modbus RTU Modbus RTU Allows you to select the protocol
Modbus ASCII transmission mode for communication
ASCII from the drop-down list.
Protocol advanced parameters are
displayed based on the selected protocol.
Refer to the following figures and tables.
Protocol settings for the Modbus RTU and Modbus ASCII protocols:
Addressing Yes Slave Slave Allows you to select the addressing mode.
Master You can only select either of the Slave or
Master addressing. Enabling one
addressing mode disables the other one.
Address [1...247] Yes 1...247 1 Allows you to specify the address ID of
the slave.
NOTE: This field is displayed only for the
addressing of the slave. For master, this
field does not appear on the screen.
Response time Yes 10...255 ms 10 Allows you to specify the response time of
(x 100 ms) the protocol to the queries.
Time between Yes 3...255 ms 10 Allows you to specify the time between
frames (ms) frames of the protocol.
Protocol settings for the ASCII protocol:
Stop condition
Response time Yes 1...255 10 Allows you to specify the response time of
(x 100 ms) the protocol to the queries.
Frame length Yes 0...255 0 Allows you to specify the frame length
received received.
Frame received Yes 0...255 10 Allows you to specify the frame received
timeout (ms) timeout.

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Parameter Editable Value Default value Description

Frame structure
Start character Yes 0...255 58 (if check Allows you to specify the start character of
box is the frame.
selected)
First end character Yes 0...255 10 (if check Allows you to specify the first end
box is character of the frame.
selected)
Second end Yes 0...255 10 (if check Allows you to specify the second end
character box is character of the frame.
selected)
Send frame Yes True/False False Allows you to enable or disable sending
characters first end character of the frame to the
ASCII protocol.

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Expansion Module Configuration
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Chapter 7
TM3R Expansion Module Configuration

TM3R Expansion Module Configuration

Overview
This chapter describes how to configure the TM3R expansion modules of the M100/M200 Logic
Controller.

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
I/O Configuration General Practices 124
Configuring the TM3R Digital I/O Modules 125
Using I/O Modules in a Configuration 126
Configuring Digital I/Os 128

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I/O Configuration General Practices

Match Software and Hardware Configuration

The I/O that may be embedded in your controller is independent of the I/O that you may have
added in the form of I/O expansion. It is crucial that the logical I/O configuration within your program
matches the physical I/O configuration of your installation. If you add or remove any physical I/O
to or from the I/O expansion bus, or, depending on the controller reference, to or from the controller
(in the form of cartridges), it is imperative that you update your application configuration. This is
also true for any field bus devices you may have in your installation. Otherwise, there is the
possibility that the I/O expansions will no longer function while the embedded I/O that may be
present in your controller will continue to operate.

WARNING
UNINTENDED EQUIPMENT OPERATION
Update the configuration of your program each time you add or delete any type of I/O expansions
on your I/O bus, or you add or delete any devices on your field bus.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

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Configuring the TM3R Digital I/O Modules

Introduction
The range of TM3R digital I/O expansion modules includes:
 TM3R Digital Mixed Input/Output Modules

Configuring the Modules

Configuration tab: Displaying Configuration Details in the Configuration Tab (see page 129)
describes how to view the configuration of these modules.
Programming tab: Displaying Configuration Details in the Programming Tab (see page 130)
describes how to view and update programming-related properties of these modules.

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Expansion Module Configuration

Using I/O Modules in a Configuration

Adding a Module
The following steps explain how to add a TM3R expansion module to the logic controller in a
SoMachine Basic project:

Step Action
1 Click the Configuration tab in the SoMachine Basic window.
2 In the catalog area, click one of the following module types to expand the list of expansion modules:
 TM3 Digital I/O Modules

3 Select the TM3R expansion module to add from the list.

Result: The description of the physical characteristics of the selected expansion module appears in
the bottom of the catalog area.
4 Drag the selected expansion module to the editor area and drop the module on the right-hand side
of the controller or the last expansion module in the configuration.
Result: The module is added under the My Controller  I/O Bus branch of the hardware tree and
the description of the physical characteristics of the selected module appears in the bottom of the
editor area.

Inserting a Module Between two Existing Modules

Drag the module between two modules, or between the controller and the first module until a
vertical green bar appears and then drop the module.
NOTE: The addresses change when you change the position of modules by inserting a new
module. For example, if you move an input module from position 4 to position 2, the addresses
change from I4.x to I2.x, and all corresponding addresses in the program are automatically
renamed.
The I/O that may be embedded in your controller is independent of the I/O that you may have
added in the form of I/O expansion. It is important that the logical I/O configuration within your
program matches the physical I/O configuration of your installation. If you add or remove any
physical I/O to or from the I/O expansion bus, update your application configuration (this is also
true for any field bus devices you may have in your installation). Otherwise, there is the potential
that the expansion bus or field bus will no longer function while the embedded I/O that may be
present in your controller will continue to operate.

WARNING
UNINTENDED EQUIPMENT OPERATION
Update the configuration of your program each time you add or delete any type of I/O expansions
on your I/O bus, or you add or delete any devices on your field bus.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

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Replacing an Existing Expansion Module

You can replace an existing module with a new module by dragging the new module and dropping
it onto the module to be replaced.
A message appears asking you to confirm the operation. Click Yes to continue.

Removing a Module
You can remove an expansion module by pressing the Delete key or by right-clicking the module
and clicking Remove on the contextual menu that appears.
If the expansion module contains at least one address being used in a program, a message
appears asking you to confirm the operation. Click Yes to continue.

Mixing Expansion Module Types

You can mix different I/O module types on the same logic controller (for example, TM3R, TM3, and
TM2 modules).
Place any TM2 module(s) at the end of your configuration after any TM3 module(s):

In this case, however, the I/O bus of the logic controller operates at the speed of the slower module
type. For example, when both TM2 and TM3 modules are used, the I/O bus of the logic controller
operates at the speed of the TM2 modules.

Maximum Hardware Configuration

SoMachine Basic displays a message when:
 The maximum number of modules supported by the logic controller is exceeded.
 The total power consumption of all expansion modules directly connected to the logic controller
exceeds the maximum current delivered by the logic controller.
Refer to the hardware guide of your controller for more information on the maximum supported
configuration.

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Expansion Module Configuration

Configuring Digital I/Os

Overview
You can configure digital I/Os of your expansion module using:
 Configuration tab:
 Digital inputs
 Digital outputs

 Programming tab.

Configuring Digital Inputs in the Configuration Tab

Follow these steps to display and configure the digital input properties in the Configuration tab:

Step Description
1 Click the Configuration tab in the SoMachine Basic window.
2 In the hardware tree, click MyController  IO Bus  Module x  Digital inputs, where x is the
expansion module number on the controller.
Result: The digital input properties of the selected module are displayed in the editor area, for
example:

3 Edit the properties to configure the digital inputs:

 Used: Indicates whether the corresponding address is being used in the program or not.
 Address: Displays the address of the digital input on the expansion module. For details on
addressing I/O objects, refer to I/O Addressing.
 Symbol: Allows you to specify a symbol to associate with the corresponding digital input object
to be used in the program.
Double-click in the Symbol column, type the symbol name of the corresponding object, and
press Enter.
 Comment: Allows you to specify a comment to associate with the corresponding digital input
object.
Double-click in the Comment column, type a comment for the corresponding object, and press
Enter.
4 Click Apply to save the changes.

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Configuring Digital Outputs in the Configuration Tab

Follow these steps to display and configure the digital output properties in the Configuration tab:

Step Description
1 Click the Configuration tab in the SoMachine Basic window.
2 In the hardware tree, click MyController  IO Bus  Module x  Digital outputs, where x is
the expansion module number on the controller.
Result: The digital output properties of the selected module are displayed in the editor area, for
example:

3 Edit the properties to configure the digital outputs:

 Used: Indicates whether the corresponding address is being used in the program or not.
 Address: Displays the address of the digital output on the expansion module. For details on
addressing I/O objects, refer to I/O Addressing.
 Symbol: Allows you to specify a symbol to associate with the corresponding digital output
object to be used in the program.
Double-click in the Symbol column, type the symbol name of the corresponding object, and
press Enter.
 Fallback value. Allows you to specify the value to apply to the corresponding output (fallback
to 0 or fallback to 1) when the logic controller enters the STOPPED or an exception state. The
default value is 0. If Maintain values fallback mode is configured, the output retains its current
value when the logic controller enters the STOPPED or an exception state. For more details
on maintaining output values, refer to Fallback Behavior.
 Comment: Allows you to specify a comment to associate with the corresponding digital output
object.
Double-click in the Comment column, type a comment for the corresponding object, and press
Enter.
4 Click Apply to save the changes.

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Displaying Configuration Details in the Programming Tab

The Programming tab displays configuration details of all inputs/outputs and allows you to update
programming-related properties such as symbols and comments.
Follow these steps to view and update details of I/O modules in the Programming tab:

Step Description
1 Click the Programming tab in the SoMachine Basic window.
2 In the left-hand area of the Programming tab, click on the Tools tab and from the I/O objects
branch, select one of the following I/O types to display the properties:
 Digital inputs
 Digital outputs
 Analog inputs
 Analog outputs

Result: A list of all embedded and expansion module I/O addresses appears in the lower central
area of the SoMachine Basic window, for example:

3 Scroll down to the range of addresses corresponding to the expansion module you are configuring.
The following properties are displayed:
 Used: Indicates whether the corresponding address is being used in the program or not.
 Address: Displays the address of the digital output on the expansion module. For details on
addressing I/O objects, refer to I/O Addressing.
 Symbol: Allows you to specify a symbol to associate with the corresponding I/O object to be
used in the program.
Double-click in the Symbol column, type the symbol name of the corresponding object, and
press Enter.
If a symbol already exists, right-click in the Symbol column and choose Search and Replace
to find and replace occurrences of this symbol throughout the program and/or program
comments.
 Comment: Allows you to specify a comment to associate with the corresponding I/O object.
Double-click in the Comment column, type a comment for the corresponding object, and press
Enter.
4 Click Apply to save the changes.

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 Modicon M100/M200 Logic Controller
Embedded Communication Configuration
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Chapter 8
Embedded Communication Configuration

Embedded Communication Configuration

Overview
This chapter describes how to configure the communication features of the M100/M200 Logic
Controller.

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
8.1 Ethernet Configuration 132
8.2 Serial Line Configuration 138
8.3 Supported Modbus Function Codes 143

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Embedded Communication Configuration

Section 8.1
Ethernet Configuration

Ethernet Configuration

What Is in This Section?

This section contains the following topics:
Topic Page
Configuring Ethernet Network 133
Configuring Modbus TCP 136

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 Embedded Communication Configuration

Configuring Ethernet Network

Introduction
You can configure the TCP/IP connection to the logic controller by configuring the Ethernet
network. The Ethernet establishes a local area network (LAN) between the logic controller and
other devices. The Ethernet configuration provides you the ability to configure the IP address of
the network device.
NOTE: The controller-PC link uses the TCP/IP protocol. It is required for this protocol to be
installed on the PC.
You can obtain the IP address by the following protocols:
 Dynamic Host Configuration Protocol (DHCP)
 Bootstrap Protocol (BOOTP)

You can also specify the IP address by specifying the following addresses:
 IP address
 Subnet mask
 Gateway address

Ethernet Services
The logic controller supports the following services:
 Modbus TCP Server
 Modbus TCP Client
 Modbus TCP Slave Device

This table presents the maximum number of TCP server connections:

Connection Type Maximum Number of Connections

Modbus Server 8
Modbus Client 1

Each server based on TCP manages its own set of connections. When a client tries to open a
connection that exceeds the poll size, the logic controller closes the oldest connection. If the
connections are busy (exchange in progress), when a client tries to open a new one, the new
connection is denied. The server connections stay open as long as the logic controller stays in its
present operational state (RUNNING, STOPPED, or HALTED). The server connections is closed
when a transition is made from its present operational state (RUNNING, STOPPED, or HALTED),
except in case of power outage (because the controller does not have time to close the
connections).

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Ethernet Configuration
This table describes how to configure the Ethernet:

Step Action
1 Click the ETH1 node in the hardware tree to display the Ethernet properties in the editor area.

2 Edit the properties to configure the Ethernet.

For detailed information on the Ethernet configuration parameters, refer to the table below.

NOTE: The Security Parameters displayed depend on the functional level selected for the
application.
This table describes each parameter of the Ethernet configuration:

Parameter Editable Value Default Value Description

Ethernet
Device name No Any M200 (if the Displays the name of the device that is
controller used connected with the Ethernet network.
in the
configuration is
M100/M200
Logic Controller)
(1) You can select any 1 option for IP addressing. Selecting any 1 option, disables the other options.
(2) These options are enabled only if you select the option Fixed IP Address for IP addressing.
(3) w, x, y, and z are the bytes that store the address and each byte can store a value in the range 0...255.

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Parameter Editable Value Default Value Description

IP address by DHCP Yes(1) True/False False Allows you to obtain the IP address from the
DHCP server on the network.
IP address by BOOTP Yes(1) True/False False Allows you to obtain the IP address from the
Boot PROM configuration server on the
network.
Fixed IP address Yes(1) True/False True Allows you to specify the IP address
manually for host or network interface
identification.
IP address Yes(2) w.x.y.z(3) 0.0.0.0 Allows you to specify the IP address of the
device in the Ethernet network.
Assigning 0.0.0.0 as IP address for the
M100/M200 Logic Controller forces the
firmware to generate an IP address from the
MAC address.
Subnet mask Yes(2) w.x.y.z(3) 0.0.0.0 Allows you to specify the address of the
subnetwork to authorize a group of devices
for data exchange. It determines which bits in
an IP address correspond to the network
address and which bits correspond to the
subnet portions of the address.
Gateway address Yes(2) w.x.y.z(3) 0.0.0.0 Allows you to specify the IP address of the
node (a router) on a TCP/IP network that
serves as an access point to another
network.
Transfer Rate No – Auto Displays the transfer rate for obtaining the IP
address.
Security Parameters
Programming protocol Yes True/False True Allows you to enable or disable programming
enabled protocol for communication with the other
devices in the network.
Auto discovery Yes True/False True Allows you to enable or disable auto
protocol enabled discovery protocol to automatically detect the
devices in a network.
Modbus server enabled Yes True/False True Allows you to enable or disable Modbus
server for serial device connectivity.
(1) You can select any 1 option for IP addressing. Selecting any 1 option, disables the other options.
(2) These options are enabled only if you select the option Fixed IP Address for IP addressing.
(3) w, x, y, and z are the bytes that store the address and each byte can store a value in the range 0...255.

NOTE: When a protocol listed in Security Parameters is disabled, requests from the
corresponding server type are ignored. The corresponding configuration screen remains
accessible; however, program execution is not affected.

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Embedded Communication Configuration

Configuring Modbus TCP

Introduction
You can configure the Ethernet port to enable the embedded Modbus TCP server giving the logic
controller Modbus TCP abilities.

Modbus TCP Configuration

This table describes how to configure the Modbus TCP:

Step Action
1 Click the Modbus TCP node that appears below the ETH1 node in the hardware tree to display the
Ethernet/IP adapter properties in the editor area.

2 Select Enabled to edit the properties to configure the Modbus TCP protocol.
For detailed information on the Modbus TCP configuration parameters, refer to the table below.

This table describes each parameter of the Modbus TCP configuration:

Parameter Editable Value Default Value Description

Client mode: Remote Server table (max 16)
Address Yes w.x.y.z(1) 0.0.0.0 Allows you to specify the IP address of
the remote server. Also, refer to Adding
Remote Servers (see page 137).
Unit ID Yes 0...255 255 Allows you to specify the unit ID of the
remote server.
Connection timeout (100 ms) Yes 0...65535 100 Allows you to specify the connection
timeout duration.
(1) w, x, y, and z are the bytes that store the address and each byte can store a value in the range 0...255.

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 Embedded Communication Configuration

Adding Remote Servers

This table describes how to add a remote server for Modbus TCP:

Step Action
1 Enter the IP address in the Address field.
2 Enter the value for Unit ID and Connection timeout (100 ms).
3 Click the Add button.
Result: A list of remote servers that you have added appears on the screen.
This figure presents the table that lists the remote servers:

This table describes each column of the table listing the remote servers:

Parameter Editable Value Default value Description

Index No 1...16 – Displays the index number of
the servers which are
remotely connected.
Address Yes w.x.y.z(1) 0.0.0.0 Displays the IP address of the
remote server.
Unit ID Yes 0...255 255 Displays the unit ID of the
remote server.
Connection timeout (100 ms) Yes 0...65535 100 The connection timeout
duration. The period of time (in
units of 100 ms) during which
the controller attempts to
establish a TCP connection to
the remote device. If at the
end of this period a TCP
connection is still not
established, the controller
stops connection attempts
until the next connection
request with an EXCH
instruction.
(1) w, x, y, and z are the bytes that store the address and each byte can store a value in the range 0...255.

Click the close button in the row to remove a remote server.

Double-click the remote server entry in a row to edit the values.

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Embedded Communication Configuration

Section 8.2
Serial Line Configuration

Serial Line Configuration

Configuring Serial Line

Introduction
The M100/M200 Logic Controller references are equipped with one serial line (SL1).
The serial line can be configured for any one of these protocols:
 Modbus RTU
 Modbus ASCII
 ASCII

You can configure both physical and protocol settings for the serial line. The serial line is
configured for the Modbus RTU protocol by default.

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Serial Line Configuration

This table describes how to configure the serial line:

Step Action
1 Click the SL1 (Serial line) node in the hardware tree to display the serial line properties.
This figure presents the properties of the serial line for Modbus RTU and Modbus ASCII protocols:

This figure presents the properties of the serial line for ASCII protocol:

2 Edit the properties to configure the serial line.

For detailed information on the serial line configuration parameters, refer to the table below.

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Embedded Communication Configuration

This table describes each parameter of the serial line:

Parameter Editable Value Default value Description

Physical settings
Baud rate Yes 1200 19200 Allows you to select the data
2400 transmission rate (bits per second) for
4800 the modem from the drop-down list.
9600
19200
38400
57600
115200
Parity Yes None Even Allows you to select the parity of the
Even transmitted data for error detection.
Odd Parity is a method of error detection in
transmission.
When parity is used with a serial port,
an extra data bit is sent with each data
character. It is arranged so that the
number of bits set to 1 in each
character, including the parity bit, is
always odd or always even.
If a byte is received with the wrong
number of bits set to 1, the byte is
corrupted.
Data bits Yes 7 8 Allows you to select the data bit from
(only for the 8 the drop-down list.
ASCII protocol) The number of data bits in each
character can be 7 (for true ASCII) or 8.
Stop bits Yes 1 1 Allows you to select the stop bit from
2 the drop-down list.
Stop bit is a bit indicating the end of a
byte of data. For electronic devices
usually 1 stop bit is used. For slow
devices like electromechanical
teleprinters, 2 stop bits are used.
Physical medium Yes (for the RS-485 RS-485 Allows you to select the physical
controller) True/False True medium for communication.
A physical medium in data
communications is the transmission
path over which a signal propagates. It
is an interface for interconnection of
devices with the logic controller.

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 Embedded Communication Configuration

Parameter Editable Value Default value Description

Polarization No (for the Yes No Polarization resistors are integrated in
controller) No the cartridge module.
For the controller, this parameter is
disabled and for the cartridges, this
parameter allows you to switch on or
off polarization.
Protocol settings
Protocol Yes Modbus RTU Modbus RTU Allows you to select the protocol
Modbus ASCII transmission mode for communication
ASCII from the drop-down list.
Protocol advanced parameters are
displayed based on the selected
protocol. Refer to the following figures
and tables.
Protocol settings for the Modbus RTU and Modbus ASCII protocols:
Addressing Yes Slave Slave Allows you to select the addressing
True/False True mode. You can only select either of the
Slave or Master addressing. Enabling
Master any of the addressing mode, disables
True/False the other one.
Address [1...247] Yes 1...247 1 Allows you to specify the address ID of
the slave.
NOTE: This field is displayed only for
the addressing of the slave. For
master, this field does not appear on
the screen.
Response time Yes 0...255 ms 10 Allows you to specify the response
(x 100 ms) time of the protocol to the queries.
Time between Yes 2...255 ms 10 Allows you to specify the period of time
frames (ms) between frames of the protocol.
(corresponds to inter-frame delay used
in other products). The value specified
is automatically adjusted to conform to
a Modbus standard 3.5 character time
delay.

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Embedded Communication Configuration

Parameter Editable Value Default value Description

Protocol settings for the ASCII protocol:
Response time Yes 0...255 ms 10 Allows you to specify the response
(x 100 ms) time of the protocol to the queries.
Stop condition
Frame length Yes (only if the 1...255 0 (if check box Allows you to specify the length of the
received check box is is not selected) received frame.
selected) 1 (if check box
NOTE: You can configure only one
is selected) parameter for stop condition that is
either Frame length received or
Frame received timeout (ms).
Frame received Yes (only if the 1...255 0 (if check box Allows you to specify the timeout
timeout (ms) check box is is not selected) duration for the received frame.
selected) 10 (if check box
is selected)
Frame structure
Start character Yes (only if the 1...255 0 (if check box Allows you to specify the start
check box is is not selected) character of the frame.
selected) 58 (if check box The ASCII character corresponding to
is selected) the start character value is displayed
on right-hand side of the value field.
First end character Yes 1...255 0 (if check box Allows you to specify the first end
is not selected) character of the frame.
10 (if check box
NOTE: To be able to enable or disable
is selected)
the First end character, configure at
least one stop condition parameter.
The ASCII character corresponding to
the first end character value is
displayed on right-hand side of the
value field.
Second end Yes (only if the 1...255 0 (if check box Allows you to specify the second end
character check box is is not selected) character of the frame.
selected) 10 (if check box
NOTE: This field is disabled with the
is selected)
disabled First end character
parameter.
The ASCII character corresponding to
the second end character value is
displayed on right-hand side of the
value field.
Send frame Yes True/False False Allows you to enable or disable
characters sending first end character of the frame
to the ASCII protocol.

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Section 8.3
Supported Modbus Function Codes

Supported Modbus Function Codes

Supported Modbus Function Codes

Presentation
This table lists the function codes supported by both serial Modbus and Modbus TCP and their
effect on controller memory variables.:

Supported Modbus Supported Sub- Description

Function Code Function Code
1 (0x01) or 2 (0x02) – Read multiple internal bits %M
3 (0x03) or 4 (0x04) – Read multiple internal registers %MW
5 (0x05) – Write single internal bit %M
6 (0x06) – Write single internal register %MW
8 (0x08) 0 (0x00), 10 Diagnostics
(0x0A)...18 (0x12)
15 (0x0F) – Write multiple internal bits %M
16 (0x10) – Write multiple internal registers %MW
23 (0x17) – Read/write multiple internal registers %MW
43 (0x2B) 14 (0x0E) Read device identification (regular service)

NOTE:
The impact of Modbus function codes used by a master M221 Logic Controller depends on the
slave device type. In the major types of slave device:
 Internal bit means %M
 Input bit means %I
 Internal register means %MW
 Input register means %IW

Depending on the type of slave and the slave address, an internal bit should be a %M or %Q; an
input bit should be a %I or %S, an input register should be a %IW or a %SW and an internal register
should be a %MW or a %QW. For more details, refer to the slave device.

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Micro SD Card
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Chapter 9
Micro SD Card

Micro SD Card

Introduction
The Modicon M100/M200 Logic Controller allows file transfers with a Micro SD card.
This chapter describes how to manage Modicon M100/M200 Logic Controller files with a Micro SD
card.

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
File Management Operations 146
SD Card Supported File Types 148
Clone Management 150
Firmware Management 152
Application Management 153
Post Configuration Management 155
Error Log Management 157

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Micro SD Card

File Management Operations

Introduction
The Modicon M100/M200 Logic Controller allows the following types of file management with an
micro SD card:
 Clone management (see page 150): back up the application, firmware, and post configuration
(if it exists) of the logic controller
 Firmware management (see page 152): download firmware updates directly to the logic
controller
 Application management (see page 153): back up and restore the logic controller application,
or copy it to another logic controller of the same reference
 Post configuration management (see page 155): add, change, or delete the post configuration
file of the logic controller
 Error log management (see page 157): back up or delete the error log file of the logic controller

NOTE:
 Logic controller operation is not affected during file transfers.
 The Modicon M100/M200 Logic Controller accepts only micro SD cards formatted in FAT or
FAT32.
 Micro SD card operations are performed regardless of any user access-rights that may be
enabled in the target logic controller.

WARNING
UNINTENDED EQUIPMENT OPERATION
 You must have operational knowledge of your machine or process before connecting this
device to your controller.
 Ensure that guards are in place so that any potential unintended equipment operation will not
cause injury to personnel or damage to equipment.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

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

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NOTICE
INOPERABLE EQUIPMENT
 Do not interrupt the transfer of the application program or a firmware change once the transfer
has begun.
 Do not place the device into service until the transfer has completed successfully.
Failure to follow these instructions can result in equipment damage.

NOTE: Before inserting a micro SD card in the controller, verify that the micro SD card contains a
valid script file if the micro SD card is not empty. Otherwise, the controller remains in BOOTING
mode as it does not detect any valid script during booting. In this case, remove the micro SD card
to make the controller start normally.

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SD Card Supported File Types

Introduction
This table lists the file locations and types of file that can be managed by cloning or script
commands:

Folder Description Default file name

/ Script file Script.cmd
/ Script log Script.log
/sys/os Firmware file M200M100.mfw
/usr/app Application file *.smbk
/usr/cfg Post configuration file Machine.cfg
/sys/log Detected error log file PlcLog.csv

Script File Commands

A script file is a text file stored in the root directory of the micro SD card containing commands to
manage exchanges with the controller.
This table describes the supported script commands:

Command Description Source Destination

Download Download a file from the micro SD Select the file to download. Select the controller
card to the controller. destination folder.
Upload Upload files contained in folder of Select the folder. Select the micro SD
controller memory to the micro SD card folder.
card.
Delete Delete files contained in a controller Select the folder and enter a -
folder. specific file name.
Important: by default, all
folder files are selected.
Reboot Restart the controller (this command - -
must be the last command in the
script).

NOTE:
 All commands can only be executed when the controller in the STOP or BOOTING state. No
command is executed if a micro SD card is inserted when the controller is in RUN mode.
 When a micro SD card command is in progress, start controller commands are ignored. When
the micro SD card command completes, you must start the controller manually.

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Script File Examples

Download commands:
Download "/usr/Cfg"
Download "/sys/os/M200M100.mfw"
Upload commands:
Upload "/usr/app/*"
Upload "/usr/cfg/Machine.cfg"
Delete commands:
Delete "/usr/app/*"
Reboot commands:
Reboot

Script Log
A script.log file is automatically created in the SD card root directory after script operations.
The status of the script operations can be verified reading this file.

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Micro SD Card

Clone Management

Cloning
Cloning allows you to automatically back up the application, firmware, and post configuration (if it
exists) of the Modicon M100/M200 Logic Controller to the micro SD card.
The micro SD card can then be used to later restore the firmware, application, and post
configuration (if it exists) to the logic controller, or copy them to another logic controller with the
same reference.
Before cloning a controller, the M100/M200 Logic Controller verifies whether the application is
copy-protected or not . For details, refer to Password Protecting an Application (see SoMachine
Basic, Operating Guide).
NOTE:
 The micro SD card must be empty and correctly formatted to perform this procedure.
 The detected error log and data memory are not cloned.
 If the application is password-protected, the clone operation is completed but the user
application cannot be restored and the ERR LED is permanently on.

Creating a Clone Micro SD Card

This procedure describes how to copy the application, firmware, and post configuration (if it exists)
from the controller to a micro SD card:

Step Action
1 Format a micro SD card on the PC.
2 Insert the micro SD card in the controller.
Result: The clone operation starts automatically. During the clone operation, the following LEDs
are ON: PWR, and SD.
3 Wait until the clone operation is completed (the SD LED turns OFF).
NOTE: The clone operation lasts 2 to 3 minutes. The clone operation has a low priority in order to
minimize impact on the user logic and communication performance of the logic controller.
Depending on the amount of free time in your program, the operation may take longer to complete
if the logic controller is in STOP mode.
4 Remove the micro SD card from the controller.

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Restoring or Copying from a Clone Micro SD Card

This procedure describes how to download the application, firmware, and post configuration (if it
exists) stored in the micro SD card to your controller:

Step Action
1 Remove power from the controller.
2 Insert the micro SD card into the controller.
3 Restore power to the controller.
Result: The clone operation is in progress.
NOTE: The SD LED is turned on during the operation.
4 Wait until the end of the download (the SD LED is turned off).
If an error is detected, the SD LED is flashes, and the ERR LED starts flashing.
5 Remove the micro SD card to restart the controller.

NOTE: Downloading a cloned application to the controller first removes the existing application
from controller memory, regardless of any user access-rights that may be enabled in the target
controller.

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Micro SD Card

Firmware Management

Overview
You can use a micro SD card to download firmware updates directly to the logic controller.
Refer to Controller States and Behavior (see page 32) for information on the logic controller
operating states and status of the LEDs.

Downloading Firmware to the Controller

This table describes how to download a firmware to the logic controller using an SD card:

Step Action
1 Stop the logic controller and unplug the USB programming cable if connected.
2 Insert an empty micro SD card into the PC that is running SoMachine Basic.
3 Create a file called script.cmd in the SD card root directory.
4 Edit the file and insert the following commands:
Download "/sys/os"
Reboot
5 Create the folder path \sys\os in the SD card root directory and copy the firmware file in the
os folder:

NOTE: A firmware file example and the script are available in the directory Firmwares &
PostConfiguration\M200M100\ of the SoMachine Basic installation directory.
The default firmware file name for the M100/M200 Logic Controller is M200M100.mfw.
6 Remove the micro SD card from the PC and insert it into the micro SD card slot of the logic
controller.
7 Start the logic controller.
Result: Copying of the firmware file begins. During the operation, the SD system LED on the
logic controller is on.
NOTE: Do not stop the logic controller while the operation is in progress.
8 When the SD system LED is turned off, remove the SD card.
9 Reconnect the USB programming cable to the logic controller and login to the logic controller
with the SoMachine Basic software.
10 The status of the controller firmware update can be verified reading the script.log file
created automatically in the SD card root directory.

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Application Management

Overview
You can use a micro SD card to back up and restore your controller application, or copy it to
another controller with the same reference.

Backing Up an Application
This table describes how to back up the controller application on the micro SD card:

Step Action
1 Create a script.cmd file with a text editor on your PC.
2 Edit the file and insert the following line:
Upload "/usr/app"
3 Copy the script file to the root folder of the micro SD card.
4 Insert the prepared micro SD card in the controller.
Result: Copying of the application file begins. During the operation, the SD system LED on the
logic controller is on. Do not stop the logic controller while the operation is in progress.
NOTE: The application backup process has a low priority in order to minimize impact on the
program and communication performance of the logic controller. Depending on the amount of
free time in your program, the operation may take considerably longer to complete if the logic
controller is in STOPPED state than if it is in BOOTING state.
5 When the SD system LED is off, remove the micro SD card.
Result: The application file (*.smbk) is saved on the micro SD card.
6 The status of the application backup can be verified reading the script.log file created on the
micro SD card root directory.

