Agito AGA1 Series User manual

AGA1xx
Central-i DC Power Amplifier
Product Manual

AGA1xx Product Manual Rev.2.0 Page 2
Revision History
Version Description Date
2.0
Added AGA110 product documentation.
Replaced all pinout and dimensions diagrams with improved images.
New system grounding diagram.
Updated mating connector tables.
AGA101/AGA102 - Encoder pinouts corrected.
PT100 in AGA103 only (correction).
9 February 2023
1.2
AGA103 Interface X1: I/Os – correction (Halls).
AGA101 Interfaces X7, X10 and X12: I/Os – correction (digital outputs).
Electrical/Mechanical Specifications – corrected table format.
Corrected minor typos.
7 October 2021
1.1
Deleted: AGA101 sin/cos configuration option on Aux Encoder port in
Technical Specifications.
Added: AGA103 isolated digital output circuit diagram.
Minor text corrections.
4 August 2021
1.0
Initial release
2 August 2021
Contact Information
Manufacturer Agito Akribis Systems Ltd., Member of Akribis Systems Group
Address 6 Yad-Harutsim St., P.O.Box 7172, Kfar-Saba 4464103, Israel
Email [e-mail]
Website www.agito-akribis.com
Copyright Notice
©2023 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.

AGA1xx Product Manual Rev.2.0 Page 3
Contents
1Product Description _____________________________________________________ 5
1.1 General Description ______________________________________________________________ 5
1.2 Part Numbering _________________________________________________________________ 6
1.2.1 AGA110 Product Variants___________________________________________________ 6
1.2.2 AGA101 Product Variants___________________________________________________ 6
1.2.3 AGA102 Product Variants___________________________________________________ 7
1.2.4 AGA103 Product Variants___________________________________________________ 7
1.3 System Design___________________________________________________________________ 8
1.4 Technical Specifications __________________________________________________________ 10
1.5 Environmental Specifications______________________________________________________ 16
2Safety _______________________________________________________________ 17
2.1 Safety Symbols _________________________________________________________________ 17
2.2 Safety Guidelines _______________________________________________________________ 17
2.3 Compliance ____________________________________________________________________ 18
3Installation ___________________________________________________________ 19
3.1 Unpacking and Packing___________________________________________________________ 19
3.2 Mounting _____________________________________________________________________ 19
3.2.1 Mounting the AGA1xx ____________________________________________________ 19
3.2.2 Mounting Multiple Power Amplifiers ________________________________________ 20
3.3 Electrical Installation ____________________________________________________________ 21
3.3.1 Power Supplies __________________________________________________________ 21
3.3.2 Wire and Cable Guidelines _________________________________________________ 21
3.3.3 Regeneration (AGA110 and AGA101 only) ____________________________________ 21
3.3.4 Grounding ______________________________________________________________ 22
3.4 Communication – Central-i _______________________________________________________ 24
3.5 AGA110 and AGA101 – Electrical Interfaces __________________________________________ 25
3.5.1 Interface X2: Main Power__________________________________________________ 25
3.5.2 Interface X5: Safety_______________________________________________________ 27
3.5.3 Interface X1: I/O and Backup Power _________________________________________ 29
3.5.4 Interface X4: Motor ______________________________________________________ 30
3.5.5 Interface X3: Regeneration_________________________________________________ 32
3.5.6 Interface X11: Brake ______________________________________________________ 33
3.5.7 Interfaces X8 and X9: Encoders _____________________________________________ 34
3.5.8 Interfaces X7, X10 and X12: I/Os ____________________________________________ 36
3.5.9 Interface X6: Central-i_____________________________________________________ 41
3.6 AGA102 – Electrical Interfaces _____________________________________________________ 42
3.6.1 Interface X2: Main Power__________________________________________________ 42
3.6.2 Interface X4: Safety_______________________________________________________ 43
3.6.3 Interface X1: I/O and Backup Power _________________________________________ 45
3.6.4 Interface X3: Motor ______________________________________________________ 46
3.6.5 Interface X6: Encoder _____________________________________________________ 47
3.6.6 Interfaces X7 and X8: I/Os _________________________________________________ 48
3.6.7 Interface J5: Central-i _____________________________________________________ 51
3.7 AGA103 – Electrical Interfaces _____________________________________________________ 52
3.7.1 Interface X5: Main Power__________________________________________________ 52
3.7.2 Interface X4: Safety_______________________________________________________ 53
3.7.3 Interface X3: Motor ______________________________________________________ 55
3.7.4 Interface X2: Encoder _____________________________________________________ 56
3.7.5 Interface X1: I/Os ________________________________________________________ 57
3.7.6 Interface X13: Central-i____________________________________________________ 59

