EtherCAT
Mini Master
Overview
Specification
Expansion/Accessories
Software
Support
EtherCAT Partners
MC4N-ECAT Mini Master
P900 (2 Axis) | P901 (4 Axis) | P902 (8 Axis) | P903 (16 Axis) | P904 (32 Axis)
The MC4N is a high performance Motion Coordinator which is dedicated to running remote servo and stepper
drives via the EtherCAT real time automation bus. It is based on an up-rated version of the 532MHz ARM 11 processor
which makes it ideal for high axis count machines or robotic applications.
Highlights
- Up to 32 EtherCAT Digital Drive Axes
- Supports Position, Speed and Torque Drive Modes
- Up to 1024 EtherCAT I/O
- EtherCAT CoE protocol to CiA402
- Linear, Circular, Helical and Spherical Interpolation
- Flexible CAM shapes, Linked Motion
- Isolated Encoder Port
- Biss, EnDAT and SSI Absolute Encoder Supported
- Hardware Linked Output for Camera / Laser Control
- Ethernet-IP / Modbus TCP / Trio ActiveX / Uniplay HMI / UDP / Ethernet Interface Built-In
- Precise 64Bit Motion Calculations with 532MHz ARM 11 Processor
- IEC 61131-3 Programming
- Multi-tasking BASIC Programming
- Text File Handling
- Robotic Transformations
- 4 high speed registration inputs
- Isolated RS232 and RS485 ports
- SD Memory Card Slot
- EtherCAT I/O Expansion
- CANopen I/O Expansion
- Backlit LCD Display
- RoHS and CE Approved
Plug and Play
The MC4N supports up to 32 axes of motion with 64 bit integer position registers for ultra precise axis resolution. EtherCAT slave drives and I/O can be connected and run in cyclic synchronous position, speed or torque modes provided these are supported by the drive.
EtherCAT
The P900 has 2 built-in EtherCAT axes which can be user upgraded with the purchase of P912 Remote Axis FECs.
Each P912 doubles the available axes, i.e:
P900 + 1 x P912 = 4 Remote Axes
P900 + 2 x P912 = 8 Remote Axes
P900 + 3 x P912 = 16 Remote Axes
P900 + 4 x P912 = 32 Remote Axes
Of course, the MC4N can be purchaced with axes factory loaded ie:
P900 = 2 Axes
P901 = 4 Axes
P902 = 8 Axes
P903 = 16 Axes
P904 = 32 Axes
Every axis can be programmed to move using linear, circular or helical or spherical interpolation, electronic cams, linked axes and gearboxes. The power of the controller allows for multiple robotic transformations to run simultaneously.
Easy to use
A bright easy to read backlit display enables the controller status to be easily determined, whilst the single piece metal cast backplate provides an integrated earth chassis to improve noise rejection in the industrial environment.
Familiar Tools
The built-in Ethernet port allows programming and connection of common PLC and HMI protocols, including the Trio Uniplay range of HMIs, directly to the MC4N. User programs can be written in Trio’s established multi-tasking TrioBASIC language using the powerful Motion Perfect v4 application development software making complex motion easy. The industry standard IEC 61131-3 languages are available as an option, allowing a fully functional PLC programming system.