Restoring an Application or Copying an Application to Another Controller

This table describes how to transfer the controller application from the micro SD card to the
controller:

Step Action
1 Edit the script.cmd file in the root folder of the micro SD card with a text editor.
2 Replace the content of the script by the following lines:
Delete "/usr/app"
Download "/usr/app"
Reboot
3 Remove power from the controller.
4 Insert the prepared micro SD card in the controller.

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Micro SD Card

Step Action
5 Restore power to the controller.
Result: Copying of the application file begins. During the operation, the SD system LED on the
logic controller is on. Do not stop the logic controller while the operation is in progress.
NOTE: Before the executing a Download command, the controller verifies the format of the
Machine.cfg file and that the communication channels, parameters and configured values are
valid. If errors are detected, the download is cancelled: the SD LED is on and a message written
to the log file. If this occurs during system power-up, remove the SD to initialize the controller.
6 When the SD system LED is off, remove the micro SD card to restart the controller.
7 The status of the application transfer can be verified reading the script.log file created on
the micro SD card root directory.

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Post Configuration Management

Overview
You can use an SD card to add, change, or delete the post configuration file of your controller.

Adding or Changing a Post Configuration

This table describes how to add or change the controller post configuration:

Step Action
1 Insert an empty SD card into the PC that is running SoMachine Basic.
2 Copy the post configuration file (Machine.cfg) to the folder \usr\cfg and the script file to the
root folder of the SD card:

NOTE: A post configuration file example and the associated script are available in the directory
Firmwares & PostConfiguration\PostConfiguration\add_change\ of the
SoMachine Basic installation directory.
3 If necessary, edit the Machine.cfg file to configure your post configuration parameters.
4 Insert the prepared SD card in the controller.
Result: Downloading of the post configuration file begins. During the operation, the SD system
LED on the logic controller is on. Do not stop the logic controller while the operation is in
progress.
NOTE: Before the download the file format is checked, as well as if all of the channels,
parameters, and values configured are valid; in case of detected error the download is aborted.
5 When the SD system LED is turned off, remove the SD card.
6 Restart the controller to apply the new post configuration file.
7 The status of the operation can be verified reading the script.log file created on the SD card
root directory.

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Micro SD Card

Removing a Post Configuration File

This table describes how to remove the post configuration file of the controller:

Step Action
1 Insert an empty SD card into the PC that is running SoMachine Basic.
2 Copy the script file available in the directory Firmwares &
PostConfiguration\PostConfiguration\remove\ of the SoMachine Basic installation
directory to the root directory of the SD card.
3 Insert the prepared SD card in the controller.
Result: The post configuration file is removed. During the operation, the SD system LED on the
logic controller is on. Do not stop the logic controller while the operation is in progress.
4 When the SD system LED is turned off, remove the SD card.
5 Restart the controller to apply the application parameters.
6 The status of the operation can be verified reading the script.log file created automatically
in the SD card root directory.

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Error Log Management

Overview
You can use the micro SD card to back up or delete the error log file of the logic controller.

Backing Up the Error Log

This table describes how to back up the logic controller error log file on the micro SD card:

Step Action
1 Create a script.cmd file with a text editor on your PC.
2 Edit the file and insert the following line:
Upload "/sys/log"
3 Copy the script file to the root folder of the micro SD card.
4 Insert the prepared micro SD card in the logic controller.
Result: Transfer of the error log file begins. During the operation, the SD system LED on the
logic controller is on. Do not stop the logic controller while the operation is in progress.
NOTE: The backup process has a low priority in order to minimize impact on the program and
communication performance of the logic controller. Depending on the amount of free time in your
program, the operation may require more time to complete if the logic controller is in STOPPED
state than if it is in BOOTING state.
5 When the SD system LED is turned off, remove the micro SD card.
Result: The error log file (PlcLog.csv) is saved on the micro SD card.
6 The status of the operation can be verified reading the script.log file created automatically
in the micro SD card root directory.

Deleting the Error Log

This table describes how to delete the error log file in the logic controller:

Step Action
1 Create a script.cmd file with a text editor on your PC.
2 Edit the file and insert the following line:
Delete "/sys/log"
3 Copy the script file to the root folder of the micro SD card.
4 Insert the prepared micro SD card in the logic controller.
Result: Deleting of the error log file begins. During the operation, the SD system LED on the
logic controller is on. Do not stop the logic controller while the operation is in progress.
5 When the SD system LED is turned off, remove the micro SD card.
Result: The error log file (PlcLog.csv) is deleted from the logic controller.
6 The status of the operation can be verified reading the script.log file created automatically
in the micro SD card root directory.

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Micro SD Card

Error Log Format

The logic controller provides an error list containing the last 10 detected errors in the log memory.
Each error entry into the error log file is composed of four parts:
 Date and time
 Level
 Context
 Error code

After an upload through the micro SD card, the code is represented as in the example below:
02/06/14, 12:04:01, 0x01110001
This table describes the meaning of the hexadecimal error representation:

Group Hexadecimal Error description Result

error code
Operating system 0F01xxxx Operating system error Transistion to HALTED state
detected
Memory 0F030009 Internal memory Transistion to HALTED state
management allocation error detected
Watchdog timer 0104000A Logic controller resource Watchdog timeout signaled:
utilixation greater than  %s11 set to 1 ERR LED flashes
80% - first detection
0804000B Logic controller resource Transistion to HALTED state
utilixation greater than
80% - second
consecutive detection
0804000C User watchdog timer in Transistion to HALTED state
master task
0804000D User watchdog timer in Transistion to HALTED state
periodic task
User application 0804000F Application is not Transistion to EMPTY state
compatible with firmware
08070010 Checksum error Transistion to EMPTY state
detected
Ethernet 010B0014 Duplicate IP address Duplicate IP signaled
detected  %SW62 set to 1
 %SW118.bit9 set to 0. ERR LED
flashes

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 Modicon M100/M200 Logic Controller
Programming the M100/M200 Logic Controller
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Part III
Programming the M100/M200 Logic Controller

Programming the M100/M200 Logic Controller

Overview
This part provides information about the system and I/O objects specific to the M100/M200 Logic
Controller. These objects are displayed in the Programming tab.
For descriptions of all other objects, refer to SoMachine Basic Generic Functions Library Guide.

What Is in This Part?

This part contains the following chapters:
Chapter Chapter Name Page
10 How to Use the Source Code Examples 161
11 I/O Objects 165
12 Function Blocks 171
13 Pulse Train Output (%PTO) 211
14 PID Function 311
15 System Objects 357

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Programming the M100/M200 Logic Controller

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 Modicon M100/M200 Logic Controller
How to Use the Source Code Examples
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Chapter 10
How to Use the Source Code Examples

How to Use the Source Code Examples

How to Use the Source Code Examples

Overview
Except where explicitly mentioned, the source code examples contained in this book are valid for
both the Ladder Diagram and Instruction List programming languages. A complete example may
require more than one rung.

Reversibility Procedure
To obtain the equivalent Ladder Diagram source code:

Step Action
1 Select and copy (Ctrl+C) the source code for the first rung of the sample program shown in
this manual.
2
In SoMachine Basic, create a new rung by clicking on the toolbar.
3 In this rung, click the LD > IL button to display Instruction List source code.
4 Select the line number 0000, then right-click and choose Paste Instructions to paste the
source code into the rung:

NOTE: Remember to delete the LD instruction from the last line of the rung if you have pasted
the instructions by inserting the line(s) before the default LD operator.
5 Click the IL > LD button to display the Ladder Diagram source code.
6 Repeat the previous steps for any additional rungs in the sample program.

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How to Use the Source Code Examples

Example
Instruction List program:

Rung Source Code

0 BLK %R0
LD %M1
I
LD %I0.3
ANDN %R2.E
O
END_BLK
1 LD %I0.3
[%MW20:=%R2.O]
2 LD %I0.2
ANDN %R2.F
[%R2.I:=%MW34]
ST %M1

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 How to Use the Source Code Examples

Corresponding Ladder Diagram:

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How to Use the Source Code Examples

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 Modicon M100/M200 Logic Controller
I/O Objects
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Chapter 11
I/O Objects

I/O Objects

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Digital Inputs (%I) 166
Digital Outputs (%Q) 167
Analog Inputs (%IW) 168
Analog Outputs (%QW) 170

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I/O Objects

Digital Inputs (%I)

Introduction
Digital input bit objects are the image of digital inputs on the logic controller.

Displaying Digital Input Properties

Follow these steps to display properties of the digital inputs:

Step Action
1 Select the Tools tab in the left-hand area of the Programming window.
2 Click I/O objects  Digital inputs.
Result: Digital input properties appear on the screen.

Digital Inputs Properties

This table describes each property of the digital input:

Parameter Editable Value Default Value Description

Used No True/False False Indicates whether the input channel is being
referenced in a program.
Address No %I0.i – Displays the address of the digital input on
the controller, where i represents the
channel number.
If the controller has n digital input channels,
the value of i is given as 0...n-1.
For example, %I0.2 is the digital input at the
digital input channel number 2 of the logic
controller.
Symbol Yes – – The symbol associated with this address.
Double-click in the Symbol column and type
the name of the symbol to associate with this
input.
If a symbol already exists, you can right-click
in the Symbol column and choose Search
and Replace to find and replace
occurrences of this symbol throughout the
program and/or program comments.
Comment Yes – – A comment associated with this address.
Double-click in the Comment column and
type an optional comment to associate with
this channel.

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 I/O Objects

Digital Outputs (%Q)

Introduction
Digital output bit objects are the image of digital outputs on the logic controller.

Displaying Digital Output Properties

Follow these steps to display properties of the digital outputs:

Step Action
1 Select the Tools tab in the left-hand area of the Programming window.
2 Click I/O objects  Digital outputs.
Result: Digital output properties appear on the screen.

Digital Outputs Properties

This table describes each property of the digital output:

Parameter Editable Value Default Value Description

Used No True/False False Indicates whether the output channel is
being referenced in a program.
Address No %Q0.i – Displays the address of the digital output on
the controller, where i represents the
channel number.
If the controller has n digital output channels,
the value of i is given as 0...n-1.
For example, %Q0.3 is the digital output at
the digital output channel number 3 of the
logic controller.
Symbol Yes – – The symbol associated with this address.
Double-click in the Symbol column and type
the name of the symbol to associate with this
output.
If a symbol already exists, you can right-click
in the Symbol column and choose Search
and Replace to find and replace
occurrences of this symbol throughout the
program and/or program comments.
Comment Yes – – The comment associated with this address.
Double-click in the Comment column and
type an optional comment to associate with
this channel.

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I/O Objects

Analog Inputs (%IW)

Introduction
Analog input word objects are the digital values of an analog signal connected to the logic
controller.
Two 0-10V analog inputs are embedded in the cartridges TMCR2AI2, TMCR2TI2, and
TMCR2AM3. The embedded analog inputs use a 10 bits resolution converter so that each
increment is approximately 10 mV (10V/210-1). Once the system detects the value 1023, the
channel is considered to be saturated.
Refer to the M100/M200 Hardware Guide (see Modicon M100/M200 Logic Controller, Hardware
Guide) for more details.

Displaying Analog Input Properties

Follow these steps to display properties of the analog inputs:

Step Action
1 Select the Tools tab in the left-hand area of the Programming window.
2 Click I/O objects  Analog inputs.
Result: Analog input properties appear on the screen.

Analog Inputs Properties

This table describes each property of the analog input:

Parameter Editable Value Default Value Description

Used No True/False False Indicates whether the input channel is being
referenced in a program.
Address No %IW0.i – Displays the address of the embedded
analog input on the controller, where i
represents the channel number.
If the controller has n analog input channels,
the value of i is given as 0...n-1.
For example, %IW0.1 is the analog input at
the analog input channel number 1 of the
logic controller.
%IW0.x0y – Displays the address of the analog output
channel on the cartridge, where x is the
cartridge number and and y is the channel
number.

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 I/O Objects

Parameter Editable Value Default Value Description

Symbol Yes – – The symbol associated with this address.
Double-click in the Symbol column and type
the name of the symbol to associate with this
input.
If a symbol already exists, you can right-click
in the Symbol column and choose Search
and Replace to find and replace
occurrences of this symbol throughout the
program and/or program comments.
Comment Yes – – The comment associated with this address.
Double-click in the Comment column and
type a comment to associate with this
address.

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I/O Objects

Analog Outputs (%QW)

Introduction
Analog output word objects are the digital values of the analog signals received from the logic
controller using cartridges.
Two 0-10 V analog outputs and two 4-20 mA analog outputs are embedded in the cartridges
TMCR2AQ2C and TMCR2AQ2V respectively.
One 0-5 V/0-10 V analog voltage output or 4-20 mA analog current output is embedded in the
cartridge TMCR2AM3.
Refer to Modicon M100/M200 Logic Controller Hardware Guide (see Modicon M100/M200 Logic
Controller, Hardware Guide) for more details.

Displaying Analog Output Properties

Follow these steps to display properties of the analog outputs:

Step Action
1 Select the Tools tab in the left-hand area of the Programming window.
2 Click I/O objects  Analog outputs.
Result: Analog output properties appear on the screen.

Analog Outputs Properties

This table describes each property of the analog output:

Parameter Editable Value Default Value Description

Used No True/False False Indicates whether the output channel is being
referenced in a program.
Address No %QW0.x0y – Displays the address of the analog output
channel on the cartridge, where x is the cartridge
number and y is the channel number.
Symbol Yes – – The symbol associated with this address.
Double-click in the Symbol column and type the
name of the symbol to associate with this output.
If a symbol already exists, you can right-click in
the Symbol column and choose Search and
Replace to find and replace occurrences of this
symbol throughout the program and/or program
comments.
Comment Yes – – The comment associated with this address.
Double-click in the Comment column and type a
comment to associate with this address.

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 Modicon M100/M200 Logic Controller
Function Blocks
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Chapter 12
Function Blocks

Function Blocks

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
12.1 Fast Counter (%FC) 172
12.2 High Speed Counter (%HSC) 178
12.3 Pulse (%PLS) 197
12.4 Pulse Width Modulation (%PWM) 205

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Function Blocks

Section 12.1
Fast Counter (%FC)

Fast Counter (%FC)

Using Fast Counter Function Blocks

This section provides descriptions and programming guidelines for using Fast Counter function
blocks.

What Is in This Section?

This section contains the following topics:
Topic Page
Description 173
Configuration 175
Programming Example 177

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 Function Blocks

Description

Introduction

The Fast Counter function block serves as either an up-counter or a down-counter. It

can count the rising edge of digital inputs up to frequencies of 5 kHz in single word or double word
computational mode. Because Fast Counter function blocks are managed by specific hardware
interrupts, maintaining maximum frequency sampling rates may vary depending on your specific
application and hardware configuration.
The Fast Counter function blocks %FC0, %FC1, %FC2, and %FC3 use dedicated inputs %I0.2,
%I0.3, %I0.4 and %I0.5 respectively. These bits are not reserved for their exclusive use. Their
allocation must be considered with the use of other function blocks for these dedicated resources.

Illustration
This illustration is a Fast Counter function block in single-word mode:

Inputs
The Fast Counter function block has the following inputs:

Label Description Value

IN Enable At state 1, the current value is updated according to the pulses applied to the
physical input.
At state 0, the current value is held at its last value.
R Reset Used to initialize the block.
(optional) At state 1, the current value is reset to 0 if configured as an up-counter, or set
to %FC.P or %FC.PD if configured as a down-counter.
The Done bit %FC.D is set back to its default value.

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Outputs
The Fast Counter function block has the following output:

Label Description Value

D Done This bit is set to 1 when:
(%FCi.D)  %FCi.V or %FCi.VD reaches the preset value %FCi.P or %FCi.PD
configured as an up-counter.
 or when %FCi.V or %FCi.VD reaches 0 when configured as a down-
counter.
This read-only bit is reset only by setting %FCi.R to 1.

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Configuration

Parameters
To configure parameters, follow the Configuring a Function Block procedure (see SoMachine
Basic, Generic Functions Library Guide) and read the description of Memory Allocation Modes in
the SoMachine Basic Operating Guide (see SoMachine Basic, Operating Guide).
The Fast Counter function block has the following parameters:

Parameter Description Value

Used Address used If selected, this address is currently in use in a program.
Address %FCi Fast Counter The instance identifier, where it is from 0 to the number of objects
address available on this logic controller. Refer to Maximum Number of
Objects table (see page 26) for the maximum number of Fast
Counters.
Input %IO.i The dedicated input associated with this function block instance.
%IO.2...%IO.5
Symbol Symbol The symbol associated with this object. Refer to the SoMachine
Basic Operating Guide (Defining and Using Symbols)
(see SoMachine Basic, Operating Guide) for details.
Configured Whether to count up or Set to one of:
down  Not used
 Up Counter
 Down Counter

Preset Preset value (%FCi.P Initial value may be set:

or %FCi.PD)  Using associated object %FCi.P from 0 to 65535 in single
word mode,
 Using associated object %FCi.PD from 0 to 4294967295 in
double word mode.
Double Word Double word mode If selected, use double word mode. Otherwise, use single-word
mode.
Comment Comment An optional comment can be associated with this object.
Double-click in the Comment column and type a comment.

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Objects
The Fast Counter function block is associated with the following objects:

Object Description Value

%FCi.V Current value The current value increments or decrements according the up or
%FCi.VD down counting function selected. For up-counting, the current
counting value is updated and can reach 65535 in single word
mode (%FCi.V) and 4294967295 in double word mode
(%FCi.VD). For down-counting, the current value is the preset
value %FC.P or %FC.PD and can count down to 0.
%FCi.P Preset value See description in Parameters table above.
%FCi.PD
%FCi.D Done See description in Outputs table above.

Special Note
The application can change the preset value %FCi.P or %FCi.PD and the current value %FCi.V
or %FCi.VD at any time. A new value is taken into account only if the R input is active or at the
rising edge of the D output %FC.D. This allows for successive different counts without the loss of
a single pulse.

Operation
This table describes the main stages of Fast Counter function block operations:

Operation Action Result

Count up A rising edge appears at the Count The current value %FCi.V is incremented by 1
up input. unit.
When the preset value %FCi.P or The Done output bit %FCi.D is set to 1.
%FCi.PD is reached.
Count down A rising edge appears at the down- The current value %FCi.V is decremented by 1
counting input. unit.
When the value is 0. The Done output bit %FCi.D is set to 1.

Special Cases
This table contains a list of special operating cases for the Fast Counter function block:

Special case Description

Effect of cold restart (%S0=1) Resets all the Fast Counter attributes with the values
configured or user application. Refer to System Bits (%S)
(see page 358).
Effect of controller stops The Fast Counter continues to count with the parameter
settings enabled at the time the controller was stopped.

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Programming Example

Introduction
In this example, the application counts a number of items up to 5000 while %I0.1 is set to 1. The
input for %FC0 is the dedicated input %I0.2. When the preset value is reached, %FC0.D is set to
1 and retains the same value until %FC0.R is commanded by the result of AND on %I0.2 and %M0.

Programming
This example is a Fast Counter function block:

Rung Instruction
0 BLK %FC1
LD %I0.1
IN
LD %I0.2
AND %M0
R
OUT_BLK
LD D
ST %Q0.0
END_BLK

NOTE: Refer to the reversibility procedure (see page 159) to obtain the equivalent Ladder
Diagram.

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Section 12.2
High Speed Counter (%HSC)

High Speed Counter (%HSC)

Using High Speed Counter Function Blocks

This section provides descriptions and programming guidelines for using High Speed Counter
function blocks.

What Is in This Section?

This section contains the following topics:
Topic Page
Description 179
High Speed Counter in Counting Modes 183
One-shot Counting Mode 191
Modulo-loop Counting Mode 192
High Speed Counter in Frequency Meter Mode 194

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Description

Introduction

The High Speed Counter function block can be configured by SoMachine Basic to
perform any one of the following functions:
 Single Phase
 Dual Phase [Pulse / Direction]
 Dual Phase [Clock Wise / Counter Clock Wise]
 Dual Phase [Quadrature X1]
 Dual Phase [Quadrature X2]
 Dual Phase [Quadrature X4]
 Frequency Meter

The High Speed Counter function block works at a maximum frequency of 100 kHz for all
counting modes with a range 65535 in single word and 4294967295 in double word.
The High Speed Counter function block uses dedicated inputs and auxiliary inputs and outputs.
Refer to the M100/M200 Logic Controller - Hardware Guide (see Modicon M100/M200 Logic
Controller, Hardware Guide) for more information on inputs and outputs.
You must initialize the High Speed Counter function in the Configuration tab using the High
Speed Counter Assistant before using an instance of the function block. Refer to Configuring
High Speed Counters (see page 78).

Graphical Representation

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Inputs
The High Speed Counter function block has the following inputs:

Label Description Value

IN Enable (required) 0 or 1
At state 1, the counting function or frequency measurement is enabled.
At state 0, the present value is held at its last value.
S Preset input. 0 or 1
At rising edge, initializes the present value with the preset value.:
This also initializes the operation of the threshold outputs and takes into account
any user modifications to the threshold values set in the properties window or the
program.

The High Speed Counter function block is associated with the following input objects:

Object Type Description Value

%HSCi.P WORD Preset value See Auxiliary Inputs (see page 184).
%HSCi.PD DOUBLE WORD
NOTE: It is modulo
value when configured
to Modulo- Loop mode.
%HSCi.S0 WORD Threshold 0 See Output Threshold in Counting Modes
%HSCi.S0D DOUBLE WORD (see page 184).
%HSCi.S1 WORD Threshold 1 See Output Threshold in Counting Modes
%HSCi.S1D DOUBLE WORD (see page 184).
%HSCi.T WORD Time base See High Speed Counter in Frequency Meter
Mode (see page 88).
%HSCi.R BOOL Enable reflex output 0 At state 1 enables the reflex output 0.
%HSCi.S BOOL Enable reflex output 1 At state 1 enables the reflex output 1.

Outputs
The High Speed Counter function block has the following outputs:

Label Description Value

F Overflow 0 or 1
Set to 1 if an arithmetic overflow occurs.
U Counting direction 0: Down counting
Set by the system, this bit is used by the Dual Phase counting 1: Up counting
functions to indicate the direction of counting.

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Label Description Value

TH0 Threshold bit 0 0 or 1
Set to 1 when the present value is greater than or equal to the
threshold value S0 (%HSCi.S0).
Test this bit only once in the program because it is updated in real
time. The user application is responsible for the validity of the value
at its time of use.
TH1 Threshold bit 1 0 or 1
Set to 1 when the present value is greater than or equal to the
threshold value S1 (%HSCi.S1).
Test this bit only once in the program because it is updated in real
time.

The High Speed Counter function block is associated with the following output objects:

Object Type Description Value

%HSCi.V WORD Present value See High Speed Counter in Counting
%HSCi.VD DOUBLE WORD Modes (see page 183).
%HSCi.C WORD Capture value See Auxiliary Inputs (see page 184).
%HSCi.CD DOUBLE WORD
%HSCi.U BOOL Counting direction 0: Down counting
1: Up counting
%HSCi.F BOOL Overflow 0: No overflow
1: Counter overflow

Properties
The High Speed Counter function block has the following properties:

Property Value Description

Used Activated / deactivated checkbox Indicates whether the address is in use.
Address %HSCi, where i is from 0 to 3, depending on i is the instance identifier.
the type(s) of counters configured. Refer to the maximum number of objects
(see page 26) for the number of available High
Speed Counter objects.
Symbol User-defined text The symbol that uniquely identifies this object.
For details, refer to the SoMachine Basic
Operating Guide (Defining and Using Symbols)
(see SoMachine Basic, Operating Guide).
Preset  from 0 to 65535 for %HSCi.P Preset value to initialize the HSC current value
 from 0 to 4294967295 for %HSCi.PD (%HSCi.P, %HSCi.PD).
Not valid for the Frequency Meter.

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Property Value Description

S0  from 0 to 65535 for %HSCi.S0 Threshold value 0 is used as a comparator with
 from 0 to 4294967295 for %HSCi.S0D the current value.
The value of S0 must be less than S1
(%HSCi.S1).
S1  from 0 to 65535 for %HSCi.S1 Threshold value 1 is used as a comparator with
 from 0 to 4294967295 for %HSCi.S1D the current value.
The value of S1 must be greater than S0
(%HSCi.S0).
Time Base 100 ms or 1 s for %HSCi.T Frequency measurement time base
Comment User-defined text A comment to associate with this object.

Special Cases
This table presents a list of special cases when programming the High Speed Counter function
block:

Special Case Description

Effect of cold restart (%S0=1) Resets all the High Speed Counter attributes with the values
configured by the program.
Effect of controller stop The High Speed Counter stops its function and the outputs
stay in their current state.
NOTE: When the controller stops, the reflex outputs stay in their
current state only if the fallback behavior of the tasks is
configured to maintain values of the outputs. For more
information on configuring fallback behavior, refer to Fallback
Behavior (see SoMachine Basic, Operating Guide).

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High Speed Counter in Counting Modes

Introduction
The High Speed Counter function block works at a maximum frequency of 100 kHz, with a
range of 0 to 65535 in single word mode and 0 to 4294967295 in double word mode.
The pulses to be counted are applied in the following way:

Function Description Input type %HSC0 %HSC1 %HSC2 %HSC3

Single Phase The pulses are applied to Pulse Input %I0.0 %I0.6 %I0.1 %I0.7
the physical input
associated to Pulse Input.
Dual Phase [Pulse / The pulses are applied to Pulse Input %I0.0 %I0.6 – –
Direction] the physical input
Direction Input %I0.1 %I0.7 – –
associated to Pulse Input,
the current operation
(upcount/downcount) is
given by the state of the
Direction Input.
Dual Phase [Clock The pulses are applied to ClockWise Input %I0.0 %I0.6 – –
Wise / Counter the physical inputs
CounterClockWise %I0.1 %I0.7 – –
Clock Wise] associated to Clock Wise
Input
Input and Counter Clock
Wise Input.
Dual Phase The 2 phases of the Pulse Input Phase A %I0.0 %I0.6 – –
[Quadrature X1] encoder are applied to Pulse Input Phase B %I0.1 %I0.7 – –
physical inputs associated
to Pulse Input Phase A
and Pulse Input Phase B.
Dual Phase The 2 phases of the Pulse Input Phase A %I0.0 %I0.6 – –
[Quadrature X2] encoder are applied to Pulse Input Phase B %I0.1 %I0.7 – –
physical inputs associated
to Pulse Input Phase A
and Pulse Input Phase B.
Dual Phase The 2 phases of the Pulse Input Phase A %I0.0 %I0.6 – –
[Quadrature X4] encoder are applied to Pulse Input Phase B %I0.1 %I0.7 – –
physical inputs associated
to Pulse Input Phase A
and Pulse Input Phase B.

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Output Thresholds
During counting, the current value is compared to two thresholds: %HSCi.S0 or %HSCi.S0D and
%HSCi.S1 or %HSCi.S1D.
According to the result of the comparisons, the bit objects, %HSCi.TH0 and %HSCi.TH1, are:
 set to 1 if the current value is greater than or equal to the corresponding threshold
 reset to 0 if the current value is less than the corresponding threshold.

Physical reflex outputs can be configured to respond differentially within the context of the compare
results of the threshold values and the current value of the counters.
NOTE: None, 1 or 2 reflex outputs can be configured.
For more information on the configuration of reflex outputs, refer to Configuring Single Phase and
Dual Phase (see page 82).
%HSCi.U is an output of the function block; it gives the direction of the associated counter variation
(1 for UP, 0 for DOWN).

Auxiliary Inputs
Counting operations are made on the rising edge of pulses, and only if the counting function block
is enabled.
There are two optional inputs used in counting mode: Catch Input and Preset Input:
 The Catch Input is used to capture the current value (%HSCi.V or %HSCi.VD) and store it in
%HSCi.C or %HSCi.CD. The catch inputs are specified as %I0.3 for %HSC0 and %I0.4 for
%HSC1 if available.
 When the Preset Input is active, the current value is affected in the following ways:
 %HSCi.V and %HSCi.VD are respectively written with the content of %HSCi.P or %HSCi.PD.
 For frequency counting, %HSCi.V or %HSCi.VD is set to 0.

NOTE: %HSCi.F is also set to 0. The Preset Input is specified as %I0.2 for %HSC0 and/or %I0.5
for %HSC1.

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Operation
This illustration is the operation diagram of the counting mode in single word mode (in double word
mode, use the double word function variables):

NOTE: Reflex outputs are managed independently from the controller cycle time.

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Single Phase Timing Diagram

Reflex output configuration example:

Reflex Output Value < %HSC0.S0 %HSC0.S0 <= Value < %HSC0.S1 Value >= %HSC0.S1
%Q0.4 – X –
%Q0.5 X – X

Timing diagram:

(1) IN is set to 1: the counting function is activated (%HSC0.U = 1 because %HSC0 is an up-counter)
(2) %Q0.4 (Reflex Output) and TH0 are set to 1
(3) TH1 is set to 1
(4) The maximum value is reached so on the next count %HSC0.V is reset to 0 and F is set to 1

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(5) S is set to 1, the current value, %HSC0.V, is set to preset value.

(6) The current function is inhibited while IN is set to 0
(7) While the function is inhibited, S is set to 1 so the current value is set to preset value 17
(8) Change of threshold value S1 to 17
(9) S is set to 1 so the new value of S1 will be granted at the next count
(10) Catch input is set to 1 so %HSC0.C = 20

Dual Phase [Pulse / Direction] Timing Diagram

Reflex output configuration example:

Reflex Output Value < %HSC0.S0 %HSC0.S0 <= Value < %HSC0.S1 Value >= %HSC0.S1
%Q0.4 – – X
%Q0.5 X X –

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Timing diagram:

(1) Input IN is set to 1 so down-counting mode starts ( %HSC0.U = 0 that is, IB = 0)

(2) The current value reaches 0 so F output flag is set to 1 and %HSC0.V is set to 65535 at the next count
(3) Change at the IB input, the counter is now in up counting mode and %HSC0.U = 1
(4) IB input is set to 0 so the counter is in down counting mode and %HSC0.U is set to 0
(5) Input S is set to 1 while down counting is in progress, so %HSC0.V is initialized to the Preset value
%HSC0.P = 17
(6) S is reset to 0 and the preset value %HSC0.P is changed to 20
(7) The input IN is set to 0 so the function is inhibited, %HSC0.V is held

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(8) S is set to 1 so the new preset value (%HSC0.P = 20) is taken into account and the reflex outputs are
updated
(9) IN input is set to 1 and the function restarts in down counting mode
(10) The threshold value %HSC0.S1 is set to 17
(11) S input active makes threshold S1 new value to be granted at the next count and resets %HSC0.V to
preset value 17
(12) A catch of the current value %HSC0.V is made so %HSC0.C = 20

Dual Phase [Clock Wise / Counter Clock Wise] Timing Diagram

Timing diagram:

(1) Up-counting starts

(2) Down-counting starts

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Dual Phase [Quadrature X1], Dual Phase [Quadrature X2], Dual Phase [Quadrature X4] Timing
Diagram
The encoder signal is counted according to the input mode selected, as shown below:
X1 1 count for each encoder cycle
X2 2 counts for each encoder cycle
X4 4 counts for each encoder cycle
Timing diagram:

Quadrature X1 When channel A leads channel B, the counter increments on the rising edge of channel A.
When channel B leads channel A, the counter decrements on the falling edge of channel A.
Quadrature X2 Counter increments or decrements on each edge of channel A, depending on which channel
leads the other. Each cycle results in two increments or decrements.
Quadrature X4 The counter increments or decrements on each edge of channels A and B. Whether the
counter increments or decrements depends on which channel leads the other. Each cycle results in 4
increments or decrements.

