Agito AGD200 User manual

AGD200
Dual Axis Controller
with Integrated Drives
Product Manual

AGD200 Product Manual Rev.2.1 Page 2
Revision History
Version Description Date
2.1 For general release 18 August 2021
1.0 Initial release 3 August 2020
Contact Information
Manufacturer Agito Akribis Systems Ltd., Member of Akribis Systems Group
Address 6 Yad-Harutsim St., P.O.Box 7172, Kfar-Saba 4464103
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..
Windows is a registered trademark of Microsoft Corporation.
MATLAB is a registered trademark of The MathWorks, Inc.
LabVIEW is a trademark of National Instruments Corporation.
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.

AGD200 Product Manual Rev.2.1 Page 3
Contents
1Product Description _____________________________________________________ 5
1.1 General Description ______________________________________________________________ 5
1.2 Part Numbering _________________________________________________________________ 5
1.3 System Design___________________________________________________________________ 6
1.4 Electrical and Mechanical Specifications ______________________________________________ 6
1.5 Motion Control Specifications _____________________________________________________ 10
1.6 Environmental Specifications______________________________________________________ 11
2Safety _______________________________________________________________ 12
2.1 Safety Symbols _________________________________________________________________ 12
2.2 Safety Guidelines _______________________________________________________________ 12
2.3 Compliance ____________________________________________________________________ 13
3Installation ___________________________________________________________ 15
3.1 Unpacking and Packing___________________________________________________________ 15
3.2 Mounting _____________________________________________________________________ 15
3.2.1 Mounting the AGD200 ____________________________________________________ 15
3.2.2 Mounting Multiple Power Amplifiers ________________________________________ 16
3.3 Electrical Installation ____________________________________________________________ 17
3.3.1 Power Wiring ___________________________________________________________ 17
Regeneration____________________________________________________________ 17
3.3.2 Grounding ______________________________________________________________ 18
Ground Domains_________________________________________________________ 18
Grounding Policy_________________________________________________________ 19
3.4 Electrical Interfaces _____________________________________________________________ 20
3.4.1 Interface X21: Main Power_________________________________________________ 20
3.4.2 Interface X1: Backup Power ________________________________________________ 21
3.4.3 Interface X22: Motor _____________________________________________________ 22
3.4.4 Interface X23: Safety _____________________________________________________ 23
Safety Circuitry __________________________________________________________ 24
3.4.5 Interface X24: Brakes _____________________________________________________ 25
Brakes Circuitry __________________________________________________________ 26
3.4.6 Interfaces X6/X7/X8: Encoders______________________________________________ 26
3.4.7 Interface X25: Regen _____________________________________________________ 28
3.4.8 Interface X2: Ethernet (LAN) _______________________________________________ 29
3.4.9 Interfaces X3, X4: CAN, RS232, RS485 ________________________________________ 30
3.4.10 Interface X5: Micro-USB ___________________________________________________ 31
3.4.11 Interface X9: General I/Os–1 _______________________________________________ 32
3.4.12 Interface X10: General I/Os–2 ______________________________________________ 34
3.4.13 I/O Interfaces – Circuitry __________________________________________________ 36
Hall Sensors_____________________________________________________________ 36
Isolated Digital Inputs_____________________________________________________ 36
Isolated Digital Outputs ___________________________________________________ 37
Analog Input ____________________________________________________________ 38
Analog Output___________________________________________________________ 38
Differential Inputs________________________________________________________ 39
Differential Outputs ______________________________________________________ 39
3.4.14 DIP Switches ____________________________________________________________ 40
4Operation____________________________________________________________ 42
4.1 Motor Configuration_____________________________________________________________ 42
4.2 Drive/Motor Overload Protection __________________________________________________ 44
4.2.1 I2T ____________________________________________________________________ 44
4.2.2 Motor Stuck ____________________________________________________________ 45

AGD200 Product Manual Rev.2.1 Page 4
4.3 Tuning ________________________________________________________________________ 46
4.3.1 Commissioning __________________________________________________________ 46
4.3.2 Current Loop Tuning______________________________________________________ 47
4.3.3 Auto Velocity and Position Loop Tuning ______________________________________ 48
4.3.4 Manual Velocity and Position Loop Tuning ____________________________________ 51
5Maintenance and Servicing ______________________________________________ 53