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|---|
| Product | P900 MC4N-ECAT |
|---|---|
| Description | 32 axis panel mounted motion coordinator for EtherCAT |
| Name | MC4N-ECAT |
| PCode | P900 |
| Status | Supported |
| Configuration | P900 MC4N-ECAT |
|---|---|
| Axis 0 | Extended |
| Axis 1 | |
| Axis 2 | |
| Axis 3 | |
| Axis 4 | |
| Axis 5 | |
| Axis 6 | |
| Axis 7 |
| Axes | P900 MC4N-ECAT |
|---|---|
| Max axes | 32 |
| Max networked axes | 32 |
| Max virtual axes | 32 |
| Max discrete wired axes | 1 |
| Performance | P900 MC4N-ECAT |
|---|---|
| Cores | 1 |
| Processor | ARM11 |
| Clock frequency | 532 MHz |
| Maths precision | IEEE 457 Double |
| Position register precision | 64 bit |
| Execution benchmark | 51 lines/ms |
| Real-time clock | Yes |
| Flash memory | 32 x 16000 values |
| User memory | 8 MB |
| Table memory | 512000 values |
| Min expected flash memory life (normal use) | 42 years |
| Maximum VR variables | 4096 |
| Maximum servo period | 2000 µs |
| Minimum servo period | 125 µs |
| Maximum encoder input frequency | 6.000 MHz |
| Maximum stepper output frequency | 2.000 MHz |
| Drive interfaces | P900 MC4N-ECAT |
|---|---|
| Auxilliary axis | No |
| EtherCAT | Yes |
| Hydraulic | No |
| Piezo | No |
| Panasonic RTEX | No |
| SERCOS | No |
| Servo | No |
| SLM | No |
| Step & direction | Axis0 |
| Communications | P900 MC4N-ECAT |
|---|---|
| Anybus | No |
| Bluetooth | No |
| CANopen | Yes |
| CC-Link | No |
| DeviceNet | Yes |
| Ethernet | Yes |
| EthernetIP | Yes |
| Hostlink | Yes |
| MODBUS-RTU | Yes |
| MODBUS-TCP/IP | Yes |
| Profibus | No |
| ProfiNet | No |
| RS232/RS485 | Yes |
| USB 1.1 | No |
| Encoder ports | P900 MC4N-ECAT |
|---|---|
| Feedback input | No |
| Incremental (A+B) output | Yes |
| Pulse & direction output | Yes |
| Reference input | Yes |
| SSI Absolute Input | Yes |
| EnDat Absolute Input | Yes |
| Tamagawa Absolute Input | Yes |
| BiSS Absolute Input | Yes |
| Internal I/O | P900 MC4N-ECAT |
|---|---|
| +/-10V analogue outputs | 0 |
| Analogue output precision | 12 bits |
| Analogue Inputs (0-10V) | 0 |
| Analog input precision | 12 bits |
| Digital Bidirectional I/O (24V) | 8 |
| Digital Inputs (24Vdc) | 8 |
| Digital outputs (24Vdc) | 0 |
| Registration inputs | 4 |
| Registration speed | 1 µs |
| Watchdogs | 1 |
| Watchdog rating | 29V, 100mA max |
| External I/O | P900 MC4N-ECAT |
|---|---|
| +/-10V analogue outputs | 16 |
| Analogue output precision | 12 bits |
| +/-10V analogue inputs | 32 |
| Analogue input precision | 12 bits |
| Digital I/O points | 1024 |
| Programming | P900 MC4N-ECAT |
|---|---|
| Trio BASIC | Yes |
| DXF in | Yes |
| G-Code | Yes |
| HPGL | Yes |
| IEC61131 | Yes |
| Kinematic | Option |
| Maximum programs | 64 |
| Maximum tasks | 22 |
| Software | P900 MC4N-ECAT |
|---|---|
| Motion Perfect version | 4 |
| Expansion | P900 MC4N-ECAT |
|---|---|
| Expansion module type | None |
| Maximum modules | 0 |
| Memory card | SD |
| Physical | P900 MC4N-ECAT |
|---|---|
| Maximum operating temperature | 45 °C |
| Minimum operating temperature | 0 °C |
| Mount | Panel |
| Depth | 120.0 mm |
| Height | 157.0 mm |
| Width | 40.0 mm |
| Weight | 432 g |
| Power | P900 MC4N-ECAT |
|---|---|
| Supply current | 350 mA |
| Supply tolerance | +/- 20% |
| Supply voltage | 24 V |
| Certification | P900 MC4N-ECAT |
|---|---|
| CE | Yes |
| RoSH | Yes |
| UL | Yes |
Axis Configuration Key
| Core functionality | |||
|---|---|---|---|
