COMPACT 4

CODE CN6.1

Tpa Compact 4 numerical control, up to 4 axes, EtherCAT, impulse train

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

  • Small numerical control with PC/104 TMSbus board;

  • CE certification conform to EMC standards.

EtherCAT function

code CN6.1.03

  • The EtherCAT function is carried out through Tpa implementation of the EtherCAT fieldbus master;

  • the implemented application protocol is the official standard CoE (CANopen over EtherCAT);

  • 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;

  • implemented communication format: standard 1518-byte Ethernet packet;

  • axis position controlled by transmitting instantaneous velocity data and with real-time position detection;

  • transmission cycle time: 2 ms until 32 nodes (I/O and/or drives);

  • the drive parameters can be written and read;

  • communication and drive diagnostics in real time.

S-CAN function

code CN6.1.05

  • 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;

  • cycle time (real-time): 2 ms;

  • 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;

  • the drive parameters can be sent or read;

  • communication and drive diagnostics in real time;

  • available library of instructions of parameter request and drive query that can be called from code.

GreenBUS function

code CN6.1.05

  • The GreenBUS bus consists of a full-duplex isochronous serial communication at 4 Mbit/s through a single twisted pair, shielded and terminated;

  • the GreenBUS line also powers the remote TRS modules;

  • compliant to the electrical standard TIA/EIA RS-422;

  • 1 ms cycle time. Using multiplexer mechanisms, it is possible to synchronize nodes with a 1, 2, or 4 ms real-time;

  • 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

Documents

3D drawings

Certifications