Trio • PC-MCAT 64

Trio’s PC-MCAT 64 is an innovative "Motion + PC Solution". A powerful quad core Intel Atom processor is used to drive both a high performance motion controller and a compact PC that can run user applications under Windows. The PC-MCAT software uses a real-time extension to allow both Windows and the motion controller to run directly on their own processor cores.

Highlights

Motion + PC Solution for Automation Machinery
Fanless compact PC with E3845 Quad Core Atom Processor at 1.91 Ghz
Powerful up to 64 Axis EtherCAT Based Trio Motion Coordinator
RTX64 Real Time Extension to allow Motion + Windows Running Directly on Their Own Processor Cores
Plug and Play EtherCAT Configuration Expandable Support for Servo Drives, I/O and Devices From Over 100 Manufacturers
Programmable In Easy TrioBASIC, built-in IEC 61131 or PC based Programming Languages Such As "C"
4 GByte RAM + 64 GByte Upgradable SSD
Built-in GBit Ethernet Port For Vision Cameras

Plug and Play

The motion controller’s own dedicated EtherCAT master Ethernet port can launch data packets with less than 1 µsec of jitter. The 1.91GHz Atom processor is paired with 4 GBytes of RAM and a high speed 64 GByte upgradable SSD to give sufficient PC performance for many machine types.

HDMI Output

PC-MCAT is especially suitable where a machine type needs the software and hardware facilities of a PC paired with a powerful 64 axis Motion Coordinator. The HDMI port can be used to drive high resolution displays for sophisticated operator interfaces.

Vision

The large 64 GByte SSD drive can hold vast amounts of machine data and recipes. Two GBit Ethernet ports are built into the PC-MCAT. These can be used for factory communications or connecting vision camera(s) whose data can be processed directly on the PC cores.

Program Your Way

A machines PC applications can communicate with the Trio Motion Coordinator running on its dedicated processor core using fast shared memory. Machine control sequences can either be made in multi-tasking TrioBASIC / IEC61131 of the Motion Coordinator or can be written as a PC application (for example in "C") sending motion + I/O requests through to the Motion Coordinator. Trio's Motion Perfect v4 application development tool can be run directly on the PC-MCAT or remotely on a laptop via Ethernet..

Product	P760 PC-MCAT-64
Description	2 - 64 EtherCAT Axis Fanless PC + Motion Controller
Name	PC-MCAT-64
PCode	P760
Status	Current

Configuration	P760 PC-MCAT-64
Axis 0
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Axis 7

Axes	P760 PC-MCAT-64
Max axes	64
Max networked axes	64
Max virtual axes	64
Max discrete wired axes	0

Performance	P760 PC-MCAT-64
Cores	4
Processor	Intel Atom E3845 Quad Core
Clock frequency	1910 MHz
Maths precision	IEEE 457 Double
Position register precision	64 bit
Execution benchmark	155 lines/ms
Real-time clock	Yes
Flash memory	32 x 16000 values
User memory	640 MB
Table memory	512000 values
Min expected flash memory life (normal use)	0 years
Maximum VR variables	4096
Maximum servo period	250 µs
Minimum servo period	125 µs
Maximum encoder input frequency	0.000 MHz
Maximum stepper output frequency	0.000 MHz

Drive interfaces	P760 PC-MCAT-64
Auxilliary axis	No
EtherCAT	Yes
Hydraulic	No
Piezo	No
Panasonic RTEX	No
SERCOS	No
Servo	No
SLM	No
Step & direction	No

Communications	P760 PC-MCAT-64
Anybus	No
Bluetooth	No
CANopen	No
CC-Link	No
DeviceNet	No
Ethernet	Yes
EthernetIP	Option
Hostlink	Option
MODBUS-RTU	Option
MODBUS-TCP/IP	Option
Profibus	No
ProfiNet	No
RS232/RS485	No
USB 1.1	No

Encoder ports	P760 PC-MCAT-64
Feedback input	No
Incremental (A+B) output	No
Pulse & direction output	No
Reference input	No
SSI Absolute Input	No
EnDat Absolute Input	No
Tamagawa Absolute Input	No
BiSS Absolute Input	No

Internal I/O	P760 PC-MCAT-64
+/-10V analogue outputs	0
Analogue output precision	12 bits
Analogue Inputs (0-10V)	0
Analog input precision	12 bits
Digital Bidirectional I/O (24V)	0
Digital Inputs (24Vdc)	0
Digital outputs (24Vdc)	0
Registration inputs	0
Registration speed	1 µs
Watchdogs	0
Watchdog rating	n/a

External I/O	P760 PC-MCAT-64
+/-10V analogue outputs	16
Analogue output precision	12 bits
+/-10V analogue inputs	32
Analogue input precision	12 bits
Digital I/O points	1024

Programming	P760 PC-MCAT-64
Trio BASIC	Yes
DXF in	Yes
G-Code	Yes
HPGL	Yes
IEC61131	Yes
Kinematic	Option
Maximum programs	32
Maximum tasks	22

