MC664
in 2 variants
Overview
Specification
Expansion/Accessories
Software
Support
EtherCAT Partners
MC664 (-X)
P861 (Single Core) | P862 (Quad Core)
The MC664-X... Quad core A9 processor, Dedicated communications core, up to 128 axes and built-in EtherCAT port
all adds up to the most versitile Motion Coordinator yet!
Highlights
- Up to 128 Axes - 64 Stepper / Servo Axes and 64 Virtual Axes
- Precise 64 Bit Motion Calculations with Quad Core Cortex A9 1GHz Processor (P862)
- 4 GBit DDR3 Memory
- Dedicated Communications Core
- Built-in EtherCAT Port
- EtherCAT, Sercos, SLM and RTEX Digital Drive Interfaces
- Linear, Circular, Helical and Spherical Interpolation
- Flexible CAM shapes, Linked Motion
- EnDAT, BISS and SSI Absolute Encoder Supported
- Hardware Linked Outputs for Camera / Laser Control
- Ethernet-IP / Modbus TCP / Ethernet Interface Built-In
- Anybus-CC Module for Flexible Factory Comms Including ProfiNet/Profibus
- IEC 61131-3 Programming
- Multi-tasking BASIC Programming
- Text File Handling
- Robotic Transformations
- SD Memory Card Slot
- CANopen I/O Expansion
- Backlit LCD Display
- RoHS and CE Approved
EtherCAT... So easy
The built-in Ethernet port allows programming and connection of common HMI and PLC protocols directly to the MC664.
EtherCAT axes can be upgraded with the purchase of the P914 Remote Axes FEC. The MC664-X is loaded with 2 EtherCAT axes out of the box, which can be upgraded also.
Each P914 doubles the available axes, i.e:
P862 + 1 x P914 = 4 Remote Axes
P862 + 2 x P914 = 8 Remote Axes
P862 + 3 x P914 = 16 Remote Axes
P862 + 4 x P914 = 32 Remote Axes
P862 + 5 x P914 = 64 Remote Axes
P862 + 6 x P914 = 128 Remote Axes
Every axis can be programmed to move using linear, circular or helical or spherical interpolation, electronic cams, linked axes and gearboxes. The quad core 1GHz processing power allows for multiple robotic transformations to run simultaneously.
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. Also available as an option are the industry standard IEC 61131-3 languages allowing a fully functional PLC programming system.
Ethernet
The built-in Ethernet port allows programming and connection of common HMI and PLC protocols directly to the MC664.
Easy to use
A bright easy to read backlit display enables the controller status to be easily determined.
So fast!
The MC664-x boasts quad-core processing power with a dedicated motion core and communications core allowing multiple robotc transformations to run simultaneously.
Both the MC664 single core and the MC664-X quad core models are ideal for high axis count machine and robotic applications.
Rugged
The single piece metal cast backplate provides an integrated earth chassis to improve noise rejection in the industrial environment.
So expandable
Configure the controller functionality and connectivity by attaching up to 7 half-height expansion modules or 3 full-height expansion modules. Using the expansion modules allows the MC664 to support up to 64 networked digital drives, 24 analogue servo drives, 25 pulse and direction drives and 25 absolute and incremental encoders.
The axis expansion modules feature many options for Drive Network interfaces, analogue servo, pulse/direction, absolute or incremental feedback and accurate hardware registration.