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One-shot Counting Mode

Overview
 Only one input is required for pulse.
 On the rising edge of the preset condition, the counter is enabled and the current value is set to
the preset value.
 When counter is enabled, each pulse applied to the input increments the current value. The
counter stops when its current value reaches the maximum value. The overflow flag is then set.
 The counter value remains at maximum value even if new pulses are applied to the input.
 A new preset is needed to activate the counter again.

One-shot Mode Timing Diagram

1
Sync Condition

2 4

Enable Condition

Preset Value
Counter Current Value

3 Time
0

This table explains the stages from the preceding graphic:

Stage Action
1 On the rising edge of the Preset condition, the preset value is loaded in the counter
(regardless of the current value) and the counter is enabled.
2 When Enable condition = 1, the current counter value increments on each pulse on
input A until it reaches 0.
3 The counter waits until the next rising edge of the Preset condition.
Note: At this point, pulses on input A have no effect on the counter.
4 When Enable condition = 0, the counter ignores the pulses from input A and retains
its current value until the Enable condition = 1. The counter resumes counting
pulses from input A on the rising edge of the Enable input from the held value.

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Modulo-loop Counting Mode

Overview
The Modulo-loop mode can be used for repeated actions on a series of moving objects, such as
packaging and labeling applications.

Principle
On a rising edge of the preset condition, the counter is enabled and the current value is reset to 0.
When counter is enabled:
Incrementing direction: the counter increments until it reaches the modulo value. At the next
pulse, the counter is reset to 0, a modulo flag is set to 1, and the counting continues.
Decrementing direction: the counter decrements until it reaches 0. At the next pulse, the counter
is set to the modulo value, a modulo flag is set to 1, and the counting continues.

Modulo-loop Mode Timing Diagram

Stage Action
1 On the rising edge of preset condition, the current value is reset to 0 and the counter is enabled.
2 When Enable condition = 1, each pulse on A increments the counter value.
3 When the counter reaches the (modulo-1) value, the counter loops to 0 at the next pulse and the
counting continues. Modulo_Flag is set to 1.
4 On the rising edge of preset condition, the current counter value is reset to 0.

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Stage Action
5 When Enable condition = 1, each pulse on B decrements the counter.
6 When the counter reaches 0, the counter loops to (modulo-1) at the next pulse and the counting
continues.
7 When Enable condition = 0, the pulses on the inputs are ignored.
8 On the rising edge of preset condition, the current counter value is reset to 0.

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High Speed Counter in Frequency Meter Mode

Introduction
The frequency meter mode of an High Speed Counter is used to measure the frequency of a
periodic signal in Hz on input IA (pulse input phase A).
The frequency range which can be measured is 1 Hz to 100 kHz.
It is possible to choose between 2 time bases, the choice being made by the object %HSC.T (Time
base):

Time base Accuracy Update

100 ms 0.05% for 100 kHz 10 times per second
10% for 100 Hz
1s 0.005% for 100 kHz Once per second
10% for 10 Hz

Accuracy Measurement

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Operation
This illustration is the operation diagram of the frequency meter mode:

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Timing Diagram
This timing diagram is an example of using a High Speed Counter in frequency meter mode:

(1) The first frequency measurement starts at a rising edge of the TB signal
(2) %HSC0.V is updated after one period of the TB
(3) On input S rising edge, the current value %HSC0.V is set to 0
(4) %HSC0.T is set to 100 ms, so the current measurement is canceled and a new one starts
(5) Input IN is set to 0, so the frequency measurement function is inhibited and %HSC0.V is held
(6) On input S rising edge, the current value %HSC0.V is set to 0
(7) S is set to 0 and IN is set to 1, so the measurement starts at the next rising edge of the TB signal

fx corresponds to the current frequency value.

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Section 12.3
Pulse (%PLS)

Pulse (%PLS)

Using Pulse Function Blocks

This section provides descriptions and programming guidelines for using Pulse function blocks.

What Is in This Section?

This section contains the following topics:
Topic Page
Description 198
Configuration 200
Programming Example 204

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Description

Introduction

The Pulse function block is used to generate square wave signals.

Two Pulse function blocks are available on the dedicated output channel %Q0.0 or %Q0.1. Logic
controllers with relay outputs for these two channels do not support the Pulse function block.
Refer to the M100/M200 Logic Controller - Hardware Guide for more information on inputs and
outputs.
The Pulse function block allows only a single signal width, or duty cycle, of 50%.
You can choose to limit either the number of pulses or the period when the pulse train is executed.
These factors can be determined at the time of configuration and/or updated by the program.
You must configure the Pulse function block in the Configuration  Pulse Generators before
using an instance of the function block. Refer to Configuring Pulse Generators (see page 68).

Illustration
This illustration is a Pulse function block:

Inputs
The Pulse function block has the following inputs:

Label Object Description Value

IN %PLSi.IN Enable At state 1, the pulse is produced at the dedicated output
channel.
At state 0, the output channel is set to 0.
R %PLSi.R Reset to 0 (optional) At state 1, outputs %PLSi.Q and %PLSi.D are set to 0.
The number of pulses generated in period T is set to 0.

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Outputs
The Pulse function block has the following outputs:

Label Object Description Value

Q %PLSi.Q Generation in At state 1, indicates that the Pulse signal is generated
progress at the dedicated output channel configured.
D %PLSi.D Generation complete At state 1, signal generation is complete. The number of
(optional) desired pulses has been reached.

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Configuration

Parameters
To configure parameters, follow the Configuring a Function Block procedure (see SoMachine
Basic, Generic Functions Library Guide) and read the description of Memory Allocation Modes in
the SoMachine Basic Operating Guide (see SoMachine Basic, Operating Guide).
The Pulse function block has the following parameters:

Parameter Description Value

Used Address used If selected, this address is currently in use in a program.
Address %PLSi The instance identifier, where i is from 0 to the number of objects
Pulse address available on this logic controller. Refer to Maximum Number of
Objects table (see page 26) for the maximum number of Pulse
objects.
Symbol Symbol The symbol associated with this object. Refer to the SoMachine
Basic Operating Guide (Defining and Using Symbols)
(see SoMachine Basic, Operating Guide) for details.
Preset Preselection of  Time Base = 1 s, %PLSi.P=1 or 2
the period  Time Base = 10 ms, 1<=%PLSi.P<=200
(%PLSi.P)  Time Base = 1 ms, 1<=%PLSi.P<=2000
 Time Base = 0.1 ms, 1<=%PLSi.P<=20000
Num. Pulse Number of To produce an unlimited number of pulses, set %PLS.N or %PLS.ND
pulses to 0.
(%PLSi.N,
%PLSi.ND)
Current Current output 0 or 1.
(%PLSi.Q)
Done Done pulse At state 1, signal generation is complete. The number of desired
(%PLSi.D) pulses has been reached. It is reset by either setting the IN or the R
inputs to 1.
Duty Cycle %PLSi.R This value gives the percentage of the signal in state 1 in a period.
The width Tp is thus equal to:
TP = T x (%PLSi.R:100). The user application writes the value
for %PLSi.R. It is this word which controls the duty cycle of the
period.
The default value is 0 and values greater than 100 are considered to
be equal to 100.
Comment Comment An optional comment can be associated with this object.
Double-click in the Comment column and type a comment.

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Objects
The Pulse function block is associated with the following objects:

Object Description Size (bit) Default Value Range

%PLSi.P Preset value 16 Preset (set on Preset %PLSi.P Time Base
Configuration 
1...20000 0.1 ms
Pulse
Generators) 1...2000 1 ms
1...200 10 ms
1 or 2 1 s (default)
%PLSi.N Number of 16 0 0...32767
pulses
%PLSi.ND 32 0 0...2147483647

Rules of Use
The output signal period T is set with Preset and the Time Base parameters such as
T = %PLSi.P x.Time Base.
This table shows the range of available periods:

Time Base Frequency

0.1 ms 0.5 Hz...10000 Hz
1 ms 0.5 Hz...1000 Hz
10 ms 0.5 Hz...100 Hz
1s 0.5 Hz...1 Hz

The Time Base is set on the Configuration  Pulse Generators and cannot be modified. Refer
to Configuring Pulse Generators (see page 68).
If %PLSi.P is:
 Changed, the output signal period is changed at the end of the current period.
 Set to 0, the pulse generation function is stopped.
 Out of range, the parameter is forced to 0 and the pulse generation function is stopped.

If %PLSi.N (or %PLSi.ND in Double Word mode) is:

 Changed, the number of pulses to be generated is used at the next execution of the pulse
generation function (%PLSi.D = 1 or after %PLSi.R = 1).
 Set to 0, unlimited number of pulses are generated.
 Out of range, the parameter is forced to 0.

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Timing Diagram
This diagram displays the timing for Pulse function block:

(1) IN input is set to 1, the pulse signal is generated at the dedicated output (%Q0.0) so %PLSi.Q is set to 1
(2) The number of pulses reaches %PLS0.N (=4) so the Done flag output (%PLS0.D) is set to 1 and the pulse
generation is stopped (%PLS0.Q = 0)
(3) IN input is set to 1 so %PLS0.D is reset to 0
(4) IN input is set to 0 so the output channel is set to 0 and %PLS0.Q = 0 indicates that the signal generation
is not active
(5) %PLS0.D is set to 0 by setting R input to 1

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Special Cases

Special Case Description

Effect of cold restart (%S0=1)  Pulse generation is stopped.
 During the controller initialization, output is reset to 0.
 If after the controller initialization:
 the controller enters the STOPPED state, the fallback
behavior is applied to the output.
 the controller enters the RUN state, the configuration
parameters are restored.
Effect at controller stop  Pulse generation is stopped
 The Fallback behavior is applied to the output.

Effect of online modification None

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Programming Example

Introduction
The Pulse function block can be configurated as in this programming example.

Programming
This example is a Pulse function block:

Rung Instruction
0 BLK %PLS0
LD %M1
IN
LD %M0
R
OUT_BLK
LD Q
ST %Q0.5
LD D
ST %M10
END_BLK

NOTE: Refer to the reversibility procedure (see page 159) to obtain the equivalent Ladder
Diagram.

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Section 12.4
Pulse Width Modulation (%PWM)

Pulse Width Modulation (%PWM)

Using Pulse Width Modulation Function Blocks

This section provides descriptions and programming guidelines for using Pulse Width
Modulation function blocks.

What Is in This Section?

This section contains the following topics:
Topic Page
Description 206
Function Block Configuration 207
Programming Example 210

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Description

Introduction

The Pulse Width Modulation function block generates a variable wave signal on a
dedicated output channel, %Q0.0 or %Q0.1, with variable width and, therefore, duty cycle.
Controllers with relay outputs for these two channels do not support this function.
%PWM0 uses dedicated output %Q0.0 and %PMW1 uses dedicated output %Q0.1. The pulse
function blocks %PLS can also be configured to use these same dedicated outputs. You can
configure one or the other of these two functions, but not both, for any given output.
You must configure the Pulse Width Modulation function block in the Configuration  Pulse
Generators before using an instance of the function block. Refer to Configuring Pulse Generators
(see page 68).

Illustration
This illustration is the Pulse Width Modulation function block:

Inputs
The Pulse Width Modulation function block has the following input:

Label Object Description Value

IN %PWMi.IN Enable At state 1, the Pulse Width Modulation signal is
generated at the output channel.
At state 0, the output channel is set to 0.

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Function Block Configuration

Overview
To configure the Pulse Generator resource, refer to Configuring Pulse Generators
(see page 68).
To configure the Pulse Generator resource as a PWM, refer to PWM Configuration
(see page 73).

Parameters
To configure parameters, follow the Configuring a Function Block procedure (see SoMachine
Basic, Generic Functions Library Guide) and read the description of Memory Allocation Modes in
the SoMachine Basic Operating Guide (see SoMachine Basic, Operating Guide).
The Pulse Width Modulation function block has the following properties:

Property Value Description

Used Activated / deactivated checkbox Indicates whether the address is in use.
Address %PWMi,where i is 0 or 1 i is the instance identifier.
Symbol User-defined text The symbol that uniquely identifies this object. For
details, refer to the SoMachine Basic Operating
Guide (Defining and Using Symbols) (see SoMachine
Basic, Operating Guide) .
Preset  %PWMi.P=1 if Time Base = 1 s Preselection of the period.
 1<=%PWMi.P<=100 if Time
Base= 10 ms
 1<=%PWMi.P<=1000 if Time
Base = 1 ms
 1<=%PWMi.P<=10000 if Time
Base = 0.1 ms
Duty cycle From 0 to 100. The Duty cycle is controlled by the object %PWMi.R
NOTE: values greater than 100 are and is the percentage of the signal in state 1 in the
period. The width of state 1 (Tp) is thus equal to:
considered to be equal to 100.
TP = T x (%PWMi.R/100). The user application
writes the value for %PWMi.R.
Comment User-defined text A comment to associate with this object.

NOTE: The Num. Pulse, Current, and Done properties that appear in the Pulse Generators
properties table under the Programming tab do not apply to the PWM function.

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Objects
The Pulse Width Modulation function block is associated with the following objects:

Object Description Size (bit) Default value Range

%PWMi.P Preset value 16 Preset (set on Preset %PWMi.P Time Base
Configuration
1...10000 0.1 ms
Pulse Generators)
1...1000 1 ms
1...100 10 ms
1 1 s (default)
%PWMi.R Duty cycle 16 0 0...100
(Ratio)

If %PWMi.P is:
 changed, the output signal period is affected at the end of the ongoing period.
 set to 0, the pulse generation function is stopped.
 out of range, the parameter is forced to 0 and the pulse generation function is stopped.

If %PWMi.R is:
 set to 0, the pulse generation function is stopped (output set to 0).
 set to 100, the output signal is set to 1
 changed, the output signal ratio is changed at the end of the current period
 out of range, the parameter is forced to 0.

Time Base
The Time Base is set on the Configuration  Pulse Generators and can only be modified under
the Configuration tab. Refer to Configuring Pulse Generators (see page 68).
The output signal period T is set with the Preset and Time Base parameters such that
T = %PWMi.P x Time Base.
This table shows the range of available periods:

Time Base Frequency

0.1 ms 1 Hz...10000 Hz
1 ms 1 Hz...1000 Hz
10 ms 1 Hz...100 Hz
1s 1 Hz...1 Hz

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Timing Diagram
This diagram displays the timing for the Pulse Width Modulation function block:

(1) The PWM ratio (%PWMi.R) is set to 20%, IN = 0 so the pulse generation is not active
(2) IN is set to 1 so PWM output is activated
(3) The programmable width (Tp) changes with %PWM.R
(4) IN is set to 0 so the PWM function is inhibited

Special Cases

Special case Description

Effect of cold restart (%S0=TRUE)  Pulse generation is stopped.
 During the controller initialization, output is reset to 0.
 If after the controller initialization:
 the controller enters the STOPPED state, the fallback
behavior is applied to the output.
 the controller enters the RUN state, the configuration
parameters are restored.
Effect at controller stop  Pulse generation is stopped.
 The fallback behavior is applied to the output.

Effect of online modification None

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Programming Example

Introduction
The Pulse Width Modulation function block can be configured as in this programming
example.

Programming Example
In this example:
 The signal width is modified by the program according to the state of controller input %I0.0 and
%I0.1.
 The time base is set to 10 ms.
 The preset value %PWM0.P is set to 50 so the ratio step is equal to 2%.
 The configurable period T is equal to 500 ms.

The result is:

 If %I0.0 and %I0.1 are set to 0, the %PWM0.R ratio is set at 20%, the duration of the signal at
state 1 is then: 20% x 500 ms = 100 ms.
 If %I0.0 is set to 0 and %I0.1 is set to 0, the %PWM0.R ratio is set at 50% (duration 250 ms).
 If %I0.0 and %I0.1 are set to 1, the %PWM0.R ratio is set at 80% (duration 400 ms).

Examples of Pulse Width Modulation instructions:

Rung Instruction
0 LDN %I0.0
ANDN %I0.1
[%PWM0.R:=20]
1 LD %I0.0
ANDN %I0.1
[%PWM0.R:=50]
2 LD %I0.0
AND %I0.1
[%PWM0.R:=80]
3 BLK %PWM0
LD %I0.2
IN
END_BLK

NOTE: Refer to the reversibility procedure (see page 159) to obtain the equivalent Ladder
Diagram.

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Pulse Train Output (%PTO)
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Chapter 13
Pulse Train Output (%PTO)

Pulse Train Output (%PTO)

Using Pulse Train Output Function Blocks

This chapter provides descriptions and programming guidelines for using Pulse Train Output
function blocks.

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
13.1 Description 212
13.2 Configuration 217
13.3 Home Modes 229
13.4 Data Parameters 242
13.5 Operation Modes 247
13.6 Adding / Removing a Function Block 252
13.7 Motion Task Function Block 254
13.8 Power Function Block 258
13.9 Movement Function Blocks 261
13.10 Stopping / Position Function Blocks 281
13.11 Status Function Blocks 287
13.12 Probe Function Blocks 296
13.13 Error Handling Function Blocks 301
13.14 Parameters Function Blocks 306

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Section 13.1
Description

Description

Pulse Train Output (PTO)

Introduction
The M200 PTO function provides two pulse train output channels for a specified number of pulses
and a specified velocity (frequency). The PTO function is used to control the positioning or speed
of one or two independent linear single-axis stepper or servo drives in open loop mode. The PTO
function does not have any position feedback information from the process. Therefore, position
information must be integrated in the drive.
The PTO, PWM (pulse width modulation), and PLS (pulse) functions use the same dedicated
outputs. Only one of these three functions can be used on the same channel. Using different
functions on channel 0 and channel 1 is allowed.
A PTO channel can use up to:
 five physical inputs, if optional interface signals for homing (Ref), event (Probe), limits (LimP,
LimN), or drive interface (DriveReady) are used,
 three physical outputs, if optional drive interface signal (DriveEnable) is used, along with the two
PTO fast outputs.
Automatic origin offset is also managed to improve positioning accuracy. Diagnostics are available
for status monitoring, allowing a comprehensive and quick troubleshooting.

Supported Functions
The two PTO channels support the following functions:
 two output modes (two channels for Pulse and Direction or one channel for CW/CCW)
 single axis moves (velocity and position)
 relative and absolute positioning, with automatic direction management
 trapezoidal and S-curve acceleration and deceleration
 homing (four modes with offset compensation)
 dynamic acceleration, deceleration, velocity, and position modification
 switch from speed to position mode
 move queuing (buffer of one move)
 position capture and move trigger on event (using probe input)
 limits (hardware and software)
 diagnostics

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PTO Function Blocks

The PTO function is programmed in SoMachine Basic using the following function blocks:

Category Subcategory Function Block Description

Motion Power MC_Power_PTO Enables power to the axis, switching the axis
(single axis) (see page 258) state from Disabled to Standstill. While the
%MC_Power_PTO.Status bit is FALSE, no
motion function block can be executed for that
axis.
Movement MC_MoveVel_PTO Causes the specified axis to move at the
(see page 262) specified speed, and transfer the axis to the state
Continuous. This continuous movement is
maintained until a software limit is reached, an
aborting move is triggered, or a transition to
ErrorStop state is detected.
MC_MoveRel_PTO Moves the specified axis an incremental distance
(see page 266) at the specified speed, and transfer the axis to the
state Discrete.
The target position is referenced from the current
position at execution time, incremented by a
distance.
MC_MoveAbs_PTO Causes the specified axis to move towards a
(see page 271) given position at the specified speed, and transfer
the axis to the state Discrete.
The function block terminates with Error set to
TRUE, if the axis is not Homed (no absolute
reference position is defined). In this case,
ErrorId is set to InvalidAbsolute.
Stopping and MC_Home_PTO (see page 282) Commands the axis to perform the sequence
position defining the absolute reference position, and
transfers the axis to the state Homing
(see page 229). The details of this sequence
depend on Homing configuration parameters
setting.
MC_SetPos_PTO Modifies the coordinates of the axis without any
(see page 285) physical movement.
MC_Stop_PTO (see page 275) Commands a controlled motion stop and
transfers the axis to the state Stopping. It aborts
any ongoing move execution.
MC_Halt_PTO (see page 278) Commands a controlled motion stop until the
velocity is zero, and transfers the axis to the state
Discrete. With the Done output set to TRUE,
the state is transferred to Standstill.

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Category Subcategory Function Block Description

Administrative Status MC_ReadActVel_PTO Returns the value of the velocity of the axis.
(see page 288)
MC_ReadActPos_PTO Returns the value of the position of the axis.
(see page 290)
MC_ReadSts_PTO Returns the state diagram (see page 248) status
(see page 292) of the axis.
MC_ReadMotionState_PTO Returns the motion status of the axis.
(see page 294)
Error handling MC_ReadAxisError_PTO Returns an axis control error, if any.
(see page 302)
MC_Reset_PTO Resets all axis-related errors, conditions
(see page 304) permitting, to allow a transition from the states
ErrorStop to Standstill. It does not affect
the output of the function blocks instances.
Probe MC_TouchProbe_PTO Activates a trigger event on the probe input. This
(see page 297) trigger event allows to record the axis position,
and/or to start a buffered move.
MC_AbortTrigger_ PTO Aborts function blocks which are connected to
(see page 299) trigger events (for example,
MC_TouchProbe_PTO).
Parameters MC_ReadPar_PTO Gets parameters from the PTO.
(see page 307)
MC_WritePar_PTO Writes parameters to the PTO.
(see page 309)

NOTE: The motion function blocks act on the position of the axis according to the motion state
diagram (see page 248). The administrative function blocks do not influence the motion state.
NOTE: The MC_Power_PTO function block is mandatory before a move command can be issued.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Do not use the same function block instance in different program tasks.
 Do not change the function block reference (AXIS) while the function block is executing.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

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PTO Characteristics
There are up to five physical inputs for a PTO channel:
 Two are assigned to the PTO function through configuration and are taken into account upon a
rising edge on the input:
 Ref input (%I0.2 for %PTO0 and %I0.5 for %PTO1)
 Probe input (%I0.3 for %PTO0 and %I0.4 for %PTO1)

 Three are assigned to the MC_Power_PTO function block. They have no fixed assignment (they
are not configured in the configuration screen), and are read with all other inputs:
 DriveReady input
 Limit positive input
 Limit negative input

NOTE: These inputs are managed like any other regular input, but are used by the PTO function
when assigned to MC_Power_PTO function block.
NOTE: The positive and negative limit inputs are required to help prevent over-travel.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Ensure that controller hardware limit switches are integrated in the design and logic of your
application.
 Mount the controller hardware limit switches in a position that allows for an adequate braking
distance.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

There are up to three physical outputs for a PTO channel:

 Two outputs are mandatory to manage the output mode of the PTO function. They have a fixed
assignment and must be enabled by configuration:
 CW / CCW (respectively %Q0.0 and %Q0.1 for %PTO0 only)
 Pulse / Direction (respectively %Q0.0 and %Q0.2 for %PTO0 and/or %Q0.1 and %Q0.3 for
%PTO1)
 The other output, DriveEnable, is associated with the MC_Power_PTO function block. It has
no fixed assignment and is written with all other outputs.
The PTO function has the following characteristics:

Characteristic Value
Number of channels 2
Number of axis 1 per channel
Position range -2,147,483,648...2,147,483,647 (32 bits)
Minimum velocity 0 Hz

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Characteristic Value
Maximum velocity 100 kHz (for a 40/60 duty cycle and max. 200 mA)
Minimum step 1 Hz
Accuracy on velocity 1%
Acceleration / deceleration (min) 1 Hz/ms
Acceleration / deceleration (max) 100 kHz/ms
Origin offset -2,147,483,648...2,147,483,647 (32 bits)
Software limits range -2,147,483,648...2,147,483,647 (32 bits)

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Section 13.2
Configuration

Configuration

Overview
This section describes how to configure a PTO channel and the associated parameters.

What Is in This Section?

This section contains the following topics:
Topic Page
PTO Configuration 218
Pulse Output Modes 219
Acceleration / Deceleration Ramp 221
Probe Event 223
Positioning Limits 226

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PTO Configuration

Overview
To configure the Pulse Generator resource, refer to Configuring Pulse Generators
(see page 68).
To configure the Pulse Generator resource as a PTO, refer to PTO Configuration
(see page 74).

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Pulse Output Modes

Overview
There are two possible output modes:
 ClockWise / CounterClockwise
 Pulse / Direction

ClockWise (CW) / CounterClockwise (CCW) Mode

This mode generates a signal that defines the motor operating speed and direction. This signal is
implemented on the first PTO channel (PTO0 only).

NOTE: PTO1 is not available when choosing this mode.

Pulse / Direction Mode

This mode generates two signals on the PTO channels:
 The pulse output provides the motor operating speed (Pulses).
 The direction output provides the motor rotation direction (Direction).

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Special Cases

Special Case Description

Effect of a cold restart (%S0=TRUE)  The axis is set to Disabled state.
 The PTO function blocks are initialized.

Effect at controller stop The axis is set to ErrorStop state.

Effect of online modification None

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Acceleration / Deceleration Ramp

Start Velocity
The Start Velocity is the minimum frequency at which a stepper motor can produce movement,
with a load applied, without the loss of steps.
Start Velocity parameter is used when starting a motion from velocity 0.
Start Velocity must be in the range 0...MaxVelocityAppl.
Value 0 means that the Start Velocity parameter is not used. In this case, the motion starts at a
velocity = acceleration rate x 1 ms.

Stop Velocity
The Stop Velocity is the maximum frequency at which a stepper motor stops producing
movement, with a load applied, without loss of steps.
Stop Velocity is only used when moving from a higher velocity than Stop Velocity, down to
velocity 0.
Stop Velocity must be in the range 0...MaxVelocityAppl.
Value 0 means that the Stop Velocity parameter is not used. In this case, the motion stops at a
velocity = deceleration rate x 1 ms.

Acceleration / Deceleration
Acceleration is the rate of velocity change, starting from Start Velocity to target velocity.
Deceleration is the rate of velocity change, starting from target velocity to Stop Velocity. These
velocity changes are implicitly managed by the PTO function in accordance with Acceleration,
Deceleration and JerkRatio parameters following a trapezoidal or an S-curve profile.

Acceleration / Deceleration Ramp with a Trapezoidal Profile

When the jerk ratio parameter is set to 0, the acceleration / deceleration ramp has a trapezoidal
profile.
Expressed in Hz/ms, the acceleration and deceleration parameters represent the rate of
velocity change.

JerkRatio 0%: Constant acceleration / deceleration.

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Acceleration / Deceleration Ramp with an S-curve Profile

When the jerk ratio parameter is greater than 0, the acceleration / deceleration ramp has an S-
curve profile.
The S-curve ramp is used in applications controlling high inertia, or in those that manipulate fragile
objects or liquids. The S-curve ramp enables a smoother and progressive acceleration /
deceleration, as demonstrated in the following graphics:

JerkRatio 66%: 2/3 of the acceleration and deceleration time is spent in increasing and
decreasing the acceleration and deceleration value.

JerkRatio 100%: The entire time is spent in increasing and decreasing the acceleration and
deceleration value.

NOTE: The JerkRatio parameter value is common for acceleration and deceleration so that
concave time and convex time are equal.

Affect of the S-Curve Ramp on Acceleration / Deceleration

The duration for the acceleration / deceleration is maintained, whatever the JerkRatio parameter
may be. To maintain this duration, the acceleration or deceleration is other than that configured in
the function block (Acceleration or Deceleration parameters).
When the JerkRatio is applied, the acceleration / deceleration is affected.
When the JerkRatio is applied at 100%, the acceleration / deceleration is two times that of the
configured Acceleration/Deceleration parameters.
NOTE: The JerkRatio is re-calculated to respect the MaxAccelerationAppl and MaxDecel-
erationAppl parameters.

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Probe Event

Description
The Probe input is enabled by configuration, and activated using the MC_TouchProbe_PTO
function block.
The Probe input is used as an event to:
 capture the position,
 start a move independently of the task.

Both functions can be active at the same time, that is, the same event captures the position and
start a motion function block (see page 213).
NOTE: Only the first event after the rising edge at the MC_TouchProbe_PTO function block Busy
output is valid. Once the Done output is set to TRUE, subsequent events are ignored. The function
block needs to be reactivated to respond to other events.

Position Capture
The position captured is available in %MC_TouchProbe_PTO.RecordedPos.

Motion Trigger
The BufferMode input of a motion function block must be set to seTrigger.
This example illustrates a change target velocity with enable window:

1 Capture the position counter value

2 Trigger Move Velocity function block

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This example illustrates a move of pre-programmed distance, with simple profile and no enable
window:

1 Capture the position counter value

2 Trigger Move Relative function block

This example illustrates a move of pre-programmed distance, with complex profile and enable
window:

1 Capture the position counter value

2 Trigger Move Relative function block

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This example illustrates a trigger event out of enable window:

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Positioning Limits

Introduction
Positive and negative limits can be set to control the movement boundaries in both directions. Both
hardware and software limits are managed by the controller.
Hardware and software limit switches are used to manage boundaries in the controller application
only. They are not intended to replace any functional safety limit switches wired to the drive. The
controller application limit switches must necessarily be activated before the functional safety limit
switches wired to the drive. In any case, the type of functional safety architecture, which is beyond
the scope of the present document, that you deploy depends on your safety analysis, including,
but not limited to:
 risk assessment according to EN/ISO 12100
 FMEA according to EN 60812

WARNING
UNINTENDED EQUIPMENT OPERATION
Ensure that a risk assessment is conducted and respected according to EN/ISO 12100 during
the design of your machine.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

The figure illustrates hardware and software limit switches:

Once either the controller hardware or software limits are crossed, an error is detected and a Fast
stop deceleration is performed:
 the axis switches to ErrorStop state, with AxisErrorId 1002 to 1005. Refer to
MC_ReadAxisError_PTO (see page 302) and Axis Control Advisory Alerts (see page 244).
 the function block under execution detects the error state,
 on other applicable function blocks, the CmdAborted outputs are set to TRUE.

