Agito AGD301 Series User manual

AGD301 Product Manual Rev1.3
Page 1
AGD301
3-axis Controller and Drive
Product Manual

AGD301 Product Manual Rev1.3
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Revision History
Version
Description
Date
1.0
Initial Release
3 August 2020
1.1
Added “X7” label to connector references in remarks
5 November 2020
1.2
Corrected P/N for encoder connectors
17 November 2020
1.3
Added connector reference to TOC
25 November 2020

AGD301 Product Manual Rev1.3
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Table of Content
1. General Description ______________________________________________________ 4
1.1 Product Description ________________________________________________________ 4
1.2 Product Naming ___________________________________________________________ 4
1.3 Contact information ________________________________________________________ 4
2. Safety, Warranty, Compliance and Environment _______________________________ 5
2.1 Safety____________________________________________________________________5
2.2 Warranty _________________________________________________________________ 5
2.3 Compliance _______________________________________________________________5
2.4 Environment Conditions _____________________________________________________6
2.5 Copyrights and Trademarks __________________________________________________6
2.5.1 Copyright Notice________________________________________________________________ 6
2.5.2 Products Rights_________________________________________________________________ 6
2.5.3 Disclaimer _____________________________________________________________________ 6
2.5.4 Trademarks____________________________________________________________________ 6
3. Installation Instruction____________________________________________________ 7
3.1 Mechanical Dimensions and Mounting _________________________________________ 7
3.2 Power Rating, Safe Operating Area and Grounding Policy___________________________8
3.2.1 Power Rating __________________________________________________________________ 8
3.2.2 Safe Operating Area _____________________________________________________________ 9
3.2.3 Grounding Policy ______________________________________________________________ 11
3.2.3.1 Overview ________________________________________________________________ 11
3.2.3.2 Policy ___________________________________________________________________ 11
3.3 Electrical Interface ________________________________________________________13
3.3.1 Power connectors______________________________________________________________ 13
3.3.1.1 X7: Logic, I/O Power and Brake Power _________________________________________ 13
3.3.1.2 X5: Bus Power ____________________________________________________________ 14
3.3.1.3 X6: Backup Power _________________________________________________________ 15
3.3.2 Communication Ports___________________________________________________________ 16
3.3.2.1 X2: Ethernet______________________________________________________________ 16
3.3.2.2 X8, X9: CAN Bus, RS-232 and RS-485 (serial communication port)____________________ 17
3.3.2.3 X1: Micro USB ____________________________________________________________ 18
3.3.3 Axis Interfaces ________________________________________________________________ 19
3.3.3.1 A1, B1, C1: Encoders _______________________________________________________ 19
3.3.3.2 A3, B3, C3: Digital and Analog I/Os ____________________________________________ 21
3.3.3.3 A2, B2, C2: Static Brakes and Hall Sensors ______________________________________ 29
3.3.3.4 A4, B4, C4: Motor Power ____________________________________________________ 32
3.3.4 System and Miscellaneous Interfaces ______________________________________________ 33
3.3.4.1 X4: General Purpose I/Os____________________________________________________ 33
3.3.4.2 DIP Switches______________________________________________________________ 35
3.3.4.3 X3: Safety ________________________________________________________________ 36
3.3.4.4 X10: Regeneration _________________________________________________________ 38
4. Operation Instruction ___________________________________________________ 39
4.1 Software Configuration_____________________________________________________39
4.2 Tuning __________________________________________________________________41
4.2.1 Auto Phasing__________________________________________________________________ 41
4.2.2 Current Loop Tuning____________________________________________________________ 42
4.2.3 Auto Velocity and Position Loop Tuning ____________________________________________ 43
4.2.4 Manual Velocity and Position Loop Tuning __________________________________________ 45
5. Maintenance and Servicing Instruction ______________________________________ 46

