EtherCAT

Mini Master

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EtherCAT Specification

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.
EtherCAT logo

MC4N-ECAT

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.

MC664-x

EtherCAT

MC4N

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

MC4N

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

MC664-x

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.

p900.png
Product P900
MC4N-ECAT
Description 32 axis panel mounted motion coordinator for EtherCAT
Name MC4N-ECAT
PCode P900
Status Current
Configuration P900
MC4N-ECAT
Axis 0 Extended
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
Real-time clock Yes
Flash memory 32 x 16000 values
User memory 8 MB
Table memory 512000 values
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 Yes
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
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 20 µs
Watchdogs 1
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 32
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 voltage 24 V
Certification P900
MC4N-ECAT
CE Yes
RoSH Yes
UL Yes
P900

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.

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.
All Extended Axes can use these ATYPE's as feedback.
If you want to just use the feedback and not complete a closed loop servo system set SERVO = OFF

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
EtherCAT logo  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 250µsec (MC664), 500 µsec, 1000 µsec or 2000 µsec
Synchronisation Distributed Clocks technology.  Jitter < 1 µsec
Protocol CoE, SoE (2)
Number of Axes 32 (MC4N)  64 (MC464+P876) 128 (MC664)
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)P366
The Flexslice System consists of a P366 coupler and up to 16 Flexslice EtherCAT modules. The coupler converts the passing telegrams from Ethernet 100BASE-T to E-bus signal format.
Flexslice 16-Out PNP (P371)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)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 16-In PNP (P375)P375
The P375 Flexslice 3 Axis Step Pulse Module controls up to 3 Stepper motors with Pulse/Direction/Enable or Pulse/Direction/Registration signals for each axis.
Flexslice 16-Out NPN (P376)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)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)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)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)CAN
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)CAN
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)CAN
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)CAN
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)CAN
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)bolt on expansion module
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 (7") (P844)bolt on expansion module
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
LATEST USER RELEASE:
File:MC4NE_20288.zip
Version:2.0288
Size:1346626 bytes
Date:2017-Sep-12
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) must be bought for each Motion Coordinator that can run IEC 61131 programs.
(Log on to E-Store to purchase).
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
Manuals  
The Technical Reference Manual can be downloaded in full or as separate sections. All in PDF format.
Hardware Overview (Chapter 2)
Certificates  
EC Declaration P900
EC Declaration P901
EC Declaration P902
EC Declaration P903
EC Declaration P904
UL Declaration All Models
UL Listing Please insert E238097 UL File Number in the search box.
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. Please note: the case is the same as the MC464.
Download Zip file
PREFERRED EtherCAT PARTNER JOIN DATE WEB ADDRESS
Delta September - 2014 delta-americas.com
Panasonic October - 2014 panasonic-electric-works.com
LS Mecapion October - 2014 lsmecapion.com
JVL November - 2014 JVL.dk
AMC December - 2014 a-m-c.com
Hiwin November - 2015 hiwinmikro.tw
It may be necessary to select "language...English" from the top bar to view the information.
Axor December - 2015 axorindustries.com
Moog Animatics February - 2016 Animatics.com
Fastech April - 2016 Fastech.co.kr
RTA April - 2017 rta.it
applied-motion 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 S700    
Kollmorgen / Danaher AKD    
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    
EtherCAT logo  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 250µsec (MC664), 500 µsec, 1000 µsec or 2000 µsec
Synchronisation Distributed Clocks technology.  Jitter < 1 µsec
Protocol CoE, SoE (2)
Number of Axes 32 (MC4N)  64 (MC464+P876) 128 (MC664)
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)