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| Product | P861 MC664 |
P862 MC664-X |
|---|---|---|
| Description | Expandable 64 axis DIN/panel mounted high performance motion coordinator | Expandable 64 axis DIN/panel mounted high performance motion coordinator |
| Name | MC664 | MC664-X |
| PCode | P861 | P862 |
| Status | Current | Current |
| Configuration | P861 MC664 |
P862 MC664-X |
|---|---|---|
| Axis 0 | Extended | Extended |
| Axis 1 | ||
| Axis 2 | ||
| Axis 3 | ||
| Axis 4 | ||
| Axis 5 | ||
| Axis 6 | ||
| Axis 7 |
| Axes | P861 MC664 |
P862 MC664-X |
|---|---|---|
| Max axes | 128 | 128 |
| Max networked axes | 64 | 128 |
| Max virtual axes | 128 | 128 |
| Max discrete wired axes | 25 | 25 |
| Performance | P861 MC664 |
P862 MC664-X |
|---|---|---|
| Cores | 1 | 4 |
| Processor | Cortex A9 | Cortex A9 |
| Clock frequency | 1000 MHz | 1000 MHz |
| Maths precision | IEEE 457 Double | IEEE 457 Double |
| Position register precision | 64 bit | 64 bit |
| Execution benchmark | 110 lines/ms | 345 lines/ms |
| Real-time clock | Yes | Yes |
| Flash memory | 32 x 16000 values | 32 x 16000 values |
| User memory | 32 MB | 32 MB |
| Table memory | 512000 values | 512000 values |
| Min expected flash memory life (normal use) | 62 years | 62 years |
| Maximum VR variables | 65536 | 65536 |
| Maximum servo period | 4000 µs | 4000 µs |
| Minimum servo period | 125 µs | 50 µs |
| Maximum encoder input frequency | 6.000 MHz | 6.000 MHz |
| Maximum stepper output frequency | 2.000 MHz | 2.000 MHz |
| Drive interfaces | P861 MC664 |
P862 MC664-X |
|---|---|---|
| Auxilliary axis | Option | Option |
| EtherCAT | Option | Option |
| Hydraulic | Option | Option |
| Piezo | Option | Option |
| Panasonic RTEX | Option | Option |
| SERCOS | Option | Option |
| Servo | Option | Option |
| SLM | Option | Option |
| Step & direction | Option | Option |
| Communications | P861 MC664 |
P862 MC664-X |
|---|---|---|
| Anybus | Option | Yes |
| Bluetooth | Option | Yes |
| CANopen | Yes | Yes |
| CC-Link | Option | Yes |
| DeviceNet | Yes | Yes |
| Ethernet | Yes | Yes |
| EthernetIP | Yes | Yes |
| Hostlink | Yes | Yes |
| MODBUS-RTU | Yes | Yes |
| MODBUS-TCP/IP | Yes | Yes |
| Profibus | Option | Option |
| ProfiNet | Option | Yes |
| RS232/RS485 | Yes | Yes |
| USB 1.1 | Option | No |
| Encoder ports | P861 MC664 |
P862 MC664-X |
|---|---|---|
| Feedback input | Option | Option |
| Incremental (A+B) output | Yes | Yes |
| Pulse & direction output | Yes | Yes |
| Reference input | Yes | Yes |
| SSI Absolute Input | Yes | Yes |
| EnDat Absolute Input | Yes | Yes |
| Tamagawa Absolute Input | Yes | Yes |
| BiSS Absolute Input | Yes | Yes |
| Internal I/O | P861 MC664 |
P862 MC664-X |
|---|---|---|
| +/-10V analogue outputs | 0 | 0 |
| Analogue output precision | 12 bits | 12 bits |
| Analogue Inputs (0-10V) | 2 | 2 |
| Analog input precision | 12 bits | 12 bits |
| Digital Bidirectional I/O (24V) | 8 | 8 |
| Digital Inputs (24Vdc) | 8 | 8 |
| Digital outputs (24Vdc) | 0 | 0 |
| Registration inputs | 8 | 8 |
| Registration speed | 1 µs | 1 µs |
| Watchdogs | 1 | 1 |
| Watchdog rating | 29V, 100mA max | 29V, 100mA max |
| External I/O | P861 MC664 |
P862 MC664-X |
|---|---|---|
| +/-10V analogue outputs | 16 | 16 |
| Analogue output precision | 12 bits | 12 bits |
| +/-10V analogue inputs | 32 | 32 |
| Analogue input precision | 12 bits | 12 bits |
| Digital I/O points | 1024 | 1024 |
| Programming | P861 MC664 |
P862 MC664-X |
|---|---|---|
| Trio BASIC | Yes | Yes |
| DXF in | Yes | Yes |
| G-Code | Yes | Yes |
| HPGL | Yes | Yes |
| IEC61131 | Yes | Yes |
| Kinematic | Option | Option |
| Maximum programs | 256 | 256 |
| Maximum tasks | 22 | 22 |
| Software | P861 MC664 |
P862 MC664-X |
|---|---|---|
| Motion Perfect version | 4 | 4 |
| Expansion | P861 MC664 |
P862 MC664-X |
|---|---|---|
| Expansion module type | Series4 | Series4 |
| Maximum modules | 7 | 7 |
| Memory card | SD | SD |
| Physical | P861 MC664 |
P862 MC664-X |
|---|---|---|
| Maximum operating temperature | 45 °C | 45 °C |
| Minimum operating temperature | 0 °C | 0 °C |
| Mount | DIN/Panel | DIN/Panel |
| Depth | 155.0 mm | 155.0 mm |
| Height | 201.0 mm | 201.0 mm |
| Width | 56.0 mm | 56.0 mm |
| Weight | 750 g | 750 g |
| Power | P861 MC664 |
P862 MC664-X |
|---|---|---|
| Supply current | 625 mA | 625 mA |
| Supply tolerance | +/- 20% | +/- 20% |
| Supply voltage | 24 V | 24 V |