AGD301 Product Manual Rev1.3
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1. General Description
1.1 Product Description
The following picture illustrates the AGD301 series of products, which consists of a motion controller
and integrated power amplifier.
This product can control and drive up to 3 permanent magnet synchronous motors, which can be of
any combination of rotary brushless motor, linear brushless motor, rotary DC motor, rotary or linear
voice coil motor.
This product can operate in standalone mode controlled by a stored user program, or it can be
controlled with external analog command, pulse and direction input or high-level commands over its
communication channels.
1.2 Product Naming
Product description
Part numbers
3-Axis Controller, Integrated Amplifiers
AGD301-ET-2Dxx[-CCC]
xx: Continuous and peak current options
-05: Per axis 5.6 Arms continuous, 11.2Arms peak; 90 VDC max.
-09: Per axis 9.0 Arms continuous (up to 20 Arms for 3 axes), 18.0Arms peak; 90 VDC max.
CCC: Optional customization number
Example: AGD301-ET-2D05, 5.6Arms continuous, 11. 2Arms peak current for each axis.
1.3 Contact information
Manufacturer
Agito Akribis Systems Ltd
Address
6 Yad-Harutsim St., P.O.Box 7172, Industrial Zone, Kfar-Saba 4464103
Telephone
[phone]
Website
www.agito.co.il
Figure 1: AGD301

AGD301 Product Manual Rev1.3
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2. Safety, Warranty, Compliance and Environment
2.1 Safety
In order to achieve optimum and safe operation of the product, it is important to follow the safety
procedures provided 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).
This product contains electrostatic-sensitive components, proper handling procedure 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.
Watch out for any safety symbols on the product or in the manual. Follow proper safety precautions
when installing or operating the product.
ATTENTION: Capacitors on the DC bus can retain hazardous voltages after input power has
been removed. Wait until the red LED goes off before physically touching the product.
Failure to observe this precaution could result in severe bodily injury or loss of life.
ATTENTION:Do not attempt to defeat 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.
2.2 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.
2.3 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.

AGD301 Product Manual Rev1.3
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2.4 Environment Conditions
Requirement
Units
Allowed range
Operational temperature
C
0 to 45
Storage temperature
C
-20 to 70
Humidity
%
<90
2.5 Copyrights and Trademarks
2.5.1 Copyright Notice
© 2020 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.
2.5.2 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 have full rights to distribute above products worldwide.
2.5.3 Disclaimer
This product documentation was accurate and reliable at the time of its release.
Agito Akribis Motion Systems Ltd reserves the right to change the specifications of the product
described in this manual without notice at any time.
2.5.4 Trademarks
PCSuite is trademark of Agito Akribis Motion Systems Ltd.

AGD301 Product Manual Rev1.3
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3. Installation Instruction
3.1 Mechanical Dimensions and Mounting
User can mount the AG300C-DRV02 either with the wider side with 4 screws, or the narrower side with
2 screws, according to the 6 open slots shown in the picture below. It is important to securely mount
the base plate on the electrical panel to avoid vibration and loosening of the connectors. The base
plate is electrically conductive and serve as the protective earth (PE) ground of the product. 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.
Figure 2: Mechanical mounting dimensions
Warning –Metal Base Plate for Heat Dissipation!
The product is supplied with a metal base, for protection and firm mounting, as well
as for heat dissipation. At full power operation, the base plate can be quite warm,
around 45 degree Celsius, it is recommended to mount the product on a big metal
plate to help dissipating the heat generated in the product.

