Agito AGL10 Series User manual

AGL10x
Central-i Adapter
Product Manual

AGL10x Product Manual Rev.1.0 Page 2
Revision History
Version Description Date
1.0 New. One manual for both AGL101 and AGL102. Completely revised
content.
8 June 2022
Contact Information
M
anufacturer
Agito Akribis Systems Ltd.
, Member of Akribis Systems Group
A
ddress
6 Yad
-Harutsim St., P.O.Box 7172, Kfar-Saba 4464103, Israel
Telephone
+972
-9-8909797
Website
www.agito
-akribis.com
Copyright Notice
©2022 Agito Akribis Systems Ltd.
All rights reserved. This work may not be edited in any form or by any means without written
permission of Agito Akribis Systems Ltd.
Products Rights
AGDx, AGCx, AGMx, AGAx, AGIx, and AGLx are products designed by Agito Akribis Systems Ltd. in
Israel. Sales of the products are licensed to Akribis Systems Pte Ltd. under intercompany license
agreement.
Agito Akribis Systems Ltd. has full rights to distribute above products worldwide.
Disclaimer
This product documentation was accurate and reliable at the time of its release.
Agito Akribis Systems Ltd. reserves the right to change the specifications of the product described in
this manual without notice at any time.
Trademarks
Agito PCSuite is a trademark of Agito Akribis Systems Ltd..
Warranty
This product is warranted to be free of defects in material and workmanship and conforms to the
specifications listed in this manual, for a period of 12 months from the shipment date from factory.

AGL10x Product Manual Rev.1.0 Page 3
Contents
1Product Description _____________________________________________________ 4
1.1 General Description ______________________________________________________________ 4
1.2 Part Numbering _________________________________________________________________ 5
1.3 System Design___________________________________________________________________ 5
1.4 Technical Specifications ___________________________________________________________ 6
1.5 Environmental Specifications_______________________________________________________ 9
2Safety _______________________________________________________________ 10
2.1 Safety Symbols _________________________________________________________________ 10
2.2 Safety Guidelines _______________________________________________________________ 10
2.3 Compliance ____________________________________________________________________ 11
3Installation ___________________________________________________________ 12
3.1 Unpacking and Packing___________________________________________________________ 12
3.2 Mounting _____________________________________________________________________ 12
3.2.1 Mounting the AGL10x_____________________________________________________ 12
3.2.2 Mounting Multiple Adapters _______________________________________________ 13
3.3 Electrical Installation ____________________________________________________________ 14
3.3.1 Power Supplies __________________________________________________________ 14
3.3.2 Wire and Cable Guidelines _________________________________________________ 14
3.3.3 Grounding ______________________________________________________________ 14
3.4 Communication – Central-i _______________________________________________________ 16
3.5 AGL101 – Electrical Interfaces _____________________________________________________ 17
3.5.1 Interface X4: Power ______________________________________________________ 17
3.5.2 Interface X5: I/O Power ___________________________________________________ 18
3.5.3 Interface X2: Drive I/Os ___________________________________________________ 19
3.5.4 Interface X3: System I/Os __________________________________________________ 21
3.5.5 Interface X1: Central-i_____________________________________________________ 23
3.6 AGL102 – Electrical Interfaces _____________________________________________________ 24
3.6.1 Interface X1: Power ______________________________________________________ 24
3.6.2 Interface X3: Drive I/Os ___________________________________________________ 25
3.6.3 Interface X4: I/O (Inputs for Limit Switches) ___________________________________ 27
3.6.4 Interface X2: Central-i_____________________________________________________ 28
3.7 Electrical Interfaces Circuitry ______________________________________________________ 29
3.7.1 Isolated Digital Inputs – AGL101 ____________________________________________ 29
3.7.2 Non-Isolated Digital Inputs_________________________________________________ 29
3.7.3 Isolated Digital Outputs – AGL101 __________________________________________ 30
3.7.4 Non-Isolated Digital Outputs _______________________________________________ 31
3.7.5 Analog Inputs ___________________________________________________________ 31
3.7.6 Analog Outputs __________________________________________________________ 32
3.7.7 Differential Inputs________________________________________________________ 32
3.7.8 Differential Outputs ______________________________________________________ 33
3.7.9 Bi-directional Differential I/Os ______________________________________________ 33