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To clear the axis error state, and return to a Standstill state, execution of MC_Reset_PTO is
required as any motion command will be rejected while the axis remains outside the limits (function
block terminates with ErrorId=InvalidDirectionValue). It is only possible to execute a
motion command in the opposite direction under these circumstances.

Software Limits
Software limits can be set to control the movement boundaries in both directions.
Limit values are enabled and set in the configuration screen, such that:
 Positive limit > Negative limit
 Values in the range -2,147,483,648 to 2,147,483,647

They can also be enabled, disabled, or modified in the application program (MC_WritePar_PTO
and PTO Parameter (see page 243)).
NOTE: When enabled, the software limits are valid after an initial homing is successfully performed
(that is, the axis is homed, MC_Home_PTO (see page 282)).

Hardware Limits
Hardware limits are required for the homing procedure, and for helping to prevent damage to the
machine. The appropriate inputs must be used on the %MC_Power_PTO.LimP and
%MC_Power_PTO.LimN inputs. The hardware limit devices must be of a normally closed type such
that the input to the function block is FALSE when the respective limit is reached.
NOTE: The restrictions over movement are valid while the limit inputs are FALSE and regardless
of the sense of direction. When they return to TRUE, movement restrictions are removed and the
hardware limits are functionnally rearmed. Therefore, use falling edge contacts leading to RESET
output instructions prior to the function block. Then use those bits to control these function block
inputs. When operations are complete, SET the bits to restore normal operation.

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WARNING
UNINTENDED EQUIPMENT OPERATION
 Ensure that controller hardware limit switches are integrated in the design and logic of your
application.
 Mount the controller hardware limit switches in a position that allows for an adequate braking
distance.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

NOTE: Adequate braking distance is dependent on the maximum velocity, maximum load (mass)
of the equipment being moved, and the value of the Fast stop deceleration parameter.

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Section 13.3
Home Modes

Home Modes

Overview
This section describes the PTO home modes.

What Is in This Section?

This section contains the following topics:
Topic Page
Homing Modes 230
Position Setting 233
Long Reference 234
Short Reference No Reversal 236
Short Reference Reversal 238
Short Reference with INDEX 240
Home Offset 241

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Homing Modes

Description
Homing is the method used to establish the reference point or origin for absolute movement.
A homing movement can be made using different methods. The M200 PTO channels provide
several standard homing movement types:
 position setting (see page 233),
 long reference (see page 234),
 short reference no reversal (see page 236),
 short reference reversal (see page 238),
 short reference with INDEX (see page 238).

A homing movement must be terminated without interruption for the new reference point to be
valid.
 %MC_ReadSts_PTO.IsHomed is set to TRUE when a homing movement is finished
successfully. If the homing movement is interrupted, it needs to be started again.
 %MC_ReadSts_PTO.IsHomed is set to FALSE when the axis state is DISABLED, or when no
homing movement was finished successfully.
Refer to MC_Home_PTO (see page 282) and home modes function block object codes
(see page 242).

Home Position
Homing is done with an external switch and the homing position is defined on the switch edge.
Then the motion is decelerated until stop.
The actual position of the axis at the end of the motion sequence may therefore differ from the
position parameter set on the function block:

REF (NO) Reference point (Normally Open)

1 Position at the end of motion = %MC_HOME_PTO.Position + “deceleration to stop” distance.

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To simplify the representation of a stop in the homing mode diagrams, the following presentation
is made to represent the actual position of the axis:

REF (NO) Reference point (Normally Open)

Limits
Hardware limits are necessary for the correct functioning of the MC_Home_PTO function block
(Positioning Limits (see page 226) and MC_Power_PTO (see page 258)). Depending on the
movement type you request with the homing mode, the hardware limits help assure that the end
of travel is respected by the function block.
When a homing action is initiated in a direction away from the reference switch, the hardware limits
serve to either:
 indicate a reversal of direction is required to move the axis toward the reference switch or,
 indicate that an error has been detected as the reference switch was not found before reaching
the end of travel.
For homing movement types that allow for reversal of direction, when the movement reaches the
hardware limit the axis stops using the configured deceleration, and resumes motion in a reversed
direction.
In homing movement types that do not allow for the reversal of direction, when the movement
reaches the hardware limit, the homing procedure is aborted and the axis stops with the Fast stop
deceleration.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Ensure that controller hardware limit switches are integrated in the design and logic of your
application.
 Mount the controller hardware limit switches in a position that allows for an adequate braking
distance.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

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NOTE: Adequate braking distance is dependent on the maximum velocity, maximum load (mass)
of the equipment being moved, and the value of the Fast stop deceleration parameter.

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Position Setting

Description
In the case of position setting, the current position is set to the specified position value. No move
is performed.

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Long Reference

Long Reference: Positive Direction

Homes to the reference switch falling edge in reverse direction.
The initial direction of motion is dependent on the state of the reference switch:

REF (NO) Reference point (Normally Open)

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Long Reference: Negative Direction

Homes to the reference switch falling edge in forward direction.
The initial direction of motion is dependent on the state of the reference switch:

REF (NO) Reference point (Normally Open)

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Short Reference No Reversal

Short Reference No Reversal: Positive Direction

Homes at low speed to the reference switch rising edge in forward direction, with no reversal:

REF (NO) Reference point (Normally Open)

REF (NO) Reference point (Normally Open)

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Short Reference No Reversal: Negative Direction

Homes at low speed to the reference switch falling edge in reverse direction, with no reversal:

REF (NO) Reference point (Normally Open)

REF (NO) Reference point (Normally Open)

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Short Reference Reversal

Short Reference Reversal: Positive Direction

Homes to the reference switch rising edge in forward direction.
The initial direction of motion is dependent on the state of the reference switch:

REF (NO) Reference point (Normally Open)

REF (NO) Reference point (Normally Open)

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Short Reference Reversal: Negative Direction

Homes to the reference switch rising edge in forward direction.
The initial direction of motion is dependent on the state of the reference switch:

REF (NO) Reference point (Normally Open)

REF (NO) Reference point (Normally Open)

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Short Reference with INDEX

Description
The PTOHome and PTOEnhancedHome function blocks are used to set the axis to a reference
position.
The Short Reference with INDEX homing method uses the two homing-specific inputs:
 The PROX input, used as the positive limit signal: On the rising edge of the signal (negative
side), the axis must change direction.
 The Origin input, used as the zero marker signal (Z)

The following diagram illustrates the Short Reference with INDEX homing method:

Error Detection
When the PROX input is enabled, an error is reported in the LIMIT_FLT status object when the
limit is crossed.

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Home Offset

Description
If the origin cannot be defined by switches with enough accuracy, it is possible to make the axis
move to a specific position away from the origin switch. Home offset allows making a difference
between mechanical origin and electrical origin.
Home offset is set in number of pulses (-2,147,483,648...2,147,483,647, default value 0). When
set by configuration, the MC_Home_PTO (see page 282) command is executed first, and then the
specified number of pulses is output at the home low velocity in the specified direction.
NOTE: The MC_Home_PTO command busy flag is only released after origin offset has been
completed.

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Section 13.4
Data Parameters

Data Parameters

Function Block Object Codes

Direction
This table lists the values for the direction function block object codes:

Name Value Description

mcPositiveDirection 1 CW, forward, positive (according to Output Mode
configuration setting).
mcNegativeDirection -1 CCW, backward, reverse, negative (according to Output
Mode configuration setting).

Buffer Modes
This table lists the values for the buffer modes function block object codes:

Name Value Description

mcAborting 0 Start FB immediately (default mode).
Any ongoing motion is aborted. The move queue is cleared.
mcBuffered 1 Start FB after current motion has finished (Done or InVel bit
is set to TRUE). There is no blending.
mcBlendingPrevious 3 The velocity is blended with the velocity of the first FB
(blending with the velocity of FB1 at end-position of FB1).
seTrigger 10 Start FB immediately when an event on the Probe input is
detected.
Any ongoing motion is aborted. The move queue is cleared.
seBufferedDelay 11 Start FB after current motion has finished (Done or InVel
output is set to TRUE) and the time delay has elapsed. There
is no blending.
The Delay parameter is set using MC_WritePar_PTO
(see page 309), with ParameterNumber 1000.

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Homing Modes
This table lists the values for the homing modes function block object codes:

Name Value Description

PositionSetting 0 Position.
LongReference 1 Long reference.
ShortReference_Reversal 20 Short reference.
ShortReference_NoReversal 21 Short reference no reversal.
ShortReference_with_INDEX 22 Short reference with INDEX.

PTO Parameter
This table lists the values for the PTO parameters function block object codes:

Name Parameter R/W Description

Number
CommandedPosition 1 R Commanded position.
SWLimitPos (High Limit) 2 R/W Positive software position limit.
SWLimitNeg (Low Limit) 3 R/W Negative software position limit.
EnableLimitPos (Enable the 4 R/W Enable positive software limit switch.
Software Position Limits)
EnableLimitNeg (Enable the 5 R/W Enable negative software limit switch.
Software Position Limits)
MaxVelocityAppl 9 R/W Maximal allowed velocity of the axis in the
(Max. Velocity) application.
ActualVelocity 10 R Velocity of the axis.
CommandedVelocity 11 R Commanded velocity.
MaxAccelerationAppl 13 R/W Maximal allowed acceleration of the axis in the
(Max. acc.) application.
MaxDecelerationAppl 15 R/W Maximal allowed deceleration of the axis in the
(Max. dec.) application.
Reserved to 999 - Reserved for the PLCopen standard.
Delay 1000 R/W Time in ms (0...65,535)
Default value: 0

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PTO Axis Error Codes

This table lists the values for the PTO axis error codes:

Name Value Description

NoError 0 No error detected.
Axis Control Alerts
InternalError 1000 Motion controller internal error detected.
DisabledAxis 1001 The move could not be started or has been aborted
because the axis is not ready.
HwPositionLimitP 1002 Hardware positive position limit limP exceeded.
HwPositionLimitN 1003 Hardware negative position limit limN exceeded.
SwPositionLimitP 1004 Software positive position limit exceeded.
SwPositionLimitN 1005 Software negative position limit exceeded.
ApplicationStopped 1006 Application execution has been stoppped (power cycle,
controller in STOPPED or HALT state).
OutputProtection 1007 Short-circuit output protection is active on the PTO
channels. Refer to the description of %S10 and %SW139 in
system bits (see page 358) and system words
(see page 366).
Axis Control Advisories
WarningVelocityValue 1100 Commanded Velocity parameter is out of range, therefore
velocity is limited to the configured maximum velocity.
WarningAccelerationValue 1101 Commanded Acceleration parameter is out of range,
therefore acceleration is limited to the configured maximum
acceleration.
WarningDecelerationValue 1102 Commanded Deceleration parameter is out of range,
therefore deceleration is limited to the configured maximum
deceleration.
WarningJerkRatioValue 1103 Commanded jerk ratio parameter is limited by the
configured maximum acceleration or deceleration. In this
case, the jerk ratio is recalculated to respect these
maximums.

An Axis Control Alert switches the axis in ErrorStop state (MC_Reset_PTO is mandatory to get
out of ErrorStop state). The resulting axis status is reflected by MC_ReadSts_PTO and
MC_ReadAxisError_PTO.

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PTO Motion Command Error Codes

This table lists the values for the PTO motion command error codes:

Name Value Description

NoError 0 No error detected.
Motion State Advisory Alerts
ErrorStopActive 2000 The move could not be started or has been aborted
because motion is prohibited by an ErrorStop condition.
StoppingActive 2001 The move could not be started because motion is prohibited
by MC_Stop_PTO having control of the axis (either the axis
is stopping, or MC_Stop_PTO.Execute input is held
TRUE).
InvalidTransition 2002 Transition not allowed, refer to the Motion State Diagram
(see page 248).
InvalidSetPosition 2003 MC_SetPos_PTO cannot be executed while the axis is
moving.
HomingError 2004 Homing sequence cannot start on reference cam in this
mode.
InvalidProbeConf 2005 The Probe input must be configured.
InvalidHomingConf 2006 The Ref input must be configured for this homing mode.
InvalidAbsolute 2007 An absolute move cannot be executed while the axis is not
successfully homed to an origin position. A homing
sequence must be executed first (MC_Home_PTO
(see page 282)).
MotionQueueFull 2008 The move could not be buffered because the motion queue
is full.
Range Advisory Alerts
InvalidAxis 3000 The function block is not applicable for the specified axis.
InvalidPositionValue 3001 Position parameter is out of limits, or distance parameter
gives an out of limits position.
InvalidVelocityValue 3002 Velocity parameter is out of range.
InvalidAccelerationValue 3003 Acceleration parameter is out of range.
InvalidDecelerationValue 3004 Deceleration parameter is out of range.
InvalidBufferModeValue 3005 Buffer mode does not correspond to a valid value.
InvalidDirectionValue 3006 Direction does not correspond to a valid value, or direction
is invalid due to software position limit exceeded.
InvalidHomeMode 3007 Homing mode is not applicable.
InvalidParameter 3008 The parameter number does not exist for the specified axis.

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Name Value Description

InvalidParameterValue 3009 Parameter value is out of range.
ReadOnlyParameter 3010 Parameter is read-only.

A Motion State Alert or a Range Alert does not affect the axis state, nor any move currently
executing, nor the move queue. In this case, the error is only local to the applicable function block:
the Error output is set to TRUE, and the ErrorId object output is set to the appropriate PTO
motion command error code.

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Section 13.5
Operation Modes

Operation Modes

Overview
This section describes the operation modes.

What Is in This Section?

This section contains the following topics:
Topic Page
Motion State Diagram 248
Buffer Mode 250

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Motion State Diagram

State Diagram
The axis is always in one of the defined states in this diagram:

Note 1 From any state, when an error is detected.

Note 2 From any state except ErrorStop, when %MC_Power_PTO.Status = FALSE.
Note 3 %MC_Reset_PTO.Done = TRUE and %MC_Power_PTO.Status = FALSE.
Note 4 %MC_Reset_PTO.Done = TRUE and %MC_Power_PTO.Status = TRUE.
Note 5 %MC_Power_PTO.Status = TRUE.
Note 6 %MC_Stop_PTO.Done = TRUE and %MC_Stop_PTO.Execute = FALSE.

The table describes the axis states:

State Description
Disabled Initial state of the axis, no motion command is allowed. The axis is not homed.
Standstill Power is on, no error is detected, and no motion commands are active on the axis.
Motion command is allowed.
ErrorStop Highest priority, applicable when an error is detected on the axis or in the controller.
Any ongoing move is aborted by a Fast Stop Deceleration. Error output is set to
TRUE on applicable function blocks, and an ErrorId sets the error code. As long as
an error is pending, the state remains ErrorStop. No further motion command is
accepted until a reset has been done using MC_Reset_PTO.
Homing Applicable when MC_Home_PTO controls the axis.
Discrete Applicable when MC_MoveRel_PTO, MC_MoveAbs_PTO, or MC_Halt_PTO controls
the axis.

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State Description
Continuous Applicable when MC_MoveVel_PTO controls the axis.
Stopping Applicable when MC_Stop_PTO controls the axis.

NOTE: Function blocks which are not listed in the state diagram do not affect a change of state of
the axis.
The entire motion command including acceleration and deceleration ramps cannot exceed
4,294,967,295 pulses. At the maximum frequency of 100 kHz, the acceleration and deceleration
ramps are limited to 80 seconds.

Motion Transition Table

The PTO channel can respond to a new command while executing (and before completing) the
current command according to the following table:

Command Next
Home MoveVel MoveRel MoveAbs Halt Stop
Current Standstill Allowed Allowed (1) Allowed (1) Allowed (1) Allowed Allowed

Home Rejected Rejected Rejected Rejected Rejected Allowed

MoveVel Rejected Allowed Allowed Allowed Allowed Allowed
MoveRel Rejected Allowed Allowed Allowed Allowed Allowed
MoveAbs Rejected Allowed Allowed Allowed Allowed Allowed
Halt Rejected Allowed Allowed Allowed Allowed Allowed
Stop Rejected Rejected Rejected Rejected Rejected Rejected
(1)
When the axis is at standstill, for the buffer modes mcAborting/mcBuffered/mcBlendingPrevious, the
move starts immediately.
Allowed the new command begins execution even if the previous command has not completed execution.
Rejected the new command is ignored and results in the declaration of an error.

NOTE: When an error is detected in the motion transition, the axis goes into ErrorStop state. The
ErrorId is set to InvalidTransition.

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Buffer Mode

Description
Some of the motion function blocks have an input object called BufferMode. With this input
object, the function block can either start immediately, start on probe event, or be buffered.
The available options are defined in the buffer modes function block object codes (see page 242):
 An aborting motion (mcAborting) starts immediately, aborting any ongoing move, and clearing
the motion queue.
 An event motion (seTrigger) is an aborting move, starting on probe event (see page 223).
 A buffered motion (mcBuffered, mcBlendingPrevious, seBufferedDelay) is queued,
that is, appended to any moves currently executing or waiting to execute, and starts when the
previous motion is done.

Motion Queue Diagram

The figure illustrates the motion queue diagram:

The buffer can contain only one motion function block.

The execution condition of the motion function block present in the buffer is:
 mcBuffered: when the current continuous motion is InVel, or when the current discrete
motion stops.
 seBufferedDelay: when the specified delay has elapsed, from the current continuous motion
is InVel, or from the current discrete motion stops.
 mcBlendingPrevious: when the position and velocity targets of current function block are
reached.

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The motion queue is cleared (all buffered motions are deleted):

 When an aborting move is triggered (mcAborting or seTrigger): CmdAborted output is set
to TRUE on buffered function blocks.
 When a MC_Stop_PTO function is executed: Error output is set to TRUE on cleared buffered
function blocks, with ErrorId=StoppingActive (see page 245).
 When a transition to ErrorStop state is detected: Error output is set to TRUE on buffered
function blocks, with ErrorId=ErrorStopActive (see page 245).

NOTE:
 Only a valid motion can be queued. If the function block execution terminates with the Error
output set to TRUE, the move is not queued, any move currently executing is not affected, and
the queue is not cleared.
 When the queue is already full, the Error output is set to TRUE on the applicable function
block, and ErrorId output returns the error MotionQueueFull (see page 245).

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Section 13.6
Adding / Removing a Function Block

Adding / Removing a Function Block

Adding / Removing a Function Block

Adding a Function Block

Follow these steps to add an instance of a PTO function block:

Step Action
1 Select the Programming tab.
2 Select Function Blocks  PTO  Motion or Function Blocks  PTO  Administrative as
shown in the following graphic:

3 Click into the rung to place the selected function block.

4 Associate the input/output variables (see page 213) of the function block.

NOTE: Set the parameters in the Configuration tab.

For more details, refer to PTO Configuration (see page 74).

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Removing a Function Block

Follow these steps to remove an instance of a PTO function block:

Step Action
1 In the Programming tab, click the instance of the function block.
2 Press Delete to remove the selected function block.

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Section 13.7
Motion Task Function Block

Motion Task Function Block

MC_MotionTask_PTO Function Block

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis and motion task
table. Double-click the function block to display the function block properties, choose the axis and table,
then click Apply.

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Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Start FALSE On rising edge, starts the function block execution.
The Loop and Pause inputs can be changed during the function block
execution and they affect the ongoing execution.
The Axis, Table, StartStep, and EndStep input objects value define the
motion sequence when the rising edge occurs. A subsequent change in these
input objects does not affect the ongoing execution.
The outputs are set when the function block execution terminates.
When FALSE, the outputs are reset one cycle after the function block
execution is terminated.
Loop FALSE When TRUE, once the function block execution terminates with no detected
error, the motion task sequence starts again on first step. The Ended output is
set for one cycle.
The input is tested when the function block execution terminates with no
detected error.
Pause FALSE When TRUE:
 Forces the axis to the Stopping state. To reach the Stopping state, the
current step deceleration value is used, if this value is invalid, the fast stop
deceleration is used.
 Does not allow a new execution of the function block.
 Keeps the Active output set even if velocity is equal to 0.

When reset to FALSE after being set to TRUE, the current motion task
execution resumes in the following conditions:
 The motion task resumes whatever the value of the current velocity.
 The current active step parameters are used.
 The absolute target position is not changed. If the current motion task is
MC_MoveRel_PTO, there is no distance added.
 In the current step, the Next step condition is reset (for example: the delay
is restarted from 0, Probe input event is enabled and waiting for an
edge).

This table describes the input objects of the function block:

Input Object Type Initial Description

Value
Axis PTOx – PTO axis instance for which the funtion block is to be
executed. The parameter is set in the function block instance
reached in the Programming  Tools module tab (PTO
objects  Motion, Axis parameter).

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Input Object Type Initial Description

Value
Table %MT – Table instance for which the funtion block is to be executed.
The parameter is set in the function block instance reached in
the Programming  Tools module tab (PTO objects 
Motion, Table parameter).
StartStep Byte 1 Step number that defines the first step executed in the motion
sequence.
The sequence is executed from StartStep to EndStep.
Restriction: StartStep  EndStep
EndStep Byte 16 Step number that defines the last step executed in the motion
sequence.
The sequence is executed from StartStep to EndStep.
Restriction: StartStep  EndStep
NOTE: If EndStep is greater than the maximum number of
steps defined in the Motion Task Table, the current last step
of the table is used.

Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Ended 0 When TRUE, function block execution is finished with no error detected.
Ended output behavior:
 If the last step of the motion sequence is a discrete movement, the
output behaves like a Done output.
Outputs behavior: (Busy, Active, CmdAborted, Error) are
FALSE (0).
 If the last step of the motion sequence is a continuous movement
(move velocity), the output behaves like an InVel output.
Outputs behavior:
 Busy and Active are TRUE (1).
 CmdAborted and Error are FALSE (0).

If a loop is requested (Loop input), the Ended output is TRUE for one
cycle when the sequence starts again.
Busy - When TRUE, function block execution is in progress.
When FALSE, execution of the function block has been terminated.
The function block must be kept in an active task of the application
program for at least as long as Busy is TRUE.
Active - When TRUE, the function block instance has control of the axis. Only
one function block at a time can set Active TRUE for the same axis.

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Output Initial Value Description

CmdAborted - When TRUE, function block execution is terminated due to another
motion command.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
ActiveStep Byte 0 Number of the step currently executed in the Motion
Task Table.
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

Operating Modes
MC_MotionTask_PTO start: The function block can only be started from Standstill state.
MC_MotionTask_PTO stop: The function block can be stopped by one of the following actions:
 Setting Pause input to TRUE.
 Executing a MC_Stop_PTO

The execution of the steps in the motion task follows the same rules and restrictions as each single-
axis function block. Generally, in case of detected errors the function block behaves as follows:
 If a motion state or range error is detected during the function block execution:
 A motion stop command is applied to the motion task using the current step deceleration
parameter value. If the step deceleration parameter is not valid, a fast stop deceleration is
applied.
 During the controlled motion stop, the function block outputs Active and Busy remain
TRUE, with the output object ActiveStep = 0.
 Once the motion is stopped, the function block execution is finished with Error = 1, and the
ErrorId output object set to the value corresponding to the detected error type.
 If an axis control error is detected, the axis switches to the Stopping state. The function block
execution is finished with Error = 1, and the ErrorId output object set to the value
corresponding to the detected error type.

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Section 13.8
Power Function Block

Power Function Block

MC_Power_PTO Function Block

Behavior
The axis is disabled, when:
 %MC_Power_PTO.Enable = FALSE, or
 %MC_Power_PTO.DriveReady = FALSE, or
 an Hardware limit error is detected (HwPositionLimitP / HwPositionLimitN)

When the axis is disabled, then:

 the Axis switches from Standstill to Disabled state, or
from any ongoing move, to ErrorStop, and then Disabled state (when the error is reset).
 %MC_ReadSts_PTO.IsHomed is reset to 0 (a new homing procedure is required).

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

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Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Enable FALSE When TRUE, the function block is executed. The values of the other function
block inputs can be modified continuously, and the function block outputs are
updated continuously.
When FALSE, terminates the function block execution and resets its outputs.
DriveReady FALSE Signal from the drive indicating its readiness.
Is set to TRUE when the drive is ready to start executing motion.
If the drive signal is connected to the controller, use the appropriate controller
input. If the drive does not provide this signal, you can force the value TRUE
for this input with any TRUE boolean value.
LimP TRUE Hardware limit switch information, in positive direction.
Is set to FALSE when the hardware limit switch is reached.
If the hardware limit switch signal is connected to the controller, use the
appropriate controller input. If this signal is not available, you can force the
value TRUE for this input with any TRUE boolean value.
LimN TRUE Hardware limit switch information, in negative direction.
Is set to FALSE when the hardware limit switch is reached.
If the hardware limit switch signal is connected to the controller, use the
appropriate controller input. If this signal is not available, you can force the
value TRUE for this input with any TRUE boolean value.

This table describes the input objects of the function block:

Input Object Type Initial Description

Value
Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.

Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Status FALSE When TRUE, the drive is reported as ready to accept motion commands.
DriveEnable FALSE When TRUE, indicates to the drive that it can accept motion commands
and that it should, therefore, enable power.
If the drive input is connected to the controller, use the appropriate
controller output. If the drive does not have an input for this signal, you
can leave this function block output unused.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

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This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

Timing Diagram Example

The diagram illustrates the operation of the MC_Power_PTO function block:

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Section 13.9
Movement Function Blocks

Movement Function Blocks

Overview
This section describes the movement function blocks.

What Is in This Section?

This section contains the following topics:
Topic Page
MC_MoveVel_PTO Function Block 262
MC_MoveRel_PTO Function Block 266
MC_MoveAbs_PTO Function Block 271
MC_Stop_PTO Function Block 275
MC_Halt_PTO Function Block 278

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MC_MoveVel_PTO Function Block

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Execute FALSE On rising edge, starts the function block execution. The values of the other
function block inputs control the execution of the function block on the rising
edge of Execute. A subsequent change in these input parameters does not
affect the ongoing execution unless the ContUpdate input is TRUE.
The outputs are set when the function block terminates.
If a second rising edge is detected during the execution of the function block,
the current execution is aborted and the function block is executed again.
ContUpdate FALSE When TRUE, makes the function block use any modified values of the input
objects (Vel, Acc, Dec, and Direction), and apply it to the ongoing
command.
This input must be TRUE prior to the rising edge on the Execute input to be
taken into account.

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This table describes the input objects of the function block:

Input Object Type Initial Value Description

Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.
Vel DINT 0 Target velocity.
Range Hz: 0....MaxVelocityAppl (see page 243)
Acc DINT 0 Acceleration in Hz/ms
Range (Hz/ms): 1...MaxAccelerationAppl (see page 243)
Dec DINT 0 Deceleration in Hz/ms
Range (Hz/ms): 1...MaxDecelerationAppl (see page 243)
JerkRatio INT 0 Percentage of acceleration / deceleration adjustment used to
create the S-curve profile (see page 222).
Range : 0…100
Direction INT mcPositiveDirection Direction of the movement for PTO type CW/CCW
forward (CW) = 1 (mcPositiveDirection)
reverse (CCW) = -1 (mcNegativeDirection)
BufferMode INT mcAborting Transition mode from ongoing move. Refer to Buffer Modes
table (see page 241).

Outputs
This table describes the outputs of the function block:

Output Initial Value Description

InVel FALSE When TRUE, the target velocity has been reached.
Busy - When TRUE, function block execution is in progress.
When FALSE, execution of the function block has been terminated.
The function block must be kept in an active task of the application
program for at least as long as Busy is TRUE.
Active - When TRUE, the function block instance has control of the axis. Only
one function block at a time can set Active TRUE for the same axis.
CmdAborted - When TRUE, function block execution is terminated due to another
motion command.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

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This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

NOTE:
 To stop the motion, the function block has to be interrupted by another function block issuing a
new command.
 If a motion is ongoing, and the direction is reversed, first the motion is halted with the
deceleration of the MC_MoveVel_PTO function block, and then the motion resumes backward.
 The acceleration/deceleration duration of the segment block must not exceed 80 seconds.

Timing Diagram Example

The diagram illustrates a simple profile from Standstill state:

The diagram illustrates a complex profile from Continuous state:

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The diagram illustrates a complex profile from Continuous state with change of direction:

The diagram illustrates a complex profile from Discrete state:

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MC_MoveRel_PTO Function Block

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Execute FALSE On rising edge, starts the function block execution. The values of the other
function block inputs control the execution of the function block on the rising
edge of Execute. A subsequent change in these input parameters does not
affect the ongoing execution unless the ContUpdate input is TRUE.
The outputs are set when the function block terminates.
If a second rising edge is detected during the execution of the function block,
the current execution is aborted and the function block is executed again.

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This table describes the input objects of the function block:

Input Object Type Initial Value Description

Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.
Distance DINT 0 Relative distance for the motion, in pulses. The sign specifies
the direction.
Vel DINT 0 Target velocity.
Range Hz: 0....MaxVelocityAppl (see page 243)
Acc DINT 0 Acceleration in Hz/ms
Range (Hz/ms): 1...MaxAccelerationAppl (see page 243)
Dec DINT 0 Deceleration in Hz/ms
Range (Hz/ms): 1...MaxDecelerationAppl (see page 243)
JerkRatio INT 0 Percentage of acceleration / deceleration adjustment used to
create the S-curve profile (see page 222).
Range : 0…100
BufferMode INT mcAborting Transition mode from ongoing move. Refer to Buffer Modes
table (see page 241).

Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Done - When TRUE, function block execution is finished with no error detected.
When one movement on an axis is interrupted with another movement
on the same axis before the commanded action has been completed,
CmdAborted is set to TRUE and Done is set to FALSE.
Busy - When TRUE, function block execution is in progress.
When FALSE, execution of the function block has been terminated.
The function block must be kept in an active task of the application
program for at least as long as Busy is TRUE.
Active - When TRUE, the function block instance has control of the axis. Only
one function block at a time can set Active TRUE for the same axis.
CmdAborted - When TRUE, function block execution is terminated due to another
motion command.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

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This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

NOTE:
 The function block completes with velocity zero if no further blocks are pending.
 If the distance is too short for the target velocity to be reached, the movement profile is
triangular, rather than trapezoidal.
 If a motion is ongoing, and the commanded distance is exceeded due to the current motion
parameters, the direction reversal is automatically managed: the motion is first halted with the
deceleration of the MC_MoveRel_PTO function block, and then the motion resumes backward.
 The acceleration/deceleration duration of the segment block must not exceed 80 seconds.