Software	P760 PC-MCAT-64
Motion Perfect version	4

Expansion	P760 PC-MCAT-64
Expansion module type	None
Maximum modules	0
Memory card	None

Physical	P760 PC-MCAT-64
Maximum operating temperature	55 °C
Minimum operating temperature	0 °C
Mount	Panel
Depth	120.0 mm
Height	157.0 mm
Width	40.0 mm
Weight	432 g

Power	P760 PC-MCAT-64
Supply current	0 mA
Supply tolerance	+-20%
Supply voltage	24 V

Certification	P760 PC-MCAT-64
CE	Yes
RoSH	Yes
UL

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 - Flexslice Modules
Flexslice Coupler (P366) The P366 Flexslice Coupler converts the passing telegrams from Ethernet 100BASE-T to EBUS signal format. One Coupler can support up to 16 Flexslice modules.
Flexslice 16-Out PNP (P371) The P371 digital output slice connects the binary control signals from the Motion Coordinator to the machine’s output devices at 24V dc.
Flexslice 16-In PNP (P372) The P372 digital input slice connects 24V dc signals from devices on the machine to the binary control registers in the Motion Coordinator.
Flexslice Flex 3-Axis (P375) The P375 Flexslice 3 Axis Step Pulse Module controls up to 3 Stepper motors with Pulse/Direction/Enable output signals or encoders with A/B/Registration inputs for each axis.
Flexslice 16-Out NPN (P376) The P376 digital output slice connects the binary control signals from the Motion Coordinator to the machine’s output devices, such as relays, contactors, valves, lamps etc. at 24V dc.
Flexslice 16-In NPN (P377) The P377 digital input Flexslice connects 24V dc signals from devices on the machine to the binary control registers in the Motion Coordinator.
Flexslice 8 Analogue Outputs (P378) The P378 Flexslice 8 Analogue Output module has eight programmable voltage range output terminals, each digitised to a resolution of 12 bit.
Flexslice 8 Analogue Inputs (P379) The P379 Flexslice 8 Analogue Input module has eight programmable voltage range input terminals, each digitised to a resolution of 12 bit.

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 (7") (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 - PC-MCAT

LATEST USER RELEASE:

File:	pc-mcat-2.2962.621.12931.msi
Version:	1.2931
Size:	5922816 bytes
Date:	2018-Dec-23

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 free of charge from the Trio website for each Motion Coordinator to run IEC 61131 programs. (Log on to E-Store to purchase).

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 free of charge from the Trio website for each Motion Coordinator to run IEC 61131 programs.
(Log on to E-Store to purchase).

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 (P912) The controller has 2 built-in EtherCAT axes which can be user upgraded with the purchase of P912 Remote Axis FECs. Each P912 doubles the available axes, i.e: controller + 1 x P912 = 4 Remote Axes controller + 2 x P912 = 8 Remote Axes controller + 3 x P912 = 16 Remote Axes controller + 4 x P912 = 32 Remote Axes controller + 5 x P912 = 64 Remote Axes (Log on to E-Store to purchase).

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 (P912)
The controller has 2 built-in EtherCAT axes which can be user upgraded with the purchase of P912 Remote Axis FECs.

Each P912 doubles the available axes, i.e:

controller + 1 x P912 = 4 Remote Axes
controller + 2 x P912 = 8 Remote Axes
controller + 3 x P912 = 16 Remote Axes
controller + 4 x P912 = 32 Remote Axes
controller + 5 x P912 = 64 Remote Axes

(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 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.
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
API Getting Started Guide	Getting Started with PC-MCAT API on Visual Studio (C#, VB.NET, C++)
EMC Guide	Electromagnetic Compatibility guide for Trio products v4
Transportation of products containing Lithium batteries _{(log in)}	Simple set up guide

CAD Data
Drawings are available in the following formats: DXF, IGES, DWG and STEP. These files are included in the Zip file below.
Download Zip file

PREFERRED EtherCAT PARTNER	JOIN DATE	WEB ADDRESS
	September - 2014	delta-americas.com
	October - 2014	panasonic-electric-works.com
	October - 2014	lsmecapion.com
	November - 2014	JVL.dk
	December - 2014	a-m-c.com
	November - 2015	hiwinmikro.tw It may be necessary to select "language...English" from the top bar to view the information.
	December - 2015	axorindustries.com
	February - 2016	Animatics.com
	April - 2016	Fastech.co.kr
	March - 2017	Estun.com
	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
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

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-6 Nano), 250µsec (MC664), 500 µsec, 1000 µsec or 2000 µsec
Synchronisation	Distributed Clocks technology. Jitter < 1 µsec
Protocol	CoE, SoE (2)
Number of Axes	32 (MC4N), 64 (MC464+P876), 128 (MC664), 64 (PC-MCAT), 64 (Flex-6 Nano)
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)

NEW

PC-MCAT 64

P760 (2 - 64 Axes)