top of page



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.

CAN bus 2.0b function

  • Configurable cycle time: up to 4 ms;

  • 64 nodes max, total max of 128 RPDOs and 128 TPDOs;

  • synchronous and asynchronous PDO configuration;

  • possibility to access node parameters through SDO readings and writings;

  • master-enabled protocols (BOOTUP, SYNC, PDO, RECOVER and NODEGUARDING);

  • configurable baud rate (100, 125, 250, 500, 1000).

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





Integrated digital I/O



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


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 2.0B

CAN 2.0B

CAN 2.0B

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


65*126*224 mm

63*119*162 mm

185*128*81 mm

150*327*280 mm


0.9 Kg

0.8 Kg

0.9 Kg

6.5 Kg


3D drawings


bottom of page