General Description
AGL10x Product Manual Rev.1.0 Page 4
1 Product Description
1.1 General Description
The AGL10x is a series of Central-i remote adapters to interface the Central-i network with third-
party external devices, such as servo and stepper drives. The adapters provide two operations
modes:
Position closed loop: AGL10x converts Central-i current or velocity commands to analog ±10V
output. The position feedback is connected to the AGL10x encoder input.
Pulse and direction: AGL10x converts Central-i position commands into pulse and direction
outputs.
These adapters enable the Central-i master to control any third-party drive in analog current mode or
digital pulse and direction mode, thereby extending the Central-i network to work with any servo
drive.
AGL101-CI is a fully featured Central-i remote adapter with numerous I/O interfaces and
incremental and absolutes encoders support.
AGL102-CI is a compact Central-i remote adapter with standard I/O interfaces and incremental
encoder support.
Figure 1. AGL10x adapters

Part Numbering
AGL10x Product Manual Rev.1.0 Page 5
1.2 Part Numbering
AGL10x Product Variants
Product Description Part Number Format
Central-i remote fully featured adapter AGL101-CI-xx
Central-i remote compact adapter AGL102-CI-xx
CI: Central-i communication
xx: CK: Connector Kit
1.3 System Design
Figure 2. AGL101 System
Figure 3. AGL102 System
Motor phases
Agito or 3rd party non-Central-i
servo or stepper drive
AGL101
9–36 VDC
Optical Isolated I/Os
Analog I/Os
Differential I/Os
Central-i
AGM800
Encoder
Outputs:
Pulse Train Command
Analog Command ±10V
Optical Isolated Outputs
Inputs:
Encoder Input
Optical Isolated Inputs
Analog Input
Ethernet
9–36 VDC
Power Supply
Ethernet
Central-i
AGM800
Optical Isolated Inputs
(for limit switches)
AGL102
Outputs:
Analog Command ±10V
Optical Isolated Outputs
Inputs:
Encoder Input
Optical Isolated Inputs
Analog Input
Motor phases
Agito or 3rd party non-Central-i
servo or stepper drive
Encoder

Technical Specifications
AGL10x Product Manual Rev.1.0 Page 6
1.4 Technical Specifications
Electrical/Mechanical Specifications
Feature AGL101 AGL102
Number of axes 1 1
Power supply 9–36 VDC 9–36 VDC
Supported encoders 1 port; AqB or absolute BiSS-C 1 port; AqB
Communication Central-i Central-i
Isolated digital outputs 3 –
Non-isolated digital outputs
(NPN up to 50 mA)
3 4
Isolated digital inputs 5 –
Non-isolated digital inputs – 6
Analog inputs 2 (16-bit resolution) 1 (12-bit resolution)
Analog outputs 1 (16-bit resolution) 1 (16-bit resolution)
Differential outputs 2 0
Bi-directional differential I/Os 1 0
Encoder Ports Specifications
Feature Specification
Encoder typesAGL101:
Incremental AqB
Absolute: EnDat 2.2 (dedicated FPGA version), BiSS-C
AGL102:
Incremental AqB
Power supply to encoder AGL101 only: 0.5A per encoder port
Max. cable length 20 m
Incremental encoder (AqB) Hardware: Differential RS422/RS485
Max. input frequency: 6.25 MHz
Termination: 120 Ω
Commutation: Auto-phasing, Hall sensors
Absolute BiSS-C Hardware: Differential RS422/RS485, clock (MA), data (SLO)
Clock frequency: 1 MHz
Max. position bits: 32 bit
Commutation: Auto-phasing, by absolute offset
Absolute EnDat 2.2 Hardware: Differential RS422/RS485, clock, data
Clock frequency: 1 MHz
Max. position bits: 32 bit
Commutation: Auto-phasing, by absolute offset