CORE AXES – can be configured in software as pulse and direction outputs with stepper or servo drives. They can also be configured for incremental encoder feedback. Core functionality is a set of ATYPEs (Axis TYPEs) that are available on all controllers. They are based on pulse outputs and incremental encoder feedback. |
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| ATYPE | Description | ||
| 43 | Pulse and direction output with enable output | ||
| 45 | Quadrature encoder output with enable output | ||
| 63 | Pulse and direction output with Z input | ||
| 64 | Quadrature encoder output with Z input | ||
| 76 | Incremental encoder with Z input | ||
| 78 | Pulse and direction with VFF_GAIN and enable output 1 | ||
| Extended functionality | ||||
|---|---|---|---|---|
EXTENDED AXES – in addition to the Core functionality these axes can also be configured for absolute encoders and closed loop servos (requires voltage output). Only axes marked as AS have an analogue output and can be used for closed loop control. |
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| ATYPE | Description | |||
| 30 | Analogue feedback Servo | |||
| 44 | Incremental encoder Servo with Z input | |||
| 46 | Tamagawa absolute Servo | |||
| 47 | Endat absolute Servo | |||
| 48 | SSI absolute Servo | |||
| 60 | Pulse and direction feedback Servo with Z input | |||
| 77 | Incremental encoder Servo with enable output | |||
| 92 | Biss absolute servo | |||
 Specification |
|
|---|---|
| Speed | 100Mbps |
| Physical Layer | 100BASE-TX full duplex (IEEE 802.3) |
| Cable | Shielded Twisted Pair (TIA/EIA-568B CAT5e) |
| Topology | Line, tree or star (1) |
| Isolation | Pulse transformer with common-mode choke |
| Connector | RJ45 |
| Cable Length | 100m max between nodes |
| Cyclic period | 125µsec (Flex-X Nano, Flex-6 Nano, MC6N) 250µsec (MC664-X) 500µsec, 1000µsec, 2000µsec or 4000µsec (MC664, Flex-6 Nano, Flex-X Nano, MC6N) |
| Synchronisation | Distributed Clocks technology. Jitter < 1 µsec |
| Protocol | CoE, SoE (2) |
| Number of Axes | 32 (MC4N) 64 (MC464+P876) 128 (MC664-X) 64 (PC-MCAT-64, PC-MCAT-2) 64 (Flex-X Nano, Flex-6 Nano, MC6N) |
| Number of Nodes | 128 slave nodes maximum |
| Motion modes | Cyclic Synchronous Position, Cyclic Synchronous Velocity, Cyclic Synchronous Torque |
| Parameter transfer | CoE Object read/write. SoE IDN read/write |
| Input/Output | Up to 1024 input bits and 1024 output bits |
| (1) Tree and star require the use of EtherCAT switches. (2) CanOpen application protocol over EtherCAT. (CoE) Servo drive profile according to IEC 61491 over EtherCAT. (SoE) |
|
| Products - Flexslice Modules |
|---|
Flexslice Coupler (P366) The P366 Flexslice Coupler converts the passing telegrams from Ethernet 100BASE-T to EBUS signal format. One Coupler can support up to 16 Flexslice modules. |
Flexslice 16-Out PNP (P371) The P371 digital output slice connects the binary control signals from the Motion Coordinator to the machine’s output devices at 24V dc. |
Flexslice 16-In PNP (P372) The P372 digital input slice connects 24V dc signals from devices on the machine to the binary control registers in the Motion Coordinator. |
Flexslice Flex 3-Axis (P375) The P375 Flexslice 3 Axis Step Pulse Module controls up to 3 Stepper motors with Pulse/Direction/Enable output signals or encoders with A/B/Registration inputs for each axis. |
Flexslice 16-Out NPN (P376) The P376 digital output slice connects the binary control signals from the Motion Coordinator to the machine’s output devices, such as relays, contactors, valves, lamps etc. at 24V dc. |
