Can we upgrade all versions of M580 controller with firmware version equal to or greater than 4.01 ?

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Answer : Unfortunately not. Because of a hardware incompatibility with these firmware releases.

Do not upgrade with firmware version equal to or greater than SV4.01 any of the following Modicon M580 commercial references and related Product Version (PV):

BMEP581020(H) with PV<=3,
BMEP582020(H) with PV<=3,
BMEP582040(H) with PV<=3,
BMEP583020 with PV<=3,
BMEP583040 with PV<=3,
BMEP584020 with PV<=3,
BMEP584040 with PV<=3.

In case the upgrade is performed on these references, the product will become inoperable.

NOTE: The Product Version (PV) information can be found on the product label.

Updating from Firmware version lower or equal to 3.20 to Firmware version higher or equal to 4.01 must be done by following documentation :
https://www.se.com/fr/fr/download/document/EIO0000004992/