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Selection Guide

Axes are specified using three terms:

CORE AXES – can be configured in software as pulse and direction outputs to stepper or servo drives. They can also be configured for incremental encoder feedback or simulated encoder output.
EXTENDED AXES – in addition to the Core functionality these axes can also be configured for SSI, Tamagawa or EnDat absolute encoders.
EXTENDED AXES + AS AXES - In addition to Extended Axes; analogue 'closed loop' Servo using built-in ±10V analogue output.
 

MC664

MC464

MC4N EtherCAT

MC4N RTEX

MC508

MC405

MC405

MC403

MC403

MC403

MC403-Z

MC403-Z

Euro404

Euro404

Euro408

Euro408

CONFIGURATION See Key P861/2 P860 P900 P906 P849 P826 P827 P823 P824 P825 P821 P822 P831 P832 P833 P834
Axis 0 Core Core Extended Extended Core (P848)
Extended+AS (P849)
Core Extended + AS Core Extended + AS Extended + AS Core Core Core Extended + AS Core Extended + AS
Axis 1         Core (P848)
Extended+AS (P849)
Core Extended + AS Core Extended + AS   Core Core Core Extended + AS Core Extended + AS
Axis 2         Core (P848)
Extended+AS (P849)
Core Extended + AS Core Extended Core   Extended Core Extended + AS Core Extended + AS
Axis 3         Core (P848)
Extended+AS (P849)
Core Extended + AS           Core Extended + AS Core Extended + AS
Axis 4         Core (P848)
Extended+AS (P849)
Core Extended               Core Extended + AS
Axis 5         Core (P848)
Extended+AS (P849)
                  Core Extended + AS
Axis 6         Core (P848)
Extended+AS (P849)
                  Core Extended + AS
Axis 7         Core (P848)
Extended+AS (P849)
Axis 8 - 15 - Step/Dir (P849 only)
                  Core Extended + AS
AXES P861/2 P860 P900 P906 P849 P826 P827 P823 P824 P825 P821 P822 P831 P832 P833 P834
Max axes 128 64 32 32 16 5 5 3 3 2 2 3 4 4 8 8
Max discrete wired axes 25 25 1 1 8 (P848)
16 (P849)
5 5 3 3 2 2 3 4 4 8 8
Networked axes 64/128 32 32 32 0 0 0 0 0 0 0 0 0 0 0 0
Max virtual axes 128 64 32 32 32 16 16 16 16 16 16 16 16 16 16 16
PERFORMANCE P861/2 P860 P900 P906 P849 P826 P827 P823 P824 P825 P821 P822 P831 P832 P833 P834
Execution benchmark (lines/ms) --- 278 --- --- 183 183 183 183 183 183 183 183 183 183 183 183
Processor ARM A9 (Quad) 64 bit MIPS ARM11 ARM11 ARM Cortex A9 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11
Clock frequency 1000MHz (Max) 400MHz 532MHz 532MHz 800MHz 532MHz 532MHz 532MHz 532MHz 532MHz 532MHz 532MHz 532MHz 532MHz 532MHz 532MHz
Servo update rate 2ms (4ms = MC664) -50µs
(8 axes at 50µs)
2ms-125µs 2ms-125µs 1ms-500µs 1ms-125µs 2ms-125µs 2ms-125µs 2ms-125µs 2ms-125µs 2ms-125µs 2ms-125µs 2ms-125µs 2ms-125µs 2ms-125µs 2ms-125µs 2ms-125µs
Encoder input frequency 6MHz 6MHz 6MHz 6MHz 6MHz 6MHz 6MHz 6MHz 6MHz 6MHz 6MHz 6MHz 6MHz 6MHz 6MHz 6MHz
Stepper output frequency 2MHz 2MHz 2MHz 2MHz 2MHz 2MHz 2MHz 2MHz 2MHz 2MHz 2MHz 2MHz 2MHz 2MHz 2MHz 2MHz
User memory 8Mbyte 8MByte 8MByte 8MByte 8MByte 8MByte 8MByte 8MByte 8MByte 8MByte 8MByte 8MByte 8MByte 8MByte 8MByte 8MByte
Max data table size 512,000 512,000 512,000 512,000 512,000 512,000 512,000 512,000 512,000 512,000 512,000 512,000 512,000 512,000 512,000 512,000
Flash data memory 32 x 16,000 32 x 16,000 32 x 16,000 32 x 16,000 32 x 16,000 32 x 16,000 32 x 16,000 32 x 16,000 32 x 16,000 32 x 16,000 32 x 16,000 32 x 16,000 32 x 16,000 32 x 16,000 32 x 16,000 32 x 16,000
