Agito AG300 series Instructions for use

File name: AG300 - Hardware Manual - CTL V3, AMP V2 - Version 2.2.docx
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AG300 Family
CTL01-3A-03, AMP01-2A-02
Hardware User's Manual

File name: AG300 - Hardware Manual - CTL V3, AMP V2 - Version 2.2.docx
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Revision control table
Version
Description
Date
1.0
Initial (based on Hardware Manual of previous hardware
versions)
April 27, 2016
1.1
Corrections and additions by Gregory
April 28, 2016
1.2
Removed references to inversed polarity protections at J21
January 7, 2018
1.3
Added warning regarding plug in power manually.
Removed the note that Ethernet is not available. It is.
April 15, 2018
1.4
Removing the notes that Regeneration, Static Brake and 5v
fault detection are not supported (they are).
June 18, 2018
1.5
Add description of DIP Switches functionality.
July 25, 2018
1.6
Adding detailed specifications for isolated discrete outputs
July 27, 2018
1.7
Adding note about resistive/inductive loads of discrete
outputs
August 15, 2018
1.8
Adding note about IO description
September 3,
2018
1.9
Few typo corrections
September 9,
2018
2.0
Added a note about connecting single-ended analog inputs
October 16, 2018
2.1
Added note about digital inputs 13 and 14
October 19,2018
2.2
Added dimension information and notes about external
resistor usage
October 30,2018

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Table of contents
Scope 5
PRODUCT STRUCTURE 5
AG300-CTL01-3A-03 5
AG300-DRV01-2A-03 6
NUMBER OF AXES 6
SUPPORTED MOTOR TYPES 7
PRODUCTS'VARIANTS 7
Standalone controller –AG300-CTL01-3A-03 8
LOGIC POWER CONNECTOR 8
Controller –J1 –Logic Power 8
Control Unit (DRV) Interfaces 10
CONTROLLER BOARD CONNECTORS 10
Host side interfaces 10
Controller –J2 –Ethernet 10
Controller –J3/J4 –CAN Bus, RS-232 and RS-485 11
Controller –J5 –Micro USB 12
System/motor side interfaces 13
Controller –J6/J7/J8 –Encoders 13
Controller –J9 –I/O Port (Isolated I/Os and Analog I/Os) 16
Additional System/motor side interfaces 23
Controller –J10 –Additional I/Os Port (Mainly Differential I/Os) 23
Controller –J11 –Central-i 28
DIP Switches 29
AMPLIFIER BOARD CONNECTORS 31
Host side interfaces 31
System/motor side interfaces 31
Amplifier –J21 –Unit power 31
Amplifier –J22 –Motor Phases 32
External connection to the chassis 36
Additional System/motor side interfaces 36
Amplifier –J23 –STO 36
Amplifier –J24 - Static brakes 39
Amplifier –J25 - Regeneration 41

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Dimensions 43
AG300-CTL01-3A-03 STANDALONE CONTROLLER 43
AG300-CTL01 INTEGRATED CONTROL UNIT 44
Environmental conditions 45

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Scope
This manual describes hardware interfaces of the AG300-CTL01-3A-03 (version 3) as a
standalone controller and also as a complete control unit, when supplied as a drive, together
with the AG300-AMP01-2A-02 (version 2).
This manual describes hardware interfaces of the following products:
Product description
Part numbers
Standalone controller
AG300-CTL01-3A-03-XX (version 3)
Complete control unit (AG300-DRV01): Controller
+ amplifier
AG300-CTL01-3A-03-XX (version 3) +
AG300-AMP01-2A-02-XX (version 2)
The –XX defines a product's hardware variant, as describes below.
Product structure
AG300-CTL01-3A-03
The following picture shows the AG300-CTL01 controller board, as supplied for standalone
operation (to be used with external amplifiers):

