Integrated EtherCAT Controller
Overview
Specification
Expansion/Accessories
Software
Support
EtherCAT Partners
Flex-6 Nano Integrated EtherCAT Controller
P600 (2 Axis) | P601 (4 Axis) | P602 (8 Axis) | P603 (16 Axis) | P604 (32 Axis) | P605 (64 Axis)
Powerful, compact and flexible, the Flex-6 Nano is an integrated EtherCAT solution offering up to 64 Axes of motion. It is expandable through the matching Flexslice range of Input, Output and Axis modules.
Highlights
- Dual core 1GHZ Arm Processor
- 2 - 64 Axes
- 1 GBit DDR3 Memory
- Memory can be Expanded with a Micro SD Card
- 1 GBit Fast Serial Flash Memory to Store Data Such as Programs, VRs and Tables
- Built in Retention RTC
- Built in EBUS Coupler for Direct Access to Trio’s Flexslice Slaves
- Cycle Time as Low as 125us!
- Field Programmable with Motion Perfect
- High Performance, Flexible Topology and Simple Configuration
- Bus Cycle Time Synchronised with Motion Coordinator Servo Period
- Ethercat Protocol to Individual Modules Using the EBUS System
- I/O Functions Tightly Synchronised to Motion Using Ethercat Distributed Clocks
- Practical Push-In Connector Options – No Break Out Required
- Clip-Together Design With ‘Quick Release’ Locks For Mechanical Integrity
All in one Solution
The Flex-6 Nano is a powerful DIN rail mounted stand-alone flexible and compact Motion Coordinator. Its on board memory can be expanded to 32 GByte using a Micro SD card.
The Flex-6 Nano can be used as a stand-alone controller or can "plug" straight into our EtherCAT Flexslice System allowing expansion of the system to include servo and stepper drives, I/O and other functionality that conforms to the EtherCAT standard.
More Axes please!
The P600 has 2 built-in EtherCAT axes which can be user upgraded with the purchase of P912 Remote Axis FECs. Up to 64 axes are supported using CSP, CSV and CST modes of operation.
Each P912 doubles the available axes, i.e:
P600 + 1 x P912 = 4 Remote Axes
P600 + 2 x P912 = 8 Remote Axes
P600 + 3 x P912 = 16 Remote Axes
P600 + 4 x P912 = 32 Remote Axes
P600 + 5 x P912 = 64 Remote Axes
Of course, the Flex-6 Nano can be purchased with axes factory loaded ie:
P600 = 2 Axes
P601 = 4 Axes
P602 = 8 Axes
P603 = 16 Axes
P604 = 32 Axes
P605 = 64 Axes
So Fast, So Flexible
Trio’s Flexslice input/output modules provide a robust, high speed and flexible solution for both motion control and general automation. EtherCAT cycle times down to 125μsecs are supported and the bus coupler uses EBUS technology to bring all the sub-modules on to the EtherCAT network with no degradation in performance.
EtherCAT slave nodes (Flexslice Modules) are connected via the Flexslice EBUS and the EtherCAT connector. Total slave connections can be up to 128 nodes including I/O and complex devices.
Expanding the System
More "stations" (EtherCAT linked blocks of Flexslice Modules) can be added to the network using the second EtherCAT port on the P600 to connect to one or more P366 Flexslice Couplers.