AGD301 Product Manual Rev1.3
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3.2 Power Rating, Safe Operating Area and Grounding Policy
3.2.1 Power Rating
The following table presents the absolute maximal power, voltage, current and temperature ratings of
the product.
Operating (or storing) the product outside of the above defined Absolute Maximal Ratings are not
allowed and will damage the product.
Each of the power/voltage/current Absolute Maximal Ratings is valid over the overall operating
temperature range, subjected to the SOA (Safe Operating Area) as defined below.
S/N
Description
Units
Maximum
Ratings
Remark
1
Continuous motor current
Arms
5.6 or 9.0
Per axis, internally limited by FW
(variant dependent, see Section 1.2)
2
Peak motor current
Arms
11.2 or 18
Per axis, internally limited by FW
(variant dependent, see Section 1.2)
3
Main power supply
VDC
90
See Note 1.
4
Current per 5v pin
A
0.5
To external components.
Internally limited by HW
4
Overall 5v current
A
1.5
To external components. See Note 2.
5
Isolated output, sink
A
0.5
Per output. See Note 3.
6
Isolated output, source
A
0.3
Per output. See Note 3.
7
Isolated input
V
28
See Note 4.
8
Common power/GND to
isolated I/O's
A
1
Per connector. See Note 4.
9
I/O power input current
A
4.5
Current at I/O power connector. See
Note 4.
10
Backup power
VDC
12 –36
See Note 4.
11
Operating temperature
C
0 –50
See Note 5.
12
Storage temperature
C
-20 –70
Below 40% relative humidity
Notes:
1. While VBus is monitored and motors will be disabled in case of too high voltage, there is no
protection against connection of too high voltage power supply. Such connection will damage
the product.
2. While each 5V pin is limited to supply up to 0.5A, there is no protection to limit the overall
current of 5V to external devices to this limit. Sourcing more than this limit may result with
unexpected wrong behavior of the product.
3. This limit has no internal protection! Sinking (or sourcing, as relevant) values higher than this
limit will damage the product.
4. This limit has no internal protection! Exceeding this limit will damage the product.
5. The product includes a built-in temperature protection, as described below. However, it is the
user’s responsibility not to operate the product, at any circumstances and conditions, with
environmental conditions outside the defined limits.

AGD301 Product Manual Rev1.3
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3.2.2 Safe Operating Area
While each specific maximal rating can be safely used, the product will not be able to provide some
combinations of these maximal ratings.
For example, the product will not enable operation under the following combined maximal ratings
usage continuously over long-term period:
i. Three axes at 5.6Arms continuous each, at 90% PWM duty cycle, and
ii. 1.5A external load on the 5V supply, and
iii. Product mounted horizontally and is not attached to a suitable base plate, and
iv. 50C ambient temperature.
The allowed combinations (as well as the unallowed combinations) can't be specifically provided since
they are a function of multiple conditions such as: continuous current of all 3 motors, bus voltage,
PWM duty cycle of all 3 motors, 5V consumption, I/O's high current usage, base plate size, product
mounting orientation and ambient temperature.
The SOA of the product is defined as any combination of operational conditions (each within the
Absolute Maximal Ratings defined in Section 3.2.1) and assembly options that lead to internal product
temperature below 75 C.
The product includes a built-in temperature sensor. Its internal temperature is reported via the status
parameter BoardTemp. When BoardTemp reaches 75 degrees Celsius, all motors will be disabled with
a proper error message. Motor-enable request will create an error if BoardTemp is higher than 75 C.
Below are some examples of safe operating cases. The SOA charts assume 90% duty cycle on PWM
output continuously, i.e. motors are moving at the maximum speed allowed by the bus voltage.

AGD301 Product Manual Rev1.3
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Notes:
1. Overall PWM Power to Motors is the sum of PWM power to all 3 motors.
2. PWM Power = 0.95 x Main_Power_Supply_Voltage [V] x Motor_Continuous_Current [Arms].
This formula assumes 90% PWM duty cycle.

AGD301 Product Manual Rev1.3
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3.2.3 Grounding Policy
This section describes some common ground policy both DC and AC products. However, every
system is unique and may requires different grounding policy.
3.2.3.1 Overview
There are few common ground domains in the systems:
▪GND (reference voltage for digital/analog circuits and signals)
▪PGND (reference voltage for motor/regeneration circuits)
▪General –will usually be at DC potential close to GND, but not connected internally
There are few common interfaces between all Agito’s products, presented in the table below.
S/N
Name
Ground Domain
Isolation
1
DC power input
GND (digital ground)
2
AC power input
PGND (power ground only)
3
Ethernet communication
General
Isolated
4
Other communication
GND
Not isolated (unless otherwise
stated in manual)
4
Central-i communication
GND (for Master)
Isolated for Central-i remote
devices
5
Isolated digital
inputs/outputs
General
Isolated
6
Differential inputs/outputs
(not isolated)
GND
Not isolated
7
Analog inputs/outputs (not
isolated)
GND
Not isolated
8
Brake control output
General
Isolated
9
Regeneration output
PGND, GND
Always referenced to PGND, in AC
products isolated from GND
3.2.3.2 Policy
The policy below is based on the following guidelines:
▪In all products the enclosures and other external parts that may be touched by the user are in
“safe domain”.
Most will be designated Protective Earth (PE) and connected to building’s Ground. PE is
protected with Earth-leakage circuit breaker (ELCB), hence is safe to touch.
Others may be GND or signals, with voltage within few tens of volts above GND, hence safe.
▪Exception: power inputs, motor connectors, regeneration outputs all are not safe to touch and
may be exposed, if the connector is not populated!
▪GND, the digital ground, is assumed to have same potential (at least in DC) as the PE. That
means, at some point in the system GND is connected to the PE.