Technical Specifications
AGL10x Product Manual Rev.1.0 Page 7
I/O Specifications
Feature Specification
Power supply for optically
isolated
I/Os
Voltage: 5–28 VDC
Optically isolated digital inputs Type: PNP/NPN
Propagation delay: 10 µs
Max. frequency: 100 kHz
Optically isolated digital outputs Type: PNP/NPN
Max current: 0.5A (for NPN type), 0.3A (for PNP type)
Propagation delay: 10 µs
Max. frequency: 100 kHz
Non-isolated digital inputs Type: NPN
Propagation delay: 10 µs
Max. frequency: 100 kHz
Non-isolated digital outputs Note: Requires external pull up resister, 1 kΩrecommended
Type: NPN
Voltage: 5-28V (AGL101), 9V–28V (AGL102)
Max. current: 40 mA
Differential digital inputs Hardware: Differential RS422
Propagation delay: 100 ns
Max. frequency: 2 MHz
Functionality: lock (capture), pulse and direction, handwheel
Analog inputs Operational voltage: ±10V
Resolution: 16 bit
Analog outputs Operational voltage: ±10V
Resolution: 16 bit
Central-i Specifications
Feature Specification
Topology Star (peer to peer)
Cycle time 61 µs
Connector type RJ-45 (Cat5e cable)
Cable length Up to 20 m
Longer cables, up to 100 m, are possible with special
hardware
Physical layer Dual channel RS485 full duplex
Baud rate 20 Mbps (per channel)
Synchronization between nodes 8 nanosecond

Technical Specifications
AGL10x Product Manual Rev.1.0 Page 8
Dimensions and Weight
Feature AGL101 AGL102
Unit dimensions (max) H=89.5 mm, W=79.5 mm, D=18 mm H=45mm, W=73 mm, D=27 mm
Package dimensions H= 96 mm x W=85mm x D= 23 mm H= 51 x W=69 x D= 33
Unit weight 250 g 150 g
Shipping weight 350 g 250 g
Figure 4. AGL101 dimensions (mm)
Figure 5. AGL102 dimensions (mm)

Environmental Specifications
AGL10x Product Manual Rev.1.0 Page 9
1.5 Environmental Specifications
The operational range may be additionally limited by the internal temperature protection of the
product. It is the user’s responsibility to avoid operating the product in environmental conditions
that do not conform to the defined limits.
Environmental Specifications
Feature Specification
Operating (ambient) temperature 0°C to 45°C
Storage temperature -20°C to 70°C
Operating humidity < 90%
Storage humidity < 40%
Pollution degree 2
Vibration per 1G @ 150 Hz according to IEC 60068-2-6
Operating conditions IP20

Safety Symbols
AGL10x Product Manual Rev.1.0 Page 10
2 Safety
2.1 Safety Symbols
Safety symbols indicate a potential for personal injury or equipment damage if the prescribed
precautions and safe operating practices are not followed.
The following safety symbols are used in the product documentation.
Safety Symbols
Symbol Meaning Description
Hazardous voltage Indicates hazards arising from dangerous voltages.
Earthing PE
(protective earth)
Identifies any terminal which is intended for connection to
an external conductor for protection against electric shock
in case of a fault, or the terminal of a protective earth
(ground) electrode.
Caution, hot surface Indicates the marked item can be hot and should not be
touched without taking care.
2.2 Safety Guidelines
To achieve optimum and safe operation of the product, it is important to follow the safety
procedures specified in this manual.
Only qualified personnel may install, maintain, or repair the product. Before starting installation,
maintenance, or operation, ensure that all system components are connected to protective earth
ground (PE).
The PE wire must be colored green-yellow, in accordance with local electrical wiring standards.
This product contains electrostatic-sensitive components. Proper handling procedures must be
observed to avoid damage to the product.
To avoid electric arcing and hazards, never connect or disconnect any connector while the power
source is on.
The maximum power supply voltage connected to the product must comply with the ratings
provided in this manual.
Always disconnect the power cables before servicing the product.
Pay attention to safety symbols on the product or in the manual. Follow proper safety
precautions when installing or operating the product.
Attention
All power connectors must be securely tightened before any operation.
Attention
Do not attempt to hinder or override the product’s or system’s fault detection or
protection circuits. You must determine the cause of a fault and correct it before
you attempt to operate the system. Failure to correct the fault could result in
personal injury and/or damage to equipment.