General Description
AGD200 Product Manual Rev.2.1 Page 5
1 Product Description
1.1 General Description
AGD200 is a series of dual-axis, standalone, high performance
motion controllers with integrated servo amplifiers.
It is equipped with Ethernet, USB, CAN bus, RS232, and RS485
communication ports to interface with host devices such as PCs,
PLCs, and HMIs. It can control any external driver via analog or
digital command.
At 16 kHz sampling (profiler, position and velocity control loops)
frequency, AGD200 controllers are ideal for any tightly coordinated
motion systems.
AGD200 has two integrated amplifiers, enabling it to drive two
motors directly. It can also control a third axis through an external
driver. It can drive all types of motors, such as steppers, voice coils,
brushed or brushless motors, and including direct-drive linear and
rotary motors.
Figure 1. AGD200
1.2 Part Numbering
Product Description Part Number Format
Standalone Integrated Drive AGD200-ET-2Dxx[-ccc]
ET: Ethernet
2D: 12-90VDC
xx: Continuous current rating
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
ccc: Revision code or Customized code (optional for standard variant).
Example: AGD200-ET-2D02 is a standard variant for 2.8 Arms continuous current, 5.6 Arms peak.

System Design
AGD200 Product Manual Rev.2.1 Page 6
1.3 System Design
Figure 2. System connections and wiring
1.4 Electrical and Mechanical Specifications
Electrical Specifications
Feature AGD200-ET-2D01 AGD200-ET-2D02 AGD200-ET-2D05
Number of axes 2 (3rd axis with external amplifier)
Power supply 12–90 VDC
Logic power supply (optional) * 12–36 VDC
Continuous output current
(Internally limited by firmware)
1.4 Arms 2.8 Arms 5.6 Arms
Peak output current
(Internally limited by firmware)
2.8 Arms 5.6 Arms 11.2 Arms
Output power @ 90 VDC 0.12 kVA 0.24 kVA 0.48 kVA
Peak current time 2 sec
Output frequency 0–599 Hz
Isolated digital inputs 11
Isolated digital outputs 4
Differential inputs 8
Differential outputs 4
Analog inputs 4
Analog outputs 4
Brake outputs 2

Electrical and Mechanical Specifications
AGD200 Product Manual Rev.2.1 Page 7
Feature AGD200-ET-2D01 AGD200-ET-2D02 AGD200-ET-2D05
Encoder ports 3
Motor types Voice coil, brushed or brushless linear or rotary motor.
2-phase steppers (open and closed loop, micro-stepping)
Communication Ethernet, CAN
RS232, RS485, USB
PWM frequency 16 kHz
Power supply to external devices Voltage: 5V
Overall max. current: 1.5A
* Supported as of product hardware Rev 4 (X1 connector labeled BKP PWR)
Encoder Ports Specifications
Feature Specification
Encoder types Ports 1,2: Incremental AqB, Sin/Cos, Absolute EnDat 2.2,
Absolute BiSS-C
Port 3: Incremental AqB, Absolute EnDat 2.2, Absolute
BiSS-C
Power supply to encoder 0.5 A per encoder port
Max. cable length 40 m
Incremental encoder Hardware: Differential RS422/RS485
Max. input frequency: 6.25 MHz
Termination: 120 W
Commutation: Auto-phasing, Hall sensors
Sin/Cos encoder
(on Main Encoder port only)
Hardware: Differential RS422/RS485, 1V pkp @2.5V
Max. input frequency: 250 kHz
Termination: 120 W
Max interpolation: 13 bits (x 8192)
Commutation: Auto-phasing, Hall sensors
Absolute BiSS-C Hardware: Differential RS422/RS485, clock (MA), data (SLO)
Clock frequency: 2 MHz
Max. position bits: 32 bits
Commutation: Auto-phasing, by absolute offset
Absolute EnDat 2.2 * Hardware: Differential RS422/RS485, clock, data
Clock frequency: 2 MHz
Max. position bits: 32 bits
Commutation: Auto-phasing, by absolute offset
Hall sensors Opto-isolated 5V with internal or external power supply
* EnDat 2.2 is not supported in the standard FPGA version due to space constraints. The default
production FPGA supports BiSS-C only. If you are interested in a FPGA version that supports EnDat
2.2, contact Technical Support.

