Agito AGA10 Series User manual

AGA10x
Central-i DC Power Amplifier
Product Manual

AGA10x Product Manual Rev.1.1 Page 2
Revision History
Version Description Date
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
Telephone [phone]
Website www.agito-akribis.com
Copyright Notice
©2021 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.

AGA10x Product Manual Rev.1.1 Page 3
Contents
1Product Description _____________________________________________________ 5
1.1 General Description ______________________________________________________________ 5
1.2 Part Numbering _________________________________________________________________ 6
1.2.1 AGA101 Product Variants___________________________________________________ 6
1.2.2AGA102 Product Variants___________________________________________________ 6
1.2.3 AGA103 Product Variants___________________________________________________ 6
1.3 System Design___________________________________________________________________ 7
1.4 Technical Specifications ___________________________________________________________ 8
1.5 Environmental Specifications______________________________________________________ 13
2Safety _______________________________________________________________ 14
2.1 Safety Symbols _________________________________________________________________ 14
2.2 Safety Guidelines _______________________________________________________________ 14
2.3 Compliance ____________________________________________________________________ 15
3Installation ___________________________________________________________ 16
3.1 Unpacking and Packing___________________________________________________________ 16
3.2 Mounting _____________________________________________________________________ 16
3.2.1 Mounting the AGA10x ____________________________________________________ 16
3.2.2 Mounting Multiple Power Amplifiers ________________________________________ 17
3.3 Electrical Installation ____________________________________________________________ 18
3.3.1 Power Supplies __________________________________________________________ 18
3.3.2 Wire and Cable Guidelines _________________________________________________ 18
3.3.3 Regeneration (AGA101 only) _______________________________________________ 18
3.3.4 Grounding ______________________________________________________________ 19
3.4 Communication – Central-i _______________________________________________________ 21
3.5 AGA101 – Electrical Interfaces _____________________________________________________ 22
3.5.1 Interface X2: Main Power__________________________________________________ 22
3.5.2 Interface X5: Safety_______________________________________________________ 23
3.5.3 Interface X1: I/O and Backup Power _________________________________________ 25
3.5.4 Interface X4: Motor ______________________________________________________ 26
3.5.5 Interface X3: Regeneration_________________________________________________ 27
3.5.6 Interface X11: Brake ______________________________________________________ 28
3.5.7 Interfaces X8 and X9: Encoders _____________________________________________ 29
3.5.8 Interfaces X7, X10 and X12: I/Os ____________________________________________ 31
3.5.9 Interface X6: Central-i_____________________________________________________ 35
3.6 AGA102 – Electrical Interfaces _____________________________________________________ 36
3.6.1 Interface X2: Main Power__________________________________________________ 36
3.6.2 Interface X4: Safety_______________________________________________________ 37
3.6.3 Interface X1: I/O and Backup Power _________________________________________ 39
3.6.4 Interface X3: Motor ______________________________________________________ 40
3.6.5 Interface X6: Encoder _____________________________________________________ 41
3.6.6 Interfaces X7 and X8: I/Os _________________________________________________ 42
3.6.7 Interface J5: Central-i _____________________________________________________ 45
3.7 AGA103 – Electrical Interfaces _____________________________________________________ 46
3.7.1 Interface X5: Main Power__________________________________________________ 46
3.7.2 Interface X4: Safety_______________________________________________________ 47
3.7.3 Interface X3: Motor ______________________________________________________ 49
3.7.4 Interface X2: Encoder _____________________________________________________ 50
3.7.5 Interface X1: I/Os ________________________________________________________ 51
3.7.6 Interface X13: Central-i____________________________________________________ 53
3.8 Electrical Interfaces Circuit Diagrams _______________________________________________ 54
3.8.1 Isolated Digital Inputs_____________________________________________________ 54
3.8.2Isolated Digital Outputs ___________________________________________________ 55

AGA10x Product Manual Rev.1.1 Page 4
3.8.3 Analog Input ____________________________________________________________ 56
3.8.4 Differential Inputs________________________________________________________ 56
3.8.5 Differential Outputs ______________________________________________________ 57
3.8.6 Bi-directional Differential I/Os ______________________________________________ 57
3.8.7 Hall Sensors_____________________________________________________________ 58
4Operation____________________________________________________________ 59
4.1 Motor Configuration_____________________________________________________________ 59
4.2 Drive/Motor Overload Protection __________________________________________________ 62
4.2.1 I2T Over Load Protection __________________________________________________ 62
4.2.2 Motor Stuck ____________________________________________________________ 63
4.2.3 Motor Temperature Protection _____________________________________________ 63
4.3 Tuning ________________________________________________________________________ 65
4.3.1 Commissioning __________________________________________________________ 65
4.3.2 Current Loop Tuning______________________________________________________ 66
4.3.3 Auto Velocity and Position Loop Tuning ______________________________________ 67
4.3.4 Manual Velocity and Position Loop Tuning ____________________________________ 70
5Maintenance and Servicing ______________________________________________ 72
5.1 Troubleshooting ________________________________________________________________ 72