Compliance
AGL10x Product Manual Rev.1.0 Page 11
2.3 Compliance
Standards Compliance
Description Standard
Safety requirements – Electrical, thermal and energy IEC-61800-5-1
EMC requirements and specific test methods IEC-61800-3
This product is intended to operate in a machine or equivalent end-product. The machine or end-
product must comply with any necessary safety standard as typically required for the same type of
machine or end-product. It is the responsibility of the machine or end-product manufacturer to
ensure the final machine or end-product meets the requirement of any safety and EMC regulations.

Unpacking and Packing
AGL10x Product Manual Rev.1.0 Page 12
3 Installation
3.1 Unpacking and Packing
Save the original box and packing materials in case you need to pack and return the product to the
manufacturer.
To unpack the product:
1. Carefully remove the product from the box and the packing materials.
2. Visually inspect the product to ensure that there is no damage. If any damage has occurred,
report it immediately to the carrier that delivered the package.
3. After unpacking, locate the part number label on the product, and make sure it matches the
product your ordered, and that the voltage meets your specific requirements.
3.2 Mounting
3.2.1 Mounting the AGL10x
The heatsink on the back of the AGL10x includes holes/slots for mounting the unit.
The AGL101 is mounted using 2 M4 screws. The AG102 uses either 2 or 4 M4 screws depending on
orientation. It is important to mount the product on metal panel for both grounding and secure
connections.
The heatsink of the AGL10x is electrically conductive and serves as the protective earth (PE) ground
of the product. However, it is critical to ensure the PE screws are electrically conducting between the
PE of AGL10x and the PE of main power supply in the system. For details, refer to the section
Grounding.
All cables connected to the product must be securely constrained to avoid vibration that causes
stress concentration at the cables or connectors which may result in breakage of electrical
conductivity.
Warning – Metal Base Plate for Heat Dissipation
The product is supplied with the mounting plate built into the heatsink. At full power
operation, the heat sink can be quite warm, around 45°C. It is recommended to mount
the product on a large metal panel to help dissipate the heat generated in the product.

Mounting
AGL10x Product Manual Rev.1.0 Page 13
3.2.2 Mounting Multiple Adapters
When mounting multiple adapters within a cabinet, clearance between units must be at least 5 mm.
In addition, top and bottom clearance must be at least 50 mm.
Ambient temperature in the cabinet must not exceed limit defined in the section Environmental
Specifications.
If adapters are mounted on a backplane, the backplane temperature must not exceed the ambient
limit defined in the section Environmental Specifications.
It is recommended to install a cooling fan at the bottom of the cabinet for best circulation.
Figure 6. AGL10x Mounting Example

Electrical Installation
AGL10x Product Manual Rev.1.0 Page 14
3.3 Electrical Installation
3.3.1 Power Supplies
The power sources provide power to the logic and I/O circuits.
Power Source Description AGL101 AGL102
Logic power Supplies power to the logic and I/O circuits. 9–36 VDC 9–36 VDC
Isolated I/Os power Supplies power to the optically isolated I/O
circuits.
5–28 VDC 5 -28 VDC
3.3.2 Wire and Cable Guidelines
To prevent EMI and ensure high performance of the system, be sure to comply with the following
guidelines:
Use twisted pair shielded wires for the control, feedback, and communication.
Always use shielded cables for motor connection.
Keep all wires and cables as short as possible.
Keep the motor cables as far as possible from the control, feedback and communication lines and
cables.
Wire impedance must be as low as possible. Refer to the wire gauge definitions for each
electrical interface.
3.3.3 Grounding
It is recommended to install the AGL10x on a metal backplane for better power dissipation, reduced
EMI, and grounding connection. Make sure the plate is not painted.
The heatsink of the AGL10x is electrically conductive and serves as the protective earth (PE) ground
of the product. However, it is critical to ensure the PE screws are electrically conducting between the
PE of AGL10x and the PE of the main power supply in the system.
The main power input (PWR) connector includesaPE pin. Make sure to connect PE to this pin or to
the adapter’s metal heatsink.

