COMPACT 4

CODE CN6.1

Compact 4 is a small, +12 Vdc numerical control system, with internal PC/104 bus, and Windows Embedded CE operating system, that can be installed in a wall-mounted electrical enclosure through its mounting holes.
The PLC system employs the PC architecture both for the motion and cyclic control functions of the machine, and for its user interface functions, accessible either by a touchscreen monitor, or mouse and keyboard. As an alternative to the touchscreen, Compact 4 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 the top, the device accommodates 32 bidirectional PNP I/Os that can be eventually expanded. It also presents 4 connectors to plug in 4 impulse-train axes, and one connector to manage an MPG Handwheel.

Albatros is the development and debugging environment of its automation functions (minimum v 3.1), installed in the development PC; the user interface software is installed in 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 implementing Tpa 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 control realised through instantaneous velocity data transmission and real-time position detection;

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

  • possibility to write and read the drive parameters;

  • communication and drive diagnostic 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. Possibility to furnish it with a second TMSbus board for a maximum of 10 drives, with a 2 ms cycle time;

  • possibility to send or read the drive parameters;

  • communication and drive diagnostic in real time;

  • instructions of parameter request and drive query available in a library and recallable from code.

GreenBUS function

code CN6.1.05

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

  • the remote TRS modules are powered through the GreenBUS line itself;

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

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

  • real-time communication diagnostics of nodes.

Max. n° axes

4

4

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

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

70*125*225 mm

63*119*162 mm

193*128*84 mm

150*325*280 mm

Weight

1 Kg

0.8 Kg

1 Kg

6.5 Kg

Documents

3D drawings

Certifications

© 2019 by Tpa Srl

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Tpa Srl – Technologies and Products for Automation

20099, Sesto S. Giovanni (MI), Italy – via Carducci, 221

Tel. +390236527550 (r.a.) – P. IVA: 02016240968 – www.tpaspa.com