AGD301 Product Manual Rev1.3
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In DC devices, unless otherwise stated in the manual, the GND is not connected to PE inside
the product. The user must consider the system design and decide about where to connect
them.
The common recommendation is to connect PE to GND on the DC power supply.
In AC devices, since the DC supply is isolated and internal, GND is connected at a single point
to the PE inside the product.
▪In AC products PGND is (almost) directly connected to mains wires, hence is just as dangerous,
as mains, for the user.
▪All shielded cables, including but not limited to motor, encoders, power input, have their shield
connected to PE as part of external metal enclosure.
▪GND (digital ground) is bypassed to PE with high capacitance (10µF and more) for EMI/EMC
purposes.
▪PGND is bypassed to PE with low capacitance (around 10nF) for EMI/EMC purposes.
▪It is very important to avoid ground loops in the system. Ground loop allows currents to return
by two or more different paths, causing electromagnetic interference or in even damage to
wires.
The most susceptible is GND, as most control and communication signals are referenced to it,
requiring GND wires in many different cables.
▪System designer must carefully examine all GND connections in system to ensure no loops are
created on one hand, and all GND-referenced signals have GND wire nearby (for both return
currents and common mode voltage).

AGD301 Product Manual Rev1.3
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3.3 Electrical Interface
This section provides a detailed description of all the power and signal interfaces of the product.
3.3.1 Power connectors
This section describes all power connectors in the product.
3.3.1.1 X7: Logic, I/O Power and Brake Power
Figure 3: I/O and Brake Power Connector
Connector X7: I/O PWR
Pin #
Name
Description
1
IO_PWR
5 to 28 VDC –Logic and I/O Power Input
2
IO_PWR_Return
Gnd –Logic and I/O Power Return
3
VBrake
12 to 48 VDC –Brake Power Input
4
VBrake_Return
Gnd –Brake Power Return
Connector Manufacturer: Wurth Electronics
Mating Connector Part number: 691364100004
Connector Pitch: 3.5mm
Note: The product is protected from reversed polarity at the input Logic Power.
Note: VBrake is not needed if brake output is not used.
Warning - Hot plugging is not allowed!
Plug in or unplug the power connector only when power is off! Plugging the power
connector with power ON can lead to undesired high current passing through ALL
devices that are connected to the product’s Gnd and damaging these devices.

AGD301 Product Manual Rev1.3
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3.3.1.2 X5: Bus Power
Figure 4: Bus Power Connector
Connector X5: MAIN PWR
Pin #
Name
Description
1
VBus
12 to 90 VDC –Motor Bus power
2
VBus
12 to 90 VDC –Motor Bus power
3
VBus
12 to 90 VDC –Motor Bus power
4
VBus_Return
Gnd –Motor Bus Power Return
5
VBus_Return
Gnd –Motor Bus Power Return
6
VBus_Return
Gnd –Motor Bus Power Return
7
PE
Protective Earth
Connector Manufacturer: Wurth Electronics
Mating Connector Part number: 691340500007
Connector Pitch: 5.08mm
Warning –Common VBus Power!
Pin 1, 2 and 3 are connected to a common VBus, user cannot connect different voltages
to each pin.

AGD301 Product Manual Rev1.3
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3.3.1.3 X6: Backup Power
Figure 5: Backup Power Connector
Connector X6: BACKUP PWR
Pin #
Name
Description
1
VBackup
5 to 28 VDC –Backup Power
2
VBackup_Return
Gnd –Backup Power Return
3
PE
Protective Earth
Connector Manufacturer: Wurth Electronics
Mating Connector Part number: 691364100003
Connector Pitch: 3.5mm
Note: VBackup is optional, it allows user to communicate with the controller when “X5: MAIN PWR” is
disconnected.