AGA1xx Product Manual Rev.2.0 Page 4
3.8 Electrical Interfaces Circuitry ______________________________________________________ 60
3.8.1 Isolated Digital Inputs_____________________________________________________ 60
3.8.2 Isolated Digital Outputs ___________________________________________________ 61
3.8.3 Analog Input ____________________________________________________________ 62
3.8.4 Differential Inputs________________________________________________________ 62
3.8.5 Differential Outputs ______________________________________________________ 63
3.8.6 Bi-directional Differential I/Os ______________________________________________ 63
3.8.7 Hall Sensors_____________________________________________________________ 64
4Operation____________________________________________________________ 65
4.1 Motor Configuration_____________________________________________________________ 65
4.2 Drive/Motor Overload Protection __________________________________________________ 68
4.2.1 I2T Over Load Protection __________________________________________________ 68
4.2.2 Motor Stuck ____________________________________________________________ 69
4.2.3 Motor Temperature Protection (AGA103 only)_________________________________ 69
4.3 Tuning ________________________________________________________________________ 71
4.3.1 Commissioning __________________________________________________________ 71
4.3.2 Current Loop Tuning______________________________________________________ 72
4.3.3 Auto Velocity and Position Loop Tuning ______________________________________ 73
4.3.4 Manual Velocity and Position Loop Tuning ____________________________________ 76
5Maintenance and Servicing ______________________________________________ 78
5.1 Troubleshooting ________________________________________________________________ 78

General Description
AGA1xx Product Manual Rev.2.0 Page 5
1 Product Description
1.1 General Description
The AGA1xx is a series of DC amplifiers controlled by an AGM series Central-i master. The master
controller reads encoder values and current samples from the amplifiers, performs control loops
calculation, and generates PWM commands for the amplifiers.
Communication between AGA1xx amplifiers and master controller is through a fast Central-i fieldbus,
which supports 16 kHz sample rate motion profiler and all servo loops.
The amplifiers are equipped with digital I/Os and analog inputs suitable for typical actuators and
applications. The digital outputs are capable of sourcing up to 300 mA or sinking up 500 mA, which is
sufficient for driving most external devices and end effectors, and eliminates the need for an external
relay circuit.
The AGA1xx amplifiers are compact, ideal for mounting close to the actuator, such as the link in an
articulated robot arm.
Figure 1. AGA1xx amplifier series

Part Numbering
AGA1xx Product Manual Rev.2.0 Page 6
1.2 Part Numbering
1.2.1 AGA110 Product Variants
Product Description Part Number Format
Remote amplifier AGA110-CI-5Dxx
CI: Central-i communication
5D: 80–190 VDC power supply
xx: Continuous and peak current options
01: 1.4 Arms continuous, 2.8 Arms peak
02: 2.8 Arms continuous, 5.6 Arms peak
05: 5.6 Arms continuous, 11.2 Arms peak
07: 7.0 Arms continuous, 14.0 Arms peak
Example: AGA110-CI-5D07 indicates 7.0 Arms continuous current and 14.0 Arms peak current
1.2.2 AGA101 Product Variants
Product Description Part Number Format
Remote amplifier AGA101-CI-2Dxx
CI: Central-i communication
2D: 12–90 VDC power supply
xx: Continuous and peak current options
01: 1.4 Arms continuous, 2.8 Arms peak
02: 2.8 Arms continuous, 5.6 Arms peak
05: 5.6 Arms continuous, 11.2 Arms peak
Example: AGA101-CI-2D02 indicates 2.8 Arms continuous current and 5.6 Arms peak current

