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Integrated
EtherCAT Controller

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Overview
Specification
Expansion/Accessories
Software
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EtherCAT Partners
EtherCAT Specification

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 though the matching Flexslice range of Input, Output and Axis modules.
EtherCAT logo

Flex-6 Nano

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.

Flex-6 Nano

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

Flex-6 Nano

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

Flex-6 Nano

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.

p600.png
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 0 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 64384
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 Option
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 64
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 No
P600
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-6 Nano), 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), 64 (PC-MCAT), 64 (Flex-6 Nano)
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 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)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 Flex 3-Axis (P375)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)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 - 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 - Flex-6 Nano
LATEST USER RELEASE:
File:F6NANO_20293.zip
Version:2.0293
Size:1130394 bytes
Date:2018-Aug-16
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
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
CAD Data  
Drawings are available in various formats in the Zip file below.
CAD Model
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
Estun March - 2017 Estun.com
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 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    
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-6 Nano), 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), 64 (PC-MCAT), 64 (Flex-6 Nano)
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)