Flexslice 16-In NPN (P377) The P377 digital input Flexslice connects 24V dc signals from devices on the machine to the binary control registers in the Motion Coordinator. |
Flexslice 8 Analogue Outputs (P378) The P378 Flexslice 8 Analogue Output module has eight programmable voltage range output terminals, each digitised to a resolution of 12 bit. |
Flexslice 8 Analogue Inputs (P379) The P379 Flexslice 8 Analogue Input module has eight programmable voltage range input terminals, each digitised to a resolution of 12 bit. |
| Products - CAN I/O Modules |
|---|
CAN 16-Out I/O Module (P317) The Trio CAN16 Output module provides 256 distributed output channels at 24Vdc level. All points are short-circuit proof and completely isolated from the CANbus. P317 modules may be mixed on the same bus, with other types in the Trio CAN I/O range. |
CAN 16-In I/O Module (P318) The Trio CAN16 Input module provides 256 distributed input channels at 24Vdc level. All input points are high level (24V in = ON) and completely isolated from the CANbus. |
CAN16 I/O Module (P319) The Trio CAN16 Input/Output module provides 256 distributed bi-directional input/output channels at 24Vdc level. All input points are high level, (24V = ON) all outputs are short-circuit proof and the I/O is completely isolated from the CANbus. |
CAN 8-In / 4-Out I/O Module (P326) The CAN Analogue I/O module provides a compact DIN rail mounted analogue input/output capability for Trio Motion Coordinators. Each module provides 8 channels of 12-bit (+/-10V) analogue inputs and 4 channels of 12-bit (+/-10V) analogue outputs. |
CAN 8-Relay Module (P327) The Trio CAN8 Relay module provides 128 distributed low power relay channels at up to 30Vdc or 49Vac. All output points are Volt-free contacts and are completely isolated from the CANbus. P327 modules may be mixed on the same bus, with other types in the Trio CAN I/O range. |
| Products - Generic |
|---|
UNIPLAY HMI (7") (P843) Trio’s unique UNIPLAY HMI system is a revolutionary way to make operator interfaces better, easier and more secure! The UNIPLAY series boasts a 7" and 10" colour display. |
| UNIPLAY HMI (10") (P844) Trio’s unique UNIPLAY HMI system is a revolutionary way to make operator interfaces better, easier and more secure! The UNIPLAY series boasts a 10" colour display. |
| Firmware - MC4N ECAT | ||||||||
|---|---|---|---|---|---|---|---|---|
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Latest USER Release:
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| Software - Programming |
|---|
| Motion Perfect Motion Perfect is designed to make setup, diagnostics, commissioning and using our range of Motion Coordinators as simple as possible. It provides the user with an easy to understand Windows based interface for rapid application development, controller configuration and monitoring of controller processes. |
| IEC 61131-3 Runtime Software (P877) IEC 61131-3 standardises the programming language, the instruction sets and the handling and structuring of projects. As supplied, the IEC 61131 system will run programs for one hour after power-on, to allow engineers to try out their standard programs on the Motion Coordinator hardware. For continuous running, a software key (Feature Enable Code) can be downloaded from the Trio E-Store or purchased form your distributor for each Motion Coordinator to run IEC 61131 programs. . |
