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Summary of Contents for Estun TRIO Flex-6 Nano
- Page 1 Flex-6 Nano EtherCAT 64 AXIS MOTION COORDINATOR USER MANUAL...
- Page 2 Flex-6 Nano About this Manual Purpose This manual provides the information required for the Selection, Wiring, Connection, Setup, Operation and Functions of the FLEX-6 NANO Motion Coordinator. Please read and understand this manual to ensure correct usage of the product. Terms Terms that may be used in this manual are defined as follows.
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Page 3: Revision History
Flex-6 Nano Revision History Date Version Revised Contents 29 Jun 2021 1.00 Initial release 31 Jan 2023 1.01 Updated specification table Document Version: 1.00 © 2023 All rights reserved. - Page 4 Flex-6 Nano All goods supplied by Trio are subject to Trio’s standard terms and conditions of sale. This manual applies to systems based on the Motion Coordinator FLEX-6 NANO. The material in this manual is subject to change without notice. Despite every effort, in a manual of this scope errors and omissions may occur.
- Page 5 Flex-6 Nano Safety Warning During the installation or use of a control system, users of Trio products must ensure there is no possibility of injury to any person, or damage to machinery. Control systems, especially during installation, can malfunction or behave unexpectedly. Users must ensure that in all cases of normal operation, controller malfunction, or unexpected behaviour, the safety of operators, programmers or any other person is totally ensured.
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Page 6: Table Of Contents
Flex-6 Nano Contents Revision History .................... 2 User Manual FLEX-6 NANO ................6 Overview ....................6 Programming ..................... 6 I/O Capability .................... 7 Communications ..................7 IP Address reset ..................7 Removable storage ..................7 Axis positioning functions ................7 LED indicators ................... -
Page 7: User Manual Flex-6 Nano
Flex-6 Nano User Manual FLEX-6 NANO Overview The Motion Coordinator FLEX-6 NANO is based on Trio’s high- performance ARM Cortex-A7 double-precision technology and provides up to 64 axes of coordinated motion using the EtherCAT bus system to connect to Drives and I/O. The FLEX-6 NANO is housed in a rugged plastic case with integrated earth chassis and incorporates two screened RJ45 Ethernet ports, a 24V dc power connector and micro SD card... -
Page 8: I/O Capability
Flex-6 Nano I/O Capability The FLEX-6 NANO has the ability to add up to 16 EtherCAT FLexslice input / output modules using the EBUS connector on the side. Modules are supported mechanically by a positive latch system that allows rapid assembly that results in a robust final assembly ready for clipping on the DIN rail. -
Page 9: Led Indicators
Flex-6 Nano Linear interpolation may be performed on groups of axes, and circular, helical or spherical interpolation in any two/three orthogonal axes. Each axis may run independently, or they may be linked using interpolation, variable electronic gearboxes and kinematic transform. Consecutive movements may be merged to produce continuous path motion and the user may program the motion using programmable units of measurement (e.g. -
Page 10: Registration
Flex-6 Nano Signal Description Transmission data + Transmission data - Receive data + Receive data - Straight through (patch) or cross-over cables can be used between EtherCAT devices. Minimum cable specification: CAT 5e shielded SF/UTP cable is recommended. Registration FLEX-6 NANO requires servo and stepper drives connected by EtherCAT to support the CiA402 Touch Probe system. -
Page 11: Support Software
Flex-6 Nano Support Software Motion Perfect version 5 or later is required for configuration, programming and system debug. A PC running Microsoft Windows (Windows 10 or later recommended) is required. Download Motion Perfect from www.triomotion.com and install on the PC. Connection is via the Ethernet port. -
Page 12: Motion Perfect Version 5
Flex-6 Nano Motion Perfect version 5 Launch Motion Perfect and select the IP address of the FLEX-6 NANO. By default this will be 192.168.0.250. Click the Apply and Connect button. If the IP Address of the FLEX-6 NANO is not known, then reset it by holding the IP Reset button, located under the ventilation slots on the top face, while powering up the FLEX-6 NANO. -
Page 13: Software Functions
Flex-6 Nano Software functions The Flex-6 Nano contains a stand-alone operating system which includes a rich set of built-in motion functions accessible from both the interpreted Motion iX text language and the IEC- 61131-3 standard PLC language. A short summary of the main functions is shown in the table below. -
Page 14: Firmware Recovery
Flex-6 Nano Firmware recovery In the unlikely event that the Motion Coordinator firmware becomes corrupted and the processor will not start the Ethernet port and allow communication, the Flex-6 Nano, has a firmware recovery mode. The recovery is automatic and forces the processor to run a protected boot area of the memory that is dedicated to restoring the full operating system from a SD card. -
Page 15: Dimensions
Flex-6 Nano Dimensions Mounting The FLEX-6 NANO has a standard DIN rail mount with over-centre clip operated by a lever on the lower face. It must be installed on an unpainted metal plate with DIN rail which is connected to earth. Ventilation: When the FLEX-6 NANO is mounted in an enclosed cabinet, there must be an adequate volume of circulating air to maintain the environmental temperature within the operating temperature range. -
Page 16: Specifications
Flex-6 Nano Specifications Specification table Size 147 mm x 107 mm x 17 mm (HxWxD) Weight 160g Operating Temp. 0 - 45 degrees C EMC (CE) EMISSIONS – EN IEC 61000-6-4 : 2019 IMMUNITY – EN IEC 61000-6-2 : 2019 EMC (UKCA) EMISSIONS –... -
Page 17: Electromagnetic Compatibility
Flex-6 Nano Memory 128 Mbyte DDR3 Ram 128 Mbyte Fast serial flash memory 12 Mbyte user program memory Automatic flash EPROM program and data storage 16384 global VR data in FLASH memory (automatic-store) TABLE 512000 x 64 bit TABLE memory Real Time Clock Super-capacitor support for 10 days of power off SD Card... -
Page 18: Emc Considerations
Flex-6 Nano EMC Considerations Electromagnetic Interference problems can usually be avoided by careful wiring and following a few basic rules. • Mount noise generators such as contactors, solenoid coils and relays as far away as possible from the Motion Coordinator. •... -
Page 19: Recommended Installation
Flex-6 Nano a requirement. See Surge Protection below. Cable routing 1. Maintain 150mm separation of parallel Class I and Class II cable (IEC 61000-5-2:1997) 2. Unless otherwise specified, all cables must be <30m in length Proximity to source of 1. Place controllers and expansion modules as far disturbance from mains cables, mains filters, contactors, circuit breakers, drives, transducers or other... -
Page 20: Surge Protection
Flex-6 Nano Surge Protection Single power supply Where the device is supplied with 24V dc from one dedicated 24V power source and the connecting cable is less than 3 metres, there is no need for a separate surge protection device. Motion Coordinator with dedicated power source Distributed power supply If the device is connected to a distributed power supply or the cable length between the... -
Page 21: Surge Protection Device
Flex-6 Nano Surge protection device Protection device - Minimum specification Operating Voltage 24V dc Suppression Begins: Stage Two Stage Three Max. Clamp Volts for transients on the line: Stage Two Stage Three Surge Current (8/20mSec Pulse) + to - 9000A + to Earth 4000A - to Earth... - Page 22 Flex-6 Nano This applies to RS422/RS485 serial connections as well as RS232. Document Version: 1.00 © 2023 All rights reserved.
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