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).

Technical Specifications
AGA1xx Product Manual Rev.2.0 Page 11
Encoder Ports Specifications
Feature Specification
Encoder types Incremental AqB, Sin/Cos
Absolute: EnDat 2.2, BiSS-C
Power supply to encoder AGA110: 0.5A per encoder port
AGA101: 0.5A per encoder port
AGA102: 0.5A per encoder port
AGA103: 0.3A 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
Sin/Cos encoder Hardware: Differential RS422/RS485, 1V pk-pk @2.5V
Max. input frequency: 250 kHz
Termination: 120 Ω
Max interpolation: 13 bits (x 8192)
Commutation: Auto-phasing, Hall sensors
Absolute BiSS-C Hardware: Differential RS422/RS485, clock (MA), data (SLO)
Clock frequency: 1 MHz
Max. position bits: 32 bits
Commutation: Auto-phasing, by absolute offset
Absolute EnDat 2.2 Hardware: Differential RS422/RS485, clock, data
Clock frequency: 1 MHz
Max. position bits: 32 bits
Commutation: Auto-phasing, by absolute offset
Hall sensors Opto-isolated 5V with internal or external power supply

Technical Specifications
AGA1xx Product Manual Rev.2.0 Page 12
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
Functionality: limit switches, home, captures, start motion, gain
scheduling, and others
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
Functionality: alarm, in-position, event (PEG), and others
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: 12 bit
Static brake output Operational voltage: 24V
Maximum current: 3A
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
AGA1xx Product Manual Rev.2.0 Page 13
AGA110 Dimensions and Weight
Feature Specification
Unit dimensions (max) H=162 mm, W=36.50 mm, D=102 mm
Package dimensions H=210 mm x W=50 mm x D=140 mm
Unit weight 306 g
Shipping weight 410 g
Figure 6. AGA110 dimensions (mm)

Technical Specifications
AGA1xx Product Manual Rev.2.0 Page 14
AGA101 Dimensions and Weight
Feature Specification
Unit dimensions (max) H=162 mm, W=36.50 mm, D=102 mm
Package dimensions H=210 mm x W=50 mm x D=140 mm
Unit weight 306 g
Shipping weight 410 g
Figure 7. AGA101 dimensions (mm)

Technical Specifications
AGA1xx Product Manual Rev.2.0 Page 15
AGA102 Dimensions and Weight – AGA102
Feature Specification
Unit dimensions (max) H=120 mm, W=33 mm, D=82 mm
Package dimensions H=170 mm x W=50 mm x D=120 mm
Unit weight 200 g
Shipping weight 286 g
Figure 8. AGA102 dimensions (mm)

Environmental Specifications
AGA1xx Product Manual Rev.2.0 Page 16
AGA103 Dimensions and Weight
Feature Specification
Unit dimensions (max) H=80 mm, W=35 mm, D=60 mm
Package dimensions H=170 mm x W=50 mm x D=120 mm
Unit weight 118 g
Shipping weight 204 g
Figure 9. AGA103 Dimensions (mm)
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 50°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 – under testing
Operating conditions IP20

Safety Symbols
AGA1xx Product Manual Rev.2.0 Page 17
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.
Warning
Power, Motor, and Regeneration interfaces are high power. Do not touch these
connectors when the amplifier is powered.

Compliance
AGA1xx Product Manual Rev.2.0 Page 18
Warning
Capacitors on the DC bus can retain hazardous voltages after input power has been
removed.
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.
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
AGA1xx Product Manual Rev.2.0 Page 19
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 AGA1xx
The heatsink on the back of the AGA1xx includes holes/slots for mounting the unit.
The AGA1xx is mounted using 2 M4 screws. It is important to mount the product on metal panel for
both grounding and secure connections.
The heatsink of the AGA1xx 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 AGA1xx 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
AGA1xx Product Manual Rev.2.0 Page 20
3.2.2 Mounting Multiple Power Amplifiers
When mounting multiple amplifiers 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 amplifiers 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 10. Mounting multiple amplifiers within cabinet - Example