Electrical and Mechanical Specifications
AGD200 Product Manual Rev.2.1 Page 8
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
Termination: 120 Ω
Propagation delay: 100 ns
Max. frequency: 5 MHz
Functionality: Position lock (capture), pulse and direction ,
AqB encoder following
Differential digital outputs Hardware: Differential RS422
Termination: NA
Propagation delay: 100 ns
Max. frequency: 5 MHz
Functionality: Position event, encoder emulation, alarm,
statuses, and others.
Bi-directional differential I/O Hardware: Differential RS422
Termination: 120 Ω
Propagation delay: 100 ns
Max. frequency: 5 MHz
Direction: Input or output, set by Agito PCSuite
Functionality: Any differential input or output functionality.
Analog inputs Operational voltage: ±12V
Resolution: 12 bit (16 bit with extension board)
Analog outputs Operational voltage: ±12V
Resolution: 16 bit
Static brake output Operational voltage: 24V
Maximum current: 3A

Electrical and Mechanical Specifications
AGD200 Product Manual Rev.2.1 Page 9
Mechanical Specifications
Feature Specification
Unit dimensions (max) H=107 mm, W=50 mm, D=88 mm
Package dimensions H=150 mm, W=120 mm, D = 120 mm
Unit weight 0.2 kg
Shipping weight 0.24
Figure 3. Product Dimensions (mm)

Motion Control Specifications
AGD200 Product Manual Rev.2.1 Page 10
1.5 Motion Control Specifications
Motion Control Specifications
Feature Specification
Key Features Encoder error mapping: 1D, 2D or 3D
Auto-loop shaping (auto-tuning)
Frequency domain system identification and modeling
Flexible gain scheduling based on motion conditions
Position lock and event
Advanced Auto-tuning algorithm in frequency domain
Force control and mode switching
Advanced Features UltraPrecision mode (UPM)
Input-shaping
Profile-shaping
Machine vibration control with external sensor
Spring and friction compensation
Active-yaw gantry control
Control Sampling Rate 16 kHz (profiler, position, velocity, optional force, current)
Motion Modes Point-to-point
Repetitive
CNC sequential contour (G-codes)
Vector and tracking motion modes
Jog
ECAM
Gearing
Joystick
Handwheel
Pulse and direction
Operational Modes Position
Velocity
Force
Current (torque) modes
Motion Modes Switching Motion parameters, such as speed, acceleration, deceleration, and
target position can be all modified on-the-fly
Programming Interfaces Standalone user programs
Multi-threaded with priority setting environment, up to 8 threads
Execution time: 50 low script commands in 1 millisecond
High level C-language-like script programming language integrated
in Agito PCSuite

Environmental Specifications
AGD200 Product Manual Rev.2.1 Page 11
Feature Specification
IDE and Host Interfaces Windows PC Suite IDE and configuration software
Windows .NET API available in NuGet package manager
Linux .NET API
The API can also be used in MATLAB, LabVIEW and other
environments compatible with Windows .NET
Standard TCP/IP communication
ASCII string commands or binary CAN format
1.6 Environmental Specifications
Environmental Specifications
Feature Specification
Operating temperature 0°C to 50°C
Storage temperature -20°C to 70°C
Operating humidity < 90%
Operating conditions Protection class: IP20

Safety Symbols
AGD200 Product Manual Rev.2.1 Page 12
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
Connectors X22, X21, X24, X25 are high power. Do not touch these connectors when
the product is powered.

Compliance
AGD200 Product Manual Rev.2.1 Page 13
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
Directive Standard
2014/35/EU
EC Machinery Low Voltage Directive
IEC 61800-5-1:2007/A1:2017
2014/30/EU
Electromagnetic Compatibility Directive (EMC)
IEC 61800-3-2017
RoHS 2011/65/EU + (EU)2015/863 EN 50581:2012
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.

Compliance
AGD200 Product Manual Rev.2.1 Page 14

Unpacking and Packing
AGD200 Product Manual Rev.2.1 Page 15
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 AGD200
The heatsink on the back of the AGD200 includes 4 holes for mounting the unit. The AGD200 can be
mounted vertically (book mounting) or horizontally (shelf mounting).
The AGD200 is mounted using 4 M4 screws. It is important to mount the product on metal panel for
both grounding and secure connections.
The heatsink of the AGD200 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 AGD200 and the PE of main power supply in the system.
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 50°C. It is recommended to mount
the product on a large metal panel to help dissipate the heat generated in the product.

