Trio • MC464

Based on the 64bit 400MHz MIPS the MC464 supports up to 64 axes of motion with 64 bit integer position registers for ultra precise axis resolution. Using expansion modules the MC464 supports up to 64 networked digital drives, 24 analogue servo drives, 24 pulse and direction drives and 64 absolute and incremental encoders in any combination.

Highlights

EtherCAT, Sercos, SLM and RTEX Digital Drive Interfaces
Up to 25 Axes Conventional Servo/Stepper
Linear, Circular, Helical and Spherical Interpolation
Flexible CAM shapes, Linked Motion
Biss, EnDAT and SSI Absolute Encoder Supported
Hardware Linked Outputs for Camera / Laser Control
Ethernet-IP / Modbus TCP / Ethernet Interface Built-In
125 – 2000 µsec Selectable Servo Update
Anybus-CC Module for Flexible Factory Comms incl. ProfiNet/Profibus
IEC 61131-3 Programming
Multi-tasking BASIC Programming
Text File Handling
Robotic Transformations
SD Memory Card Slot
CANopen IO Expansion
Backlit LCD display
RoHS, UL Listed, CE approved

Expandable

The axis expansion modules feature many options for Drive Network interfaces, analogue servo, pulse/direction, absolute or incremental feedback and accurate hardware registration.

Configure the controller functionality and connectivity by attaching up to 7 half-height expansion modules or 3 full-height expansion modules. Each module easily attaches to the controller with a new high density bus connection and a uniquely designed screw integrates the earth planes of all modules and controller together. Trio’s feature enable code system for axis activation allows the whole system to be scaled exactly to need.

The MC464 features a total of 64 axes in software. Any axes not assigned to built-in hardware can be used as a virtual axis. Every axis can be programmed to move using linear, circular or helical or spherical interpolation, electronic cams, linked axes and gearboxes. The power of the controller allows for multiple robotic transformations to run simultaneously.

Up to 64 Axes

The built-in Ethernet port allows programming and connection of common HMI and PLC protocols directly to the MC464. 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 is the industry standard IEC 61131-3 languages allowing fully functional PLC programming system.

Easy to use

A bright easy to read backlit display enables the controller status to be easily determined, whilst the single piece metal cast backplate provides an integrated earth chassis to improve noise rejection in the industrial environment.

Rugged

The single piece metal cast backplate provides an integrated earth chassis to improve noise rejection in the industrial environment.

Product	P860 MC464
Description	Expandable 64 axis DIN/panel mounted motion coordinator
Name	MC464
PCode	P860
Status	Supported

Configuration	P860 MC464
Axis 0	Core
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Axis 7

Axes	P860 MC464
Max axes	64
Max networked axes	64
Max virtual axes	64
Max discrete wired axes	25

Performance	P860 MC464
Cores	1
Processor	MIPS 64bit
Clock frequency	400 MHz
Maths precision	IEEE 457 Double
Position register precision	64 bit
Execution benchmark	52 lines/ms
Real-time clock	Yes
Flash memory	32 x 16000 values
User memory	8 MB
Table memory	512000 values
Min expected flash memory life (normal use)	0 years
Maximum VR variables	65536
Maximum servo period	2000 µs
Minimum servo period	125 µs
Maximum encoder input frequency	6.000 MHz
Maximum stepper output frequency	2.000 MHz

Drive interfaces	P860 MC464
Auxilliary axis	No
EtherCAT	Option
Hydraulic	Option
Piezo	Option
Panasonic RTEX	Option
SERCOS	Option
Servo	Option
SLM	Option
Step & direction	Option

Communications	P860 MC464
Anybus	Option
Bluetooth	Option
CANopen	Yes
CC-Link	Option
DeviceNet	Yes
Ethernet	Yes
EthernetIP	Yes
Hostlink	Yes
MODBUS-RTU	Yes
MODBUS-TCP/IP	Yes
Profibus	Option
ProfiNet	Option
RS232/RS485	Yes
USB 1.1	Option

Encoder ports	P860 MC464
Feedback input	Option
Incremental (A+B) output	Yes
Pulse & direction output	Yes
Reference input	Yes
SSI Absolute Input	No
EnDat Absolute Input	No
Tamagawa Absolute Input	No
BiSS Absolute Input	No

Internal I/O	P860 MC464
+/-10V analogue outputs	0
Analogue output precision	12 bits
Analogue Inputs (0-10V)	2
Analog input precision	12 bits
Digital Bidirectional I/O (24V)	8
Digital Inputs (24Vdc)	8
Digital outputs (24Vdc)	0
Registration inputs	58
Registration speed	1 µs
Watchdogs	1
Watchdog rating	29V, 100mA max

External I/O	P860 MC464
+/-10V analogue outputs	16
Analogue output precision	12 bits
+/-10V analogue inputs	32
Analogue input precision	12 bits
Digital I/O points	512

Programming	P860 MC464
Trio BASIC	Yes
DXF in	Yes
G-Code	Yes
HPGL	Yes
IEC61131	Yes
Kinematic	Option
Maximum programs	64
Maximum tasks	22