Timing Diagram Example

The diagram illustrates a simple profile from Standstill state:

The diagram illustrates a complex profile from Continuous state:

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The diagram illustrates a complex profile from Continuous state with change of direction:

The diagram illustrates a complex profile from Discrete state:

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The diagram illustrates a complex profile from Discrete state with change of direction:

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MC_MoveAbs_PTO Function Block

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Execute FALSE On rising edge, starts the function block execution. The values of the other
function block inputs control the execution of the function block on the rising
edge of Execute. A subsequent change in these input parameters does not
affect the ongoing execution unless the ContUpdate input is TRUE.
The outputs are set when the function block terminates.
If a second rising edge is detected during the execution of the function block,
the current execution is aborted and the function block is executed again.

This table describes the input objects of the function block:

Input Object Type Initial Value Description

Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.
Pos DINT 0 Position of the axis.

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Input Object Type Initial Value Description

Vel DINT 0 Target velocity.
Range Hz: 0....MaxVelocityAppl (see page 243)
Acc DINT 0 Acceleration in Hz/ms
Range (Hz/ms): 1...MaxAccelerationAppl (see page 243)
Dec DINT 0 Deceleration in Hz/ms
Range (Hz/ms): 1...MaxDecelerationAppl (see page 243)
JerkRatio INT 0 Percentage of acceleration / deceleration adjustment used to
create the S-curve profile (see page 222).
Range : 0…100
BufferMode INT mcAborting Transition mode from ongoing move. Refer to Buffer Modes
table (see page 241).

Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Done - When TRUE, function block execution is finished with no error detected.
When one movement on an axis is interrupted with another movement
on the same axis before the commanded action has been completed,
CmdAborted is set to TRUE and Done is set to FALSE.
Busy - When TRUE, function block execution is in progress.
When FALSE, execution of the function block has been terminated.
The function block must be kept in an active task of the application
program for at least as long as Busy is TRUE.
Active - When TRUE, the function block instance has control of the axis. Only
one function block at a time can set Active TRUE for the same axis.
CmdAborted - When TRUE, function block execution is terminated due to another
motion command.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

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This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

NOTE:
 The function block completes with velocity zero if no further blocks are pending.
 The motion direction is automatically set, according to the current and target positions.
 If the distance is too short for the target velocity to be reached, the movement profile is
triangular, rather than trapezoidal.
 If the position cannot be reached with the current direction, the direction reversal is
automatically managed. If a motion is ongoing, it is first halted with the deceleration of the
MC_MoveAbsolute_PTO function block, and then the motion resumes backward.
 The acceleration/deceleration duration of the segment block must not exceed 80 seconds.

Timing Diagram Example

The diagram illustrates a simple profile from Standstill state:

The diagram illustrates a complex profile from Continuous state:

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The diagram illustrates a complex profile from Discrete state:

The diagram illustrates a complex profile from Discrete state with change of direction:

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MC_Stop_PTO Function Block

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Execute FALSE On rising edge, starts the function block execution. The values of the other
function block inputs control the execution of the function block on the rising
edge of Execute. A subsequent change in these input parameters does not
affect the ongoing execution unless the ContUpdate input is TRUE.
The outputs are set when the function block terminates.
If a second rising edge is detected during the execution of the function block,
the current execution is aborted and the function block is executed again.

This table describes the input objects of the function block:

Input Object Type Initial Description

Value
Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.
Dec DINT 0 Deceleration in Hz/ms
Range (Hz/ms): 1...MaxDecelerationAppl (see page 243)

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Input Object Type Initial Description

Value
JerkRatio INT 0 Percentage of acceleration / deceleration adjustment used to
create the S-curve profile (see page 222).
Range : 0…100

Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Done - When TRUE, function block execution is finished with no error detected.
When one movement on an axis is interrupted with another movement
on the same axis before the commanded action has been completed,
CmdAborted is set to TRUE and Done is set to FALSE.
Busy - When TRUE, function block execution is in progress.
When FALSE, execution of the function block has been terminated.
The function block must be kept in an active task of the application
program for at least as long as Busy is TRUE.
CmdAborted - When TRUE, function block execution is terminated due to another
motion command.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

NOTE:
 Calling this function block in state Standstill changes the state to Stopping, and back to
Standstill when Execute is FALSE.
 The state Stopping is kept as long as the input Execute is TRUE.
 The Done output is set when the stop ramp is finished.
 If Deceleration = 0, the fast stop deceleration is used.
 The function block completes with velocity zero.
 The deceleration duration of the segment block must not exceed 80 seconds.

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Timing Diagram Example

The diagram illustrates a simple profile from Continuous state:

The diagram illustrates a simple profile from Discrete state:

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MC_Halt_PTO Function Block

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Execute FALSE On rising edge, starts the function block execution. The values of the other
function block inputs control the execution of the function block on the rising
edge of Execute. A subsequent change in these input parameters does not
affect the ongoing execution unless the ContUpdate input is TRUE.
The outputs are set when the function block terminates.
If a second rising edge is detected during the execution of the function block,
the current execution is aborted and the function block is executed again.

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This table describes the input objects of the function block:

Input Object Type Initial Value Description

Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.
Dec DINT 0 Deceleration in Hz/ms
Range (Hz/ms): 1...MaxDecelerationAppl (see page 243)
JerkRatio INT 0 Percentage of acceleration / deceleration adjustment used to
create the S-curve profile (see page 222).
Range : 0…100
BufferMode INT mcAborting Transition mode from ongoing move. Refer to Buffer Modes
table (see page 241).

Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Done - When TRUE, function block execution is finished with no error detected.
When one movement on an axis is interrupted with another movement
on the same axis before the commanded action has been completed,
CmdAborted is set to TRUE and Done is set to FALSE.
Busy - When TRUE, function block execution is in progress.
When FALSE, execution of the function block has been terminated.
The function block must be kept in an active task of the application
program for at least as long as Busy is TRUE.
Active - When TRUE, the function block instance has control of the axis. Only
one function block at a time can set Active TRUE for the same axis.
CmdAborted - When TRUE, function block execution is terminated due to another
motion command.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

NOTE: The function block completes with velocity zero.

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Timing Diagram Example

The diagram illustrates a simple profile from Continuous state:

The diagram illustrates a simple profile from Discrete state:

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Section 13.10
Stopping / Position Function Blocks

Stopping / Position Function Blocks

Overview
This section describes the stopping and the position function blocks.

What Is in This Section?

This section contains the following topics:
Topic Page
MC_Home_PTO Function Block 282
MC_SetPos_PTO Function Block 285

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MC_Home_PTO Function Block

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Execute FALSE On rising edge, starts the function block execution. The values of the other
function block inputs control the execution of the function block on the rising
edge of Execute. A subsequent change in these input parameters does not
affect the ongoing execution unless the ContUpdate input is TRUE.
The outputs are set when the function block terminates.
If a second rising edge is detected during the execution of the function block,
the current execution is aborted and the function block is executed again.

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This table describes the input objects of the function block:

Input Object Type Initial Value Description

Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.
Mode BYTE 0 Predefined homing sequence type (see page 243).
Pos DINT 0 Position of the axis.
HighVel DINT 0 Target homing velocity for searching the limit or reference
switch.
Range Hz: 1...MaxVelocityAppl (see page 243)
LowVel DINT 0 Target homing velocity for searching the reference switch
signal. The movement stops when the limit or reference
switch is detected.
Range Hz: 1...HighVelocity
Acc DINT 0 Acceleration in Hz/ms
Range (Hz/ms): 1...MaxAccelerationAppl (see page 243)
Dec DINT 0 Deceleration in Hz/ms
Range (Hz/ms): 1...MaxDecelerationAppl (see page 243)
JerkRatio INT 0 Percentage of acceleration / deceleration adjustment used to
create the S-curve profile (see page 222).
Range : 0…100
Direction INT mcPositiveDirection Direction of the movement for PTO type CW/CCW
forward (CW) = 1 (mcPositiveDirection)
reverse (CCW) = -1 (mcNegativeDirection)
Offset DINT 0 Distance from origin point. When the origin point is reached,
the motion resumes until the distance is covered. Direction
depends on the sign (Home offset (see page 241)).
Range: -2,147,483,648...2,147,483,647

Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Done - When TRUE, function block execution is finished with no error detected.
When one movement on an axis is interrupted with another movement
on the same axis before the commanded action has been completed,
CmdAborted is set to TRUE and Done is set to FALSE.
Busy - When TRUE, function block execution is in progress.
When FALSE, execution of the function block has been terminated.
The function block must be kept in an active task of the application
program for at least as long as Busy is TRUE.
Active - When TRUE, the function block instance has control of the axis. Only
one function block at a time can set Active TRUE for the same axis.

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Output Initial Value Description

CmdAborted - When TRUE, function block execution is terminated due to another
motion command.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

NOTE: The acceleration/deceleration duration of the segment block must not exceed 80 seconds.

Timing Diagram Example

Home modes (see page 230)

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MC_SetPos_PTO Function Block

Behavior
This function block modifies the coordinates of the actual position of the axis without any physical
movement. It can only be used when the axis is in a Standstill state.

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Execute FALSE On rising edge, starts the function block execution. The values of the other
function block inputs control the execution of the function block on the rising
edge of Execute. A subsequent change in these input parameters does not
affect the ongoing execution unless the ContUpdate input is TRUE.
The outputs are set when the function block terminates.
If a second rising edge is detected during the execution of the function block,
the current execution is aborted and the function block is executed again.

This table describes the input objects of the function block:

Input Object Type Initial Description

Value
Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.
Pos DINT 0 Position of the axis.

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Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Done - When TRUE, function block execution is finished with no error detected.
When one movement on an axis is interrupted with another movement
on the same axis before the commanded action has been completed,
CmdAborted is set to TRUE and Done is set to FALSE.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

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Section 13.11
Status Function Blocks

Status Function Blocks

Overview
This section describes the status function blocks.

What Is in This Section?

This section contains the following topics:
Topic Page
MC_ReadActVel_PTO Function Block 288
MC_ReadActPos_PTO Function Block 290
MC_ReadSts_PTO Function Block 292
MC_ReadMotionState_PTO Function Block 294

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MC_ReadActVel_PTO Function Block

Function Description
This function block returns the value of the actual velocity of the axis.

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Enable FALSE When TRUE, the function block is executed. The values of the other function
block inputs can be modified continuously, and the function block outputs are
updated continuously.
When FALSE, terminates the function block execution and resets its outputs.

This table describes the input objects of the function block:

Input Object Type Initial Description

Value
Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.

Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Valid - If TRUE, the function block object data is valid.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

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This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
Vel DINT - Velocity of the axis.
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

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MC_ReadActPos_PTO Function Block

Function Description
This function block returns the value of the actual position of the axis.

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Enable FALSE When TRUE, the function block is executed. The values of the other function
block inputs can be modified continuously, and the function block outputs are
updated continuously.
When FALSE, terminates the function block execution and resets its outputs.

This table describes the input objects of the function block:

Input Object Type Initial Description

Value
Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.

Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Valid - If TRUE, the function block object data is valid.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

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This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
Pos DINT - Position of the axis.
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

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MC_ReadSts_PTO Function Block

Function Description
This function block returns the state diagram (see page 248) status of the axis.

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Enable FALSE When TRUE, the function block is executed. The values of the other function
block inputs can be modified continuously, and the function block outputs are
updated continuously.
When FALSE, terminates the function block execution and resets its outputs.

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This table describes the input objects of the function block:

Input Object Type Initial Description

Value
Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.

Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Valid - If TRUE, the function block object data is valid.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.
IsHomed FALSE When TRUE, it indicates that the axis has been homed such that the
absolute reference point is valid, and absolute motion commands are
allowed.
AxisWarning FALSE When TRUE, an alert or an advisory has been provoked by a motion
command. Use MC_ReadAxisError_PTO function block to obtain
detailed information. (see page 302)
QueueFull FALSE When TRUE, the motion queue is full and no additional buffered motion
commands are allowed.

This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
AxisState - - Code for the state of the axis:
0 = axis not configured
1 = ErrorStop
2 = Disabled
4 = Stopping
8 = Homing
16 = Standstill
32 = Discrete motion
64 = Continuous motion
For more information, refer to the States description
table (see page 248).
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

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MC_ReadMotionState_PTO Function Block

Function Description
This function block returns the actual motion status of the axis.

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Enable FALSE When TRUE, the function block is executed. The values of the other function
block inputs can be modified continuously, and the function block outputs are
updated continuously.
When FALSE, terminates the function block execution and resets its outputs.

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This table describes the input objects of the function block:

Input Object Type Initial Description

Value
Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.

Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Valid - If TRUE, the function block object data is valid.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.
ConstantVel - When TRUE, the velocity of the axis is constant.
Accelerating - When TRUE, the velocity of the axis is increasing.
Decelerating - When TRUE, the velocity of the axis is decreasing.

This table describes the output objects of the function block:

Output Objects Type Initial Value Description

ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

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Section 13.12
Probe Function Blocks

Probe Function Blocks

Overview
This section describes the probe function blocks.

What Is in This Section?

This section contains the following topics:
Topic Page
MC_TouchProbe_PTO Function Block 297
MC_AbortTrigger_PTO Function Block 299

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MC_TouchProbe_PTO Function Block

Function Description
This function block is used to activate a trigger event on the probe input. This trigger event allows
to record the axis position, and/or to start a buffered move.

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Execute FALSE On rising edge, starts the function block execution. The values of the other
function block inputs control the execution of the function block on the rising
edge of Execute. A subsequent change in these input parameters does not
affect the ongoing execution unless the ContUpdate input is TRUE.
The outputs are set when the function block terminates.
If a second rising edge is detected during the execution of the function block,
the current execution is aborted and the function block is executed again.
WindowOnly FALSE When TRUE, a trigger event is only recognized within the position range
(window) defined by FirstPosition and LastPosition.
TriggerLevel FALSE When TRUE, position captured at rising edge.
When FALSE, position captured at falling edge.

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This table describes the input objects of the function block:

Input Object Type Initial Description

Value
Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.
FirstPos DINT 0 Start of the absolute position from where trigger events are
accepted (value included in enable window).
LastPos DINT 0 End of the absolute position from which trigger events are
accepted (value included in enable window).

Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Done - When TRUE, function block execution is finished with no error detected.
When one movement on an axis is interrupted with another movement
on the same axis before the commanded action has been completed,
CmdAborted is set to TRUE and Done is set to FALSE.
Busy - When TRUE, function block execution is in progress.
When FALSE, execution of the function block has been terminated.
The function block must be kept in an active task of the application
program for at least as long as Busy is TRUE.
CmdAborted - When TRUE, function block execution is terminated due to another
motion command.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
RecordedPos - - Position where trigger event was detected.
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

NOTE:
 Only one instance of this function block is allowed on the same axis.
 Only the first event after the rising edge at the MC_TouchProbe_PTO function block Busy
output is valid. Once the Done output is set to TRUE, subsequent events are ignored. The
function block needs to be reactivated to respond to other events.

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MC_AbortTrigger_PTO Function Block

Function Description
This function block is used to abort function blocks which are connected to trigger events (for
example, MC_TouchProbe_PTO).

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Execute FALSE On rising edge, starts the function block execution. The values of the other
function block inputs control the execution of the function block on the rising
edge of Execute. A subsequent change in these input parameters does not
affect the ongoing execution unless the ContUpdate input is TRUE.
The outputs are set when the function block terminates.
If a second rising edge is detected during the execution of the function block,
the current execution is aborted and the function block is executed again.

This table describes the input objects of the function block:

Input Object Type Initial Description

Value
Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.

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Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Done - When TRUE, function block execution is finished with no error detected.
When one movement on an axis is interrupted with another movement
on the same axis before the commanded action has been completed,
CmdAborted is set to TRUE and Done is set to FALSE.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

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Section 13.13
Error Handling Function Blocks

Error Handling Function Blocks

Overview
This section describes the error handling function blocks.

What Is in This Section?

This section contains the following topics:
Topic Page
MC_ReadAxisError_PTO Function Block 302
MC_Reset_PTO Function Block 304

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MC_ReadAxisError_PTO Function Block

Function Description
This function block retrieves the axis control error. If no axis control error is pending, the function
block returns AxisErrorId = 0.

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Enable FALSE When TRUE, the function block is executed. The values of the other function
block inputs can be modified continuously, and the function block outputs are
updated continuously.
When FALSE, terminates the function block execution and resets its outputs.

This table describes the input objects of the function block:

Input Object Type Initial Description

Value
Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.

Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Valid - If TRUE, the function block object data is valid.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

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This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
AxisErrorId - - Axis error codes, valid when AxisWarning output
is TRUE. Refer to PTO axis error code table
(see page 244).
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

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MC_Reset_PTO Function Block

Behavior
This function block resets all axis-related errors, conditions permitting, to allow a transition from the
states ErrorStop to Standstill. It does not affect the output of the function blocks instances.

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Execute FALSE On rising edge, starts the function block execution. The values of the other
function block inputs control the execution of the function block on the rising
edge of Execute. A subsequent change in these input parameters does not
affect the ongoing execution unless the ContUpdate input is TRUE.
The outputs are set when the function block terminates.
If a second rising edge is detected during the execution of the function block,
the current execution is aborted and the function block is executed again.

This table describes the input objects of the function block:

Input Object Type Initial Description

Value
Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.

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Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Done - When TRUE, function block execution is finished with no error detected.
When one movement on an axis is interrupted with another movement
on the same axis before the commanded action has been completed,
CmdAborted is set to TRUE and Done is set to FALSE.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

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Section 13.14
Parameters Function Blocks

Parameters Function Blocks

Overview
This section describes the parameters function blocks.

What Is in This Section?

This section contains the following topics:
Topic Page
MC_ReadPar_PTO Function Block 307
MC_WritePar_PTO Function Block 309

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MC_ReadPar_PTO Function Block

Function Description
This function block is used to get parameters from the PTO.

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Enable FALSE When TRUE, the function block is executed. The values of the other function
block inputs can be modified continuously, and the function block outputs are
updated continuously.
When FALSE, terminates the function block execution and resets its outputs.

This table describes the input objects of the function block:

Input Object Type Initial Description

Value
Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.
ParNumber DINT 0 Code for the parameter you wish to read or write. For more
information, refer to PTO Parameter table (see page 243).

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Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Valid - If TRUE, the function block object data is valid.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
Value - - Value read from the parameter chosen with the
ParNumber input object.
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

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MC_WritePar_PTO Function Block

Function Description
This function block is used to write parameters to the PTO.

Graphical Representation

NOTE: When you first enter the function block, you must configure it to use the intended axis. Double-click on
the function block to display the function block properties, choose the axis and click Apply.

Inputs
This table describes the inputs of the function block:

Input Initial Description

Value
Execute FALSE On rising edge, starts the function block execution. The values of the other
function block inputs control the execution of the function block on the rising
edge of Execute. A subsequent change in these input parameters does not
affect the ongoing execution unless the ContUpdate input is TRUE.
The outputs are set when the function block terminates.
If a second rising edge is detected during the execution of the function block,
the current execution is aborted and the function block is executed again.

This table describes the input objects of the function block:

Input Object Type Initial Description

Value
Axis PTOx - Instance for which the function block is to be executed. The
name is declared in the controller configuration.
ParNumber DINT 0 Code for the parameter you wish to read or write. For more
information, refer to PTO Parameter table (see page 243).
Value DINT 0 Value to be written to the parameter chosen with the
ParNumber input object.

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Outputs
This table describes the outputs of the function block:

Output Initial Value Description

Done - When TRUE, function block execution is finished with no error detected.
When one movement on an axis is interrupted with another movement
on the same axis before the commanded action has been completed,
CmdAborted is set to TRUE and Done is set to FALSE.
Error FALSE If TRUE, indicates that an error was detected. Function block execution
is finished.

This table describes the output objects of the function block:

Output Type Initial Value Description

Objects
ErrorId Word - Motion command error codes, valid when Error
output is TRUE. Refer to PTO motion command
error code table (see page 245).

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PID Function
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Chapter 14
PID Function

PID Function

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
14.1 PID Operating Modes 312
14.2 PID Auto-Tuning Configuration 314
14.3 PID Standard Configuration 318
14.4 PID Assistant 330
14.5 PID Programming 344
14.6 PID Parameters 351

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Section 14.1
PID Operating Modes

PID Operating Modes

PID Operating Modes

Introduction
The SoMachine Basic PID controller offers 4 distinct operating modes, configurable in the General
tab (see page 333) of the PID Assistant in SoMachine Basic.
The PID operating modes are:
 PID mode
 AT + PID mode
 AT mode
 Word address

PID Mode
The simple PID controller mode is active by default when the PID controller starts up. The gain
values Kp, Ti, and Td to be specified in the PID tab (see page 338) must be known in advance to
successfully control the process. You can choose the corrector type of the controller (PID or PI) in
the PID tab of the PID Assistant screen (see page 330). If the PI corrector type is selected, the
derivative time Td field is disabled.
Using PID mode, the Auto-Tuning function is disabled and the AT tab (see page 340) of the
Assistant Configuration screen is therefore unavailable.

AT + PID Mode
In this mode, the Auto-Tuning function is active when the PID controller starts up. The Auto-Tuning
function then calculates the gain values Kp, Ti, and Td (see page 338) and the type of PID action
(see page 342). At the end of the Auto-Tuning sequence, the controller switches to PID mode for
the adjusted setpoint, using the parameters calculated by Auto-Tuning.
If the Auto-Tuning algorithm detects an error (see page 349):
 No PID parameter is calculated.
 The Auto-Tuning output is set to the output that was applied to the process before starting Auto-
Tuning.
 An error message appears in the List of PID States drop-down list.
 The PID control is cancelled.
While in AT + PID mode, the transition from Auto-Tuning to PID mode is automatic and seamless.

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AT Mode
In this mode, the Auto-Tuning function is active when the PID controller starts up and automatically
calculates both the gain values Kp, Ti, and Td (see page 338) and the type of PID action
(see page 342). After convergence of the Auto-Tuning process and successful completion with the
determination of the Kp, Ti, and Td parameters and the type of PID action (see page 342) (or after
detection of an error in the Auto-Tuning algorithm), the Auto-Tuning numerical output is set to 0
and the Auto-Tuning Complete message appears in the List of PID States (see page 348) drop-
down. The PID controller then stops and waits. The calculated Kp, Ti, and Td PID coefficients are
available in their respective memory words (%MWx).

Word Address
This PID mode is selected by assigning the desired value to the word address associated with this
selection:
 %MWxx = 0: The controller is disabled.
 %MWxx = 1: The controller operates in simple PID mode.
 %MWxx = 2: The controller operates in AT+ PID mode.
 %MWxx = 3: The controller operates in AT mode only.
 %MWxx = 4: The controller operates in simple PID mode, with PI corrector type.
This mode word address enables you to manage the PID controller operating mode with the
application, thus making it possible to adapt to your requirements.

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Section 14.2
PID Auto-Tuning Configuration

PID Auto-Tuning Configuration

PID Auto-Tuning Configuration

Introduction
This section guides you through all the steps necessary to configure the SoMachine Basic PID
controller using Auto-tuning (AT).
This section contains the following steps:

Step Topic
1 Configuring analog channel (see page 314)
2 Pre-requisites for PID configuration (see page 314)
3 Configuring the PID (see page 315)
4 Control set-up (see page 316)

Step 1: Configuring the Analog Channel

A PID controller uses an analog feedback signal (known as the process value) to calculate the
algorithm used to control the process. The logic controller has an embedded analog input that can
be used to acquire this process value.
If an analog output is being used to drive the system to be controlled, make sure that this analog
output is correctly configured. Refer to the analog output expansion module of your logic controller.

Step 2: Pre-requisites for PID Configuration

Before configuring the PID controller, ensure that the following phases have been performed:

Phase Description
1 PID is enabled in the program (see page 345).
2 Scan Mode is set to periodic (see page 347).

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Step 3: Configuring the PID

Use a solid state output in conjunction with the PID function. Using a relay output may result in
quickly exceeding its life cycle limits resulting in an inoperative relay with contacts either frozen
open or soldered closed.

WARNING
INOPERABLE EQUIPMENT OR UNINTENDED EQUIPMENT OPERATION
 Do not use relay outputs in conjunction with the PID function.
 Only use solid state outputs if a digital output is required to drive the system to be controlled.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

To implement a PID controller with Auto-Tuning, perform the following steps:

Step Action
1 In the General tab (see page 333) of the PID Assistant screen (in offline mode), select
AT+PID (or AT) or select Word Address setting the associated word to 2 or 3, from the
Operating Modes (see page 312).
2 Activate the PID States checkbox and enter the address of the memory word in the field.
3 In the Input tab (see page 336), enter the address of the analog input used as a
measurement.
4 If Conversion or Alarms are required, refer to Input tab (see page 336) of PID Assistant
screen.
5 In the PID tab (see page 338), enter the value of the setpoint. In general, this value is a
memory address or an analog input.
6 Corrector type in the PID tab must be set to PID or PI.
7 Set the Parameters in the PID tab: Kp (x0,01), Ti (x0,1s), and Td (x0,1s). When AT+PID or
AT are the Operating modes (see page 312), the parameters should be memory words
addresses (%MWxx) so the Auto-Tuning algorithm fills in the computed value of the
parameters.
8 Enter the PID Sampling period (Ts (see page 327)) in the PID tab. The Sampling period is
a key parameter and must be carefully determined.
9 In the AT tab, the AT Mode must be set to Authorize by default. Enter the Min. and Max.
values if the Measurement Range is activated (Authorize checkbox). Select the Dynamic
AT corrector from the list that contains Fast, Medium, Slow, or Word address corrector
type. For further details, refer to the AT tab in PID Assistant (see page 340).
10 In the AT tab, enter the AT Trigger memory bit to store the value of the step change during
Auto-Tuning. For further details, refer to the AT tab in PID Assistant (see page 340).

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Step Action
11 In the Output tab (see page 342), set the Action to Bit Address from the list. Enter the
memory bit address in the Bit field. Limits can be configured if necessary from Output tab
(see page 342). In Analog output field, set the address of the word: an analog output or a
memory word. Set the Output PWM (see page 342) to Authorize. In the manual mode, enter
the value in the Period (0.1 s) field or the memory word address of the output in the Output
field. For more details about manual mode operation, refer to Output tab (see page 342).
12 Click OK to confirm the PID controller configuration.

Step 4: Control Setup

Use a solid state output in conjunction with the PID function. Using a relay output may result in
quickly exceeding its life cycle limits resulting in an inoperative relay with contacts either frozen
open or soldered closed.

WARNING
INOPERABLE EQUIPMENT OR UNINTENDED EQUIPMENT OPERATION
 Do not use relay outputs in conjunction with the PID function.
 Only use solid state outputs if a digital output is required to drive the system to be controlled.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

To start operation in AT+PID operating mode (see page 312) perform the following steps:

Step Action
1 Connect the PC to the controller and transfer the application.
2 Switch the controller to RUN mode.

NOTE: Before switching the controller to RUN mode, verify that the operating conditions of the
machine allow the RUN mode for the rest of the application.

Step Action
1 Create an animation table containing the objects defined during configuration. Refer to the
SoMachine Basic Operating Guide for further details about animation table creation.

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Step Action
2 Verify the consistency of the process value and application’s values. This test is important as
successful operation of the PID controller depends on the accuracy of the measurement. If
you have any doubt about the accuracy of the measurement, set the logic controller to the
STOP state and verify the wiring of analog channels.
If the actuator is not controlled:
 For analog output verify the output voltage or current from analog channel.
 For PWM output, verify that the:
 LED of the dedicated output is lit
 wiring of the supplies and 0V circuit
 actuator power supply is being applied

3 In the animation table, verify that:

 Output mode is set to automatic.
 All parameters your application requires are set to the appropriate values.

4 Set the logic controller scan period so that the Sampling period (Ts) value of the PID
controller is an exact multiple of the scan period. For further details on how to determine the
Sampling period, refer to Tuning PID (see page 322).
5 When the Auto-Tuning sequence is complete, the parameters Kp, Ti, and Td are written in to
the RAM memory of the logic controller. The values are saved for as long as the application
is valid (power-down less than 30 days) and no cold-start is performed.

The Auto-Tuning process is repeated each time a rising edge is detected on the AT trigger
memory bit.

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Section 14.3
PID Standard Configuration

PID Standard Configuration

What Is in This Section?

This section contains the following topics:
Topic Page
PID Word Address Configuration 319
PID Tuning with Auto-Tuning (AT) 322
Manual Mode 325
Determining the Sampling Period (Ts) 327

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PID Word Address Configuration

Introduction
This section guides you through all the steps required to configure the SoMachine Basic PID
controller using word address operating mode (see page 312). This mode provides greater
flexibility of use than the other PID modes.
This section contains the following steps:

Step Topic
1 Prerequisites for PID configuration (see page 319)
2 Configuring the PID (see page 319)
3 Control set-up (see page 320)

Step 1: Prerequisites for PID Configuration

Before configuring the PID, ensure that the following phases have been performed:

Phase Description
1 An analog input is configured as well as an analog output if required.
2 PID is enabled in the program (see page 345).
3 Scan mode is set to periodic (see page 347).

Step 2: Configuring the PID

Use a solid state output in conjunction with the PID function. Using a relay output may result in
quickly exceeding its life cycle limits resulting in an inoperative relay with contacts either frozen
open or soldered closed.

WARNING
INOPERABLE EQUIPMENT OR UNINTENDED EQUIPMENT OPERATION
 Do not use relay outputs in conjunction with the PID function.
 Only use solid state outputs if a digital output is required to drive the system to be controlled.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

The following steps explain how to implement a PID controller in word address mode. For more
details on how to configure the PID, refer to the PID Assistant (see page 330).

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For the dynamic modification of the PID parameters (in offline and in online mode), enter the
memory addresses in the associated fields, thus avoiding the need to switch to offline mode to
make on-the-fly changes to values.

Step Action
1 In the General tab of the PID Assistant screen (in offline mode), in the Operating Modes ;
drop-down list select Word address. Check the box associated to PID States and enter the
address of the memory word in the field.
2 In the Input tab (see page 336), enter the address of the analog input used as a
measurement. If Conversion or Alarms are required, refer to Input tab (see page 336) of PID
Assistant (see page 330).
3 In the PID tab, enter the value of the Setpoint. In general, this value is a memory address or
an analog input. The Parameters (Kp, Ti, and Td) should be memory words addresses
(%MWxx).
Enter the PID Sampling period (Ts (see page 327)) in the PID tab (see page 338). This
parameter can also be a memory word (the value can then be set using the animation table).
In Word Address operating mode, the Corrector type is set to Auto and greyed out (it cannot
be modified manually).
4 In the AT tab, the AT mode should be checked to Authorize. Enter the Dynamic corrector
and the AT Trigger. For further details, refer to AT tab (see page 340) in PID Assistant
screen.
5 In the Output tab, Action should be set to Bit Address. Enter a memory bit address. Limits
can be configured if necessary from the Output tab (see page 342). In Analog output field set
the address of the word: an analog output or a memory word. If required, set the Output PWM,
refer to Output tab (see page 342) in PID Assistant (see page 330).
6 Click OK to confirm the PID controller configuration.