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AG300-DRV01-2A-03
The following picture shows the AG300-DRV01-2A-03 control unit, which consists of the AG300-
CTL01-3A-03 (controller board, version 3) and the AG300-AMP01-2A-02 (amplifier board,
version 2). The DRV control unit is a full control unit, ready to connect directly to the motors.
Number of axes
The AG300-CTL01-3A-03 (controller board) supports control and interfaces for up to 3 axes.
The AG300-AMP01-2A-02 (amplifier board) supports driving of up to 2 motors.
This means that the integrated control unit (controller + amplifier) can control and drive up to
2 motors. However, please note that since the controller board is a 3 axes controller, a third
axis can be controlled, if an external amplifier is connected (±10v command or Pulse/Direction
command).
System/Motor side
connectors
Additional
System/Motor
side connectors
Host side
connectors
Amplifier (AMP01)
board (lower)
Metal base
Controller (CTL01)
board (upper)

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Supported motor types
The AG300 control unit can control and drive the following motor types:
▪Up to 2 DC-Brushless, DC-Brush, Voice coil or Bipolar Stepper motors (each motor
defined independently).
▪Future firmware will also support, with no hardware change, control and driving of 3
Brush (or Voice coil) motors.
Linear and rotary motors are both supported.
Products' variants
The –XX at the end of the product's part number (see label on the product) defines the product's
variant.
For the controller:
AG300-CTL01-3A-03-36: Full variant.
All hardware interfaces are assembled and included.
For the amplifier:
AG300-AMP01-2A-02-02: Full variant for 20A Full Scale.
All hardware interfaces are assembled and included.
Up to 16A peak current.
Up to 8A continuous current.
AG300-AMP01-2A-02-03: Full variant for 10A Full Scale.
All hardware interfaces are assembled and included.
Up to 8A peak current.
Up to 4A continuous current.
AG300-AMP01-2A-02-04: Full variant for 5A Full Scale.
All hardware interfaces are assembled and included.
Up to 4A peak current.
Up to 2A continuous current.
The following combination is right, for reference.
AG300C + DRV01-2A-0205= AG300-CTL01-3A-03-36+ AG300-AMP01-2A-02-03

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Standalone controller –AG300-CTL01-3A-03
This document provides a detailed description of all the interfaces of the overall (DRV) control
unit product (controller + amplifier). It does not provide a separate description of the interfaces
of the standalone controller, as these interfaces are already described as part of the overall
DRV product interfaces.
However, a single exception is the controller logic power connector, which is used only when
using the controller as a standalone product. The following section describes this connector.
Logic power connector
This chapter describes the controller's logic power connector. This connector is used only for
standalone operation of the controller.
Controller –J1 –Logic Power
Manufacturer: DEGSON (Phoenix compatible)
P/N (product side): 15EDGRC3.502P1400AH
Pitch: 3.5mm
Pin
#
Name
Type
Description
1
Logic Power
PWR - IN
9vDC –36vDC
2
GND
PWR
Logic power ground

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The controller includes a built-in protection to avoid damage in case of inversed polarity at the
input power.
Note –Warning!
Use this power connector only when using the controller board as a standalone product.
Note –Warning!
Hot plugging is not supported! Plug or unplug the power connector only when power is off!
Plugging the power connector when it has power can lead to undesired high current through
devices that are connected to the controller and damage these devices.

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Control Unit (DRV) Interfaces
The following sections provide detailed definition of the connectors and the electrical interfaces
of the controller board and the amplifier board when assembled as an integrated control unit
(DRV) product.
Controller board connectors
The chapter describes the connectors and interfaces of the controller board. This description
is relevant both for standalone operation of the controller board, or when used within a
complete control unit (DRV) with the amplifier board.
Host side interfaces
This section describes the connectors that are aimed to interface with the host computer
(communication interfaces).
Controller –J2 –Ethernet
Description: RJ45 LAN 10/100Base-T Connector with magnetic
Cable: CAT5