Software	P860 MC464
Motion Perfect version	4

Expansion	P860 MC464
Expansion module type	Series4
Maximum modules	7
Memory card	SD

Physical	P860 MC464
Maximum operating temperature	45 °C
Minimum operating temperature	0 °C
Mount	DIN/Panel
Depth	155.0 mm
Height	201.0 mm
Width	56.0 mm
Weight	750 g

Power	P860 MC464
Supply current	350 mA
Supply tolerance
Supply voltage	24 V

Certification	P860 MC464
CE	Yes
RoSH	Yes
UL	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.
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. All Extended Axes can use these ATYPE's as feedback. If you want to just use the feedback and not complete a closed loop servo system set SERVO = OFF
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

Products - Expansion Modules
FlexAxis Interface (P874) For use with Stepper, Analogue Servo & Piezo motors. The Flexible axis interface provides an extra 8 axes.
FlexAxis Interface (P879) For use with Stepper, Analogue Servo & Piezo motors. The Flexible axis interface provides an extra 4 axes.
FlexAxis Interface (P881) For use with Stepper, Analogue Servo & Piezo motors. The P881 Flexible axis interface also adds 8 axes of SSI Absolute Encoder functionality.
RTEX Interface (P871) For use with the latest range of Panasonic MINAS A4N and A5N amplifiers supporting the Panasonic Real Time Express (RTEX) network. Allows Plug & Play interconnection with Shielded twisted pair (TIA/EIA-568B CAT5e or more) Ethernet cables.
Ethercat Interface (P876) For use with and EtherCAT based drive products. EtherCAT is the open real-time Ethernet network originally developed by Beckhoff.
SERCOS Interface (P872) For use with any sercos II IEC61491 compliant drive. The module allows control of up to 16 axes via sercos with cycle times down to 250usec. Multiple sercos daughter boards can be used to increase axes count to 64.
SLM Interface (P873) For use with drives supporting Control Techniques SLM protocol. Each module supports 6 axes which can be individual drives or a single drive using the CT Multiax concept.
Anybus-CC Module (P875) This module adds support for the Anybus CompactCom device modules.
Blanking Module (P878) Used to ensure the system is "tied" together mechanically. There is no communication bus connection, but the P878 is required for the earth connection.
FlexAxis Splitter Cable (P381) Breakout cable to split the high density D-Type connectors to standard D-Type connectors. Used only with the P874, P879 and P881 FlexAxis Interface (P874, P879, P881)

Products - CAN I/O Modules
CAN 16-Out I/O Module (P317) The Trio CAN16 Output module provides 256 distributed output channels at 24Vdc level. All points are short-circuit proof and completely isolated from the CANbus. P317 modules may be mixed on the same bus, with other types in the Trio CAN I/O range.
CAN 16-In I/O Module (P318) The Trio CAN16 Input module provides 256 distributed input channels at 24Vdc level. All input points are high level (24V in = ON) and completely isolated from the CANbus.
CAN16 I/O Module (P319) The Trio CAN16 Input/Output module provides 256 distributed bi-directional input/output channels at 24Vdc level. All input points are high level, (24V = ON) all outputs are short-circuit proof and the I/O is completely isolated from the CANbus.
CAN 8-In / 4-Out I/O Module (P326) The CAN Analogue I/O module provides a compact DIN rail mounted analogue input/output capability for Trio Motion Coordinators. Each module provides 8 channels of 12-bit (+/-10V) analogue inputs and 4 channels of 12-bit (+/-10V) analogue outputs.
CAN 8-Relay Module (P327) The Trio CAN8 Relay module provides 128 distributed low power relay channels at up to 30Vdc or 49Vac. All output points are Volt-free contacts and are completely isolated from the CANbus. P327 modules may be mixed on the same bus, with other types in the Trio CAN I/O range.

Products - Generic
UNIPLAY HMI (7") (P843) Trio’s unique UNIPLAY HMI system is a revolutionary way to make operator interfaces better, easier and more secure! The UNIPLAY series boasts a 7" and 10" colour display.
UNIPLAY HMI (10") (P844) Trio’s unique UNIPLAY HMI system is a revolutionary way to make operator interfaces better, easier and more secure! The UNIPLAY series boasts a 10" colour display.

Firmware - MC464

Latest USER Release:

File:	MC464_20300.zip
Version:	2.0300
Size:	1421303 bytes
Date:	2020-Mar-06

Software - Programming
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.
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 - Programming

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.

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).
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).
Remote Axis FEC's (P701 - P732) Remote axis FEC's allow upto 64 additional axes to be configured. (Log on to E-Store to purchase).

Software - Support Apps
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.
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.
Trio MCLoader The Trio MC Loader is a Windows ActiveX control which can load projects (produced with Motion Perfect) 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.
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.
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
Transportation of products containing Lithium batteries _{(log in)}	Simple set up 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	MC464
UL Listing	Please insert E238097 UL File Number in the search box.

Fieldbus Data
EtherNet IP EDS (Electronic Data Sheet) files
DeviceNet 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.
Download Zip file

MC464

P860

: Suggested Alternative : MC664