Trio MC664 Instruction Manual

MOTION COORDINATOR
MC664 / MC664-X
Quick Connection Guide
This guide must be used in conjunction with the Technical Reference Manual
TI
O
N
C
O
O
RDINAT
O
R
Backlit Status Display
and LEDs
RS232 / RS485 Modbus-rtu,
hostlink or user program-
mable
Ethernet Programming
Modbus-TCP, Ethernet-IP, Trio
Activex, UNIPLAY HMI, UDP
Extended flexible axis
SD Card
I/O, CAN, Power,
Analogue, WDOG
First Expansion
Module
Easy Release Expan-
sion Cover
Common Earthing
For Improved Noise
Rejection
Panel Mount or DIN
Rail Mount
Extended flexible axis
Port

MC664 MC664-X
Processor ARM A9 Single Core ARM A9 Quad Core
Servo update rate 125 to 4000 usecs 50 to 4000 usecs
Maximum axes 64 128
Absolute encoder support Yes Yes
EtherCAT axes included (1) 02
EtherCAT registration (2) Inputs 0 to 7 Inputs 0 to 7
Firmware recovery mode Yes Yes
Non-volatile memory
VR store Flash Flash
Table (1st 196k) Flash Flash
Real time clock Super capacitor Super capacitor
(1) More axes can be enabled by purchasing software codes
(2) EtherCAT registration also available by Touch Probe
MC664(X) FEATURE SUMMARY

RJ45
CONNECTOR
(TOP)
The bottom 2 pins of the 30 way
high density input connector are
used to provide the 24V dc power
to the MC664. A 24V dc, Class 2
transformer or power source must
be provided.
The 2 pins above the 24V dc supply
are to power the I/O 24 Volts.
The MC664 is grounded via
the metal chassis. It MUST
be installed on an unpainted
metal plate or DIN rail which is
connected to earth.
I/O CONNECTOR
A standard Ethernet connector is provided for
use as the primary programming interface.
The Trio programming software, Motion Perfect
4 and above, must be installed on a Windows
based PC that is fitted with an Ethernet
connection. The IP address is displayed on the
MC664 display for a few seconds after power-up
or when an Ethernet cable is plugged in.
0V AIN
AIN0
AIN1
WDOG+
WDOG-
I 0
I 1
I 2
I 3
I 4
I 5
I 6
I 7
0V I/O
0V SUPPLY
0V CAN/AIN
CAN LOW
CAN EARTH
CAN HIGH
24V CAN/AIN SUPPLY
I/O8
I/O9
I/O10
I/O11
I/O12
I/O13
I/O14
I/O15
24V I/O SUPPLY
24V SUPPLY
RJ45
CONNECTOR
(BOTTOM)
EtherCAT master port for connection to Servo/
Stepper drives and I/O devices via EtherCAT
industry standard protocols.

9 Way D-Type
SYNC ENCODER
CONNECTIONS
* 5V supply is limited to 150mA.
Pin Encoder Absolute Pulse &
Direction
1 Enc. A Clk + Step +
2 Enc. /A Clk - Step -
3 Enc. B N/C Direction +
4 Enc. /B N/C Direction -
5 0V Encoder 0V Enc. 0V Stepper
6 Enc. Z Data + Enable +
7 Enc. /Z Data - Enable -
8 5V* 5V 5V*
9Registration Input (5V)
1
2
3
4
5
6
7
8
9
Pin Function Note
1 RS485 Data In A Rx+ Serial Port #2
2 RS485 Data In B Rx-
3 RS232 Transmit Serial Port #1
40VSerial
5 RS232 Receive Serial Port #1
6Internal5V
7 RS485 Data Out Z Tx- Serial Port #2
8 RS485 Data Out Y Tx+
8 Way MiniDIN
8
7
6
5
4
31
2
SERIAL
CONNECTIONS

Recovery
Normal
ADDING
EXPANSION
MODULES
Unscrew the lower retaining fixing (A) using the supplied tool or
a coin.
Remove the covers from the module (B).
Swing the expansion module (C) out from the rear and unclip
from the front end.
Replacing the module is the reverse of the procedure.
To access the recovery mode switch, insert screwdriver under
the frontmost ventilation slot (D). See the Hardware Manual for
details of recovery mode operation.
A
C
B
E
B
D