General Description
AGA10x Product Manual Rev.1.1 Page 5
1 Product Description
1.1 General Description
The AGA10x 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 AGA10x 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 AGA10x amplifiers are compact, ideal for mounting close to the actuator, such as the link in an
articulated robot arm.
Figure 1. AGA10x amplifier series

Part Numbering
AGA10x Product Manual Rev.1.1 Page 6
1.2 Part Numbering
1.2.1 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
1.2.2 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
1.2.3 AGA103 Product Variants
Product description Part numbers
Amplifier AGA102-CI-1D03
CI: Central-i communication
1D: 12—48 VDC power supply
The AGA103 has no product variants. It has 2.8 Arms continuous current and 5.6 Arms peak current.

System Design
AGA10x Product Manual Rev.1.1 Page 7
1.3 System Design
Figure 2. AGA101 system connections and wiring
Figure 3. AGA102 system connections and wiring

Technical Specifications
AGA10x Product Manual Rev.1.1 Page 8
Figure 4. AGA103 system connections and wiring
1.4 Technical Specifications
Electrical/Mechanical Specifications
Feature Specification
AGA101 AGA102 AGA103
Number of axes 1 1 1
Power supply 12-90 VDC 12-48 VDC 12-48 VDC
Continuous output current (Arms)
(internally limited by firmware)
1.4 | 2.8 | 5.6 1.4 | 2.8 | 5.6 2.8
Peak output current (Arms)
(Internally limited by firmware)
2.8 | 5.6 | 11.2 2.8 |5.6 | 11.2 5.6
Peak current time 3 sec 3 sec 3 sec
Output frequency 0 – 599 Hz 0 – 599 Hz 0 – 599 Hz
Over-current protection (Arms) 10 | 20 | 40 10 | 20 | 40 20
Isolated digital inputs (see Note 1) 11 7 5
Isolated digital outputs (see Note 2) 3 2 2 (see Note 3)
Bi-directional differential I/Os (RS422) 1 – –
Analog inputs 2 (12-bit) 1 (12-bit) 1 (12-bit)
Analog outputs – – –
PT100 – – 1
Brake outputs 1 – –
Regeneration outputs 1 – –
Encoder port - Main Configurable as
AqB, Sin/Cos 1Vpp,
Absolute BiSS-C,
Absolute EnDat2.2
Configurable as
AqB
, Sin/Cos 1Vpp,
Absolute BiSS-C,
Absolute EnDat2.2
Configurable as
AqB, Sin/Cos 1Vpp,
Absolute BiSS-C,
Absolute EnDat2.2

Technical Specifications
AGA10x Product Manual Rev.1.1 Page 9
Feature Specification
AGA101 AGA102 AGA103
Encoder port - Auxiliary Configurable as
AqB, Absolute
BiSS-C, Absolute
EnDat2.2
– –
Motor types Voice coil.
Brushed/brushless
linear/rotary.
2-phase stepper
(open/closed loop,
micro-stepping).
Voice coil.
Brushed/brushless
linear/rotary.
2-phase stepper
(open/closed loop,
micro-stepping).
Voice coil.
Brushed/brushless
linear/rotary.
2-phase stepper
(open/closed loop,
micro-stepping).
Communication Central-i Central-i Central-i
PWM frequency 16 kHz 16 kHz 16 kHz
Power supply to external devices Voltage: 5V
Overall max.
current: 0.5A
Voltage: 5V
Overall max.
current: 0.5A
Voltage: 5V
Overall max.
current: 0.5A
Note 1: Digital isolated inputs can be configured as NPN or PNP, in groups of 3 or 4.
Note 2: Digital isolated 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).
Encoder Ports Specifications
Feature Specification
Encoder types Incremental AqB, Sin/Cos
Absolute: EnDat 2.2, BiSS-C
Power supply to encoder 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