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Controller –J3/J4 –CAN Bus, RS-232 and RS-485
Description: RJ-45 8 pin right angle dual port
Note –Why dual port connector?
The J3/J4 connector is a dual port RJ45 connector (one is J3 and one is J4). The two ports have
identical pinout and are interchangeable. Two ports are provided to support daisy chain
connection of CAN Bus or RS-485. It can be also used to connect two types of communication
channels at the same time, instead of splitting a cable from a single RJ45 connector.
Pin
#
Name
Type
Description
1
GND
PWR
Reference ground
2
RS232_RX
IN
RS2-32 input (comes towards AG300)
3
RS232_TX
Out
RS-232 output (comes from AG300)
4
RS485_B
In/Out
RS-485 bus, inverted
5
RS485_A
In/Out
RS-485 bus, not inverted
6
Sync
In/Out
Synchronization line (future use, consult Agito)
7
CAN_L
In/Out
CAN bus negative line
8
CAN_H
In/Out
CAN bus positive line

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Notes –CAN Bus and RS-485 terminators:
The CAN Bus lines have optional 120 ohm terminator that is connected/disconnected by DIP
Switch number 1 (refer to the chapter about the DIP Switches). Place DIP Switch number 1 at
ON position to place a 120 ohms terminator on the lines (to be done at the last unit in the
chain).
The RS-485 lines have built-in, fixed (not optional) 120 ohms terminator. This may degrade the
communication performance in case too many units are placed on the RS-485 chain. Please
consult Agito in such case (in future versions this built-in RS-485 terminator may be removed.
In such case Agito will inform the customers in advance).
Controller –J5 –Micro USB
Description: CONN RCPT MICRO USB 2.0 B-Type

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Note: RS-232 Bridge:
The Micro USB connection is implemented using an internal bridge from USB to RS-232
(UART). As a result, the communication performance, from the point of view of the user, is
identical to RS-232, using a suitable software driver at the PC side.
For PC Software drivers, although in most cases they are automatically loaded, you may follow
the link: http://www.ftdichip.com/Drivers/D2XX.htm
System/motor side interfaces
This section describes the connectors that are aimed to interface with the system side
(encoders, I/O's…).
Controller –J6/J7/J8 –Encoders
J6, J7 and J8 are identical connectors. Each one is used to interface a single encoder, where
J6 is typically used for A axis, J7 is typically used for B axis and J8 for C axis.
Manufacturer: Samtec Inc.
P/N (product side): TFM-105-02-L-DH
Cable connector P/N: ISDF-05-D-M
Crimp P/N: CC03R-2830-01-G
Other options are possible; please, consult with the manufacturer.
J6 J7 J8

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Pin
#
Name
Type
Description
1
5V
PWR - OUT
5V for user usage (up to 0.5A, each connector)
2
GND
PWR
Reference for 5V and differential signals
3
Encoder_1P
Out
Differential output, not inverted
4
Encoder_1N
Out
Differential output, inverted
5
Encoder_2P
In
Differential input, not inverted
6
Encoder_2N
In
Differential input, inverted
7
Encoder_3P
In
Differential input, not inverted
8
Encoder_3N
In
Differential input, inverted
9
Encoder_4P
Bidirectional
Differential input/output, not inverted
10
Encoder_4N
Bidirectional
Differential input/output, inverted
Several encoder options are available. For each type of encoder, the inputs and outputs are
selected according to the table below:
Differential
line
Incremental
Sin/Cos
SSI
BiSS
Nikon
Tamagawa
Panasonic
Encoder_1
OUT
Encoder_2
IN- A
IN-SIN
Encoder_3
IN- B
IN-COS
IN
IN
IN
Encoder_4
IN- Z
IN-Z
OUT
OUT
INOUT
INOUT
OUT
Notes –Supported encoder types and connection of incremental encoder:
Currently only incremental encoder type is supported. SIN/COS analog encoders will soon be
supported as well, to be followed also with absolute encoders support.
Note (see table above) that the A. B and Z channels of the encoder are connected to Encoder_2,
Encoder_3 and Encoder_4 pins of the connector, respectively.