LCD DISPLAY
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
ENABLE
Display at start-up
Display with WDOG on
SOFTWARE Trio recommend that you use the latest version of Motion Perfect 4
when using the MC664 (Minimum recommended version MPv4.1.2).
Software can be downloaded from www.triomotion.com.
The model number, IP address and subnet mask of the MC664 are
shown on the LCD display for a few seconds after power-up. The
factory default IP address is 192.168.0.250. This can be changed
using the ETHERNET or the IP _ ADDRESS command via Motion
Perfect.

MODULE
ASSEMBLY A maximum of 7 half height modules or 3 full height modules may be
fitted to the MC664. A system may be made using any combination
of half and full height modules providing that the full height modules
are the last to be attached.
SLOT Numbers are allocated by the system software in order, left to
right, starting with the lower bus. Lower modules are allocated slots
0 to m, then the upper modules become slots m+1 to n. Finally the
EtherCAT Port and the Sync Encoder Port are allocated slots n+1 and
n+2.
MODULE SLOT
NUMBERS
2 11SLOT
SLOT 0
2 0 * 7 4 5 6
0 1 2 3
4 5 1 2 3
0
* EtherCAT Port is disabled.

100Mbps Panasonic “Realtime Express”
receive – connect to transmit of last drive.
RJ45
CONNECTOR (TX)
REGISTRATION
CONNECTOR
100Mbps Panasonic “Realtime Express”
transmit – connect to receive of first drive.
R0 - R7: registration inputs (24V).
R0V: registration common 0V return.
Registration inputs can be allocated to any
axis by software.
Note: This pin out applies to module serial
numbers P871-00011 and higher.
R0
R1
R2
R3
R0V
R0V
R4
R5
R6
R7
R0V
R0V
EXPANSION MODULE P871 - MC664 PANASONIC INTERFACE
RJ45
CONNECTOR (RX)
Tx
Rx
Tx
Rx
Tx
Rx
ok
0
1
2

LED FUNCTIONS LED LED Colour LED Function
ok Green ON=Module Initialised Okay
0 Red ON=Module Error
1 Yellow Status 1
2 Yellow Status 2
Tx
Rx
ok
0
1
2

sercos fibre-optic receive.
CONNECTOR (TX)
R0 - R7: registration inputs (24V).
0V: registration common 0V return.
Registration inputs can be allocated to any
axis by software.
REGISTRATION
CONNECTOR
sercos fibre-optic transmit.
EXPANSION MODULE P872 - MC664 SERCOS INTERFACE
CONNECTOR (RX)
R0
R1
R2
R3
R0V
R0V
R4
R5
R6
R7
R0V
R0V
9mm FSMA
9mm FSMA
Tx
Rx
ok
0
1
2
Tx
Rx
Tx
Rx

LED FUNCTIONS LED LED Colour LED Function
ok Green ON=Module Initialised Okay
0 Red ON=Ring Open / Distorted
1 Yellow SERCOS Phase
2 Yellow SERCOS Phase
SERCOS PHASE LED 1 LED 2
0 OFF FLASH
1OFFON
2FLASHOFF
3ONOFF
4ONON
Tx
Rx
ok
0
1
2

SLM CONNECTOR
REGISTRATION
CONNECTOR
EXPANSION MODULE P873 - MC664 SLM INTERFACE
15 Way D-Type Pin Upper D-Type Lower D-Type
1 Com Axis 0 Com Axis 3
2 /Com Axis 0. /Com Axis 3
3 Hardware Enable Hardware Enable
4 0V Output 0V Output
5 24V Output 24V Output
6 Com Axis 1 Com Axis 4
7 /Com Axis 1 /Com Axis 4
8 No Connection No Connection
9 No Connection No Connection
10 No Connection No Connection
11 24V Output 24V Output
12 0V Output 0V Output
13 Com Axis 2 Com Axis 5
14 /Com Axis 2 /Com Axis 5
15 Earth / Shield Earth / Shield
R0 - R5: registration inputs (24V).
0VR: common 0V return.
0V PWR:
24V:
R0
R1
R2
R0V
0V PWR
R3
R4
R5
R0V
24V
6
10
1
5
11
15
ok
0
1
2
}Power input for SLM system.