Technical Specifications
AGA10x Product Manual Rev.1.1 Page 10
Feature Specification
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
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
AGA10x Product Manual Rev.1.1 Page 11
AGA101 Dimensions and Weight
Feature Specification
Unit dimensions (max) H=162 mm, W=36.50 mm, D=102 mm
Package dimensions W=210 mm x W=50 mm x D=140 mm
Unit weight 306 g
Shipping weight 410 g
Figure 5. AGA101 dimensions (mm)

Technical Specifications
AGA10x Product Manual Rev.1.1 Page 12
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 6. AGA102 dimensions (mm)
AGA101 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 7. AGA103 Dimensions (mm)

Environmental Specifications
AGA10x Product Manual Rev.1.1 Page 13
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
AGA10x Product Manual Rev.1.1 Page 14
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
AGA10x Product Manual Rev.1.1 Page 15
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
AGA10x Product Manual Rev.1.1 Page 16
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 AGA10x
The heatsink on the back of the AGA10x includes holes/slots for mounting the unit.
The AGA10x 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 AGA10x 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 AGA10x 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
AGA10x Product Manual Rev.1.1 Page 17
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 8. Mounting multiple amplifiers within cabinet - Example

Electrical Installation
AGA10x Product Manual Rev.1.1 Page 18
3.3 Electrical Installation
3.3.1 Power Supplies
Several power sources are required for AGA10x operation when the amplifier is connected to
external devices.
The power sources provide power to the motor and brake, and to logic and I/Os circuits.
Power Source Description AGA101 AGA102 AGA103
Main power Supplies power to the motor. 12–90 VDC 12–48 VDC 12–48 VDC
Backup power
Optional. Supplies power to the logic
circuits. If not connected, the Main
power supply provides the logic power.
9–36 VDC 9–36 VDC –
Isolated I/Os
power
Optional. Supplies power to the optically
isolated I/O circuits.
5–36 VDC 5–36 VDC 5–36 VDC
Brake power Optional. Supplies power to the motor
brake.
12–48 VDC,
3A
– –
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 Regeneration (AGA101 only)
AGA101 uses the main DC power input to output a controlled electrical power through the phases of
the motor. The motor converts this electrical power to a mechanical power that moves the load.
During motor deceleration and stopping, the inertia of the load drives the movement of the motor,
not the servo drive. Due to back EMF, the motor acts as a generator and returns energy to the DC bus
supply, which causes the DC bus voltage to increase to undesirable level.
Maximum allowable DC bus voltage is 90 VDC. To prevent excessive DC bus voltage, a regeneration
resistor can be connected to the AGA101 amplifier’s X3 connector to dissipate excess regenerated
energy, and prevent it from reaching undesirable levels. The regeneration resistor starts to dissipate
energy at 85 VDC .
Regeneration voltage threshold parameters are software configurable and can be modified according
to the motor’s maximum voltage specification.

Electrical Installation
AGA10x Product Manual Rev.1.1 Page 19
Warning
DC Vbus is monitored, and motors will be disabled if voltage is too high. However, there
is no protection against the connection of an excessive voltage power supply that will
damage the product.
For connection details, refer to the section Interface X3: Regeneration.
3.3.4 Grounding
It is recommended to install the AGA10x on a metal backplane for better power dissipation, reduced
EMI, and grounding connection. Make sure the plate is not painted.
The heatsink of the AGA10x 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 AGA10x and the PE of the main power supply in the system.
The main power input (Main PWR) connector includes a PE pin. Make sure to connect PE to this pin
or to the amplifier’s metal heatsink.
Figure 9. System grounding
Ground Domains
The following table shows the ground domains in the AGA10x system:
GND. Reference voltage for digital/analog circuits and signals.
PGND. High voltage ground domain (internal)
General. Usually at DC potential close to GND, but not connected internally.

Electrical Installation
AGA10x Product Manual Rev.1.1 Page 20
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
Brake control output General External DC power supply
Regeneration output PGND
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 AGA10x 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 9.
The power inputs, motor connectors, and regeneration outputs are not safe to touch, and may
be exposed if the connector is not populated.
Digital ground (GND) is assumed to have the same potential (at least in DC) as the PE. That means
GND is connected to the PE at some point in the system.
GND is not connected to PE within the amplifier. The system designer must decide where to
connect them. It is recommended to connect PE to GND on the DC power supply.
PGND is connected directly to mains wires, hence it is just as dangerous as mains to the user.
All shielded cables, including but not limited to motor, encoders, and power input, have their
shield connected to PE as part of the external metal enclosure.
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).