ECM C3721

EtherCAT Master Controller, NVIDIA® Jetson Orin™ Nano

Overview

Powered by the NVIDIA® Jetson Orin™ Nano AI hardware platform, the ECM C3721 is an advanced PC-based EtherCAT controller designed for precise and efficient machine automation. It integrates NexCOBOT’s EtherCAT Master, NexECM, enabling real-time communication with an ultra-fast cycle time of up to 250 μs. Featuring NexRTOS, a real-time verified system, it ensures optimal jitter adjustment for precise and stable control. Additionally, the ECM C3721 provides APIs for the CiA 402 servo drive control protocol and includes a built-in EtherCAT configuration tool, streamlining development for automation users

Main Features

  • EtherCAT technology with NexECM, Class A EtherCAT Master

  • EtherCAT communication cycle up to 250 μs

  • Support high-level API for CiA 402 profile

  • Powerful & flexible EtherCAT configuration tool NexECM Studio

  • Support NexRTOS (A real-time verified Linux system)

  • 100 TOPS computing power with NVIDIA®Jetson Orin™ NX

  • Fanless design, supports wide temperature range of -10°C to 55°C

  • 4 x USB 3.0

  • 1 × GPIO (4DI & 4DO)

  • 2 × COM (1 x RS232/422/485, 1 x RS232 ) via DB9

  • 2 x RJ45 port

  • Supports wall-mounting and rail installation

  • Wide voltage input range of DC 9 ~ 30V

  • Rich I/O interfaces

Specifications

Software Specifications

EtherCAT Master Performance & Utility

  • EtherCAT Compliance : EtherCAT Standard Class A
  • Maximum Number of Slave Modules : Up to 64
  • Cycle Time : As low as 250 μs
  • Protocol Support: Compliant with the CiA 402 standard protocol
  • EtherCAT Configuration Tool : NexECM Studio

EtherCAT Master Standard Function

  • Process data (PDO)
  • CoE / FoE
  • Distributed Clock (DC)
  • ESI / ENI file
  • Slave to Slave

EtherCAT Master Advanced Function

  • Cable redundancy
  • CiA402 servo stack
  • Hot connect
  • Remote control

NexRTOS

  • Ubuntu : 22.04
  • Linux Kernel : 6.6.48-rt40 (with PREEMPT_RT)

Hardware Specifications

CPU Support

  • C3721-8
    - 6-core Arm® Cortex®-A78AE v8.2 64-bit CPU
    - Integrated cache: 1.5 MB L2 cache + 4 MB L3 cache

GPU Support

  • C3721-8
    - AI Performance : 40 TOPS
    - 1024-core NVIDIA Ampere architecture GPU with 32 Tensor Cores

Memory

  • C3721-8
    - 8GB 128-bit LPDDR5
    - 102 GB/s

Storage

  • M.2 Key M 2280 (PCIe x1) slot
  • Equipped with a 128 GB SSD

I/O Interface-Front

  • 4 × USB3.0
  • 2 x RJ45 LAN ( One for EtherCAT )
  • 1 × Power on/off switch
  • 1 × GPIO (4DI & 4DO)
  • 2 × COM (1 x RS232/422/485, 1 x RS232 ) via DB9
  • 1 x CAN bus via DB9

I/O Interface-Top

  • 1 × HDMI
  • 1 × Power connector
  • 1 × OTG
  • 1 × Recovery
  • 1 × Ground screw hole
  • 1 × Line Out
  • 6 × Antenna holes
  • 1 x SIM slot

Expansion Slot

  • 1 × Micro SD
  • 1 × M.2 Key E 2230 (supports PCIe x1, USB2.0 signal) for WIFI
  • 1 × M.2 B-Key 3042/52 support 4G/LTE/5G
  • 1 × Mini PCIe Full-size slot with mSATA support for storage

Power Requirement

  • DC 9V to 30V input

Dimensions

  • System Dimension (WxDxH)
    - 91.3 x 135 x 133 mm (91.3 x 137 x 176 with bracket)
  • Carton Dimension (WxDxH)
    - 320x 300 x 220 mm
  • Net weight : 1.35 kg
  • Gross weight : 2.45 kg

Construction

  • Aluminum and metal chassis with fanless design

Environment
  • Operating temperature: Ambient with air flow: -10°C to 55°C (according to IEC60068-2-1, IEC60068-2-2, IEC60068-2-14)
  • Storage temperature: -20°C to 80°C
  • Relative humidity: 10% to 95% (non-condensing)

Certifications

  • CE
    -EN61000-3-3
    -EN61000-3-2
  • FCC Class A
  • LVD

Pre-Installed Software Package
& Real-time Performance
  • Operating System: Ubuntu 22.04
  • Linux Kernel: 5.15
  • NVIDIA JetPack: 6.x
  • Real-Time Package: PREEMPT_RT
  • EtherCAT Master: NexECM
  • Isaac ROS: 3.2
  • Realtime Performance : Class A (< 50us)

Ordering Information
  • ECM C3721-8-128-X (P/N: 98EMC372101XF)
    EtherCAT Master Controller, NexECM bundle NexRTOS.
    Nvidia Jetson Orin Nano 8GB With, M2. 2280 key M 128G,
    Without Adapter.
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