| Software - Expansion |
|---|
| Kinematic Runtime FEC (P750) The P750 Robot kinematic runtime enables the more complex FRAME transformations which enable easy programming of various types of robot Including SCARA and Delta. (Log on to E-Store to purchase). |
| 2 x EtherCAT Remote Axis FEC's (P912) The controller has 2 built-in EtherCAT axes which can be user upgraded with the purchase of P912 Remote Axis FECs. Each P912 doubles the available axes, i.e: controller + 1 x P912 = 4 Remote Axes controller + 2 x P912 = 8 Remote Axes controller + 3 x P912 = 16 Remote Axes controller + 4 x P912 = 32 Remote Axes (Log on to E-Store to purchase). |
| Software - Support Apps |
|---|
| CAD2Motion The program allows the user to create motion paths in a CAD package such as AutoCAD and convert them into code executable by a Trio Motion Coordinator. |
| AutoLoader A compact, self-contained package designed to allow simple distribution of projects written using Motion Perfect. Simply add the project to the Autoloader folder, edit a script file to provide control of the loading sequence and send to the customer. |
| Trio MCLoader The Trio MC Loader is a Windows ActiveX control which can load projects (produced with Motion Prefect) and programs onto a Trio Motion Coordinator. Communication with the Motion Cordinator can be via serial link, USB, Ethernet or PCI depending on the Motion Coordinator. |
| Trio PCMotion PCMotion is an ActiveX component allowing direct connection to the Trio Motion Coordinator from a custom user application. It can be used to control any of the Motion Coordinator functionality as well as send text files down to the controller. |
| TextFileLoader The file loading functionality of the Motion Coordinators allows files to be easily loaded into the controller memory or the SD card (when fitted). This allows programs written in text based languages such as G-Code and HPGL to be loaded to the controller where they can be parsed and executed by a TrioBASIC program. The transfer process is optimized to compress the file and reduce transfer times, or it can be set to stream the file into a FIFO buffer on the controller. This can help reduce overall machine cycle times when file sizes can be large and so making communication time significant. |
| Guides | |
|---|---|
| Data Sheet | |
| Quick Start Guide | Simple set up guide |
| EMC Guide | Electromagnetic Compatibility guide for Trio products v4 |
| Manuals | |
|---|---|
| The Technical Reference Manual can be downloaded in full or as separate sections. All in PDF format. | |
| Hardware Overview (Chapter 2) | |
| Certificates | |
|---|---|
| EU Declaration | All Models |
| UL Listing | Please insert E238097 UL File Number in the search box. |
| EtherCAT Data | |
|---|---|
| EtherCAT Extension Files | Configuration and set up of EtherCAT slave devices |
| EtherCAT Documents | Various notes for help with EtherCAT |
| Videos | Various instruction videos for help with EtherCAT |
| Fieldbus Data | |
|---|---|
| EtherNet IP EDS (Electronic Data Sheet) files | EtherNet IP EDS (Electronic Data Sheet) files |
| DeviceNet EDS (Electronic Data Sheet) files | DeviceNet EDS (Electronic Data Sheet) files |
| CAD Data | |
|---|---|
| Drawings are available in the following formats: DXF, IGES, DWG and STEP. These files are included in the Zip file below. | |
| Download Zip file | |
| PREFERRED EtherCAT PARTNER | JOIN DATE | WEB ADDRESS |
|---|---|---|
 |
March - 2017 | Estun.com |