Mounting
AGD200 Product Manual Rev.2.1 Page 16
3.2.2 Mounting Multiple Power Amplifiers
When mounting multiple amplifiers within a cabinet, clearance between units must be at least
40 mm. In addition, top and bottom clearance must be at least 40 mm.
Ambient temperature in the cabinet must not exceed 50°C
If controller are mounted on a backplane, the backplane temperature must not exceed the 50°C.
It is recommended to install a cooling fan at the bottom of the cabinet for best circulation.
Figure 4. Vertical Mounting multiple amplifiers within cabinet
Figure 5. Horizontal mounting multiple amplifiers within cabinet

Electrical Installation
AGD200 Product Manual Rev.2.1 Page 17
3.3 Electrical Installation
3.3.1 Power Wiring
AGD200 is designed to operate on voltage ranging from 12V VAC to 90 VDC, which is supplied to bus
voltage, to motor, and to logic power.
Regeneration
AGD200 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 AGD200 X25 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.
AGD200 controllers have one regeneration resistor input for both axes. Regeneration power of two
motors must be taken into consideration when selecting the resistor.
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 X25: Regen.
Important Notes
The regeneration feature, once enabled, is always active, regardless of the motor status
(enabled/disabled).
Current will flow in the regeneration resistor depending on the values of RegenOn and RegenOff,
and the power supply voltage.
There are no current or power protections to protect the regeneration resistor or the internal
MOSFET.
Be sure to set the suitable regeneration parameters for the supply voltage and the external
regeneration resistor.
Plug in the regeneration resistor only after all parameters are set properly, and always when the
controller power is off.
Let the regeneration resistor cool down before touching it. Unplug it only when the controller
power is off.
During development, if the supply voltage is to be modified, first disconnect the regeneration
resistor and, before reconnecting the regeneration resistor, be sure to adjust the regeneration
parameters to match the new supply voltage.
We recommend adding external protections (such as PTC) to protect the regeneration resistor.

Electrical Installation
AGD200 Product Manual Rev.2.1 Page 18
3.3.2 Grounding
It is recommended to install the AGD200 on a metal plate for better power dissipation, reduced EMI,
and grounding connection. Make sure the plate is not painted.
The heatsink of the AGD200 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
chassis connection screw of AGD200 and the PE of main power supply in the system.
Figure 20: Chassis connection screw
Note: Within the product, the chassis is not connected to the power supply ground.
Figure 6. System grounding
Ground Domains
The following table shows the ground domains in the AGD200 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
AGD200 Product Manual Rev.2.1 Page 19
Ground Domains
Name Ground Domain Notes
DC power input GND (digital ground) External DC power supply
Isolated digital inputs/outputs General Isolated
Differential inputs/outputs GND Not isolated. To controller/PLC.
Analog inputs/outputs GND Not isolated
Brake control output General Isolated. External DC power supply.
Regeneration output PGND
Ethernet communication General Isolated
Other communication GND Not isolated (unless otherwise stated in
manual).
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 AGD200 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 6.
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).

Electrical Interfaces
AGD200 Product Manual Rev.2.1 Page 20
3.4 Electrical Interfaces
This section provides a detailed description of all the power and signal interfaces of the product.
3.4.1 Interface X21: Main Power
Connector X21 is used to supply 12–90 VDC to the AGD200.
The input voltage is directly connected to the amplifier power bridge, to driver the motors. In
addition, it is used to generate internal logic power to the controller board and to external devices
such as encoders and I/Os.
The AGD200 is fully operational with this single power supply.
Figure 7: Main power connector
Connector X21: PWR
Pin # Name Type Description
1 Power GND PWR Power GND
2 Main Power PWR Motor power input: 12V to 90V, up to 16A continuous
Connector manufacturer Phoenix
Mating connector part number 1779987
Connector pitch 5.08 mm
Wiring 14–18 AWG, insulation rated for 300V
Warning
The AGD200 does not include protection against inversed polarity at the input power.
Make sure you connect power input according to the connector pinout below.
Optional schemes for isolated power supplies
The AGD200 can support fully isolated power supplies, one for the power circuitry to
drive the motor, and one for the digital logic. If you are interested in such a scheme,
contact Technical Support.