| Certification | P861 MC664 |
P862 MC664-X |
|---|---|---|
| CE | Yes | Yes |
| RoSH | Yes | Yes |
| UL | Yes | Yes |
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. |
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| 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. |
||||
| 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) |
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| Products - DX4 Servo Drive Systems |
|---|
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 - Expansion Modules |
|---|
Clip On Expansion Range The MC664 Expansion Module System allows configuration of your system by connecting up to 7 half height or 3 full height modules. Each module attaches to the controller via a high density bus connection and a uniquely designed screw that integrates with the earth planes of all expansion modules and the controller. |
| 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 |
| Firmware - MC664 | ||||||||
|---|---|---|---|---|---|---|---|---|
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Latest USER Release:
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| Software - Programming |
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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. |
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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). |
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2 x EtherCAT Remote Axis FEC's (P914) The P876 (EtherCAT Exp Module), P872 (sercos Exp Module) and P871 (RTEX Exp Module)1 all come equipped with two axes per module as standard. To add further axes, the P914 Feature Enable Code can be purchased. Each P914 doubles the available axes, I.e: P861 + 1 x P914 = 2 Remote Axes P861 + 2 x P914 = 4 Remote Axes P861 + 3 x P914 = 8 Remote Axes P861 + 4 x P914 = 16 Remote Axes P861 + 5 x P914 = 32 Remote Axes P861 + 6 x P914 = 64 Remote Axes P862 + 1 x P914 = 4 Remote Axes P862 + 2 x P914 = 8 Remote Axes P862 + 3 x P914 = 16 Remote Axes P862 + 4 x P914 = 32 Remote Axes P862 + 5 x P914 = 64 Remote Axes P862 + 6 x P914 = 128 Remote Axes (Log on to E-Store to purchase). |
| Software - Support Apps |
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CAD2Motion The program allows the user to create motion paths in a CAD package such as AutoCAD and convert them into code executable by a Trio Motion Coordinator. |
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AutoLoader A compact, self-contained package designed to allow simple distribution of projects written using Motion Perfect. Simply add the project to the Autoloader folder, edit a script file to provide control of the loading sequence and send to the customer. |
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Trio MCLoader The Trio MC Loader is a Windows ActiveX control which can load projects (produced with Motion Prefect) and programs onto a Trio Motion Coordinator. Communication with the Motion Cordinator can be via serial link, USB, Ethernet or PCI depending on the Motion Coordinator. |
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Trio PCMotion PCMotion is an ActiveX component allowing direct connection to the Trio Motion Coordinator from a custom user application. It can be used to control any of the Motion Coordinator functionality as well as send text files down to the controller. |
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TextFileLoader The file loading functionality of the Motion Coordinators allows files to be easily loaded into the controller memory or the SD card (when fitted). This allows programs written in text based languages such as G-Code and HPGL to be loaded to the controller where they can be parsed and executed by a TrioBASIC program. The transfer process is optimized to compress the file and reduce transfer times, or it can be set to stream the file into a FIFO buffer on the controller. This can help reduce overall machine cycle times when file sizes can be large and so making communication time significant. |
| Guides | |
|---|---|
| Data Sheet | |
| Quick Start Guide | Simple set up guide |
| EMC Guide | Electromagnetic Compatibility guide for Trio products v4 |
| Pick-up-and-Learn Guide | Firmware Recovery System guide |
| Manuals | |
|---|---|
| The Technical Reference Manual can be downloaded in full or as separate sections. All in PDF format. | |
| Hardware Overview (Chapter 2) | |
| Certificates | |
|---|---|