Electrical Installation
AGL10x Product Manual Rev.1.0 Page 15
Figure 7. System grounding
Ground Domains
The following table shows the ground domains in the AGL10x system:
GND. Reference voltage for digital/analog circuits and signals.
General. Usually at DC potential close to GND, but not connected internally.
Ground Domains
Name Ground Domain Notes
DC power input GND (I/O return) External DC power supply
Central-i communication General Isolated for Central-i remote devices
Isolated digital inputs/outputs General Isolated
Differential inputs/outputs (not isolated) GND
Analog inputs/outputs (not isolated) GND
Grounding Policy
Grounding of the product must comply with the following guidelines:
The enclosures and other external parts that may be touched by the user are in the safe domain.
The AGL10x must be connected to protective earth (PE) and connected to the building’s ground.
PE is protected with an earth-leakage circuit breaker (ELCB); hence it is safe to touch. Refer to
Figure 7.
Digital ground (GND) is assumed to have the same potential as the PE. That means GND is
connected to the PE at some point in the system.
All shielded cables have their shield connected to PE as part of the external metal enclosure.
AGL101 AGL102
AGM800
PSU
Ground bar
Agito or 3rd party non-Central-i
servo or stepper drive

Communication – Central-i
AGL10x Product Manual Rev.1.0 Page 16
It is critical to avoid ground loops in the system. A ground loop allows currents to return by two
or more different paths, causing electromagnetic interference or even damage to wires.
The system designer must carefully examine all GND connections in the system to ensure that no
loops are created, and that all GND-referenced signals have a GND wire nearby (for both return
currents and common mode voltage).
3.4 Communication – Central-i
The AGL10x adapters use Central-i for communication with a centralized controller module.
The Central-i motion control platform includes a multi-axis motion controller, distributed adapters
and sensors, and control software. The master controller performs all the control functions, including
trajectory and position, velocity, and current loops. The Central-i digital protocol enables
communication and synchronization of the remote devices.
A bi-colored LED, marked STAT on AGL101 shows the status of communication between the AGL101
and the Central-i master controller. (T.)
Note – AGL102 does not have a status LED.
Central-i Status LED indicator
Color LED Meaning
Green On steady Adapter communicating with master controller
Red On steady Adapter not communicating with master controller
Figure 8. Status (LED) indicator (AGL101)

AGL101 – Electrical Interfaces
AGL10x Product Manual Rev.1.0 Page 17
3.5 AGL101 – Electrical Interfaces
3.5.1 Interface X4: Power
Connector X4 is used to supply 9–36 VDC to the AGL101.
Figure 9. Power connector
Connector X4: PWR
Pin # Name Description
1 VIN_EXTERNAL Power input: 9–36V, up to 1A continuous
2 GND Ground – power return
3 GND_EARTH Protective earth
Connector manufacturer DEGSON
Mating connector part number MC 1,5/3-ST-3,5
Connector pitch 3.5 mm
Wiring 16–28 AWG, insulation rated for 160V

AGL101 – Electrical Interfaces
AGL10x Product Manual Rev.1.0 Page 18
3.5.2 Interface X5: I/O Power
Connector X5 supplies DC power supply to the isolated inputs and outputs.
To use inputs and outputs, be sure to power up this port.
Figure 10. I/O connector
Connector X5: I/O PWR
Pin # Name Description
1 Isolated I/O power 5 to 36 VDC – user supplied I/O power supply input, up to 2A
2 Isolated I/O power return Ground – I/O power supply return
Connector manufacturer DEGSON
Mating connector part number MC 1,5/2-ST-3,5
Connector pitch 3.5 mm
Wiring 16–28 AWG, insulation rated for 160V
Warning - Hot plugging is forbidden!
Plug or unplug the power connector only when power is off! Plugging the power
connector when power is on may cause power surges through connected devices and
possibly damage them.