Step 3: Verifying the Setup

Step Action
1 Connect the PC to the logic controller and transfer the application.
2 Switch the logic controller to RUN mode.

NOTE: Before switching the logic controller to RUN mode, verify that the operating conditions of
the machine allow RUN mode for the rest of the application. The procedure remains the same as
the one used in AT and AT+PID operating modes. The word address configuration allows you to
modify the PID operating modes by software. In the case of the PID mode, the procedure is
significantly simplified, assuming the parameters (Kp, Ti, Td, and Ts) are known and there is no
need to perform Auto-Tuning.

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This table gives the generic procedure to set up the PID controller

Step Action
1 Create an animation table containing the objects defined during configuration. Refer to the
SoMachine Basic Operating Guide for details.
2 Verify the consistency of the process value and other values defined in the animation table. If
you have any doubt about the accuracy of the measurement, set the logic controller to STOP
and verify the wiring of analog channels.
If you see that the actuator is not being controlled:
 For analog output, verify the output voltage or current from analog channel.
 For PWM output, verify that the:
 LED of dedicated output is lit
 wiring of the supplies and 0 V circuit is correct
 actuator power supply is being applied

3 Set the logic controller scan period so that the Sampling period (Ts) of the PID controller is
an exact multiple of the scan period. For further details on Sampling period, please refer to
Determining Sampling Period (see page 327).
4 If you plan to use the Auto-Tuning (see page 322) function, you may need to run Manual Mode
(see page 325) to know the Dynamic corrector and the AT Trigger defined in the AT tab
(see page 340) of the PID Assistant.
5 Power up the loop controller using the animation table:
 Set the operating mode (see page 312).
 Enable the PID controller (see page 345).
 Set the values defined during configuration (see page 319) to appropriate values
depending on the selected operating mode.

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PID Tuning with Auto-Tuning (AT)

Introduction
The Auto-Tuning mode allows automatic tuning of the Kp, Ti, Td, and action parameters to achieve
refined convergence of the PID function.The Auto-Tuning function provided by SoMachine Basic
is particularly suited for automatic tuning of thermal processes.
This section contains the following topics:
 Auto-Tuning requirements
 Description of Auto-Tuning process
 Storage of Calculated Coefficients
 Adjusting PID parameters
 Repetition of Auto-Tuning
 Limitations on using the Auto-Tuning and the PID control

Auto-Tuning Requirements
When using the Auto-Tuning function, make sure that the control process and the logic controller
meet the following requirements:
 Process requirements:
 The process must be a stable open-loop system.
 The process must be mostly linear over the entire operating range.
 The process response to a change in level of the analog output follows a transient asymptotic
pattern.
 The process is in a steady state with a null input at the start of the Auto-Tuning sequence.
 The process must be free of disturbances throughout the entire process. Otherwise, either
calculated parameters will be incorrect or the Auto-Tuning process will not operate correctly.
 Configuration requirements:
 Configure the logic controller to periodic scan mode to ensure a correct run of the Auto-
Tuning function.
 Only use the Auto-Tuning function when no other PID controllers are running.
 Configure the Kp, Ti, and Td coefficients as memory word addresses (%MWxx).
 Set the Action type in the Output tab to a memory bit address (%Mxx).

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Description of Auto-Tuning Process

The Auto-Tuning process is divided into 4 consecutive phases. All phases of the process must be
fulfilled in order to bring the Auto-Tuning to a successful conclusion. The following process
response curve and table describe the 4 phases of the SoMachine Basic PID Auto-Tuning
function:

The Auto-Tuning phases are described in the following table:

Auto-Tuning Description
Phase
1 The stabilization phase(1) starts when you launch the Auto-Tuning process. During this
phase, the Auto-Tuning function performs checks to ensure that the process value is in
steady state.
2 The first step change is applied to the process. It produces a process step-response similar
to the one shown in the above figure.
(1) The output last applied to the process before start of the Auto-Tuning is used as both the starting point
and the relaxation point for the Auto-Tuning process.

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Auto-Tuning Description
Phase
3 The relaxation phase(1) starts when the first step-response has stabilized.
4 The second step change is applied to the process in the same amount and manner as in
Phase 2 described above. The Auto-Tuning process ends. The process value is restored(1)
and the Auto-Tuning parameters are calculated and stored in their respective memory words.
Refer to Storage of Calculated Coefficients description (see page 324).
(1) The output last applied to the process before start of the Auto-Tuning is used as both the starting point
and the relaxation point for the Auto-Tuning process.

Storage of Calculated Coefficients

After the Auto-Tuning sequence is complete, the memory words assigned to the Kp, Ti, and Td
coefficients and the action type are set using the calculated values. These values are written in to
the RAM memory and saved in the logic controller as long as the application is valid and no cold
start is performed (%S0).
If the system is not influenced by outside disturbances, the calculated values may be written in to
the settings of the PID controller (refer to the PID tab of the PID Assistant (see page 338)). In this
way, the PID controller operating mode can be set to PID mode.

Adjusting PID Parameters

The Auto-Tuning method may provide a very dynamic command, leading to unwanted overshoots
during step change of setpoints. To refine the process regulation provided by the PID parameters
(Kp, Ti, Td) obtained from Auto-Tuning, you also have the ability to adjust these parameter values
manually, directly from the PID tab of the PID Assistant screen or through the corresponding
memory words (%MW). For more details on manual parameters adjustments, refer to the
appendices (see page 351).

Repetition of Auto-Tuning
In the AT tab, the AT Trigger enables the repetition of Auto-Tuning sequence. The auto-tuning
process is launched at each rising edge of the signal linked to AT Trigger.

Limitations on Using Auto-Tuning

Thermal processes can often be assimilated to the first order with pure delay model. There are two
key parameters that describe this type of model:
 the time constant, 
 the delay time, 

Auto-Tuning is best suited for processes in which the time constant () and delay time () meet
the following criteria:
 10 s < ( + ) < 2700 s (i.e.: 45 min)
 2 <  /  < 20

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Manual Mode

Introduction
The manual mode is accessible through the PID Assistant screen (Output tab (see page 342)).
This mode allows you to bypass orders from the PID. There are 2 main objectives using Manual
mode:
 Initialize the set-up
 Determine the sampling period.

Description
The manual mode lets you specify the Output value (see page 342). This operation can be
particularly well suited for testing the system response.
Setting the bit address from the Output tab (see page 342) to 1 activates the manual mode. If
Allow is set, then the manual mode is the only accessible mode.

Application
When the manual mode is active the output is assigned a fixed value that you set. This output value
is from 0 to 10,000 (0 to 100% for PWM output).
You can also use manual mode to make trials to determine the minimum/maximum output
limitation.
Manual mode is also required to use the process response curve method (see page 327) that
helps to find the correct sampling time (Ts).

Start the Manual Mode

Before starting manual mode, you should make sure that the logic controller RUN/STOP switch is
in the RUN position.
To start manual mode using an animation table:

Step Description
1 Enable manual mode by setting the dedicated memory bit to 1. For more details refer to the
Output tab (see page 342).
2 If using PWM, set the PWM period to the desired value.
3 Set the memory word associated with the Operating mode in the General tab (see page 333)
of the PID Assistant to 1 (PID mode). For more details on operating modes using word
address refer to the operating mode description (see page 312).
4 Set the memory word associated with the manual output in the Output tab (see page 342) to
the desired value. This manual setpoint value can be selected several times on condition that
the system is left in its initial state.
5 Enable the loop controller (see page 319).

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Stop the Manual Mode

To stop manual mode using an animation table:

Step Description
1 Disable the loop controller (see page 319).
2 Inhibit the manual mode by setting the dedicated memory bit to 0. For more details refer to the
Output tab (see page 342).
3 Set the memory word associated with the Operating mode in the General tab (see page 333)
for the PID controller to 0. For more details on operating modes using word address, refer to
the operating mode description (see page 312).
4 Set the memory word associated to the manual output in the Output tab (see page 342) to 0.

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Determining the Sampling Period (Ts)

Introduction
The Sampling Period (Ts) is the key parameter for PID regulation. The Sampling Period (Ts)
should be carefully set in the PID tab (see page 338) of the PID Assistant screen. This parameter
is highly correlated with the time constant () of the process to control.
This section describes the use of online mode and two methods to determine the sampling period
(Ts) are described in this section:
 Process response curve method,
 Trial-and-error method.

Process Response Curve Method

This method is an open loop process that aims to determine the time constant of the process to be
controlled. First, it is necessary to ensure that the process can be described by a first order with
time delay model. The principle is quite simple: apply a step change at the input of the process
while recording the process output curve. Then use a graphical method to determine the time delay
of the process.
To determine the sampling period (Ts) using the process response curve method:

Step Action
1 It is assumed that you have already configured the various settings in the General, Input, PID,
AT and Output tabs of the PID.
2 Select the Output tab (see page 342) from the PID Assistant screen.
3 Select Allow or Address bit from the Manual Mode drop-down list to authorize manual
output.
4 Set the Output field to a high level (in the [5,000...10,000] range).
5 Download your application to the logic controller. For further details on how to download an
application refer to the SoMachine Basic Operating Guide.
6 Run the PID and check the response curve rise.
7 When the response curve has reached a steady state, stop the PID measurement.
8 Use the following graphical method to determine the time constant () of the control process:
1. Calculate the process value output at 63% rise (S[63%]) by using the following formula:
S[63%] = S[initial] + (S[final]-S[initial])x63%
2. Calculate graphically the time abscissa (t[63%]) that corresponds to S(63%).
3. Calculate graphically the initial time (t[initial]) that corresponds the start of the process
response rise.
4. Compute the time constant () of the control process by using the following relationship:
 = t[63%]-t[initial]
(1) The base unit for the sampling period is 10ms. Therefore, you should round up/down the value of Ts to
the nearest 10ms.
(2) You must choose "n" so that the resulting Scan Period is a positive integer in the range [2...150] ms.

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Step Action
9 Calculate the sampling period (Ts)(1) based on the value of () that you determined in the
previous step, using the following rule: Ts = /75
10 Set the Scan period of the Periodic scan mode so that the Sampling Period (Ts) is an exact
multiple of the scan period:Scan Period = Ts / n , where n is a positive integer(2)
(1) The base unit for the sampling period is 10ms. Therefore, you should round up/down the value of Ts to
the nearest 10ms.
(2) You must choose "n" so that the resulting Scan Period is a positive integer in the range [2...150] ms.

Trial-and-Error Method
The trial-and-error method involves providing successive guesses of the sampling period to the
Auto-Tuning function until the algorithm converges successfully towards satisfactory values of Kp,
Ti, and Td.
NOTE: Unlike the process response curve method, the trial-and-error method is not based on any
approximation law of the process response. However, it has the advantage of converging towards
a value of the sampling period that is in the same order of magnitude as the actual value.
To perform a trial-and-error estimation of the Auto-Tuning:

Step Action
1 Select the AT tab from the PID configuration window.
2 Set the Output limitation of Auto-Tuning to 10,000.
3 Download your application to the logic controller. For further details on how to download an
application, refer to SoMachine Basic Operating Guide.
4 Select the PID tab from the PID Assistant screen.
5 Provide the first or nth guess in the Sampling Period(1) field.
6 Launch Auto-Tuning (see page 314).
7 Wait until the Auto-Tuning process ends.
8 Two cases can occur:
 Auto-Tuning completes successfully: Continue to Step 10.
 Auto-Tuning unsuccessful: Refer to Auto-Tuning detected error codes (see page 349).
This means that the current guess for the sampling period (Ts) is not correct. Try a new Ts
guess and repeat steps 3 through 8, as many times as required until the Auto-Tuning
process eventually converges.
(1) If you do not have any first indication of the possible range for the sampling period, set this value to the
minimum possible: 1 (1 unit of 10 ms).
(2) If the PID regulation provided by this set of control parameters does not provide results that are totally
satisfactory, you may still refine the trial-and-error evaluation of the sampling period until you obtain the
correct set of Kp, Ti, and Td control parameters.

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Step Action
9 Follow these guidelines to provide a new Ts guess:
 Auto-Tuning ends with the detected error code 800C hex. This means the sampling period
Ts is too large. Decrease the value of Ts to provide a new guess.
 Auto-Tuning ends with the detected error code 800A hex. This means the sampling period
Ts is too small. Increase the value of Ts to provide a new guess.
10 Adjust the PID control parameters(2) (Kp, Ti, and Td) in the PID tab (see page 338) of the PID
Assistant screen, as needed.
(1) If you do not have any first indication of the possible range for the sampling period, set this value to the
minimum possible: 1 (1 unit of 10 ms).
(2) If the PID regulation provided by this set of control parameters does not provide results that are totally
satisfactory, you may still refine the trial-and-error evaluation of the sampling period until you obtain the
correct set of Kp, Ti, and Td control parameters.

Online Mode
In online mode, when the logic controller is in the periodic task, the value displayed in the Ts field
(in the PID Assistant screen (see page 330)) can be different from the parameter entered (%MW).
The Ts value is a multiple of the periodic task, whereas the %MW value is the value read by the
logic controller.

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Section 14.4
PID Assistant

PID Assistant

What Is in This Section?

This section contains the following topics:
Topic Page
Access the PID Assistant 331
General Tab 333
Input Tab 336
PID Tab 338
AT Tab 340
Output Tab 342

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Access the PID Assistant

Introduction
Use the PID Assistant window of SoMachine Basic to enable you to configure the PID controller.

Configuration Assistant
In the PID properties table, click the Configuration [...] button. The PID Assistant screen will
appear.
This graphic displays the PID Assistant screen:

The PID Assistant screen displays several tabs, depending whether, you are in offline or online
mode:

Tab Access mode Link

General Offline General tab (see page 333)
Input Offline Input tab (see page 336)
PID Offline PID tab (see page 338)

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Tab Access mode Link

AT Offline AT tab (see page 340)
Output Offline Output tab (see page 342)

Once an operating mode is selected, tabs containing empty fields that require values are shown

as display and the border of the field is filled in red.

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General Tab

Introduction
This section describes the General tab of the PID. General tab is displayed by default when you
access the PID Assistant in offline mode.

Description
The table below describes the settings on the General tab.

Parameter Description
Operating Mode Represents the PID mode to use:
 Not configured
 PID
 AT + PID
 AT
 Word address

For further details about operating modes, refer to PID Operating Mode
(see page 312).
Word address You can provide a memory word in this text box (%MWxx) that is used to
programmatically set the operating mode. The memory word can take 4 possible
values depending on the operating mode you want to set:
 %MWx = 0 (PID disabled)
 %MWx = 1 (to set PID only)
 %MWx = 2 (to set AT + PID)
 %MWx = 3 (to set AT only)
 %MWx = 4 (to set PI only)

PID States If you check the box to enable this option, you can provide a memory word in the
associated field (%MWxx) that is used by the PID controller to store the current PID
state while running the PID controller and/or the Auto-Tuning function. For more
details, refer to PID States and Detected Error Codes (see page 348).

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Graphical Assistant

The graphical assistant helps you to visualize how the PID function is built. This is a dynamic
graphic that is updated according to the configuration.
The icons shown below describe when it is accessible or what happens if you click on it:

Display Description
Click this button to display the SetPoint field of the PID tab (see page 338).

Click this button to display the PID tab (see page 338).

Click this button to display the Output tab (see page 342).

Click this button to display the Input tab (see page 336).

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Display Description
Click this button to display the AT tab (see page 340).

Click this button to display the AT tab (see page 340).

This button appears when the Authorize option is checked in the Conversion zone of
the Input tab (see page 336).

This button appears when the Authorize option is checked in the Alarms zone of the
Input tab (see page 336).

This button appears if Limits is not equal to inhibit in the limits zone of the Output tab
(see page 342).

This button appears if manual mode is not equal to Inhibit in the manual mode zone of the
Output tab (see page 342).

Click this button to display the Output tab (see page 342).

This button appears when the Authorize option is checked in the Output PWM zone of
the Output tab (see page 342).

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Input Tab

Introduction
This section describes the Input tab of PID. The input tab is used to enter the PID input
parameters.
This tab is only accessible in offline mode and when an operating mode is selected from the
General tab.
NOTE: To retain input values following a cold restart, use memory words (%MW) and not analog
inputs (%IW).

Description
The table below describes the settings that you may define.

Parameter Description
Measure Specify the variable that contains the process value to be controlled.
The default scale is from 0 to 10,000. You can enter either a memory word (%MWxx) or an
analog input.
Conversion Authorize Activate this box to convert the process value [0...10,000] into a linear
range [Min...Max].
Min value Specify the minimum and maximum values of the conversion scale.
Max value The process value is then automatically rescaled within the [Min
value...Max value] interval.
Min value or Max value can be memory words (%MWxx), constant
words (%KWxx), or a value from -32768 to +32767.
Note: The Min value must be less than the Max value.
Filter Authorize Activate this box to apply a filter to the measured input.
(100 ms) Specify the filter value from 0 to 10000 or a memory word address
(%MWxx). The filter time base unit is 100 ms.

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Parameter Description
Alarms Authorize Activate this box to activate alarms in input variables.
The alarm values should be determined relative to the process value
obtained after the conversion phase. The alarm values must be from
Min value to Max value when conversion is active. Otherwise, the
alarm values will be from 0 to 10,000.
Low Specify the low alarm value in the Low field.
Output This value can be a memory word (%MWxx), a constant (%KWxx), or a
direct value.
Output must contain the address of the bit, which will be set to 1 when
the lower limit is reached. Output can be either a memory bit (%Mxx)
or an output.
High Specify the high alarm value in the High field.
Output This value can be a memory word (%MWxx), a constant (%KWxx), or a
direct value.
Output must contain the address of the bit, which will be set to 1 when
the upper limit is reached. Output can be either a memory bit (%Mxx),
or an output.

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PID Tab

Introduction
Use PID tab to enter the internal PID parameters.
This tab is only accessible in offline mode and if an operating mode has been selected from the
General tab.

Description
This table describes the settings that you may define:

Parameter Description
Setpoint Specify the PID setpoint value. This value can be a memory word (%MWxx), a constant
word (%KWxx), or a direct value.
This value must therefore be between 0 and 10,000 when conversion is inhibited.
Otherwise it must be between the Min value and the Max value for the conversion.
Corrector type If the PID or AT + PID operating mode has been previously chosen in the PID properties
table, you can select the desired corrector type (PID or PI) from the drop-down list. If
other operating modes (AT or Word Address) have been chosen, the Corrector type
is set to Auto and greyed out (it cannot be modified manually).
If PI is selected from the drop-down list, the Td parameter is forced to 0 and this field is
disabled.

Parameters (1) Kp (x0,01s) Specify the PID proportional gain, multiplied by 100.
This value can be a memory word (%MWxx), a constant word
(%KWxx), or a direct value.
The valid range for the Kp parameter is: 0 < Kp < 10,000.
Note: If Kp is mistakenly set to 0 (Kp  0 is invalid), the default value
Kp=100 is automatically assigned by the PID function.
Ti (x0,1s) Specify the integral time for a timebase of 0.1 seconds.
This value can be a memory word (%MWxx), a constant word
(%KWxx), or a direct value.
It must be from 0 to 36,000.
Note: To disable the integral action of the PID, set this coefficient
to 0.
Td (x0,1s) Specify the derivative time for a timebase of 0.1 seconds.
This value can be a memory word (%MWxx), a constant word
(%KWxx), or a direct value.
It must be from 0 to 10,000.
Note: To disable the derivative action of the PID, set this coefficient
to 0.
(1) When Auto-Tuning is enabled, you no longer need to set the Kp, Ti, and Td parameters as they are
automatically and programmatically set by the Auto-Tuning algorithm. In this case, you must enter in these
fields an internal word address only (%MWxx). Do not enter a constant or a direct value when Auto-
Tuning is enabled.

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Parameter Description
Sampling period Specify the PID sampling period here for a timebase of 10-2 seconds (10 ms).
This value can be a memory word (%MWxx), a constant word (%KWxx), or a direct
value.
It must be from 1 (0.01 s) to 10,000 (100 s).
(1) When Auto-Tuning is enabled, you no longer need to set the Kp, Ti, and Td parameters as they are
automatically and programmatically set by the Auto-Tuning algorithm. In this case, you must enter in these
fields an internal word address only (%MWxx). Do not enter a constant or a direct value when Auto-
Tuning is enabled.

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AT Tab

Introduction
The AT tab is related to the Auto-Tuning function. For more details, refer to PID tuning with Auto-
Tuning (see page 322).
This tab is only accessible in offline mode and if an operating mode has been selected from the
General tab.

Description
PID Auto-Tuning is an open-loop process that acts directly on the control process without
regulation or any limitation other than provided by the Process Value (PV) limit and the output
setpoint. Therefore, both values must be carefully selected within the allowable range as specified
by the process to prevent potential process overload.

WARNING
UNSTABLE PID OPERATION
 The Process Value (PV) limit and the output setpoint values must be set with complete
understanding of their effect on the machine or process.
 Do not exceed the allowable range for Process Value and Output Setpoint values.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

WARNING
UNINTENDED EQUIPMENT OPERATION
Do not use a relay output with the PID function.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

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This table describes the settings that you may define:

Field Description
AT Mode Authorize Activate this box to enable Auto-Tuning operation.
There are 2 ways to use this checkbox, depending on whether you set the
operating mode manually or via a word address in the General tab of the PID
function:
 If you set the Operating mode to PID + AT or AT from the General tab
(see page 333), then the Authorize option is activated and not editable.
 If you set the operating mode via a word address %MWx (%MWx = 2: PID + AT;
%MWx = 3: AT), then you have to activate the Authorize option manually to
allow configuring of the Auto-Tuning parameters.
Measurement Authorize Activate this box to enable the range measurement.
Range NOTE: If the range measurement is deactivated the Min. value is set to 0 and the
Max. value is set to 10000.
Min. Specify the minimum and maximum values of the range measurement.
Max. The values can be immediate value from 1 to 10000 or a memory word %MWx.
NOTE: The Min. value must be less than the Max. value.
Dynamic AT Dynamic AT This parameter allows you to choose the dynamic of the AT process. This
corrector corrector parameter affects the proportional gain (Kp) value computed by the AT process.
AT Trigger AT Trigger This parameter allows you to launch the AT process each time a rising edge is
detected on the dedicated bit (memory bit or digital input bit).

Calculated Kp, Ti, Td Coefficients

Once the Auto-Tuning process is complete, the calculated Kp, Ti, and Td PID coefficients are
stored in their respective memory words (%MWx).

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Output Tab

Introduction
This tab is used to enter the PID output parameters.
This tab is only accessible in offline mode and if an operating mode has been selected from the
General tab.
NOTE: To retain output values following a cold restart, use memory words (%MW) and not analog
outputs (%QW).

Description
This table describes the settings that you may define:

Field Description
Action Specify the type of PID action on the process here. Three options are available:
Reverse, Direct, and Bit Address. If an increase in the output causes an increase
in the process value measurement, define inverted action (Reverse); on the other
hand, if this causes a process value reduction, make the PID direct (Direct).
If you select Bit Address(1), you can modify the action type by modifying the
associated bit, which is either a memory bit (%Mxx) or an input address (%Ix.y).
The memory bit is set to 1 if the action is Direct and the memory bit is set to 0 if the
action is Reverse.
Limits Specify whether to place limits on the PID output. 3 options are available: Enable,
Disable, and Bit Address.
Select Enable to set the Bit to 1 or select Disable to set the Bit to 0.
Select Bit Address for limit management of the bit by modifying the associated bit,
which is either a memory bit (%Mxx) or an input address (%Ix.y).
Set the high and low limits for the PID output.
Min. or Max can be memory word (%MWxx), constant word (%KWxx), or a value
from 1 to 10,000.
Note: The Min. must always be less than the Max.
Manual mode Specify whether to change the PID to manual mode. 3 options are available: Enable,
Disable, and Bit Address.
If you select Bit Address, you can switch to manual mode (bit to 1) or automatic
mode (bit to 0) using the program, by modifying the associated bit which is either a
memory bit (%Mxx) or an input.
The Output of manual mode must contain the value that you wish to assign to the
analog output when the PID is in manual mode (see page 325). This Output can be
either a word (%MWxx) or a direct value in the [0...10,000] format.
Analog output Specify the PID output to use when in auto-tuning mode.
This Analog output(2) can be a memory word address or an analog output address.
(1) When Auto-Tuning is enabled, the Auto-Tuning algorithm automatically determines the correct type of
action direct or reverse for the control process. You must then enter in the associated Bit Address textbox
a memory bit (%Mxx) only.
(2) Enter a memory address (%MWxx) or an analog output address (%QWx.y).

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Field Description
Output PWM Check this box to use the PWM function of PID.
Specify the modulation period in the Period (0.1 s) text box. This period must be from
1 to 500 and can be a memory word (%MWxx) or a constant word (%KWxx). PWM
precision depends on both the PWM period and the scan period. The precision is
improved when the PWM ratio (%PWM.R) has the greatest number of values. For
instance, with scan period = 20ms and PWM period = 200ms, PWM.R can take
values 0%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 100%. With scan
period = 50 ms and PWM period = 200 ms, PWM.R can take values 0%, 25%, 50%,
75% and 100% of the period PWM.P.

Specify the PWM output bit as the value in Output. This can be either a memory bit
(%Mxx) or an output address. For further details about PWM function, refer to the
Functions Library Guide of your logic controller.
(1) When Auto-Tuning is enabled, the Auto-Tuning algorithm automatically determines the correct type of
action direct or reverse for the control process. You must then enter in the associated Bit Address textbox
a memory bit (%Mxx) only.
(2) Enter a memory address (%MWxx) or an analog output address (%QWx.y).

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Section 14.5
PID Programming

PID Programming

Using PID Function

This section provides descriptions and programming guidelines for using PID function.

What Is in This Section?

This section contains the following topics:
Topic Page
Description 345
Programming and Configuring 347
PID States and Detected Error Codes 348

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Description

Introduction
A proportional–integral–derivative (PID) is a generic control loop feedback mechanism (controller)
widely used in industrial control systems. The PID controller uses an algorithm that involves 3
separate constant parameters: the proportional, the integral, and derivative values, denoted by P,
I, and D respectively.

Key Features
The key features of the SoMachine Basic PID function are as follows:
 Analog input
 Linear conversion of the configurable measurement
 High or low configurable input alarm
 Analog or PWM output
 Cutoff for the configurable output
 Configurable direct or inverse action
 Auto-tuning function

Illustration
This is the PID function in the Ladder editor of SoMachine Basic:

NOTE: There must be a space between PID and the PID number (for example, PID<space>0).

Parameters
Unlike the Timer or the Counter function blocks, there is no PID function block in SoMachine
Basic. The instruction [PID x] only enables the PID control loop function, where x is the PID
number.
To configure the PID function, goto the Programming window, click Tools  PID, and then edit
the PID properties (refer to the table below for the configuration parameters).

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The PID function has the following parameters:

Parameter Description Value

Used Checked if the I/O is used somewhere True/False
in the project False (Default)
PID Name of the current PID object A program can contain only a limited number of
PID functions. Refer to the maximum number of
objects table for the maximum number of PID
objects available with your logic controller.
Symbol Symbol of the current PID object The symbol associated with this PID object. For
more information, refer to Defining Symbols
(see SoMachine Basic, Operating Guide).
[...] A button to launch the assistant Click to display the PID Assistant screen. For
further details, refer to PID Assistant
(see page 330).
Comment Comment A comment can be associated with this object.

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Programming and Configuring

Introduction
This section describes how to program and configure the SoMachine Basic PID controller.

Enabling the PID Controller

The following example enables the PID 0 controller loop if the bit %M0 is set to 1:

Rung Instruction
0 LD %M0
[PID 0]

NOTE: Refer to the reversibility procedure (see page 159) to obtain the equivalent Ladder
Diagram.

PID Analog Measurement

The PID function completes a PID correction using an analog measurement and setpoint and
produces either an analog command in the same format or a PWM on a digital output.
To use PID at full scale (the highest resolution), configure the analog input dedicated to the PID
controller measurement in [0...10,000] format. However, if you use the default configuration
[0...4095], the PID controller will still function correctly.

Configuring the Scan Period

When using SoMachine Basic PID controllers, you must configure the scan mode of the logic
controller to Periodic scan mode (Program tab, Tasks  Master Task). In periodic scan mode,
each scan of the logic controller starts at a regular time interval so the sampling rate is constant
throughout the measurement period. For further details on configuring the scan mode, refer to the
SoMachine Basic Operating Guide.
In periodic scan mode, the system bit %S19 is set to 1 by the system if the logic controller scan
time is greater than the period defined by the user program.

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PID States and Detected Error Codes

Introduction
The SoMachine Basic PID controller has the ability to write the current state of both the PID
controller and the Auto-Tuning process to a user-defined memory word. For further information on
how to enable and configure the PID States memory word, refer to the General tab (see page 333)
of the PID Assistant (see page 330).
The PID state memory word can record the following types of PID information:
 Current state of the PID controller
 Current state of the Auto-Tuning process
 PID detected error codes
 Auto-Tuning detected error codes

NOTE: The PID States memory word is read-only.

PID State Memory Word

PID State Description

0000 hex PID control is not active
2000 hex PID control is in progress
4000 hex PID setpoint has been reached

Auto-Tuning State Memory Word

Auto-Tuning State Description

0100 hex Auto-Tuning phase 1 (see page 323) in progress
0200 hex Auto-Tuning phase 2 (see page 323) in progress
0400 hex Auto-Tuning phase 3 (see page 323) in progress
0800 hex Auto-Tuning phase 4 (see page 323) in progress
1000 hex Auto-Tuning phase complete

PID Detected Error Codes

This table describes the potential detected errors that may be encountered during PID control:

Detected Error Code Description

8001 hex Operating mode value out of range
8002 hex Linear conversion min and max equal
8003 hex Upper limit for discrete output lower than lower limit
8004 hex Process value limit out of linear conversion range

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Detected Error Code Description

8005 hex Process value limit less than 0 or greater than 10000
8006 hex Setpoint out of linear conversion range
8007 hex Setpoint less than 0 or greater than 10000
8008 hex Control action different from action determined at Auto-Tuning start

Auto-Tuning Detected Error Codes

This table records the Auto-Tuning detected error messages and describes possible causes as
well as troubleshooting actions:

Detected Error Code Description

8009 hex The Process Value (PV) limit has been reached. As Auto-Tuning is an
open-loop process, the Process Value (PV) limit works as maximum
allowed value.
800A hex Either the sampling period is too small or the output setpoint is too low.
Increase either the sampling period or the Auto-Tuning output setpoint
value.
800B hex Kp is zero.
800C hex The time constant is negative so the sampling period may be too large.
For more details, refer to Limitations on Using the Auto-Tuning
(see page 324).
800D hex Delay is negative.
800E hex Detected error when calculating Kp. The Auto-Tuning algorithm is
unstable (no convergence). This may be due to:
 Disturbances on the process during Auto-Tuning has caused a
distortion of the process static gain evaluation.
 The process value transient response is not large enough for Auto-
Tuning to determine the static gain.
 A combination of the above.

