Estun TRIO Flex-X Nano User Manual
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Estun TRIO Flex-X Nano User Manual

Ethercat 64 axis motion coordinator
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Flex-X Nano
EtherCAT 64 AXIS MOTION COORDINATOR
USER MANUAL

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Summary of Contents for Estun TRIO Flex-X Nano

  • Page 1 Flex-X Nano EtherCAT 64 AXIS MOTION COORDINATOR USER MANUAL...
  • Page 2 Flex-X Nano About this Manual Purpose This manual provides the information required for the Selection, Wiring, Connection, Setup, Operation and Functions of the Flex-X 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.

  • Page 3: Revision History

    Flex-X Nano Revision History Date Version Revised Contents 6 Feb 2023 1.00 Initial release Document Version: 1.00 © 2023 All rights reserved.
  • Page 4 Flex-X 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-X 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-X 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.

  • Page 6: Table Of Contents

    Flex-X Nano Contents Revision History .................... 2 User Manual Flex-X Nano ................. 7 Overview ....................7 Programming ..................... 7 I/O Capability .................... 8 Communications ..................8 IP Address reset ..................8 Removable storage ..................8 Axis positioning functions ................8 LED indicators ...................
  • Page 7 Flex-X Nano Surge Protection ..................23 Surge protection device ................24 Cable Shields ..................25 Document Version: 1.00 © 2023 All rights reserved.

  • Page 8: User Manual Flex-X Nano

    Flex-X Nano User Manual Flex-X Nano Overview The Motion Coordinator Flex-X Nano is based on Trio’s high-performance ARM Cortex-A55 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-X Nano is a form, fit and function compatible replacement for the Flex-6 Nano.

  • Page 9: I/O Capability

    Flex-X Nano I/O Capability The Flex-X 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 10: Led Indicators

    Flex-X 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 11: Registration

    Flex-X Nano Ethernet port connection (Upper socket) RJ45 socket 10/100 base-T The Ethernet port is the default connection between the Motion Coordinator and the host PC running the Motion Perfect development application. In addition, the Ethernet port will provide connection using common Ethernet industrial protocols such as Modbus, CIP and Profinet.

  • Page 12: Ebus Loading

    Flex-X Nano All Flexslice modules support automatic addressing with the master able to automatically detect and configure the modules on startup. The Flex-X Nano supports up to 16 input/output modules which have a positive mechanical lock and bus connector, making a reliable “back- bone”...

  • Page 13: Support Software

    Flex-X 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 14: Motion Perfect Version 5

    Flex-X Nano Motion Perfect version 5 Launch Motion Perfect and select the IP address of the Flex-X Nano. By default this will be 192.168.0.250. Click the Apply and Connect button. If the IP Address of the Flex-X 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-X Nano.

  • Page 15: Software Functions

    Flex-X Nano Software functions The Flex-X 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 16: Ethercat Network

    Flex-X Nano EtherCAT network EtherCAT slave devices may be added to make a network. Device addresses will default to their position on the network with the local I/O being located first ahead of any external devices. Addresses can be altered by settings in the slaves or in the master if required. Example 1 Example 2 Document Version: 1.00...

  • Page 17: Example 3

    Flex-X Nano Example 3 Adding axes Depending on the version ordered, the Flex-X Nano will be able to connect and start a certain number of axes (drives). Product code Max. axes Product code Max. axes P660 P661 P662 P663 P664 P665 It is possible to extend the number of axes by purchasing a Feature Enable Code (FEC) from the original supplier of the...

  • Page 18: Firmware Recovery

    Flex-X 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-X 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 19: Dimensions

    Flex-X Nano Dimensions Mounting The Flex-X 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-X 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 20: Specifications

    Flex-X 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 21 Flex-X 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 22: Electromagnetic Compatibility

    Flex-X Nano Electromagnetic Compatibility Trio Motion Technology products are certified to comply with the requirements of Annex I to the Directive 2014/30/EU on Electromagnetic disturbance and Electromagnetic immunity. To achieve this compliance, certain requirements or best engineering practices must be implemented by the corresponding system designer.
  • Page 23 Flex-X Nano Feature Requirements Notes 0V wire (current return) 1. Always connect ALL 0V current return wires Flex-X Nano stepper 0V, encoder 0V and Auxiliary 2. Do not use the screen for 0V current return connector 0V are all common 3.

  • Page 24: Recommended Installation

    Flex-X Nano RS232 / RS422 / RS485 1. Screened cable. Connect screen to Aux Serial ports connector shell. 2. Connect screen to Chassis at both ends. 0V on Aux connector, pins 4, 8 3. 0V reference connected at both ends. and 12 are common 0V.
  • Page 25 Flex-X Nano Distributed power supply If the device is connected to a distributed power supply or the cable length between the power source and the device is longer than 3 metres, then a surge protection device must be fitted to comply with the CE EMC directive. Distributed power supply with surge protection Surge protection device Protection device - Minimum specification...
  • Page 26 Flex-X Nano Cable Shields Both ends of the encoder cable’s screen must be connected using a 360 degree contact and not a pig-tail connection. The 0V must be connected separately from the screen. Make sure that encoder cables are specified with one extra wire to carry the 0V. All serial cables must be terminated in the 15-pin auxiliary connector.

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