Trio • MC6N-ECAT P960

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.

Highlights

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.

EtherCAT

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 MC6N-ECAT
Description	64 axis panel mounted motion coordinator for EtherCAT
Name	MC6N-ECAT
PCode	P960
Status	Current

Configuration	P960 MC6N-ECAT
Axis 0	Extended
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Axis 7

Axes	P960 MC6N-ECAT
Max axes	64
Max networked axes	64
Max virtual axes	64
Max discrete wired axes	1

Performance	P960 MC6N-ECAT
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 MC6N-ECAT
Auxilliary axis	No
EtherCAT	Yes
Hydraulic	No
Piezo	No
Panasonic RTEX	No
SERCOS	No
Servo	No
SLM	No
Step & direction	Axis0

Communications	P960 MC6N-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	No
ProfiNet	Yes
RS232/RS485	Yes
USB 1.1	No

Encoder ports	P960 MC6N-ECAT
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 MC6N-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	1 µs
Watchdogs	1
Watchdog rating	29V, 100mA max

External I/O	P960 MC6N-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	P960 MC6N-ECAT
Trio BASIC	Yes
DXF in	Yes
G-Code	Yes
HPGL	Yes
IEC61131	Yes
Kinematic	Option
Maximum programs	48
Maximum tasks	22

Software	P960 MC6N-ECAT
Motion Perfect version	4

Expansion	P960 MC6N-ECAT
Expansion module type	None
Maximum modules	0
Memory card	SD

Physical	P960 MC6N-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	P960 MC6N-ECAT
Supply current	180 mA
Supply tolerance	+/-20%
Supply voltage	24 V

Certification	P960 MC6N-ECAT
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

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
DX3 AC Servo Drive EtherCAT DX3 AC Servo Drive Conventional With a power range from 50W to 7.5kW and options for EtherCAT or Conventional (Pulse & Direction, Analogue and CANopen) control, DX3 will suit a wide variety of machine types. DX3 is fully integrated into Trio’s application development tool, Motion Perfect, our software environment for system planning, configuration, virtualisation and machine programming. 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 - DX4 Servo Drive Systems

DX3 AC Servo Drive EtherCAT DX3 Servo Drive System

DX3 AC Servo Drive Conventional
With a power range from 50W to 7.5kW and options for EtherCAT or Conventional (Pulse & Direction, Analogue and CANopen) control, DX3 will suit a wide variety of machine types. DX3 is fully integrated into Trio’s application development tool, Motion Perfect, our software environment for system planning, configuration, virtualisation and machine programming.

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 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 Modules 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-A UNIPLAY 10-A UNIPLAY 15-A 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 - MC6N ECAT

Latest USER Release:

File:	MC6NE_20333.zip
Version:	2.0333
Size:	2181712 bytes
Date:	2024-Nov-05

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 - 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 - 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
Software Development Tools Trio has developed a set of powerful software development tools to use with every Motion Coordinator. These tools provide all the features necessary for setup, programming, cam profile generation, robot control and CAD path conversion to ensure a minimum development time.

Guides
Data Sheet
EMC Guide	Electromagnetic Compatibility guide for Trio products v6
Quick Start Guide	Simple set up guide

Certificates
EU Declaration of Conformity	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

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, 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.

MC6N-ECAT Mini Master

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