in 2 variants


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!
EtherCAT logo



  • 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.




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.



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.

p861.png p862.png
Product P861
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
Axis 0 Extended Extended
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Axis 7
Axes P861
Max axes 128 128
Max networked axes 64 128
Max virtual axes 128 128
Max discrete wired axes 25 25
Performance P861
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
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
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
Profibus Option Option
ProfiNet Option Yes
RS232/RS485 Yes Yes
USB 1.1 Option No
Encoder ports P861
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
+/-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
+/-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
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
Motion Perfect version 4 4
Expansion P861
Expansion module type Series4 Series4
Maximum modules 7 7
Memory card SD SD
Physical P861
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
Supply current 625 mA 625 mA
Supply tolerance +/- 20% +/- 20%
Supply voltage 24 V 24 V
Certification P861
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.

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
EtherCAT logo  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)
Products - DX Servo Drive Systems
DX3 AC Servo Drive EtherCATDX3 Servo Drive System
DX3 AC Servo Drive Conventional
With a power range from 50W to 7.5kW and options for EtherCAT or Conventional (Pulse & Direction, Analogue and CANopen) control, DX3 will suit a wide variety of machine types. DX3 is fully integrated into Trio’s application development tool, Motion Perfect, our software environment for system planning, configuration, virtualisation and machine programming.

DX4 AC Servo Drive (D0100 - D0108)DX4 Servo Drive System
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 Servo Drive System
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 Rangebolt on expansion module

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 all flexslice expansion modules
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 ModulesCAN
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-Abolt on expansion module
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", 10" and 15" colour displays.
Firmware - MC664
Latest USER Release:
Size:2148642 bytes
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).
Software - Support Apps
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.
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.
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.
Data Sheet  
Quick Start Guide Simple set up guide
EMC Guide Electromagnetic Compatibility guide for Trio products v6
Pick-up-and-Learn Guide Firmware Recovery System guide
The Technical Reference Manual can be downloaded in full or as separate sections. All in PDF format.
Hardware Overview (Chapter 2)
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, China and Italy.
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.