Check the PID and Auto-Tuning parameters and make adjustments to

improve convergence. Check also if there is no disturbance that could
affect the process value. Try modifying:
 the output setpoint
 the sampling period

Make sure that there is no process disturbance while Auto-Tuning is

in progress.
800F hex Time constant exceeds delay ratio, / > 20. PID regulation may no
longer be stable. For more details, refer to Limitations on Using the
Auto-Tuning (see page 324).
8010 hex Time constant exceeds delay ratio, / < 2. PID regulation may no
longer be stable. For more details, refer to Limitations on Using the
Auto-Tuning (see page 324).

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Detected Error Code Description

8011 hex The limit for static gain Kp has been exceeded, Kp>10,000.
Measurement sensitivity of some application variables may be too
low. The range must be rescaled within the [0...10,000] interval.
8012 hex The computed value of integral time constant Ti has been exceeded,
Ti > 20,000.
8013 hex The computed value of derivative time constant Td has been
exceeded, Td > 10,000.

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Section 14.6
PID Parameters

PID Parameters

What Is in This Section?

This section contains the following topics:
Topic Page
Role and Influence of PID Parameters 352
PID Parameter Adjustment Method 354

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Role and Influence of PID Parameters

Introduction
This section describes the role and influence of PID parameters.

PID Controller Model

The SoMachine Basic PID Controller implements a mixed (serial-parallel) PID correction. The
integral and derivative actions act both independently and in parallel. The proportional action acts
on the combined output of the integral and derivative actions.

Computational Algorithms
Two different computational algorithms are used depending on the value of the integral time
constant (Ti):
 If Ti  0, an incremental algorithm is used,
 If Ti = 0, a positional algorithm is used, along with a +5000 offset that is applied to the PID
output.

Influence of Actions
Proportional action is used to influence the process response speed. An increase of the
proportional action implies:
 a faster response
 a lower static error
 decrease in stability

Integral action is used to cancel out the static error. An increase of integration action (that is, a
decrease of the integral time Ti) induces:
 A faster response
 A decrease in stability

Derivative action is anticipatory. In practice, it adds a term which takes account of the speed of
variation in the deviation (which makes it possible to anticipate changes by accelerating process
response times when the deviation increases and by slowing them down when the deviation
decreases). An increase of derivative action (that is, an increase of the derivative time) implies:
 A slower response
 A reduced overshoot

NOTE: Given the derivative time, Td is the time used to anticipate the variation of the deviation.
Values of Td that are too low or too high can lead to unwanted oscillations.
For each action, a suitable compromize must be found between speed and stability.

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Limits of the PID Control Loop

The process is assimilated to a pure delay first order with a transfer function:

where:
: model time constant
: model delay

The process control performance depends on the ratio

The suitable PID process control is attained in the following domain: 2< <20
PID process control is best suited for the regulation of processes that satisfy the following
condition:

 For <2, in other words for fast control loops (low ) or for processes with a large delay
(high t) the PID process control is no longer suitable. In such cases more complex algorithms
should be used.

 For >20, a process control using a threshold plus hysterisis is sufficient.

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PID Parameter Adjustment Method

Introduction
Numerous methods to adjust the PID parameters exist. The preferred method is the Ziegler and
Nichols, which has 2 variants:
 closed loop adjustment
 open loop adjustment

Before implementing one of these methods, you must set the PID action (see page 342).

Closed Loop Adjustment

This principle uses a proportional command (Ti = 0, Td = 0 ) to start the process by increasing a
proportional coefficient until it starts to oscillate again after having applied a level to the PID
corrector setpoint. All that is required is to raise the critical proportional gain (Kpc) which has
caused the non-damped oscillation and the oscillation period (Tc) to reduce the values giving an
optimal regulation.

Depending on the correct type used (PID or PI), the adjustment of the coefficients is executed with
the following values:

Corrector Kp: Proportional Gain Ti: Integration Time Td: Derivative

PID Kpc/1.7 Tc/2 Tc/8
PI Kpc/2.22 0.83 x Tc –

When the PID is implemented with Auto-Tuning, the Dynamic AT Corrector parameter affects the
proportional gain (Kp) value. The computation of the proportional gain in AT process depends on
the selected speed of the dynamic corrector. Selecting Fast provides fast response with more
overshoot, whereas selecting Slow provides slower response time with less overshoot.

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Open Loop Adjustment

As the regulator is in manual mode (see page 325), you apply a level to the output and make the
procedure response start the same as an integrator with pure delay time.

The intersection point on the right hand side, which is representative of the integrator with the time
axes, determines the time Tu. Next, the Tg time is defined as the time necessary for the controlled
variable (measurement) to have the same variation size (% of the scale) as the regulator output.
Depending on the corrector type used (PID or PI), the adjustment of the coefficients is executed
with the following values:

Corrector Kp: Proportional Gain Ti: Integration Time Td: Derivative

PID -1.2 Tg/Tu 2 x Tu 0.5 x Tu
PI -0.9 Tg/Tu 3.3 x Tu –

NOTE: For further details about parameter units, refer to PID tab (see page 338).

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This adjustment method also provides a very dynamic command, which can express itself through
unwanted overshoots during the change of pulses of the setpoints. In this case, lower the
proportional gain until you get the required behavior. The method does not require any
assumptions about the nature and the order of the procedure. You can apply it just as well to the
stable procedures as to real integrating procedures. In the case of slow procedures (for example,
the glass industry), the user only requires the beginning of the response to regulate the coefficients
Kp, Ti, and Td.

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System Objects
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Chapter 15
System Objects

System Objects

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
System Bits (%S) 358
System Words (%SW) 366

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System Bits (%S)

Introduction
This section provides information about the function of system bits.

Displaying System Bits Properties

Follow these steps to display properties of the system bits:

Step Action
1 Select the Tools tab in the left-hand area of the Programming window.
2 Click System objects  System Bits.
Result: System bit properties appear on the screen.

System Bits Properties

This table describes each property of the system bit:

Parameter Editable Value Default Value Description

Used No True/False False Indicates whether the system bit is being
referenced in a program.
Address No %Si – Displays the system bit address, where i is
the bit number that represents the
sequential position of the system bit in the
memory.
If the controller has maximum n system bits,
the value of i is given as 0...n-1.
For example, %S4 is system bit 4.
Symbol Yes – – The symbol associated with the system bit.
Double-click in the Symbol column and type
the name of the symbol to associate with the
system bit.
If a symbol already exists, you can right-click
in the Symbol column and choose Search
and Replace to find and replace
occurrences of the symbol throughout the
program and/or program comments.
Comment Yes – – A comment associated with the system bit.
Double-click in the Comment column and
type an optional comment to associate with
the system bit.

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System Bits Description

This table presents the description of the system bits and how they are controlled:

System Function Description Init Control

Bit State
%S0 Cold start Normally set to 0, it is set to 1 by: 0 S or
 A power return with loss of data (battery US,
malfunction), SIM
 The program or an animation table.

This bit is set to 1 during the first complete scan. It is

reset to 0 by the system before the next scan.
%S4 Time base: 10 ms The rate of status changes is measured by an internal – S, SIM
%S5 Time base: 100 ms clock. They are not synchronized with the controller (except
%S6 Time base: 1 s scan. %S4)
%S7 Time base: 1 min Example: %S4

%S10 I/O communication Normally set to 1 (TRUE on control panel). This bit can 1 S
status be set to 0 (FALSE on control panel) by the system
when an I/O communication interruption is detected.
%S11 Watchdog overflow Normally set to 0. This bit can be set to 1 by the system 0 S
when the program execution time (scan time) exceeds
the maximum scan time (software watchdog) or
overload of processor (%SW75 exceeds 80%).
Watchdog overflow causes the controller state to
change to HALT.
%S12 Logic Controller in This bit indicates that the controller in RUNNING state. 0 S, SIM
RUNNING state The system sets the bit to:
 1 when the controller state is RUNNING,
 0 for STOPPED, BOOTING or any other state.

%S13 First cycle in Normally set to 0, this bit is set to 1 by the system 1 S, SIM
RUNNING state during the first scan after the controller state has been
changed to RUNNING.
%S15 Input forced Normally set to 0. Set to 1 by the system if at least one 0 S, SIM
input is being forced.
%S16 Output forced Normally set to 0. Set to 1 by the system if at least one 0 S, SIM
output is being forced.
S Controlled by the system
U Controlled by the user
US Set to 1 by the user, reset to 0 by the system
SU Set to 1 by the system, reset to 0 by the user
SIM Applied in the Simulator

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System Function Description Init Control

Bit State
%S17 Last ejected bit Normally set to 0. It is set by the system according to 0 SU,
the value of the last ejected bit. SIM
It indicates the value of the last ejected bit.
%S18 Arithmetic overflow Normally set to 0. It is set to 1 in the case of an overflow 0 SU,
or error when a 16-bit operation is performed, that is: SIM
 A result greater than + 32767 or less than - 32768,
in single length,
 A result greater than + 2147483647 or less than
- 2147483648, in double length,
 A result greater than + 3.402824E+38 or less than
- 3.402824E+38, in floating point,
 Division by 0,
 The square root of a negative number,
 BTI or ITB conversion not significant: BCD value
out of limits.
It must be tested by the program after each operation
where there is a risk of an overflow; then reset to 0 by
the program if an overflow occurs.
%S19 Scan period overrun Normally at 0, this bit is set to 1 by the system in the 0 SU
(periodic scan) event of a scan period overrun (scan time greater than
the period defined by the program at configuration or
programmed in %SW0).
This bit is reset to 0 by the program.
%S20 Index overflow Normally at 0, it is set to 1 when the address of the 0 SU,
indexed object becomes less than 0 or more than the SIM
maximum size of an object.
It must be tested by the program, after each operation
where there is a risk of overflow; then reset to 0 if an
overflow occurs.
%S21 GRAFCET Normally set to 0, it is set to 1 by: 0 US,
initialization  A cold restart, %S0 = 1, SIM
 The program, in the preprocessing program part
only, using a Set Instruction (S %S21) or a set coil
–(S)– %S21,
 The terminal.

At state 1, it causes GRAFCET initialization. Active

steps are deactivated and initial steps are activated.
It is reset to 0 by the system after GRAFCET
initialization.
S Controlled by the system
U Controlled by the user
US Set to 1 by the user, reset to 0 by the system
SU Set to 1 by the system, reset to 0 by the user
SIM Applied in the Simulator

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System Function Description Init Control

Bit State
%S22 GRAFCET reset Normally set to 0, it can only be set to 1 by the program 0 US,
in pre-processing. SIM
At state 1, it causes the active steps of the entire
GRAFCET to be deactivated. It is reset to 0 by the
system at the start of the execution of the sequential
processing.
%S23 Preset and freeze Normally set to 0, it can only be set to 1 by the program 0 US,
GRAFCET in the pre-processing program module. SIM
Set to 1, it validates the pre-positioning of GRAFCET.
Maintaining this bit at 1 freezes the GRAFCET (freezes
the chart). It is reset to 0 by the system at the start of
the execution of the sequential processing to ensure
that the GRAFCET chart moves on from the frozen
situation.
%S33 Read or Write Normally set to 0. 0 US
selection for  Set to 0, the %SW33 to %SW38 contains the Ethernet
Ethernet server parameters in use (IP declared or IP assigned by
configuration BOOTP or automatic IP self assigned). These
read/change parameters are those configured in the application
or those of the post configuration in SD card (in this
case, %SW98 or %SW99 or %SW100 is different from
0).
 Set to 1 (if there is no post configuration in use),
then the new configuration is given by %SW33 to
%SW38.
This bit can be set to its initial state 0 by the program
and the system (on cold restart). Then, the Ethernet is
reset to apply the application configuration whatever
the current configuration is.
This bit cannot be set to 1 if a post configuration is in
use.
%S34 Ethernet Set to 0 to allow the autonegotiation of the speed and 0 U
autonegotiation half or full duplex mode.
Set to 1 to force some specific configuration set in
%S35 and %S36.
NOTE: A modification in the state of %S34, %S35, or
%S36 provokes a reinitialization of the Ethernet
channel, so after the modification, the Ethernet
channel is not available for few minutes.
S Controlled by the system
U Controlled by the user
US Set to 1 by the user, reset to 0 by the system
SU Set to 1 by the system, reset to 0 by the user
SIM Applied in the Simulator

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System Function Description Init Control

Bit State
%S35 Ethernet half/full In case of the %S34 = 0 (autonegotiation) this bit is set – U or S
duplex mode by the system, and is read-only for the user. But if
%S34 = 1, the mode is forced based on the value of this
bit set by the user:
 Set to 0 if Half Duplex,
 Set to 1 if Full Duplex.

NOTE: A modification in the state of %S34, %S35, or

%S36 provokes a reinitialization of the Ethernet
channel, so after the modification, the Ethernet
channel is not available for few minutes.
%S36 Ethernet speed In case of the %S34 = 0 (autonegotiation) this bit is set – U or S
by the system, and is read-only for the user. But if
%S34 = 1, the mode is forced based on the value of this
bit set by the user:
 Set to 0 if 10 Mbps,
 Set to 1 if 100 Mbps.

NOTE: A modification in the state of %S34, %S35, or

%S36 provokes a reinitialization of the Ethernet
channel, so after the modification, the Ethernet
channel is not available for few minutes.
%S38 Permission for Normally at 1. 1 US
events to be placed  Set to 0, events cannot be placed in the events
in the events queue queue.
 Set to 1, events are placed in the events queue as
soon as they are detected.
This bit can be set to its initial state 1 by the program
and the system (on cold restart).
%S39 Saturation of the Normally at 0. 0 US
events queue  Set to 0, all events are reported.
 Set to 1, at least one event is lost.

This bit can be set to 0 by the program and the system

(on cold restart).
S Controlled by the system
U Controlled by the user
US Set to 1 by the user, reset to 0 by the system
SU Set to 1 by the system, reset to 0 by the user
SIM Applied in the Simulator

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System Function Description Init Control

Bit State
%S49 Output rearming Normally set to 0, this bit can be set to 1 or 0 by the 0 US
program.
 Set to 0, the automatic re-arming of outputs
following a short circuit is disabled.
 Set to 1, the automatic re-arming of outputs
following a short circuit is enabled.
NOTE: The bit is reset to 0 after a cold start, otherwise
the bit value is retained
The system bit %S10 can be used to detect within your
program that an output error has occurred. You can
then use the system word %SW139 to determine
programmatically in which cluster outputs a short
circuit or overload has occurred.
NOTE: %S10 and %S1W139 are reset to their initial
value when %S49 is set to 1.
%S50 Updating the date Normally set to 0, this bit can be set to 1 or 0 by the 0 US
and time using program.
words %SW49 to  Set to 0, the date and time can be read.
%SW53  Set to 1, the date and time can be updated.

The internal RTC controller is updated on a falling edge

of %S50.
%S51 Time-of-day clock Normally set to 0, this bit can be set to 1 or 0 by the 0 US,
status program. SIM
 Set to 0, the date and time are consistent.
 Set to 1, the date and time must be initialized by the
program.
When this bit is set to 1, the time of day clock data is
not valid. The date and time may never have been
configured, the battery may be low, or the controller
correction constant may be invalid (never configured,
difference between the corrected clock value and the
saved value, or value out of range).
State 1 transitioning to state 0 forces a Write of the
correction constant to the RTC.
S Controlled by the system
U Controlled by the user
US Set to 1 by the user, reset to 0 by the system
SU Set to 1 by the system, reset to 0 by the user
SIM Applied in the Simulator

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System Function Description Init Control

Bit State
%S52 RTC = error detected This bit managed by the system indicates that the RTC 0 S, SIM
correction has not been entered. Therefore, the date
and time are assumed to be incorrect.
 At state 0, the RTC correction has been entered
and the date and time are assumed to be correct,
 At state 1, the RTC correction has not been entered
and the date and time are assumed to be incorrect,
and must be initialized.
%S59 Update the date and Normally set to 0, this bit can be set to 1 or 0 by the 0 U
time set in word program:
%SW59  Set to 0, the system word %SW59 is not managed.
 On a rising edge of this bit, the date and time are
incremented or decremented according to the
control bits set in %SW59.
%S75 Battery status This system bit is set by the system and can be read by 0 S
the user. It indicates the battery status:
 Set to 0, the external battery is operating normally.
 Set to 1, external battery power is low, or no
external battery is detected.
%S91 Erase persistant Set to 1 to erase the persistant variables stored in the – US
variables in flash flash memory.
memory
%S92 %MW variables Set to 1 if there are memory word (%MW) variables – S
saved on flash stored in flash memory.
memory Set to 0 if the data block is invalid or the write operation
is in progress.
%S93 Backup %MW in Set to 1 to store the %MW variables in flash memory – US
flash memory (up to 1000). The logic controller must be in the
STOPPED state to perform this operation.
%S94 Restore %MW Set 1 to restore the data saved in the flash memory. – US
%S96 Backup program OK This bit can be read at any time (either by the program 0 S, SIM
or while adjusting), in particular after a cold start.
 Set to 0, the backup program is invalid.
 Set to 1, the backup program is valid.

S Controlled by the system

U Controlled by the user
US Set to 1 by the user, reset to 0 by the system
SU Set to 1 by the system, reset to 0 by the user
SIM Applied in the Simulator

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System Function Description Init Control

Bit State
%S101 Changing a port Used to change a port address using system words 0 U
address (Modbus %SW101 (port 1) and %SW102 (port 2). To do this,
protocol) %S101 must be set to 1.
 Set to 0, the address cannot be changed. The value
of %SW101 and %SW102 matches the current port
address,
 Set to 1, the address can be changed by changing
the values of %SW101 (port 1) and %SW102 (port 2).
NOTE: After a cold start (%S0=1) all dynamic values
are lost and the initial port address values are restored.
NOTE: %S101 cannot be set to 1 if a post configuration
file is defined on port 1 or port 2.
%S103 Using the ASCII Enables the use of the ASCII protocol on Comm 1 0 U
%S104 protocol (%S103) or Comm 2 (%S104). The ASCII protocol is
configured using system words %SW103 and %SW105
for Comm 1, and %SW104 and %SW106 for Comm 2.
 Set to 0, the protocol used is the one configured in
SoMachine Basic,
 Set to 1, the ASCII protocol is used on Comm 1
(%S103) or Comm 2 (%S104). In this case, the
system words %SW103, %SW105, and %sw121 must
be previously configured for COM 1, and %SW104,
%SW106, and %SW122 for COM 2. Each change of
those %SW will be taken into account after a rising
edge to %S103 or %S104.
NOTE: A rising or falling edge of %S103 or %S104
cancels an exchange in progress (EXCH instruction)
NOTE: Setting %S103 or %S104 to 0 reconfigures the
serial line with the SoMachine Basic parameters.
%S119 Local I/O error Normally set to 1. This bit can be set to 0 when an I/O 1 S
detected communication interruption is detected on the logic
controller. %SW118 determines the nature of the
communication interruption. Resets to 1 when the
communication interruption disappears.
S Controlled by the system
U Controlled by the user
US Set to 1 by the user, reset to 0 by the system
SU Set to 1 by the system, reset to 0 by the user
SIM Applied in the Simulator

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System Words (%SW)

Introduction
This section provides information about the function of system words.

Displaying System Word Properties

Follow these steps to display properties of the system words:

Step Action
1 Select the Tools tab in the left-hand area of the Programming window.
2 Click System objects  System Words.
Result: System word properties appear on the screen.

System Word Properties

This table describes each property of the system word:

Parameter Editable Value Default Value Description

Used No True/False False Indicates whether the system word is being
referenced in a program.
Address No %Si – Displays the system word address, where i
is the word number that represents the
sequential position of the system word in the
memory.
If the controller has maximum n system
words, the value of i is given as 0...n-1.
For example, %SW50 is system bit 50.
Symbol Yes – – The symbol associated with the system
word.
Double-click in the Symbol column and type
the name of the symbol to associate with the
system word.
If a symbol already exists, you can right-click
in the Symbol column and choose Search
and Replace to find and replace
occurrences of the symbol throughout the
program and/or program comments.
Comment Yes – – A comment associated with the system
word.
Double-click in the Comment column and
type an optional comment to associate with
the system word.

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System Words Description

This table presents the description of the system words and how they are controlled:

System Function Description Control

Words
%SW0 Controller scan Modifies controller scan period defined at configuration through the program in U, SIM
period (master an animation table.
task set to
periodic scan
mode)
%SW1 Periodic task Modifies the cycle time [2...255 ms] of the periodic task, without losing the U, SIM
period Period value specified in the periodic task properties window.
Allows you to recover the Period value saved in the periodic task properties
window:
 In case of a cold start, or
 If the value you write in %SW1 is outside [2...255] range.

The %SW1 value can be modified in the program at each end of a cycle, in the
program or in an animation table without having to stop the program. Cycle
times can be correctly observed while the program is running.
%SW6 Controller Controller state: S, SIM
state 0 = EMPTY
%MW60012 2 = STOPPED
3 = RUNNING
4 = HALTED
5 = POWERLESS
S Controlled by the system
U Controlled by the user
SIM Applied in the simulator

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System Function Description Control

Words
%SW7 Controller  Bit [0]: Backup/restore in progress: S, SIM
state  Set to 1 if backup/restore of the program is in progress,
 Set to 0 if backup/restore of the program is complete or disabled.

 Bit [1]: Configuration of the controller is OK:

 Set to 1 if configuration ok.

 Bit [2]: SD card status bits:

 Set to 1 if SD card is present.

 Bit [3]: SD card status bits:

 Set to 1 if SD card is being accessed.

 Bit [4]: Application memory status:

 Set to 1 if application in RAM memory is different from that in flash
memory.
 Bit [6]: Not used (status 0)
 Bit [7]: Controller reserved:
 Set to 1 when the controller is in connected mode with SoMachine
Basic.
 Bit [8]: Application in Write mode:
 Set to 1 if application is protected. In this case, the clone operation does
not replicate the application (see Clone Management (see page 150))
 Bit [9]: Not used (status 0)
 Bit [10]: Second serial port installed as cartridge (compact only):
 0 = No serial cartridge
 1 = Serial cartridge installed

 Bit [11]: Second serial port type:

 Set to 1 = EIA RS-485

 Bit [12]: Validity of the application in internal memory:

 Set to 1 if the application is valid.

 Bit [14]: Validity of the application in RAM memory:

 Set to 1 if the application is valid.

 Bit [15]: Ready for execution:

 Set to 1 if ready for execution.

%SW11 Software Contains the maximum value of the watchdog. The value (10...500 ms) is U, SIM
watchdog defined by the configuration.
value
%SW13 BOOT version For example, if %SW13 = 000E hex: U, SIM
Vxx.yy  8 MSB = 00 in hexadecimal, then xx=0 in decimal
 8 LSB = 0E in hexadecimal, then yy=14 in decimal

As a result, boot loader version is 0.14, displayed as 14 decimal.

S Controlled by the system
U Controlled by the user
SIM Applied in the simulator

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%SW14 Commercial For example, if %SW14 = 0232: S, SIM
version, Vxx.yy  8 MSB = 02 in hexadecimal, then xx=2 in decimal
 8 LSB = 32 in hexadecimal, then yy=50 in decimal

As a result, commercial version is 2.50, displayed as 250 decimal.

%SW15 - Firmware For example, if %SW15 = 0003 hex: S, SIM
%SW16 version,  8 MSB = 00 in hexadecimal, then aa = 00 in decimal
aa.bb.cc.dd  8 LSB = 03 in hexadecimal, then bb = 03 in decimal

For example, if %SW16 = 0B16 hex:

 8 MSB = 0B in hexadecimal, then cc = 11 in decimal
 8 LSB = 16 in hexadecimal, then dd = 22 in decimal

As a result, firmware version is 0.3.11.22 displayed as 00031122 decimal.

%SW17 Default status When an error is detected in a floating arithmetic operation, bit %S18 is set to S and U,
for floating 1 and the default status of %SW17 is updated according to the following coding: SIM
operation  Bit[0]: Invalid operation, result is not a number (NaN)
 Bit[1]: Reserved
 Bit[2]: Division by 0, result is invalid (-Infinity or +Infinity)
 Bit[3]: Result greater in absolute value than +3.402824e+38, result is
invalid (-Infinity or +Infinity)
%SW18- 100 ms This counter works using 2 words: S and U,
%SW19 absolute timer  %SW18 represents the least significant word, SIM
counter  %SW19 represents the most significant word.

The double word (%SW18 - %SW19) increases from 0 to 2^31 each 100 ms as
a counter modulo 2^31. This double word is also reset during the INIT phase
and on a reset of %S0.
%SW30 Last scan time Indicates the execution time of the last controller scan cycle (in ms). S
(master task) NOTE: This time corresponds to the time elapsed between the start
(acquisition of inputs) and the end (update of outputs) of a master task scan
cycle. If the scan time is 2.250 ms, the %SW30 is 2 and the %SW70 is 250.
S Controlled by the system
U Controlled by the user
SIM Applied in the simulator

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%SW31 Max. scan time Indicates the execution time of the longest controller scan cycle since the last S
(master task) cold start (in ms).
NOTE:
 This time corresponds to the time elapsed between the start (acquisition of
inputs) and the end (update of outputs) of a scan cycle. If the maximum
scan time is 2.25 ms, the %SW31 is 2 and the %SW71 is 250.
 To ensure proper detection of a pulse signal when the latching input option
is selected, the pulse width (TON) and the period (P) must meet the
following 2 requirements:
 TON  1 ms
 The input signal period (P) must follow the Nyquist-Shannon sampling
rule stating that the input signal period (P) must be at least twice the
maximum program scan time (%SW31):
P  2 x %SW31.
Note: If this condition is not fulfilled, some pulses may be missed.
%SW32 Min. scan time Indicates the execution time of shortest controller scan cycle since the last cold S
(master task) start (in ms).
NOTE: This time corresponds to the time elapsed between the start
(acquisition of inputs) and the end (update of outputs) of a scan cycle. If the
minimum scan time is 2.250 ms, the %SW32 will be 2 and the %SW72 will be
250.
%SW33 IP address for The IP settings can be modified. The read or write selection is done using the U
%SW34 Ethernet system bit %S33.
%SW35 server The system words %SW34...%SW38 contain the Ethernet parameters:
%SW36 configuration  IP address: %SW33 and %SW34
%SW37 read/write For IP address AA.BB.CC.DD: %SW33 = CC.DD and %SW34 = AA.BB
%SW38  Subnetwork mask: %SW35 and %SW36
For subnetwork mask AA.BB.CC.DD: %SW35 = CC.DD and %SW36 = AA.BB
 Gateway address: %SW37 and %SW38
For gateway address AA.BB.CC.DD: %SW37 = CC.DD and %SW38 = AA.BB
%SW39 Periodic Indicates the average execution time in µs of the periodic task (last 5 times) –
average time
%SW40 Event Indicates the average execution time in µs of the event task associated with –
0 average time the input %I0.2 (last 5 times)
%SW41 Event Indicates the average execution time in µs of the event task associated with –
1 average time the input %I0.3 (last 5 times)
%SW42 Event Indicates the average execution time in µs of the event task associated with –
2 average time the input %I0.4 (last 5 times)
S Controlled by the system
U Controlled by the user
SIM Applied in the simulator

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%SW43 Event Indicates the average execution time in µs of the event task associated with –
3 average time the input %I0.5 (last 5 times)
%SW44 Event Indicates the average execution time in µs of the event task associated with –
4 average time the Threshold 0 of HSC0 or HSC2 (last 5 times)
%SW45 Event Indicates the average execution time in µs of the event task associated with –
5 average time the Threshold 1 of HSC0 or HSC2 (last 5 times)
%SW46 Event Indicates the average execution time in µs of the event task associated with –
6 average time the Threshold 0 of HSC1 or HSC3 (last 5 times)
%SW47 Event Indicates the average execution time in µs of the event task associated with –
7 average time the Threshold 1 of HSC1 or HSC3 (last 5 times)
%SW48 Number of Indicates how many events have been executed since the last cold start. S, SIM
events (Counts all events except cyclic events.)
NOTE: Set to 0 (after application loading and cold start), increments on each
event execution.
%SW49 Real-Time RTC functions: words containing current date and time values (in BCD): S and U,
%SW50 Clock (RTC) SIM
%SW49 xN Day of the week (N=1 for
%SW51 Monday)
%SW52
%SW53 %SW50 00SS Seconds
%SW51 HHMM: hour and minute
%SW52 MMDD: month and day
%SW53 CCYY: century and year
These words are controlled by the system when bit %S50 is at 0. These words
can be written by the program or by the terminal when bit %S50 is set to 1. On
a falling edge of %S50 the internal RTC controller is updated from the values
written in these words.
%SW54 Date and time System words containing the date and time of the last power outage or S, SIM
%SW55 of the last stop controller stop (in BCD):
%SW56
%SW54 SS Seconds
%SW57
%SW55 HHMM: hour and minute
%SW56 MMDD: month and day
%SW57 CCYY: century and year
S Controlled by the system
U Controlled by the user
SIM Applied in the simulator

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%SW58 Code of last Displays code giving cause of last stop: S, SIM
stop
1 Run/Stop input edge
2 Stop at detected software error (controller scan
overshoot)
3 Stop command (SoMachine Basic online button)
4 Power outage
5 Stop at detected hardware error
6 Init in cold start
7 Start in stop
8 Low battery
9 Controller is not OK to run
%SW59 Adjust current Contains 2 sets of 8 bits used to increment or decrement the current date and U
date and time time.
Set the appropriate bit of %SW59 first, then set %S59 from 0 to 1. The operation
is performed when the bit is set on the rising edge of %S59.
Increment Decrement Parameter
Bit 0 Bit 8 Day of week Not used
Bit 1 Bit 9 Seconds
Bit 2 Bit 10 Minutes
Bit 3 Bit 11 Hours
Bit 4 Bit 12 Days
Bit 5 Bit 13 Month
Bit 6 Bit 14 Years
Bit 7 Bit 15 Centuries Not used
%SW62 Ethernet error Indicates the error code: S
detection 0 No error detected
1 Duplicate IP: the M200 Logic Controller is configured with its default IP
address (generated from the MAC address)
2 DHCP in progress
3 BOOTPin progressl
4 Invalid parameters : port is disabled
5 Fixed IP adress: initialization in progress
6 Ethernet link is down
S Controlled by the system
U Controlled by the user
SIM Applied in the simulator

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%SW63 EXCH1 block EXCH1 error code: S
error code 0 - operation was successful
1 - number of bytes to be transmitted exceeds the limit (> 255)
2 - insufficient transmission table
3 - insufficient word table
4 - receive table overflowed
5 - time-out elapsed
6 - transmission
7 - incorrect command within table
8 - selected port not configured/available
9 - reception error: This error code reflects a an incorrect or corrupted
reception frame. It can be caused due to an incorrect configuration in the
physical parameters (for example, parity, data bits, baudrate, and so on) or an
unreliable physical connection causing signal degradation.
10 - cannot use %KW if receiving
11 - transmission offset larger than transmission table
12 - reception offset larger than reception table
13 - controller stopped EXCH processing
%SW64 EXCH2 block EXCH2 error code: See %SW63. S
error code
%SW65 EXCH3 block 1-4, 6-13: See %SW63. (Note that error code 5 is invalid and replaced by the S
error code Ethernet-specific error codes 109 and 122 described below.)
The following are Ethernet-specific error codes:
101 - incorrect IP address
102 - no TCP connection
103 - no socket available (all connection channels are busy)
104 - network is down
105 - network cannot be reached
106 - network dropped connection on reset
107 - connection aborted by peer device
108 - connection reset by peer device
109 - connection time-out elapsed
110 - rejection on connection attempt
111 - host is down
120 - incorrect index (remote device is not indexed in configuration table)
121 - system error (MAC, chip, duplicate IP)
122 - receiving process timed-out after data was sent
123 - Ethernet initialization in progress
%SW67 Function and Contains the logic controller code ID. For more information, refer to the S, SIM
type of M100/M200 Logic Controller Code ID table (see page 383).
controller
S Controlled by the system
U Controlled by the user
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%SW70 Scan time Indicates the execution time of the last controller scan cycle (in µs). –
microseconds
NOTE: This time corresponds to the time elapsed between the start
resolution (acquisition of inputs) and the end (update of outputs) of a master task scan
cycle. If the scan time is 2.250 ms, the %SW30 will be 2 and the %SW70 will be
250.
%SW71 Max. scan time Indicates the execution time of the longest controller scan cycle since the last –
microseconds cold start (in ms).
resolution
NOTE: This time corresponds to the time elapsed between the start
(acquisition of inputs) and the end (update of outputs) of a scan cycle. If the
scan time is 2.250 ms, the %SW31 will be 2 and the %SW71 will be 250.
%SW72 Min. scan time Indicates execution time of the shortest controller scan cycle since the last cold –
microseconds start (in ms).
resolution
NOTE: This time corresponds to the time elapsed between the start
(acquisition of inputs) and the end (update of outputs) of a scan cycle. If the
scan time is 2.250 ms, the %SW32 will be 2 and the %SW72 will be 250.
%SW75 Load of Indicates the percentage of processing load. S
processor Processing load is defined as the percentage of the total available processing
time that is used to process your program tasks (this value is an average and
is calculated every second). In case of processing load higher than 80% for two
consecutive periods of time, the controller goes to HALTED state.
%SW76 to Down counters These 4 words serve as 1 ms timers. They are decremented individually by the S and U,
%SW79 1-4 system every ms if they have a positive value. This gives 4 down counters SIM
down counting in ms which is equal to an operating range of 1 ms to 32767 ms.
Setting bit 15 to 1 can stop decrementation.
%SW89 Cartridge slot 1 Indicates the firmware version of the cartridge in slot 1. S
version
%SW90 Cartridge slot 2 Indicates the firmware version of the cartridge in slot 2. S
version
%SW91 TM3 slot 1 Indicates the firmware version of the TM3 expansion module in slot 1. S
version
%SW92 TM3 slot 2 Indicates the firmware version of the TM3 expansion module in slot 2. S
version
%SW93 TM3 slot 3 Indicates the firmware version of the TM3 expansion module in slot 3. S
version
%SW94 Application’s In case of an application change, in terms of configuration or programming S, SIM
%SW95 signature data, the signature (sum of all checksums) changes so.
%MW60028- If %SW94 = 91F3 in hexadecimal, the application’s signature is 91F3 in
%MW60034 hexadecimal.
S Controlled by the system
U Controlled by the user
SIM Applied in the simulator

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%SW96 Diagnostics for  Bit [1]: This bit is set by the firmware to indicate when the save is complete: S, SIM
save/restore  Set to 1 if the backup is complete.
function of  Set to 0 if a new backup request is requested.
program and
 Bit [2]: Back up error detected, refer to bits 8, 9, 10, 12 and 14 for further
%MW
information:
 Set to 1 if an error is detected.
 Set to 0 if a new backup request is requested.