| EU Declaration | MC664 |
| UL Listing | Please insert E238097 UL File Number in the search box. |
| 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 |
| Fieldbus Data | |
|---|---|
| EtherNet IP EDS (Electronic Data Sheet) files | EtherNet IP EDS (Electronic Data Sheet) files |
| DeviceNet EDS (Electronic Data Sheet) files | DeviceNet EDS (Electronic Data Sheet) files |
| Profibus EDS (Electronic Data Sheet) files | Profibus EDS (Electronic Data Sheet) files |
| CAD Data | |
|---|---|
| Drawings are available in the following formats: DXF, IGES, DWG, STEP and SolidWorks. These files are included in the Zip file below. Please note: the case is the same as the MC464. | |
| 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 and China. |
| 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. |
| PREFERRED EtherCAT PARTNER | JOIN DATE | WEB ADDRESS |
|---|---|---|
 |
March - 2017 | Estun.com |
 |
September - 2014 | delta-americas.com |
 |
October - 2014 | panasonic-electric-works.com |
 |
November - 2014 | JVL.dk |
 |
December - 2014 | a-m-c.com |
 |
February - 2016 | Animatics.com |
 |
April - 2016 | Fastech.co.kr |
 |
April - 2017 | rta.it |
 |
May - 2017 | applied-motion.com |
| Other partners (EtherCAT) | Drive | Encoder | I/O Device |
|---|---|---|---|
| ABB | ACS355, ACS850, ACSM1-M, ACSM1-S, FECA-01, MICROFLEX | ||
| ACS Motion | ACS SPIIPLUS | ||
| Arnold Mueller GmbH & Co. KG | IC, KW (-R03) | ||
| Applied Motion Products | SSxx-EC-D | ||
| Bachmann | Bachmann slv | ||
| Baumer | BM4-O-ECT-01-01, BMAxx | Encoder 2, 4 & 10byte | |
| Baumer Thalheim | ATD2, ATD4 & POE | ||
| Bernecker + Rainer Industrie Elektronik Ges.m.b.H. | |||
| Baumueller | bmaXX 4400 | ||
| Beckhoff | AX2000 | EP5101 | EL6752, EL1088 |
| Bonfiglioli Vectron GmbH | |||
| Bosch Rexroth AG | |||
| Brooks Instrument B.V. | |||
| Brunner Elektronik AG | |||
| Burster praezisionsmesstechnik | |||
| Comet Technologies USA | |||
| Control Techniques | Digitax, Unidrive SP | ||
| Copley Drives | Xenus+, Accelnet+ | ||
| Danfoss GmbH | |||
| Deutshmann | Unigate IC | ||
| Dunkermotoren | BGxx | ||
| Eltromat | ELTROMAT RSH | ||
| Elmo | ELMO Drive | ||
| ESD electronic system design gmb | |||
| ESR Pollmeier | Midi Drive, Trio Drive | ||
| ESItron | ESImotor | ||
| Estun | ProNet | ||
| FASTECH | |||
| Festo | CPX-FB38 | ||
| Gefran SPA | |||
| Groschoppbv | |||
| Grossenbacher | GESYS MEC | ||
| HIGEN Motor Co., Ltd. | |||
| Hilscher | NETX_IO | ||
| IAI | ACON (does not support cyclic mode) | ||
| Iba-AG | |||
| Inficon AG | |||
| Infranor | XtraplusPak | ||
| Imficon | INFICON PG | ||
| JAT | ECOCOMPACT | ||
| Jenaer Antriebstechnik GmbH | |||
| Jenny Science | Xenax | ||
| KEB | KEB 1648F5 | ||
| KEYENCE | |||
| Kuebler | MT-5868 Encoder | ||
| Kuhnke | 694_400 | ||
| Kollmorgen | AKD, AKD-N, S700 | ||
| KUNBUS GmbH | |||
| LEINE & LINDE AB | |||
| Lenze | i700 & 8400 | IOSystem 1000 | |
| LinMot | E1250-EC | ||
| Lika Electronic srl | |||
| LTi Drives | ServoOne, ServoOne Junior | ||
| Maxon Motor | EPOS3, MAXPOS | ||
| MCS Inc | MCS INC | ||
| Metronix | ARS2000 | ||
| Mitsubishi | MR_J3_A | ||
| MKS Intruments | TEMPO VALVE | ||
| Moog | MSD, MSD Compact, Animatics | ||
| MOTEC Servo | |||
| MURR Elektronik | IMPACT 20, IMPACT 67 | ||
| MTS Systems Corp | |||
| Nanotec Electronics | N10 | ||
| National Instruments | 9144 | ||
| Numatics,Inc | |||
| Omron | MX2 inverter, G5 Servo | GXEC0211, GXEC0241 | GRT-ECT I/O |
| ORIENTAL MOTOR | |||
| Parker Hannifin | |||
| Phase Motor Control | AxM-II Series | ||
| Phoenix Contact | |||
| RS Automation | |||
| RTA | Plus ET | ||
| Renesas Electronics Corp. | |||
| Sanyo Denki | RS2 | ||
| Schneider Electric | LXM32M | ||
| Servotronix Motion Control Ltd. | |||
| Sick | Inspector | ||
| Shanghai AMP&MOONS' Automation Co.,Ltd | SS10-EC-D SS05-EC-D SS03-EC-D |
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| SMC | EX260, EX600 | ||
| Stober | Posidrive | ||
| TDK-Lambda Americas Inc. | |||
| Technosoft | |||
| Texas Instruments Incorporated | |||
| TR-Electronic | Linear and rotary encoders | ||
| TRINAMIC Motion Control GmbH & Co. KG | |||
| TRSystems GmbH | |||
| TR-Electronic | |||
| Tsino-Dynatron Electrical Technology | |||
| TURCK | |||
| Vacon Plc | |||
| VIPA | 053 | ||
| Wenglor Sensor | OCP, ZAC50 | ||
| WAGO | 750-354 | ||
| Watlow Electric Manufacturing | |||
| WEG | |||
| Wenglor sensoric | |||
| Yaskawa | Sigma V |