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| Product | P600 Flex-6 Nano |
|---|---|
| Description | 64 axis DIN rail mounted motion coordinator for EtherCAT |
| Name | Flex-6 Nano |
| PCode | P600 |
| Status | Current |
| Configuration | P600 Flex-6 Nano |
|---|---|
| Axis 0 | |
| Axis 1 | |
| Axis 2 | |
| Axis 3 | |
| Axis 4 | |
| Axis 5 | |
| Axis 6 | |
| Axis 7 |
| Axes | P600 Flex-6 Nano |
|---|---|
| Max axes | 64 |
| Max networked axes | 64 |
| Max virtual axes | 64 |
| Max discrete wired axes | 0 |
| Performance | P600 Flex-6 Nano |
|---|---|
| Cores | 2 |
| Processor | ARM Cortex-A7 |
| Clock frequency | 1000 MHz |
| Maths precision | IEEE 457 Double |
| Position register precision | 64 bit |
| Execution benchmark | 102 lines/ms |
| Real-time clock | Yes |
| Flash memory | 32 x 16000 values |
| User memory | 12 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 | 0.000 MHz |
| Maximum stepper output frequency | 0.000 MHz |
| Drive interfaces | P600 Flex-6 Nano |
|---|---|
| Auxilliary axis | No |
| EtherCAT | Yes |
| Hydraulic | No |
| Piezo | No |
| Panasonic RTEX | No |
| SERCOS | No |
| Servo | No |
| SLM | No |
| Step & direction | No |
| Communications | P600 Flex-6 Nano |
|---|---|
| Anybus | No |
| Bluetooth | No |
| CANopen | No |
| CC-Link | No |
| DeviceNet | No |
| Ethernet | Yes |
| EthernetIP | Yes |
| Hostlink | No |
| MODBUS-RTU | No |
| MODBUS-TCP/IP | Yes |
| Profibus | No |
| ProfiNet | Yes |
| RS232/RS485 | No |
| USB 1.1 | No |
| Encoder ports | P600 Flex-6 Nano |
|---|---|
| Feedback input | No |
| Incremental (A+B) output | No |
| Pulse & direction output | No |
| Reference input | No |
| SSI Absolute Input | No |
| EnDat Absolute Input | No |
| Tamagawa Absolute Input | No |
| BiSS Absolute Input | No |
| Internal I/O | P600 Flex-6 Nano |
|---|---|
| +/-10V analogue outputs | 0 |
| Analogue output precision | 12 bits |
| Analogue Inputs (0-10V) | 0 |
| Analog input precision | 12 bits |
| Digital Bidirectional I/O (24V) | 0 |
| Digital Inputs (24Vdc) | 0 |
| Digital outputs (24Vdc) | 0 |
| Registration inputs | 0 |
| Registration speed | 0 µs |
| Watchdogs | 0 |
| Watchdog rating | n/a |
| External I/O | P600 Flex-6 Nano |
|---|---|
| +/-10V analogue outputs | 16 |
| Analogue output precision | 12 bits |
| +/-10V analogue inputs | 32 |
| Analogue input precision | 12 bits |
| Digital I/O points | 1024 |
| Programming | P600 Flex-6 Nano |
|---|---|
| Trio BASIC | Yes |
| DXF in | Yes |
| G-Code | Yes |
| HPGL | Yes |
| IEC61131 | Yes |
| Kinematic | Option |
| Maximum programs | 48 |
| Maximum tasks | 22 |
| Software | P600 Flex-6 Nano |
|---|---|
| Motion Perfect version | 4 |
| Expansion | P600 Flex-6 Nano |
|---|---|
| Expansion module type | None |
| Maximum modules | 0 |
| Memory card | Micro SD |
| Physical | P600 Flex-6 Nano |
|---|---|
| Maximum operating temperature | 45 °C |
| Minimum operating temperature | 0 °C |
| Mount | DIN |
| Depth | 107.0 mm |
| Height | 147.0 mm |
| Width | 17.0 mm |
| Weight | 160 g |
| Power | P600 Flex-6 Nano |
|---|---|
| Supply current | 120 mA |
| Supply tolerance | +/- 20% |
| Supply voltage | 24 V |
| Certification | P600 Flex-6 Nano |
|---|---|
| CE | Yes |
| RoSH | Yes |
| UL | Yes |
* P600 *
 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) |
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| Products - DX Servo Drive Systems |
|---|
DX4 AC Servo Drive (D0100 - D0108) 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 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
 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 - Generic |
|---|
UNIPLAY 7-A UNIPLAY 10-A |
| Firmware - Flex-6 Nano | ||||||||
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Latest USER Release:
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| Software - Programming |
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| 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 |
|---|
| 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 PDF format. | |
| Full Manual | |
| Certificates | |
|---|---|
| EU Declaration of Conformity | P600 - P605 |
| 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 |
| CAD Data | |
|---|---|
| Drawings are available in various formats in the Zip file below. | |
| CAD Model | |
| 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. |
| 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 |
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| 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 |