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Note –Incremental encoder interface details:
The internal design of the A, B and Z signals interfaces supports, by default, differential inputs.
However, with a dedicated assembly, it can support, without any external component, also
single ended encoders. Please consult Agito in case your application uses single ended
encoders or any other special, non-differential interface.
The default differential encoder's interface includes a built-in 120 ohms terminator (per each
channel) and also the required hardware circuits to detect disconnected encoder cable (and in
such case, the controller will disable the motor). The detection is done on the A and B channels
only (and not on the index, Z, channel)
Note: 5v supply limitation:
Note that the 5v supply that is provided at pin 1 of each of the J6, J7 and J8 connectors is
internally limited to 0.5A per each connector (independent limitation at each connector). This
is in order to protect the controller from short to GND.

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Controller –J9 –I/O Port (Isolated I/Os and Analog I/Os)
This section describes the details of J9, which provides the generic discrete, isolated, I/Os of
the controller, as well as its analog outputs and 3 of its 4 analog inputs.
An additional analog input (number 4), as well as the isolated Abort input, is included within
J10, which is described at the next section.
Manufacturer: Samtec Inc.
P/N (product side): TFM-120-02-L-DH
Cable connector P/N: ISDF-20-D-M
Crimp P/N: CC03R-2830-01-G
Other options are possible; please, consult with the manufacturer.
Pin
#
Function
Type
Comments
1
OC_OUTPUT_1234_Common_Power
PWR - IN
Common power pin for discrete, isolated, outputs 1 to 4
2
OC_OUTPUT_1234_Common_Return
PWR
Common power return pin for discrete, isolated, outputs
1 to 4
3
Output 1, discrete, isolated.
OUT
1st isolated output, SW: DOutPort (bit 0).
Programmable sink or source
4
Output 2, discrete, isolated.
OUT
2nd isolated output, SW: DOutPort (bit 1).
Programmable sink or source
5
Output 3, discrete, isolated.
OUT
3rd isolated output, SW: DOutPort (bit 2).
Programmable sink or source
6
Output 4, discrete, isolated.
OUT
4th isolated output, SW: DOutPort (bit 3).
Programmable sink or source

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Pin
#
Function
Type
Comments
7
OC_INPUT_1234_Common
PWR - IN
Common pin (power or return, depending on external
connection) for discrete, isolated, inputs 1 to 4
8
OC_INPUT_5678_Common
PWR - IN
Common pin (power or return, depending on external
connection) for discrete, isolated, inputs 5 to 8
9
Input 1, discrete, isolated.
IN
1st isolated input, SW: DInPort (bit 0).
NPN or PNP, depending on connection of the common
pin of this group
10
Input 2, discrete, isolated.
IN
2nd isolated input, SW: DInPort (bit 1).
NPN or PNP, depending on connection of the common
pin of this group
11
Input 3, discrete, isolated.
IN
3rd isolated input, SW: DInPort (bit 2).
NPN or PNP, depending on connection of the common
pin of this group
12
Input 4, discrete, isolated.
IN
4th isolated input, SW: DInPort (bit 3).
NPN or PNP, depending on connection of the common
pin of this group
13
Input 5, discrete, isolated.
IN
5th isolated input, SW: DInPort (bit 4).
NPN or PNP, depending on connection of the common
pin of this group
14
Input 6, discrete, isolated.
IN
6th isolated input, SW: DInPort (bit 5).
NPN or PNP, depending on connection of the common
pin of this group
15
Input 7, discrete, isolated.
IN
7th isolated input, SW: DInPort (bit 6).
NPN or PNP, depending on connection of the common
pin of this group
16
Input 8, discrete, isolated.
IN
8th isolated input, SW: DInPort (bit 7).
NPN or PNP, depending on connection of the common
pin of this group
17
Input 9, discrete, isolated. (*)
IN
9th isolated input, SW: DInPort (bit 8).
NPN or PNP, depending on connection of the common
pin of this group
18
Common pin for discrete, isolated,
inputs 9 to 11
PWR - IN
power or return, depending on external connection
19
Input 11, discrete, isolated. (*)
IN
11th isolated input, SW: DInPort (bit 10).
NPN or PNP, depending on connection of the common
pin of this group
20
Input 10, discrete, isolated. (*)
IN
10th isolated input, SW: DInPort (bit 9).
NPN or PNP, depending on connection of the common
pin of this group
21
5v supply for external I/O circuits.
PWR - OUT
Limited to 0.5A, pins 21 and 23 together.
22
GND
PWR
GND for 5V and differential signals
23
5v supply for external I/O circuits.
PWR - OUT
Limited to 0.5A, pins 21 and 23 together.
24
GND
PWR
GND for 5V and differential signals
25
+VA (15V)
PWR –OUT
Low current +15v supply for external analog circuits
26
-VA (-15V)
PWR –OUT
Low current +15v supply for external analog circuits
27
Analog Output 1
OUT
±12v, 16 bit. SW: AOutPort[1].
28
Analog Output 1 Return
OUT

