trio products
EtherCAT Partners

MC6N-ECAT Mini Master

P960 (2 Axis) | P961 (4 Axis) | P962 (8 Axis) | P963 (16 Axis) | P964 (32 Axis) | P965 (64 Axis)

The MC6N 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 the 1GHz i.MX7 Dual ARM Cortex A7 Core Processor which makes it ideal for high axis count machines or robotic applications.
EtherCAT logo



  • EtherCAT Cycle Times Down to 125 µsec
  • 1GHz i.MX7 Dual ARM Cortex A7 Core Process
  • 1 GBit DDR3 Memory
  • 128Mbyte Fast Serial NOR Flash
  • Real Time Clock
  • Up to 64 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
  • 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 MC6N supports up to 64 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.




The P960 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:
P960 + 1 x P912 = 4 Remote Axes
P960 + 2 x P912 = 8 Remote Axes
P960 + 3 x P912 = 16 Remote Axes
P960 + 4 x P912 = 32 Remote Axes
P960 + 5 x P912 = 64 Remote Axes

Of course, the MC6N can be purchaced with axes factory loaded ie:
P960 = 2 Axes
P961 = 4 Axes
P962 = 8 Axes
P963 = 16 Axes
P964 = 32 Axes
P965 = 64 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 MC6N. 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 P960
Description 64 axis panel mounted motion coordinator for EtherCAT
PCode P960
Status Current
Configuration P960
Axis 0 Extended
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Axis 7
Axes P960
Max axes 64
Max networked axes 64
Max virtual axes 64
Max discrete wired axes 1
Performance P960
Cores 2
Processor ARM Cortex-A7
Clock frequency 1000 MHz
Maths precision IEEE 457 Double
Position register precision 64 bit
Execution benchmark 101 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) 20 years
Maximum VR variables 16384
Maximum servo period 4000 µs
Minimum servo period 125 µs
Maximum encoder input frequency 6.000 MHz
Maximum stepper output frequency 2.000 MHz
Drive interfaces P960
Auxilliary axis No
EtherCAT Yes
Hydraulic No
Piezo No
Panasonic RTEX No
Servo No
Step & direction Axis0
Communications P960
Anybus No
Bluetooth No
CANopen Yes
CC-Link No
DeviceNet Yes
Ethernet Yes
EthernetIP Yes
Hostlink Yes
Profibus No
ProfiNet Yes
RS232/RS485 Yes
USB 1.1 No
Encoder ports P960
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 P960
+/-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 P960
+/-10V analogue outputs 16
Analogue output precision 12 bits
+/-10V analogue inputs 32
Analogue input precision 12 bits
Digital I/O points 1024
Programming P960
Trio BASIC Yes
DXF in Yes
G-Code Yes
IEC61131 Yes
Kinematic Option
Maximum programs 48
Maximum tasks 22
Software P960
Motion Perfect version 4
Expansion P960
Expansion module type None
Maximum modules 0
Memory card SD
Physical P960
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 P960
Supply current 180 mA
Supply tolerance +/-20%
Supply voltage 24 V
Certification P960
CE Yes
RoSH Yes
UL Yes

24V supply minimum recommended at 0.5A


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 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 - DX4 Servo Drive Systems
DX4 AC Servo Drive (D0100 - D0108)DX4 Servo Drive System
The DX4 is designed to work seamlessly with Trio's EtherCAT controllers and be fully integrated into Trio’s application development tool, Motion Perfect. The DX4 comes in 3 frame sizes with power ratings from 50W to 3kW. Designed to be matched with the MX motors and accessories it offers a high-speed, high-precision machine solution.

DX5 AC Servo Drive (D0500 - D0508)DX5 Servo Drive System
DX5 dual axis drive modules come in 2 compact frame sizes and combined with the power supply units can be configured for up to 16 axes with power ratings from 400W to 750W. Designed to be matched with the MXL motors and accessories it offers a high-speed, high-precision machine solution.
Products - Flexslice Modules
The Flexslice Expansion Range all flexslice expansion modules
The EtherCAT Flexslice System is designed to let you do more!
It offers fast flexible expansion for motion applications and can be used with Trio or 3rd Party Masters.
The advantage of the I/O slice approach compared to a traditional PLC for analogue and stepper integration is a saving on footprint and cost, combined with our motion-first specialisation.
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
Firmware - MC6N ECAT
Latest USER Release:
Size:1921506 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).
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
controller + 5 x P912 = 64 Remote Axes

(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 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.
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  
EMC Guide Electromagnetic Compatibility guide for Trio products v4
Quick Start Guide Simple set up guide
EU Declaration of Conformity 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
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 identical to the MC4-N.
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 and China.
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.
Estun March - 2017
Delta September - 2014
Panasonic October - 2014
JVL November - 2014
AMC December - 2014
Moog Animatics February - 2016
Fastech April - 2016
RTA April - 2017
applied-motion May - 2017
Other partners (EtherCAT) Drive Encoder I/O Device
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    
Festo     CPX-FB38
Gefran SPA      
Grossenbacher     GESYS MEC
HIGEN Motor Co., Ltd.      
Hilscher     NETX_IO
IAI ACON (does not support cyclic mode)    
Inficon AG      
Infranor XtraplusPak    
Imficon     INFICON PG
Jenaer Antriebstechnik GmbH      
Jenny Science Xenax    
KEB KEB 1648F5    
Kuebler MT-5868 Encoder    
Kuhnke     694_400
Kollmorgen AKD, AKD-N, S700    
KUNBUS GmbH      
Lenze i700 & 8400   IOSystem 1000
LinMot E1250-EC    
Lika Electronic srl      
LTi Drives ServoOne, ServoOne Junior    
Maxon Motor EPOS3, MAXPOS    
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
Omron MX2 inverter, G5 Servo GXEC0211, GXEC0241 GRT-ECT I/O
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
SMC     EX260, EX600
Stober Posidrive    
TDK-Lambda Americas Inc.      
Texas Instruments Incorporated      
TR-Electronic   Linear and rotary encoders  
TRINAMIC Motion Control GmbH & Co. KG      
TRSystems GmbH      
Tsino-Dynatron Electrical Technology      
Vacon Plc      
VIPA     053
Wenglor Sensor     OCP, ZAC50
WAGO     750-354
Watlow Electric Manufacturing      
Wenglor sensoric      
Yaskawa Sigma V    

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