Mini Master

trio products

MC4N-RTEX Mini Master

P906 (2 Axis) | P907 (4 Axis) | P908 (8 Axis) | P909 (16 Axis) | P910 (32 Axis)

The MC4N-RTEX extends the MC4N range of Motion Coordinators for networked drives which started with the MC4N-ECAT. It is dedicated to running remote servo drives via Panasonic's RTEX Real Time EXpress automation bus. It is based on an up-rated version of the 532MHz ARM processor with VFP3 and  is available with configurations from 2 to 32 axes making it ideal for high axis count machines or robotic applications.



  • Up to 32 RTEX Digital Drive Axes
  • Supports Position, Speed and Torque Drive Modes
  • Up to 1024 I/O
  • 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
  • CANopen I/O Expansion
  • Backlit LCD Display
  • RoHS and CE Approved



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-RTEX. The bright easy to read backlit display enables the controller status to be easily determined

Easy to use


The MC4N-RTEX supports up to 32 axes of motion with 64 bit integer position registers for ultra precise axis resolution. RTEX slave drives can be connected and run in cyclic synchronous position, speed or torque modes provided these are supported by the drive.



Versions of the MC4N-RTEX are available for 2, 4, 8, 16 and 32 motor axes. All versions feature 32 software axes any of which may be used as virtual axes if not assigned to RTEX hardware. 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.

I/O can be connected via the CAN port on top the MC4N making expansion quick and easy.

Easy Set-Up, Easy Programming

Programming the MC4N is identical to using traditional analogue axes with the addition of being able to set up drives and process alarms over the RTEX bus. With everything programmed from one place, machine control has never been so simple. Connecting to Panasonic drives is made easy with Motion Perfect's Intelligent Drives window.

User programs can be written in Trio’s established multi-tasking TrioBASIC language using the powerful Motion Perfect 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.

Product P906
Description 32 axis panel mounted motion coordinator for Panasonic RTEX
PCode P906
Status Current
Configuration P906
Axis 0 Extended
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Axis 7
Axes P906
Max axes 32
Max networked axes 32
Max virtual axes 32
Max discrete wired axes 1
Performance P906
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 1000 µs
Minimum servo period 500 µs
Maximum encoder input frequency 6.000 MHz
Maximum stepper output frequency 2.000 MHz
Drive interfaces P906
Auxilliary axis No
EtherCAT No
Hydraulic No
Piezo No
Panasonic RTEX Yes
Servo No
Step & direction Axis0
Communications P906
Anybus No
Bluetooth No
CANopen Yes
CC-Link No
DeviceNet Yes
Ethernet Yes
EthernetIP Yes
Hostlink Yes
Profibus Yes
ProfiNet No
RS232/RS485 Yes
USB 1.1 No
Encoder ports P906
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 Option
Internal I/O P906
+/-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 P906
+/-10V analogue outputs 16
Analogue output precision 12 bits
+/-10V analogue inputs 32
Analogue input precision 12 bits
Digital I/O points 1024
Programming P906
Trio BASIC Yes
DXF in Yes
G-Code Yes
IEC61131 Yes
Kinematic Option
Maximum programs 64
Maximum tasks 22
Software P906
Motion Perfect version 4
Expansion P906
Expansion module type None
Maximum modules 0
Memory card SD
Physical P906
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 P906
Supply current 350 mA
Supply tolerance
Supply voltage 24 V
Certification P906
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.

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
Products - CAN I/O Modules
CAN I-O Expansion ModulesCAN
Our range of digital and analogue input/output expansion modules are designed to enable simple and scalable and low-cost I/O extension for our Motion Coordinators. In addition to 24V input, output and bi-directional modules, there are relay and analogue I/O modules.
Products - Generic
UNIPLAY 7-Abolt 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", 10" and 15" colour displays.
Firmware - MC4N RTEX
Latest USER Release:
Size:1754943 bytes
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).
Software - Support Apps
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.
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 Perfect) 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.
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.
Data Sheet  
Quick Start Guide Simple set up guide
EMC Guide Electromagnetic Compatibility guide for Trio products v6
The Technical Reference Manual can be downloaded in full or as separate sections. All in PDF format.
Hardware Overview (Chapter 2)
EU Declaration All Models
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.
Download Zip file
Customer Help
Customer Support Forum Trio has a world-wide technical support network providing information to our Distributors, Solution Partners and Customers. This page includes a knowledge-base, user forum and direct online ticketing system where answers will be provided by our engineers in the UK, USA, India, China and Italy.
Training Courses Our 2-day introductory courses are designed to provide an overview of the Motion Coordinator product range and to give an introduction to programming using the Motion-iX technologies. The course is based upon practical worked examples of each topic covered to enable the attendees to gain some valuable hands-on experience of using Motion Perfect to develop applications.
Product Repair Information We offer a fixed price repair service via our distributor network. This page provides information on how to get your product repaired.