General-Purpose Motion Controller
Hardware Interfaces:
① Supports EtherCAT bus, with up to 16 motor axes;
② 32 I/O channels (expandable);
③ 2 high-speed pulse channels;
④ Ethernet communication.
Motion Planning:
- One six-dimensional motion-planning channel performs motion planning from 1D to 6D space (with continuous, bounded jerk). Users need only write a kinematics dynamic library based on their own equipment structure to use this channel for RTCP control; the channel supports up to 8 motor axes;
- Supports synchronized planning across 8 motor axes;
- Supports 16 process-description axes, including 8 discrete process axes and 8 continuous process axes;
- Overall: one six-dimensional motion-planning channel (supporting up to 8 motors) + 8 motors + synchronized planning of 16 process axes;
- Path-planning resolution is configurable, supporting up to 1 μm;
- Speed range 0.1 mm/s–10,000 mm/s; acceleration 0.01G–10G; jerk 0.1G/s–100G/s. Planning time slice: 2ms.
Development Interfaces:
- Supports 99 coordinate-system settings, 99 tool settings, and 100 subprograms, with each subprogram supporting up to 1,000,000 lines;
- Supports 10,000 floating-point variables, 10,000 integer variables, and 10,000 position variables; provides a description language with logical judgment, branch control, synchronized output, time-delay functions, and more;
- Supports custom process-package development based on dynamic libraries, with up to 9 process-handling threads loadable simultaneously; the scheduling cycle is configurable, down to 1ms;
- Provides a complete remote RPC interface for convenient host-side application development and control.
Nebula
PC-Base Architecture Control System
Product Overview:
A robot control system built on a PC-Base architecture, capable of motion control for conventional 4-axis, 6-axis, and 7-axis collaborative robots, controlling robots with up to 8 axes. It also supports 8 external axes participating in coordinated robot operation, all unified through EtherCAT servo interfaces.
The main controller hardware is an industrial IPC motherboard with a J1900 CPU at 2 GHz, 4 GB of RAM, and 128 GB of storage, with dual network ports to simultaneously support EtherCAT and Ethernet communication. The system runs on a Linux + Xenomai real-time operating system.
ARCHITECTURE
Linux + Xenomai
MAX AXES
32-Axis Synchronized Planning
FiRC
Highly Integrated Industrial Control System
On the software side, the system is composed of six core functional modules — CI, PSI, FxData, FxArt, FxCommunication, and FxConfig.
① CI – Robot program parsing and motion planning (32 planning axes in total, including 8 robot joint axes, 8 external motor axes, 8 continuous process axes, and 8 discrete process axes);
② PSI – Jog-teaching functions, motion synchronization control, coordinate-frame tracking, real-time correction of coordinates and joint positions, function calls, and safety control;
③ FxData – Data service module providing data-exchange services between various processes;
④ FxArt – Process development service module, providing AL program compile/register/call services and external dynamic-library register/call services;
⑤ FxCommunication – Provides protocols and services for remote and local file and information exchange;
⑥ FxConfig – Provides name-based variable configuration management services.
TRC-Micro
Product Overview:
The TRC-Micro is the smallest and lightest control cabinet of its kind available globally, compact enough to fit inside a standard 19-inch rack.
Product Features and Advantages:
① Fast Processing: Processes 4x faster than the mainstream DX200 control cabinet, allowing the robot to run at maximum speed in virtually any posture.
② Small and Lightweight: A high-density layout enables a wide range of compact configurations.
③ Higher Efficiency in Operation, Maintenance, and Commissioning: Fewer cables are needed between the robot and the control cabinet, simplifying maintenance while keeping the equipment compact. Touch-based teach-programming operation is enhanced for improved usability. The standard I/O communication design uses NPN-type signals, and the drawer-style design is a perfect fit for the compact production lines typical of the 3C industry.
SRC-Micro
Product Overview:
SRC-Micro is the smallest and lightest control cabinet of its kind available globally.
Product Features and Advantages:
①Fast Processing: Processes 4x faster than the mainstream DX200 control cabinet, allowing the robot to run at maximum speed in virtually any posture.
② Small and Lightweight: A high-density layout enables a wide range of compact configurations.；
③ Higher Efficiency in Operation, Maintenance, and Commissioning: Fewer cables are needed between the robot and the control cabinet, simplifying maintenance while keeping the equipment compact. Touch-based teach-programming operation is enhanced for improved usability.
IP20-rated dust- and drip-proof construction, suited to complex industrial environments.
A direct cooling system ensures stable operation under sustained high loads.
Core Specification Comparison
Detailed hardware specifications of the professional-grade TRC-Micro and SRC-Micro motion controllers.
TRC-Micro Controller
| Structure | IP20-rated dust- and drip-proof construction |
| Dimensions | 425（W）×125（H）×280（D）mm |
| Gross Weight | 10.5kg |
| Power Specification | Single-phase AC220/230V (+10%～-15%) / 50/60Hz |
| Memory Capacity | 200000 steps, 10000 robot commands |
| Ambient Temperature | 0～＋40°C when powered on |
| Input/Output Signals | Dedicated Signals (Hardware): 7 inputs, 1 output
General Signals (Max. Standard): 24 inputs, 24 outputs |
| Cooling Method | Direct cooling |
SRC-Micro Controller
| Structure | IP20-rated dust- and drip-proof construction |
| Structure | 425（W）×125（H）×280（D）mm |
| Gross Weight | 10.5kg |
| Power Specification | Single-phase AC220/230V (+10%～-15%) / 50/60Hz |
| Memory Capacity | 200000 steps，10000 robot commands |
| Ambient Temperature | 0～＋40°C when powered on |
| Input/Output Signals | Dedicated Signals (Hardware): 6 inputs, 1 output
General Signals (Max. Standard): 16 inputs, 16 outputs |
| Cooling Method | Direct cooling |
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