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PC-MCAT 64
Overview
Specification
Expansion/Accessories
Software
Documents
EtherCAT Partners
EtherCAT Specification

PC-MCAT 64

P760 (2 - 64 Axes)

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.

PC-MCAT

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
EtherCAT logo

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.

PC-MCAT

HDMI Output

PC-MCAT

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

PC-MCAT

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

PC-MCAT

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..

pcmcat.png
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
Axes P760
PC-MCAT-64
Max Axes 64
Max networked axes 64
Max virtual axes 16
Max discrete wired axes 0
Performance P760
PC-MCAT-64
Maximum Encoder Input Frequency 6.000 MHz
Flash memory 32 x 16000 values
Maths precision IEEE 457 Double
Maximum servo period 250 µs
Table memory 512000 values
Maximum VR variables 4096
Minimum servo period 125 µs
Position register precision 64 bit
Clock frequency 1910 MHz
Cores 4
Processor Intel Atom E3845 Quad Core
Real-time clock Yes
Maximum stepper output frequecny 2.000 MHz
User memory 640 MB
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 Yes
Communications P760
PC-MCAT-64
Anybus No
Bluetooth No
CANopen Yes
CC-Link No
DeviceNet Yes
Ethernet Yes
EthernetIP Yes
Hostlink Yes
MODBUS-RTU Yes
MODBUS-TCP/IP Yes
Profibus No
ProfiNet No
RS232/RS485 No
USB 1.1 No
Encoder ports P760
PC-MCAT-64
Feedback input No
Incremental (A+B) output Yes
Pulse & direction output Yes
Reference input Yes
Internal I/O P760
PC-MCAT-64
+/-10V analogue outputs 0
Analogue output precision 12 bits
Analogue Inputs (0-10V) 2
Analog input precision 12 bits
Digital Bidirectional I/O (24V) 4
Digital Inputs (24Vdc) 8
Digital Outputs (24Vdc) 0
Registration inputs 4
Registration speed 20 µs
Watchdogs 1
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 512
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 6
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 tolerance +-20%
Supply voltage 24 V
Certification P760
PC-MCAT-64
CE Yes
RoSH Yes
P760

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)P366
The Flexslice System consists of a P366 coupler and up to 16 Flexslice EtherCAT modules. The coupler converts the passing telegrams from Ethernet 100BASE-T to E-bus signal format.
Flexslice 16-Out PNP (P371)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)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 16-In PNP (P375)P375
The P375 Flexslice 3 Axis Step Pulse Module controls up to 3 Stepper motors with Pulse/Direction/Enable or Pulse/Direction/Registration signals for each axis.
Flexslice 16-Out NPN (P376)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)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)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)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)CAN
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)CAN
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)CAN
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)CAN
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)CAN
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)bolt 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" and 10" colour display.
UNIPLAY HMI (7") (P844)bolt 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 10" colour display.
Firmware - PC-MCAT
LATEST USER RELEASE:
File:pc-mcat-2.2851.354.11257.msi
Version:1.1257
Size:3772416 bytes
Date:2017-Jul-03
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) must be bought for each Motion Coordinator that can 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 - 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.
PREFERRED EtherCAT PARTNER JOIN DATE WEB ADDRESS
Delta September - 2014 delta-americas.com
Panasonic October - 2014 panasonic-electric-works.com
LS Mecapion October - 2014 lsmecapion.com
JVL November - 2014 JVL.dk
AMC December - 2014 a-m-c.com
Hiwin November - 2015 hiwinmikro.tw
Axor December - 2015 axorindustries.com
Moog Animatics February - 2016 Animatics.com
Fastech April - 2016 Fastech.co.kr
RTA April - 2017 rta.it
applied-motion 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
Balluff     Balluff BTL7
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 S700    
Kollmorgen / Danaher AKD    
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    
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 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)
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)