VR 65536 65536 4096 4096 16536 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096
Position register precision 64bit 64bit 64bit 64bit 64bit 64bit 64bit 64bit 64bit 64bit 64bit 64bit 64bit 64bit 64bit 64bit
Maths precision Double FP Double FP Double FP Double FP Double FP Double FP Double FP Double FP Double FP Double FP Double FP Double FP Double FP Double FP Double FP Double FP
Real time clock Yes Yes Yes Yes Yes Yes Yes No No No No No Yes Yes Yes Yes
DRIVE INTERFACES P861/2 P860 P900 P906 P849 P826 P827 P823 P824 P825 P821 P822 P831 P832 P833 P834
Stepper (Step & Direction) Option Option Axis0 Axis0 Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
Servo (±10V & Encoder) Option Option No No Yes No Yes No Yes Yes No No No Yes No Yes
Sercos Option Option No No No No No No No No No No No No No No
SLM Option Option No No No No No No No No No No No No No No
CANopen Option No No No No No No No No No No No No No No No
Piezo Option Option No No No No Yes No Yes Yes No No No Yes No Yes
Panasonic RTEX Option Option No Yes No No No No No No No No No No No No
Hydraulic Option Option No No No No Yes No Yes Yes No No No Yes No Yes
EtherCAT YES/Option Option Yes No No No No No No No No No No No No No
Auxiliary Axis Option No Yes Yes No No No No No No No No No No No No
COMMUNICATION P861/2 P860 P900 P906 P849 P826 P827 P823 P824 P825 P821 P822 P831 P832 P833 P834
Profibus Option Option No No No No No No No No No No No No No No
DeviceNet Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
CANopen Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
USB (V1.1) Option Option No No No No No No No No No No No No No No
Ethernet (10/100) base-T Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
Ethernet IP Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
MODBUS-RTU Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
MODBUS-TCP/IP Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
RS232/RS485 Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
ProfiNet Option Option No No No No No No No No No No No No No No
Bluetooth Option Option No No No No No No No No No No No No No No
Anybus support Option Option No No No No No No No No No No No No No No
ENCODER PORTS P861/2 P860 P900 P906 P849 P826 P827 P823 P824 P825 P821 P822 P831 P832 P833 P834
Feedback input Option Option No No Yes No Yes No Yes Yes (1 axis) No No Yes Yes Yes Yes
Reference input Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
Pulse + direction output Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
Incremental (A+B) output Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
BUILT-IN I/O P861/2 P860 P900 P906 P849 P826 P827 P823 P824 P825 P821 P822 P831 P832 P833 P834
Inputs 24Vdc 8 8 8 8 32 8 8 8 8 8 8 8 16 16 16 16
Outputs 24Vdc No No No No 16 No No No No No No No 8 8 8 8
Bi-directional I/O 24Vdc 8 8 8 8 0 8 8 4 4 4 4 4 No No No No
0-10V analogue inputs 2x12bit 2x12bit No No 2x12bit 2x12bit 2x12bit 2x12bit 2x12bit 2x12bit 2x12bit 2x12bit 2x12Bit 2x12Bit 2x12Bit 2x12Bit
±10V analogue Outputs No No No No 8x12bit 4x12bit 4x12bit 2x12bit 2x12bit 2x12bit No No 4x12bit 4x12bit 8x12bit 8x12bit
# registration inputs 58 max 58 max 4 4 8 8 8 6 6 6 6 6 8 8 8 8
Registration input speed 1µs 1µs 1µs 1µs 20µs 20µs 20µs 20µs 20µs 20µs 20µs 20µs 20µs 20µs 20µs 20µs