LED FUNCTIONS
ok
0
1
2
LED LED Colour LED Function
ok Green ON=Module Initialised Okay
0 Red ON=Module Error
1 Yellow Status 1
2 Yellow Status 2

REGISTRATION
CONNECTOR V0V
V0V
V0
V1
V2
V3
R0
R1
R2
R3
0V PWR
V0V
V0V
V4
V5
V6
V7
R4/PS4
R5/PS5
R6/PS6
R7/PS7
24V
LED FUNCTIONS LED LED Colour LED Function
ok Green ON=Module Initialised Okay
0 Red ON=Module Error
1 Yellow Status 1
2 Yellow Status 2
EXPANSION MODULE P874 / P879 - MC664 FLEXIBLE AXIS INTERFACE
ok
0
1
2
V0 - V7: Voltage outputs
R4/PS4 - R7/PS7: Bidirectional registration
R0 - R3: Registration In
Inputs / 24V: PSwitch outputs
0V PWR: Power Input
24V: Power Input
V0V: DAC common 0V return
NOTE: 4 axis version uses voltage outputs
0 - 3 only.

*5V supply is limited to 150mA per axis.
ENCODER
CONNECTOR 15 Way D-Type Pin Incremental
Encoder Absolute Encoder Pulse & Direction
1 Enc. A n Clock n Step.+ n
2 Enc. /A n /Clock n Step.- n
3 Enc. B n -------- Direction+ n
4 Enc. /B n -------- Direction- n
5 0V Enc. 0V Enc. 0V Step.
6 Enc. Z n Data n Enable+ n
7 Enc. /Z n /Data n Enable- n
8 5V* 5V* 5V*
9 Enc. A n+4 Clock n+4 Step.+ n+4
10 Enc. /A n+4 /Clock n+4 Step.- n+4
11 Enc. B n+4 -------- Direction+ n+4
12 Enc. /B n+4 -------- Direction- n+4
13 Enc. Z n+4 Data n+4 Enable+ n+4
14 Enc. /Z n+4 /Data n+4 Enable- n+4
15 0V Enc. 0V Enc. 0V Enc.
6
10
1
5
11
15
ok
0
1
2
Connector 8 Axes (P874) 4 Axes (P879)
1 0 and 4 0
2 1 and 5 1
3 2 and 6 2
4 3 and 7 3
1
2
3
4
Absolute Encoder is only available on axes 4 - 7 on
P874 and 2 - 3 on P879.

ANYBUS® FITTING
EXPANSION MODULE P875 - MC664 ANYBUS®INTERFACE
Push the Anybus® module (A) into the Trio Expansion Interface
taking care to keep its base in contact with the PCB and align guide
slots (B) with the connector rails inside. Ensure that the moulded
hooks (C) on the lower front edge of the Anybus® module locate
under the P875 PCB at the front.
When the module is flush with the face of the Trio Expansion
Interface, tighten the two “Torx” head screws (D) to locate the two
lugs (E) and secure the Anybus® module.
To remove the module, reverse this procedure.
C
D
A
B
E

EXPANSION MODULE P876 - MC664 ETHERCAT INTERFACE
RJ45
CONNECTOR
R0 - R7: registration inputs (24V).
0V: registration common 0V return.
Registration inputs can be allocated to any
axis by software.
R0
R1
R2
R3
R0V
R0V
R4
R5
R6
R7
R0V
R0V
100 base-T Ethernet master. Connect to IN of
first drive.
REGISTRATION
CONNECTOR

LED FUNCTIONS LED LED Colour LED Function
ok Green ON=Module Initialised Okay
0 Red ON=Module Error
SLOW FLASH=Not in Operational State
QUICK FLASH=EtherCAT Error
1 Yellow Status 1
2Yellow EtherCATActivity

UK | USA | CHINA | INDIA
WWW.TRIOMOTION.COM
THE MOTION SPECIALIST
All trade marks acknowledged. quick start v1-January 2016