 Bit [6]: Set to 1 if the controller contains a valid application in RAM memory.
 Bit [10]: Difference between internal RAM and Flash memory (1 = yes).
 Set to 1 if there is a difference.

 Bit [12]: Indicates if a restore error has occurred:

 Set to 1 if an error is detected.

 Bit [14]: Indicates if a Flash memory write error has occurred:

 Set to 1 if an error is detected.

%SW97 TM3 slot 4 Indicates the firmware version of the TM3 expansion module in slot 4. S
version
%SW98 Post The bits are set to 1 when the post configuration was applied for the parameter: S
configuration  Bit[0]: Hardware option (RS-485 or RS-232)
status (Serial  Bit[1]: Baudrate
Line 1)  Bit[2]: Parity
 Bit[3]: Data size
 Bit[4]: Number of stop bits
 Bit[5]: Modbus address
 Bit[6]: Polarization (if available in the port)
%SW99 Post The bits are set to 1 when the post configuration was applied for the parameter: S
configuration  Bit[0]: Hardware option (RS-485)
status (Serial  Bit[1]: Baudrate
Line 2)  Bit[2]: Parity
 Bit[3]: Data size
 Bit[4]: Number of stop bits
 Bit[5]: Modbus address
 Bit[6]: Polarization (if available in the port)

S Controlled by the system

U Controlled by the user
SIM Applied in the simulator

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%SW100 Post The bits are set to 1 when the post configuration was applied for the parameter: S
configuration  Bit[0]: IP mode (fixed, DHCP, or BOOTP)
status  Bit[1]: IP address
(Ethernet)  Bit[2]: Network submask
 Bit[3]: Default gateway
 Bit[4]: Device name

The post configuration has priority over the configuration provided by your
application. The configuration of your application is not taken into account if the
M100/M200 logic controller has a post configuration.
%SW101 Value of the When bit %S101 is set to 1, you can change the Modbus address of port 1 or S
%SW102 Modbus port 2. The address of port 1 is %SW101. The address of port 2 is %SW102.
address port
NOTE: The update is applied immediately after writing a new address to
%SW101 or %SW102.
After a cold start (%S0 = 1), all dynamic values are lost and the initial port
address values are restored. %S101 is also updated.
S Controlled by the system
U Controlled by the user
SIM Applied in the simulator

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%SW103 Configuration When bit %S103 (Comm 1) or %S104 (Comm 2) is set to 1, the ASCII protocol S, U
%SW104 for use of the is used. System word %SW103 (Comm 1) or %SW104 (Comm 2) must be set
ASCII protocol according to the elements below:

 Baud rate:
 000: 1200 baud,
 001: 2400 baud,
 010: 4800 baud,
 011: 9600 baud,
 100: 19200 baud,
 101: 38400 baud.
 110: 57600 baud.
 111: 115200 baud.

 RTS/CTS:
 0: disabled,
 1: enabled.

 Parity:
 00: none,
 10: odd,
 11: even.

 Stop bit:
 0: 1 stop bit,
 1: 2 stop bits.

 Data bits:
 0: 7 data bits,
 1: 8 data bits.

%SW105 Configuration When bit %S103 (Comm 1) or %S104 (Comm 2) is set to 1, the ASCII protocol S, U
%SW106 for use of the is used. System word %SW105 (Comm 1) or %SW106 (Comm 2) must be set
ASCII protocol according to the elements below:

S Controlled by the system

U Controlled by the user
SIM Applied in the simulator

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%SW107 MAC address Indicates the controller MAC address (only references with Ethernet channel). S
%SW108 For MAC address AA:BB:CC:DD:EE:FF:
%SW109  %SW107 = AA:BB
 %SW108 = CC:DD
 %SW107 = EE:FF

%SW114 Enable Enables or disables operation of schedule blocks by the program. S and U,
schedule Bit 0: 1 = enables schedule block number 0 SIM
blocks ...
Bit 15: 1 = enables schedule block number 15
Initially all schedule blocks are enabled.
If schedule blocks are configured the default value is FFFF hex
If no schedule blocks are configured, the default value is 0.
%SW118 Logic Indicates conditions on logic controller. S, SIM
controller All the other bits of this word are set to 1 and are reserved. For a controller
status word operating normally, the value of this word is FFFF hex.
Bit 9: 0 = External error detected or communication interruption, for example
duplicate IP address.
Bit 10: 0 = Invalid internal configuration; contact Schneider Electric customer
care.
Bit 13: 0 = Configuration error detected (mandatory modules, as defined by the
I/O expansion bus configuration, are absent or otherwise inoperative when the
logic controller attempts to start the I/O expansion bus). In this case, the I/O
bus does not start.
Bit 14: 0 = One or more modules have stopped communication with the logic
controller after the I/O expansion bus is started. This is the case when an I/O
expansion module is defined as mandatory or optional but present at start-up.
Bit 15: 0 = Cartridge error detected (configuration or runtime operation).
NOTE: The other bits of this word are set to 1 and are reserved.
%SW119 Optional 1 bit for each expansion module in the configuration. S, SIM
module feature Bit 0 = Reerved for the logic controller
configuration Bit n = Module n.
0 = Module is marked as optional in the configuration.
1 = Module is not marked as optional in the configuration.
S Controlled by the system
U Controlled by the user
SIM Applied in the simulator

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%SW120 Expansion I/O 1 bit for each expansion module in the configuration. S, SIM
module status Bit 0 = Reerved for the logic controller
When the logic controller attempts to start the I/O bus, bit n:
 0 = no error detected
 1 = error detected or module not present. The I/O expansion bus does not
start unless the corresponding bit in %SW119 is set to TRUE (indicating the
module is marked as optional).
When the I/O bus is started, bit n:
 0 = no error detected
 1 = error detected on the I/O expansion module (regardless, if it is a module
marked as optional).
%SW121 Configuration When bit %S103 (Comm 1) or %S104 (Comm 2) is set to 1, the ASCII protocol U
%SW122 for use of is used. You can change the ASCII frame size of port 1 or port 2. The ASCII
ASCII protocol frame size of port 1 is %SW121, and that of port 2 is %SW122.
The value is used only on EXCH instruction start. Then, if some bytes are
already received, you cannot stop the reception until the last byte.
S Controlled by the system
U Controlled by the user
SIM Applied in the simulator

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%SW128 Cartridge 1 Indicates the status code for the cartridge: S, SIM
status  LSB: presents the status of the I/O channel 1
 MSB: presents the status of the I/O channel 2
%SW129 Cartridge 2
status General status:
 0x80: Cartridge is not present and it is not configured in SoMachine Basic.
 0x81: Module is present but not configured.
 0x82: Internal communication error with the cartridge.
 0x83: Internal communication error with the cartridge.
 0x84: Detected cartridge different from the configuration.
 0x85: Configured cartridge is not detected.

Input channel operation status:

 0x00: Normal.
 0x01: Conversion in progress.
 0x02: Initialization.
 0x03: Input operation setting error detected or module without input.
 0x04: Reserved.
 0x05: Wiring error detected (High limit range out).
 0x06: Wiring error detected (Low limit range out).
 0x07: Flash memory error detected.
 Others: Reserved.

Output channel operation status:

 0x00: Normal.
 0x01: Reserved.
 0x02: Initialization.
 0x03: Output operation setting error detected or module without output.
 0x04: Reserved.
 0x05: Reserved.
 0x06: Reserved.
 0x07: Flash memory error detected.
 Others: Reserved.

%SW130 Event Indicates the last execution time in µs of the event input %I0.2. S
execution time
%SW131 Event Indicates the last execution time in µsof the event input %I0.3. S
execution time
%SW132 Event Indicates the last execution time in µs of the event input %I0.4. S
execution time
%SW133 Event Indicates the last execution time in µs of the event input %I0.5. S
execution time
%SW134 Event Indicates the last execution time in µs of the event task associated with the S
execution time Threshold 0 of HSC0 or HSC2
S Controlled by the system
U Controlled by the user
SIM Applied in the simulator

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%SW135 Event Indicates the last execution time in µs of the event task associated with the S
execution time Threshold 1 of HSC0 or HSC2
%SW136 Event Indicates the last execution time in µs of the event task associated with the S
execution time Threshold 0 of HSC1 or HSC3
%SW137 Event Indicates the last execution time in µs of the event task associated with the S
execution time Threshold 1 of HSC1 or HSC3
%SW138 Periodic task Indicates the last execution time in µs of the periodic task. S
execution time
%SW139 Embedded Indicates the protection error status of output blocks: S
digital output Bit0 = 1 - Q0 - Q3 protect error - Block0
protection Bit1 = 1 - Q4 - Q7 protect error - Block1
Bit2 = 1 - Q8 - Q11 protect error - Block2
Bit3 = 1 - Q12 - Q15 protect error - Block3
%SW148 Number of Maximum 1,000 variables. For more information, refer to Persistent Variables U
persistent Saved bw User Request (see page 40).
variables
%SW149 Event Indicates the last execution time in ms of the event task associated with the S
execution time input %I0.2 .
%SW150 Event Indicates the last execution time in ms of the event task associated with the S
execution time input %I0.3 .
%SW151 Event Indicates the last execution time in ms of the event task associated with the S
execution time input %I0.4.
%SW152 Event Indicates the last execution time in ms of the event task associated with the S
execution time input %I0.5.
%SW153 Event Indicates the last execution time in ms of the event task associated with the S
execution time Threshold 0 of HSC0 or HSC2.
%SW154 Event Indicates the last execution time in ms of the event task associated with the S
execution time Threshold 1 of HSC0 or HSC2.
%SW155 Event Indicates the last execution time in ms of the event task associated with the S
execution time Threshold 0 of HSC1 or HSC3.
%SW156 Event Indicates the last execution time in ms of the event task associated with the S
execution time Threshold 1 of HSC1 or HSC3.
%SW157 Periodic Indicates the last execution time in ms of the periodic task. S
execution time
%SW158 Periodic Indicates the average execution time (last 5 times) of the periodic task in ms. S
average time
S Controlled by the system
U Controlled by the user
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%SW159 Event 0 Indicates the average execution time (last 5 times) of event 0 in ms. S
average time
%SW160 Event 1 Indicates the average execution time (last 5 times) of event 1 in ms. S
average time
%SW161 Event 2 Indicates the average execution time (last 5 times) of event 2 in ms. S
average time
%SW162 Event 3 Indicates the average execution time (last 5 times) of event 3 in ms. S
average time
%SW163 Event 4 Indicates the average execution time (last 5 times) of event 4 in ms. S
average time
%SW164 Event 5 Indicates the average execution time (last 5 times) of event 5 in ms. S
average time
%SW165 Event 6 Indicates the average execution time (last 5 times) of event 6 in ms. S
average time
%SW166 Event 7 Indicates the average execution time (last 5 times) of event 7 in ms. S
average time
%SW168 Modbus TCP - Indicates the number of Ethernet Modbus TCP server connections in use S
Connections in
NOTE: If you disconnect the cable, the connection is not closed immediately.
use Each time the cable is re-connected to the network, it requests a new
connection and the number of connections in use indicated by %SW168
increases.
%SW170 Frames Indicates the number of frames transmitted by the serial line 1 S
transmitted -
Serial line 1
%SW171 Frames Indicates the number of frames transmitted by the serial line 2 S
transmitted -
Serial line 2
%SW172 Frames Indicates the number of frames transmitted by the USB channel S
transmitted -
USB
%SW173 Frames Indicates the number of frames transmitted by Modbus TCP on Ethernet S
transmitted -
Modbus TCP
%SW174 Frames Indicates the number of frames correctly received by the serial line 1 S
received
successfully -
Serial line 1
S Controlled by the system
U Controlled by the user
SIM Applied in the simulator

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%SW175 Frames Indicates the number of frames correctly received by the serial line 2 S
received
successfully -
Serial line 2
%SW176 Frames Indicates the number of frames correctly received by the USB channel S
received
successfully -
USB
%SW177 Frames Indicates the number of frames correctly received by Modbus TCP on Ethernet S
received
successfully -
Modbus TCP
%SW178 Frames Indicates the number of frames received with an error detected by the serial S
received with line 1
an error -
Serial line 1
%SW179 Frames Indicates the number of frames received with an error detected by the serial S
received with line 2
an error -
Serial line 2
%SW180 Frames Indicates the number of frames received with an error by the USB channel S
received with
an error - USB
%SW181 Frames Indicates the number of frames received with an error by Modbus TCP on S
received with Ethernet
an error -
Modbus TCP
S Controlled by the system
U Controlled by the user
SIM Applied in the simulator

M100/M200 Logic Controller Code ID

This table presents the code IDs of the M100/M200 Logic Controller references:

Reference Code ID
TM100C16R 0x07C1
TM100C24R 0x07C2
TM100C40R 0x07C4
TM200C16R 0x07A1
TM200C16T 0x07A3
TM200C16U 0x07A2

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Reference Code ID
TM200C24R 0x07A7
TM200CE24R 0x07A8
TM200C24T 0x07AB
TM200CE24T 0x07AC
TM200C24U 0x07A9
TM200CE24U 0x07AA
TM200C40R 0x07AD
TM200CE40R 0x07AE
TM200C40T 0x07B1
TM200CE40T 0x07B2
TM200C40U 0x07AF
TM200CE40U 0x07B0
TM200C60R 0x07B3

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Glossary
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Glossary

A
absolute movement
A movement to a position defined from a reference point.
acceleration / deceleration
Acceleration is the rate of velocity change, starting from Start Velocity to target velocity.
Deceleration is the rate of velocity change, starting from target velocity to Stop Velocity. These
velocity changes are implicitly managed by the PTO function in accordance with Acceleration,
Deceleration and JerkRatio parameters following a trapezoidal or an S-curve profile.
analog input
Converts received voltage or current levels into numerical values. You can store and process these
values within the logic controller.
analog output
Converts numerical values within the logic controller and sends out proportional voltage or current
levels.
application
A program including configuration data, symbols, and documentation.
ASCII
(American standard code for Information Interchange) A protocol for representing alphanumeric
characters (letters, numbers, certain graphics, and control characters).

B
BOOTP
(bootstrap protocol) A UDP network protocol that can be used by a network client to automatically
obtain an IP address (and possibly other data) from a server. The client identifies itself to the server
using the client MAC address. The server, which maintains a pre-configured table of client device
MAC addresses and associated IP addresses, sends the client its pre-configured IP address.
BOOTP was originally used as a method that enabled diskless hosts to be remotely booted over a
network. The BOOTP process assigns an infinite lease of an IP address. The BOOTP service
utilizes UDP ports 67 and 68.

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C
configuration
The arrangement and interconnection of hardware components within a system and the hardware
and software parameters that determine the operating characteristics of the system.
controller
Automates industrial processes (also known as programmable logic controller or programmable
controller).

D
DHCP
(dynamic host configuration protocol) An advanced extension of BOOTP. DHCP is more
advanced, but both DHCP and BOOTP are common. (DHCP can handle BOOTP client requests.)
digital I/O
(digital input/output) An individual circuit connection at the electronic module that corresponds
directly to a data table bit. The data table bit holds the value of the signal at the I/O circuit. It gives
the control logic digital access to I/O values.
DWORD
(double word) Encoded in 32-bit format.

E
EtherNet/IP
(Ethernet industrial protocol) An open communications protocol for manufacturing automation
solutions in industrial systems. EtherNet/IP is in a family of networks that implement the common
industrial protocol at its upper layers. The supporting organization (ODVA) specifies EtherNet/IP
to accomplish global adaptability and media independence.
expansion bus
An electronic communication bus between expansion I/O modules and a controller.

G
GRAFCET
The functioning of a sequential operation in a structured and graphic form.
This is an analytical method that divides any sequential control system into a series of steps, with
which actions, transitions, and conditions are associated.

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 Glossary

H
homing
The method used to establish the reference point for absolute movement.

I
I/O
(input/output)
IEC 61131-3
Part 3 of a 3-part IEC standard for industrial automation equipment. IEC 61131-3 is concerned with
controller programming languages and defines 2 graphical and 2 textual programming language
standards. The graphical programming languages are ladder diagram and function block diagram.
The textual programming languages include structured text and instruction list.
IL
(instruction list) A program written in the language that is composed of a series of text-based
instructions executed sequentially by the controller. Each instruction includes a line number, an
instruction code, and an operand (refer to IEC 61131-3).
instruction list language
A program written in the instruction list language that is composed of a series of text-based
instructions executed sequentially by the controller. Each instruction includes a line number, an
instruction code, and an operand (see IEC 61131-3).

J
jerk ratio
The proportion of change of the acceleration and deceleration as a function of time.

L
ladder diagram language
A graphical representation of the instructions of a controller program with symbols for contacts,
coils, and blocks in a series of rungs executed sequentially by a controller (see IEC 61131-3).
LAN
(local area network) A short-distance communications network that is implemented in a home,
office, or institutional environment.
LD
(ladder diagram) A graphical representation of the instructions of a controller program with symbols
for contacts, coils, and blocks in a series of rungs executed sequentially by a controller (refer to
IEC 61131-3).

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Glossary

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

M
MAST
A processor task that is run through its programming software. The MAST task has 2 sections:
 IN: Inputs are copied to the IN section before execution of the MAST task.
 OUT: Outputs are copied to the OUT section after execution of the MAST task.

Modbus
The protocol that allows communications between many devices connected to the same network.
MSB
(most significant bit/byte The part of a number, address, or field that is written as the left-most
single value in conventional hexadecimal or binary notation.

P
periodic execution
The task is executed either cyclically or periodically. In periodic mode, you determine a specific
time (period) in which the task is 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.
PID
(proportional, integral, derivative) A generic control loop feedback mechanism (controller) widely
used in industrial control systems.
post configuration
(post configuration) An option that allows to modify some parameters of the application without
changing the application. Post configuration parameters are defined in a file that is stored in the
controller. They are overloading the configuration parameters of the application.
program
The component of an application that consists of compiled source code capable of being installed
in the memory of a logic controller.
protocol
A convention or standard definition that controls or enables the connection, communication, and
data transfer between 2 computing system and devices.

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 Glossary

R
RS-485
A standard type of serial communication bus, based on 2 wires (also known as EIA RS-485).
RTC
(real-time clock) A battery-backed time-of-day and calender clock that operates continuously, even
when the controller is not powered for the life of the battery.

S
S-curve ramp
An acceleration / deceleration ramp with a JerkRatio parameter greater than 0%.
start velocity
The minimum frequency at which a stepper motor can produce movement, with a load applied,
without the loss of steps.
stop velocity
The maximum frequency at which a stepper motor stops producing movement, with a load applied,
without the loss of steps.

T
TCP
(transmission control protocol) A connection-based transport layer protocol that provides a
simultaneous bi-directional transmission of data. TCP is part of the TCP/IP protocol suite.
trapezoidal ramp
An acceleration / deceleration ramp with a JerkRatio parameter set to 0%.

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 Modicon M100/M200 Logic Controller
Index
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Index

Symbols analog inputs

properties, 168
%C, 20
analog outputs
%DR, 20
properties, 170
%FC, 20, 173
application download, 37
%HSC, 20, 179
application, backing up to SD card, 150
%I, 20, 166
%IW, 20, 168
%KD, 20 B
%KF, 20
boot controller, 37
%KW, 20
BUFFER_MODE, 242
%M, 20
bus speed, 127
%MD, 20
%MF, 20
%MSG, 20
%MW, 20
C
%PLS, 20, 198 cartridge
%PTO, 20 adding to a SoMachine Basic configura-
%PWM, 20, 206 tion, 99
%Q, 20, 167 compatibility, 98
%QW, 20, 170 configuration, 95
%R, 20 configuring, 100
%READ_VAR, 20 description, 97
%S, 20, 358 features, 97
%SBR, 20 removing, 99
%SC, 20 replacing, 99
%SEND_RECV_MSG, 20 cloning (back up to SD card, 150
%SW, 20, 366 cold start, 39
%SW118, 56 comments
%SW119, 56 displaying, 100, 130
%SW120, 56 compatibility
%SW6, 36 cartridge, 98
%TM, 20 configuration, 125
%WRITE_READ_VAR, 20 building configuration, 50
%WRITE_VAR, 20

A
acceleration ramp, 221
addressing
when moving modules, 126

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Index

configuring D
cartridges, 100
deceleration ramp, 221
controller, 58
description
digital I/Os, 128
cartridge, 97
digital inputs, 62, 128
device tree, 99
digital outputs, 66
digital inputs, 62
expansion modules, 93, 93
configuration, 62
fallback values, 129
configuration parameters, 62
high speed counters, 78
configuring, 128
modbus TCP, 136
properties, 166
serial line, 138
digital outputs, 66
configuring
configuration, 66
ethernet, 133
configuration parameters, 66
controller
configuring fallback values for, 66, 129
configuration, 49, 58
properties, 167
configuration features, 17
DIRECTION, 242
features, 15
displaying
output behavior, 41
programming details, 100, 130
persistent variables, 40
downloading applications, 36
programming languages, 15
state transitions, 37
states, 34
controller output behavior, 41
E
fallback values, 42 embedded communication
hardware initialization values, 41 configuration, 131
output forcing, 42 features, 16
software initialization values, 41 embedded input/output
controller state, 34 configuration, 61
BOOTING, 35 overview, 16
EMPTY, 35 ethernet, 133
HALTED, 36 configuration, 133
POWERLESS, 36 configuration parameters, 134
RUNNING, 35 exec loader, 59
STOPPED, 35 updating firmware, 59
controller state transitions, 37 expansion modules
application download, 37 configuration, 93
boot, 37 configuring, 128
cold start, 39 TM2, 93
halted, 38 TM3, 93
initialize, 37 TM3R, 93
run, 38
stop, 38
controller states, 33

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 Index

HOMING_MODE, 243
F HSC Modes of Embedded HSC
fallback Modulo-loop, 192
values, configuring, 66, 129
fallback values, 42
fast counter I
configuration, 175
I/O bus
description, 173
configuration, 91
programming example, 177
I/O bus speed, 127
features
I/O configuration general information
cartridge, 97
general practices, 92, 124
embedded communication, 15
I/O objects
key features, 15
analog inputs, 168
firmware, 59, 152
analog outputs, 170
updating with exec loader, 59
digital inputs, 166
updating with SD card, 152
digital outputs, 167
firmware updates, 36
initialize controller, 37
firmware, backing up to SD card, 150
inserting a module, 126
Function Block Object Codes
BUFFER_MODE, 242
DIRECTION, 242 J
HOMING_MODE, 243
JerkRatio, 221
PTO_PARAMETER, 243
function blocks
fast counter, 173 L
high speed counter, 179
pulse, 198 logic controller
pulse width modulation, 206 adding to SoMachine Basic configuration,
Functionalities 126
PTO, 212 embedded I/Os, 126

H M
HALTED state, 38 Machine.cfg post configuration file, 44, 45
hardware initialization values, 41 maximum number of modules, 127
hardware tree, 126 memory, 16
high speed counter memory words
counting mode, 183 automatic save on power outage, 40
description, 179 save on user request, 40
frequency meter mode, 194 micro SD card
high speed counters, 78, 82, 88 see SD card, 146
configuration, 78, 82, 88 mixing module types, 127
configuration parameters, 80 modbus TCP, 136
dedicated I/O assignments, 78 configuration, 136
dual phase, pulse/direction, 82 configuration parameters, 136
frequency meter, 88 remote servers, 137

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Index

modules post configuration

adding, 126 file Machine.cfg, 44, 45
inserting, 126 parameters, 44
maximum number of, 127 presentation, 44
mixing different types, 127 when applied, 44
removing, 127 post configuration, backing up to SD card,
replacing, 127 150
Modulo-loop power outage, save variables on, 40
HSC Modes of Embedded HSC, 192 power supply, 15
programming details
displaying, 100, 130
O programming languages
objects, 19 supported, 15
addressing, 24 PTO
addressing examples, 24 configuration, 218
definition of, 19 Functionalities, 212
maximum number allowed, 26 PTO_ERROR, 244, 245
object types, 20 PTO_PARAMETER, 243
output behavior, 41 PTOHome
output forcing, 42 Short Reference with INDEX, 240
pulse
configuration, 200
P description, 198
parameters, post configuration, 44 programming example, 204
persistent variables, 40 pulse generators, 68
PID, 20 configuration, 68
AT tab, 340 introduction, 68
auto-tuning, 314 PLS configuration, 71
closed loop adjustment, 354 PTO configuration, 74
configuration assistant, 331 PWM configuration, 73
description, 345 pulse width modulation
general tab, 333 configuration, 207
Input tab, 336 description, 206
open loop adjustment, 355 programming example, 210
operating modes, 312
output tab, 342
parameter, 352 R
PID tab, 338 real time clock (RTC), 15
programming and configuring, 347 removable storage, 16
standard configuration, 318 removing a cartridge, 99
states and detected error codes, 348 removing a module, 127
replacing
cartridge, 99
expansion module, 127
RUN controller, 38

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 Index

Run/Stop, 15, 64 TM3R digital I/O expansion modules

configuring digital input as, 64 TM3R, 125
TMCR2 analog I/O modules
TMCR2AI2, 104
S TMCR2AM3 , 108
scan modes, 29 TMCR2AQ2C , 106
SCH, 20 TMCR2AQ2V , 107
SD card, 152 TMCR2DM4U , 103
application management, 153 TMCR2TI2 , 110
cloning, 150 TMCR2••• cartridges
post configuration management, 155 adding to a configuration , 99
updating firmware, 152 TMCR2AI2, 104
serial line, 138 TMCR2AM3, 108
configuration, 114, 119, 138 TMCR2AQ2C, 106
configuration parameters, 139 TMCR2AQ2V, 107
introduction, 113, 118 TMCR2DM4U, 103
serial line cartridges, 113, 118 TMCR2SL1, 113
Short Reference with INDEX TMCR2SL1A, 118
PTOHome, 240 TMCR2TI2, 110
software initialization values, 41
SoMachine Basic
device tree, 99 U
hardware tree, 126 updating firmware, 59, 152
project, 99, 126 uploading applications, 36
STOP controller, 38
storage, removable, 16
supported devices, 93 V
symbols, displaying, 100, 130 variables
system bits (%S), 358 automatic save on power outage, 40
system LEDs, 59 save on user request, 40
system objects
system bits (%S), 358
system words (%SW), 366 W
system words watchdog timer, 30
%SW118, 56
%SW119, 56
%SW120, 56
system words (%SW), 366

T
tasks, 29
tasks and scan modes, 29
TM3R
configuration, 123

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Index

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