WDOG output 1 1 1 1 9 1 1 1 1 1 1 1 1 1 1 1
EXPANSION I/O P861/2 P860 P900 P906 P849 P826 P827 P823 P824 P825 P821 P822 P831 P832 P833 P834
Digital I/O points 1024 1024 1024 1024 512 512 512 512 512 512 512 512 512 512 512 512
12bit ±10V analogue inputs 32 32 32 32 32 32 32 32 32 32 32 32 32 32 32 32
12bit ±10V analogue outputs 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16
PROGRAMMING P861/2 P860 P900 P906 P849 P826 P827 P823 P824 P825 P821 P822 P831 P832 P833 P834
TrioBASIC Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
# programs 32 32 32 32 32 32 32 32 32 32 32 32 32 32 32 32
# tasks 22 22 22 22 22 10 10 6 6 6 6 6 10 10 22 22
IEC61131 Runtime Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
Kinematic Runtime Option Option Option Option Option Option Option Option Option Option Option Option Option Option Option Option
G-Code Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
HPGL Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
DXF import Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
SOFTWARE P861/2 P860 P900 P906 P849 P826 P827 P823 P824 P825 P821 P822 P831 P832 P833 P834
Motion Perfect v4 Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
All Support Software Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
EXPANSION P861/2 P860 P900 P906 P849 P826 P827 P823 P824 P825 P821 P822 P831 P832 P833 P834
Max expansion modules 7 7 No No No No No No No No No No No No No No
Memory slot card SD SD SD SD Micro SD Micro SD Micro SD Micro SD Micro SD Micro SD Micro SD Micro SD Micro SD Micro SD Micro SD Micro SD
PHYSICAL P861/2 P860 P900 P906 P849 P826 P827 P823 P824 P825 P821 P822 P831 P832 P833 P834
Width x Height x Depth (mm) 56 x 201 x 155 56 x 201 x 155 40 x 157 x 120 40 x 157 x 120 226 x 132 x 35 186 x 122 x 35 186 x 122 x 35 135 x 122 x 35 135 x 122 x 35 135 x 122 x 35 135 x 122 x 35 135 x 122 x 35 25 x 129 x 170 25 x 129 x 170 25 x 129 x 170 25 x 129 x 170
Weight 750g 750g 432g 432g 640g 476g 476g 325g 325g 325g 325g 325g 160g 160g 160g 160g
Mounting DIN / Panel DIN / Panel Panel Panel DIN / Panel DIN / Panel DIN / Panel DIN / Panel DIN / Panel DIN / Panel DIN / Panel DIN / Panel Rack Rack Rack Rack
Operating Temp 0 - 45° 0 - 45° 0 - 45° 0 - 45° 0 - 45° 0 - 45° 0 - 45° 0 - 45° 0 - 45° 0 - 45° 0 - 45° 0 - 45° 0 - 45° 0 - 45° 0 - 45° 0 - 45°
POWER P861/2 P860 P900 P906 P849 P826 P827 P823 P824 P825 P821 P822 P831 P832 P833 P834
Supply Voltage dc 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 5V +/-5% 5V +/-5% 5V +/-5% 5V +/-5%
Consumption (exc. I/O) 625mA 625mA 350mA 350mA 350mA 350mA 350mA 300mA 300mA 300mA 300mA 300mA 600mA 600mA 800mA 800mA
CERTIFICATION P861/2 P860 P900 P906 P849 P826 P827 P823 P824 P825 P821 P822 P831 P832 P833 P834
UL Listed   Yes Yes Yes;   Yes Yes Yes Yes Yes Yes Yes        
CE approval Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes see note see note see note see note
RoHS Compliant Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
  CE Approval: Eurocard products are designed for CE compliance as part of a system including power supply and interfaces.  They are not tested for CE compliance by Trio. 

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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

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