COMPACT 4
CODE CN6.1
Compact 4 is a small, +12 Vdc numerical control, with internal PC/104 bus and Windows Embedded CE operating system, complete with mounting holes to install it in a wall-mounted electrical enclosure.
Its PLC system employs the PC architecture both for machine motion and cyclic control, and for the user interface, accessible either by a touch-screen monitor, or mouse and keyboard. As an alternative to the touch-screen, Compact 6 can be connected to a supervisor PC. This system is particularly suited for smaller machines that control up to a maximum of 4 digital, analogical, and impulse train axes. On its top, the device accommodates 32 bidirectional PNP I/Os, that eventually can be expanded. There are also 4 connectors to plug in 4 impulse-train axes, and one connector to manage an MPG Handwheel.
Albatros is the automation development and debugging environment (minimum v 3.1), installed in the development PC; the user interface software is installed in the Compact 4 and must be developed for Windows CE, or it can be hosted in the supervisor PC.
General Features
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Small numerical control with PC/104 TMSbus board;
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CE certification conform to EMC standards.
EtherCAT function
code CN6.1.03
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The EtherCAT function is carried out through Tpa implementation of the EtherCAT fieldbus master;
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the implemented application protocol is the official standard CoE (CANopen over EtherCAT);
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the EtherCAT bus uses a standard 100BASE-TX Ethernet cable (Cat 5e or higher), that allows for a distance between devices of up to 100 m;
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implemented communication format: standard 1518-byte Ethernet packet;
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axis position controlled by transmitting instantaneous velocity data and with real-time position detection;
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transmission cycle time: 2 ms until 32 nodes (I/O and/or drives);
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the drive parameters can be written and read;
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communication and drive diagnostics in real time.
S-CAN function
code CN6.1.05
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The Selema CAN bus is a communication based on the CAN 2.0B standard. It allows for a real-time drive control: its channel consists of a shielded, terminated twisted pair;
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cycle time (real-time): 2 ms;
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up to 5 drives with a 2 ms cycle time. A second TMSbus board can be added for a maximum of 10 drives, with a 2 ms cycle time;
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the drive parameters can be sent or read;
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communication and drive diagnostics in real time;
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available library of instructions of parameter request and drive query that can be called from code.
GreenBUS function
code CN6.1.05
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The GreenBUS bus consists of a full-duplex isochronous serial communication at 4 Mbit/s through a single twisted pair, shielded and terminated;
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the GreenBUS line also powers the remote TRS modules;
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compliant to the electrical standard TIA/EIA RS-422;
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1 ms cycle time. Using multiplexer mechanisms, it is possible to synchronize nodes with a 1, 2, or 4 ms real-time;
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real-time node communication diagnostics.
Max. n° axes
4
6
16
128
Max. n° axes in chain
3 slaves 1 master
3 slaves 1 master
5 slaves 1 master
5 slaves 1 master
Integrated digital I/O
32
–
–
–
EtherCAT
Cycle time: 2 ms up to 32 nodes
Cycle time: 2 ms up to 32 nodes
Cycle time: 2 ms up to 32 nodes
Cycle time: 1 ms until 32 nodes, 2 ms until 64 nodes, 4 ms until 128 nodes
MECHATROLINK-II
–
–
Cycle time: 1 ms until 8 axes, 2 ms with more than 8 axes
Cycle time: 1 ms until 8 axes, 2 ms until 20, 4 ms until 30
GreenBUS 4.0
Cycle time: 1 ms, synchronizable with 1, 2, or 4 ms nodes
Cycle time: 1 ms, synchronizable with 1, 2, or 4 ms nodes
Cycle time: 1 ms, synchronizable with 1, 2, or 4 ms nodes
Cycle time: 1 ms, synchronizable with 1, 2, or 4 ms nodes
CAN
Selema CAN: CAN 2.0B
Selema CAN: CAN 2.0B
Selema CAN: CAN 2.0B
Selema CAN: CAN 2.0B
Usable ports
1*RS-232, 1*RS-485
1*RS-232, 1*RS-485
1*RS-232, 1*RS-485
3*RS-232 (optional), 1*RS-485, 1*1 Gb LAN
Size
65*126*224 mm
63*119*162 mm
185*128*81 mm
150*327*280 mm
Weight
0.9 Kg
0.8 Kg
0.9 Kg
6.5 Kg
