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