Part Numbering
AGA1xx Product Manual Rev.2.0 Page 7
1.2.3 AGA102 Product Variants
Product Description Part Number Format
Amplifier AGA102-CI-1Dxx
CI: Central-i communication
1D: 12—48 VDC power supply
xx: Continuous and peak current options
01: 1.4 Arms continuous, 2.8 Arms peak
02: 2.8 Arms continuous, 5.6 Arms peak
05: 5.6 Arms continuous, 11.2 Arms peak
Example: AGA102-CI-1D05indicates 5.6 Arms continuous current and 11.2 Arms peak current
1.2.4 AGA103 Product Variants
The AGA103 has no product variants. It has 2.8 Arms continuous current and 5.6 Arms peak current.
Product description Part numbers
Amplifier AGA103-CI-1D03
CI: Central-i communication

System Design
AGA1xx Product Manual Rev.2.0 Page 8
1.3 System Design
Figure 2. AGA110 system connections and wiring
Figure 3. AGA101 system connections and wiring

System Design
AGA1xx Product Manual Rev.2.0 Page 9
Figure 4. AGA102 system connections and wiring
Figure 5. AGA103 system connections and wiring

Technical Specifications
AGA1xx Product Manual Rev.2.0 Page 10
1.4 Technical Specifications
Electrical/Mechanical Specifications
Feature AGA110 AGA101 AGA102 AGA103
Number of axes 1 1 1 1
Power supply 80–190 VDC 12–90 VDC 12–48 VDC 12–48 VDC
Continuous output current
(internally limited by firmware)
1.4 | 2.8 | 5.6 |
7.0 Arms
1.4 | 2.8 | 5.6
Arms
1.4 | 2.8 | 5.6
Arms
2.8
Arms
Peak output current
(Internally limited by firmware)
14.0 2.8 | 5.6 | 11.2
Arms
2.8 |5.6 | 11.2
Arms
5.6
Arms
Peak current time 2 sec 3 sec 3 sec 3 sec
Output frequency 0 – 599 Hz 0 – 599 Hz 0 – 599 Hz 0 – 599 Hz
Over-current protection 40
Arms
10 | 20 | 40
Arms
10 | 20 | 40
Arms
20
Arms
Isolated digital inputs
(see Note 1)
11 11 7 5
Isolated digital outputs
(see Note 2)
3 3 2 2
(see Note 3)
Bi-directional differential I/Os
(RS422)
1 1 – –
Analog inputs 2 (12-bit) 2 (12-bit) 1 (12-bit) 1 (12-bit)
Analog outputs – – – –
PT100 – – – 1
Brake outputs 1 1 – –
Regeneration outputs 1 1 – –
Encoder port - Main Configurable as AqB, Sin/Cos 1Vpp, Absolute BiSS-C, Absolute
EnDat2.2, SSI
Encoder port - Auxiliary Configurable as AqB, Absolute
BiSS-C, Absolute EnDat2.2, SSI
–
Motor types Voice coil, Brushed/ brushless linear/rotary, 2-phase stepper
(open/closed loop, micro-stepping)
Communication Central-i
PWM frequency 16 kHz
Power supply to external
devices
Voltage: 5V
Overall max. current: 0.5A
Note 1: Isolated digital inputs can be configured as NPN or PNP, in groups of 3 or 4.
Note 2: Isolated digital outputs can sink up to 500 mA or source up to 300 mA.
Note 3: AGA103: digital isolated outputs can be configured only as NPN (sink).