 |
September - 2014 | delta-americas.com |
 |
October - 2014 | panasonic-electric-works.com |
 |
November - 2014 | JVL.dk |
 |
December - 2014 | a-m-c.com |
 |
February - 2016 | Animatics.com |
 |
April - 2016 | Fastech.co.kr |
 |
April - 2017 | rta.it |
 |
May - 2017 | applied-motion.com |
| Other partners (EtherCAT) | Drive | Encoder | I/O Device |
|---|---|---|---|
| ABB | ACS355, ACS850, ACSM1-M, ACSM1-S, FECA-01, MICROFLEX | ||
| ACS Motion | ACS SPIIPLUS | ||
| Arnold Mueller GmbH & Co. KG | IC, KW (-R03) | ||
| Applied Motion Products | SSxx-EC-D | ||
| Bachmann | Bachmann slv | ||
| Baumer | BM4-O-ECT-01-01, BMAxx | Encoder 2, 4 & 10byte | |
| Baumer Thalheim | ATD2, ATD4 & POE | ||
| Bernecker + Rainer Industrie Elektronik Ges.m.b.H. | |||
| Baumueller | bmaXX 4400 | ||
| Beckhoff | AX2000 | EP5101 | EL6752, EL1088 |
| Bonfiglioli Vectron GmbH | |||
| Bosch Rexroth AG | |||
| Brooks Instrument B.V. | |||
| Brunner Elektronik AG | |||
| Burster praezisionsmesstechnik | |||
| Comet Technologies USA | |||
| Control Techniques | Digitax, Unidrive SP | ||
| Copley Drives | Xenus+, Accelnet+ | ||
| Danfoss GmbH | |||
| Deutshmann | Unigate IC | ||
| Dunkermotoren | BGxx | ||
| Eltromat | ELTROMAT RSH | ||
| Elmo | ELMO Drive | ||
| ESD electronic system design gmb | |||
| ESR Pollmeier | Midi Drive, Trio Drive | ||
| ESItron | ESImotor | ||
| Estun | ProNet | ||
| FASTECH | |||
| Festo | CPX-FB38 | ||
| Gefran SPA | |||
| Groschoppbv | |||
| Grossenbacher | GESYS MEC | ||
| HIGEN Motor Co., Ltd. | |||
| Hilscher | NETX_IO | ||
| IAI | ACON (does not support cyclic mode) | ||
| Iba-AG | |||
| Inficon AG | |||
| Infranor | XtraplusPak | ||
| Imficon | INFICON PG | ||
| JAT | ECOCOMPACT | ||
| Jenaer Antriebstechnik GmbH | |||
| Jenny Science | Xenax | ||
| KEB | KEB 1648F5 | ||
| KEYENCE | |||
| Kuebler | MT-5868 Encoder | ||
| Kuhnke | 694_400 | ||
| Kollmorgen | AKD, AKD-N, S700 | ||
| KUNBUS GmbH | |||
| LEINE & LINDE AB | |||
| Lenze | i700 & 8400 | IOSystem 1000 | |
| LinMot | E1250-EC | ||
| Lika Electronic srl | |||
| LTi Drives | ServoOne, ServoOne Junior | ||
| Maxon Motor | EPOS3, MAXPOS | ||
| MCS Inc | MCS INC | ||
| Metronix | ARS2000 | ||
| Mitsubishi | MR_J3_A | ||
| MKS Intruments | TEMPO VALVE | ||
| Moog | MSD, MSD Compact, Animatics | ||
| MOTEC Servo | |||
| MURR Elektronik | IMPACT 20, IMPACT 67 | ||
| MTS Systems Corp | |||
| Nanotec Electronics | N10 | ||
| National Instruments | 9144 | ||
| Numatics,Inc | |||
| Omron | MX2 inverter, G5 Servo | GXEC0211, GXEC0241 | GRT-ECT I/O |
| ORIENTAL MOTOR | |||
| Parker Hannifin | |||
| Phase Motor Control | AxM-II Series | ||
| Phoenix Contact | |||
| RS Automation | |||
| RTA | Plus ET | ||
| Renesas Electronics Corp. | |||
| Sanyo Denki | RS2 | ||
| Schneider Electric | LXM32M | ||
| Servotronix Motion Control Ltd. | |||
| Sick | Inspector | ||
| Shanghai AMP&MOONS' Automation Co.,Ltd | SS10-EC-D SS05-EC-D SS03-EC-D |
||
| SMC | EX260, EX600 | ||
| Stober | Posidrive | ||
| TDK-Lambda Americas Inc. | |||
| Technosoft | |||
| Texas Instruments Incorporated | |||
| TR-Electronic | Linear and rotary encoders | ||
| TRINAMIC Motion Control GmbH & Co. KG | |||
| TRSystems GmbH | |||
| TR-Electronic | |||
| Tsino-Dynatron Electrical Technology | |||
| TURCK | |||
| Vacon Plc | |||
| VIPA | 053 | ||
| Wenglor Sensor | OCP, ZAC50 | ||
| WAGO | 750-354 | ||
| Watlow Electric Manufacturing | |||
| WEG | |||
| Wenglor sensoric | |||
| Yaskawa | Sigma V |