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Pin
#
Function
Type
Comments
29
Analog Output 2
OUT
±12v, 16 bit. SW: AOutPort[2].
30
Analog Output 2 Return
OUT
Must connect to GND if analog input is single-ended.
31
Analog Output 3
OUT
±12v, 16 bit. SW: AOutPort[3].
32
Analog Output 3 Return
OUT
33
Analog Output4
OUT
±12v, 16 bit. SW: AOutPort[4].
34
Analog Output 4 Return
OUT
35
Analog Input 1
IN
±12v, 12 bit. SW: AInPort[1] and AInPort[5]
36
Analog Input 1 Return
IN
Must connect to GND if analog input is single-ended.
37
Analog Input 2
IN
±12v, 12 bit. SW: AInPort[2] and AInPort[6]
38
Analog Input 2 Return
IN
Must connect to GND if analog input is single-ended.
39
Analog Input 3
IN
±12v, 12 bit. SW: AInPort[3] and AInPort[7]
40
Analog Input 3 Return
IN
Must connect to GND if analog input is single-ended.
(*) The organization of the pins for discrete, isolated, inputs 9 to 11 is different from the
organization for the groups of inputs 1 to 4 and inputs 5 to 8. This is not a documentation
mistake. Indeed the organization is different.
Note –Analog output are not supported in some of the product variants:
Some variants of the product do not support the analog outputs. Please consult Agito for
ordering the correct variant in case you need analog outputs for your application.
Analog outputs are required in case you need to interface external amplifier over a ±10v
analog command, or in case you need analog output for any other general purpose.
Note: 5v supply limitation:
Note that the 5v supply that is provided on pins 21 and 23 is internally limited to 0.5A (both
pins together). This is in order to protect the controller from short to GND.

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Electrical interfaces –Discrete, Isolated, outputs:
▪The interface circuit is identical for outputs 2 to 4.
▪Each output can be programmed (by a software parameter) to act as a current sourcing
output (up to 300mA) or as a current sinking output (up to 500mA).
▪Common power is shared by all 4 outputs.
▪The outputs are designed for resistive loads. For inductive loads, an external flyback
diode is required.
▪Discrete outputs specifications:
❖Discrete outputs common power voltage range is 5v to 36v.
❖Maximal load current, per each output:
a. SINK mode, at any common power voltage: 500mA
b. SOURCE mode, at 24v common power voltage: 300mA.
c. SOURCE mode, at 5v common power voltage: 60mA
(Output high voltage > 4.5v).
Notes:
1. Higher currents (but less than absolute maximal value of 250mA) can be
driven at SOURCE mode with 5v common power voltage. However, the
output high voltage will drop significantly.

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2. For additional and more detailed data, please write to our support team.
Electrical interfaces –Discrete, Isolated, inputs:
▪The interface circuit is identical for inputs 1 to 4, which are organized as a single group.
▪Similarly, inputs 5-8 are organized as a group with an identical interface circuits and
inputs 9-11 are a third independent group.
▪Each group is fully isolated and independent of the other groups.
▪Each group can be connected as NPN or PNP interfaces, depending on the wiring of the
group common pin. If the common pin is connected to power (5v to 28v), then the
inputs of this group can be used with external NPN devices (external current sinking
devices). If the common is connected to the GND of some external power, then the
inputs can be used with external PNP devices (external current sourcing devices).
▪Note that the input circuit of the opto couplers includes two diodes. This enables the
usage as NPN of PNP.