AGL101 – Electrical Interfaces
AGL10x Product Manual Rev.1.0 Page 19
3.5.3 Interface X2: Drive I/Os
Connector X2 is used for connecting external I/O devices to the adapter.
For schematics and more information about these interfaces, refer to the section Electrical Interfaces
Circuitry.
Figure 11. Drive I/Os connector
Connector X2: DRIVE I/O
Pin # Name Software
Representation
Description
1 Vin_IO_RTN Input I/O power supply return.
(Connected internally to X5 pin2)
Common pin for isolated digital outputs 1,
2 and 3.
2 Vin_IO Input I/O power supply 5 to 28 VDC).
(Connected internally to X5 pin1)
Common pin for isolated digital inputs 1
and 2.
3 Digital_Output_3 DOutPort.bit(5) Non-isolated digital output 3. NPN.
4 Digital_Output_1 DOutPort.bit(3) Non-isolated digital output 1. NPN.
5 Digital_Input_1 DInPort.bit(0) Isolated digital input 1. NPN.
6 Diff_Out_2+ DOutPort.bit(8) Differential output 2. Positive pin.
7 Diff_Out_1+ DOutPort.bit(7) Differential output 1. Positive pin.
8 A_Encoder_4+ Differential input. Not inverted.
9 A_Encoder_3+ Differential input. Not inverted.
10 A_Encoder_2+ Differential input. Not inverted.
11 GND Ground
12 Analog_Output_1+ AOutPort[1] Analog output 1. Not inverted.
13 Analog_Input_1 AInPort[1] Analog input 1
14 GND_EARTH Ground-Earth connection
15 GND Ground
16 5V Output power supply 5V (up to 0.5A)
17 Digital_Output_2 DOutPort.bit(4) Non-isolated digital output 2. NPN.
18 Digital_Input_2 DInPort.bit(1) Isolated digital input 2. NPN.

AGL101 – Electrical Interfaces
AGL10x Product Manual Rev.1.0 Page 20
Pin # Name Software
Representation
Description
19 Diff_Out_2- Differential input 2. Negative pin.
20 Diff_Out_1- Differential input 1. Negative pin.
21 A_Encoder_4- Differential input. Inverted.
22 A_Encoder_3- Differential input. Inverted.
23 A_Encoder_2- Differential input. Inverted.
24 GND Ground.
25 Analog_Output_1- Analog output 1. Inverted
26 Analog_Input1_Return_1 Analog input 1 return.
Connector manufacturer Samtec Inc.
Mating connector part number IPD1-06-D-K
Crimp part number CC79L-2630-01-L
Wiring 26 AWG, insulation rated for 100V
Note – Absolute Encoder Connection
Connect the absolute encoder Clock+ and Clock- signals to Diff_Out+ and Diff_Out-,
respectively. Connect the absolute encoder Data+ and Data- signals to A_Encoder4+ and
A_Encoder4-, respectively. See the following example.
Sample Pinout for Encoder
Pin # Name Encoder Types Description
AqB BiSS-C EnDat 2.2
16 5V 5V power supply (limited to 0.5A per connector)
15 GND 5V return and reference for differential signals
7
Diff_Out_1+
Clock+ Clock+ Clock+ pin for absolute encoders
20 Diff_Out_1- Clock- Clock- Clock- pin for absolute encoders
10 Encoder_2+ A+ A+ (for AqB) or sin+ (for analog sin/cos)
23 Encoder_2- A- A- (for AqB) or sin- (for analog sin/cos)
9 Encoder_3+ B+ B+ (for AqB) or cos+ (for analog sin/cos)
22 Encoder_3- B- B- (for AqB) or cos- (for analog sin/cos)
8 Encoder_4+ Z+ Data+ Data+ Data+ for absolute encoders, or
Z+ for both AqB and analog sin/cos encoder
21 Encoder_4- Z- Data- Data- Data- for absolute encoders, or
Z- for both AqB and analog sin/cos encoder
Note – 5V supply limitation
The 5V supply provided on pin 16 on connector X2 is limited to 0.5A.