AGD301 Product Manual Rev1.3
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3.3.2 Communication Ports
The section describes all the communication ports available for the host computer or controller to
communication with the product. User can refer to the Communication Protocol Manual for the
software details of the communication and a separate Command and Reference Manual for all the
supported keywords and parameters.
3.3.2.1 X2: Ethernet
Figure 6: Ethernet Connector
Description: RJ45 LAN 10/100Base-T Connector with magnetic
Cable: CAT5e or higher, shielded standard Ethernet straight cable
Connector X2: LAN (Ethernet)
Pin #
Name
Description
1
TX+_D1
Transmit Data+
2
TX-_D1
Transmit Data-
3
RX+_D2
Receive Data+
4
BI+_D3
Bi-directional+
5
BI-_D3
Bi-directional+
6
RX-_D2
Receive Data+
7
BI+_D4
Bi-directional+
8
BI-_D4
Bi-directional+
Connector Type: RJ45 LAN 10/100Base-T Connector
Mating Connector Part Number: Any CAT5e compatible shielded connector
Cable: CAT5e or higher, standard Ethernet straight cable

AGD301 Product Manual Rev1.3
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3.3.2.2X8, X9: CAN Bus, RS-232 and RS-485 (serial communication port)
Figure 7: Serial Communication Connectors
Connector X8 and X9: CAN, RS232, RS485
Pin #
Name
Description
1
GND
Digital Ground
2
RS232_RX
RS232 input (receive at product)
3
RS232_TX
RS232 output (transmit from product)
4
RS485_B
RS-485 bus, inverted
5
RS485_A
RS-485 bus, not inverted
6
Sync
Reserved for future use
7
CAN_L
CAN bus, Low
8
CAN_H
CAN bus, High
Connector Type: Standard RJ45, shielded
Note –Why dual port connector?
The serial port is a dual-port RJ45 connector. 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.
Note –CAN Bus and RS-485 terminators.
The CAN Bus lines have optional 120 ohms terminator that is connected/disconnected
by DIP Switch (“DIP SW.”, beside the serial port) number 1. Set “DIP SW.” number 1 to
ON position will connect a 120 ohms terminator between CAN_H and CAN_L (this is
needed only at the last unit in the CAN bus chain).
The RS-485 lines have a built-in (not optional) 120 ohms terminator. This may degrade
the communication performance in case too many units are placed on the RS-485 chain.

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3.3.2.3 X1: Micro USB
Figure 8: USB Connector
Connector X1: USB
Pin #
Name
Description
1
Vcc
5V
2
D-
Data-
3
D+
Data+
4
ID
USB OTG ID
5
GND
GND
Connector Description: Micro-USB 2.0 B-Type
Mating Connector Part number: Any Micro-USB 2.0 B-Type cable
Note –USB to RS232 Bridge.
The Micro USB connection is implemented using an internal bridge from USB to RS-
232 (UART). As a result, the communication performance, from user’s perspective, 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 visit the link for the files if required: http://www.ftdichip.com/Drivers/D2XX.htm.

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3.3.3 Axis Interfaces
The ENC port, IN/OUT port, MOTOR port and “BRK, HALLS”port (encoder, I/Os, motor power, brake
and hall sensors) are grouped together per axis as they are typically used together for each axis. Each
of these ports is identical in pinout and each has the same number of I/Os available for their respective
axis. There are additional I/Os provided in the GENERAL IN/OUT port. All I/Os provided in the “axis
ports” can be configured to be used by other axes or as general-purpose I/Os.
3.3.3.1A1, B1, C1: Encoders
The ENC ports, one for each axis, have identical pinout. Each port is used to interface a single encoder.
Each encoder port supports various encoder types.
Figure 9: Encoder Connector
Connector A1, B1 and C1: ENC (AXIS A, B and C)
Pin
#
Name
Encoder Types
Description
AqB
Sin/Cos
Biss-C
Endat2.2
1
5V
5V Power Supply (limited to 0.5A per connector)
2
GND
5V Return and Reference for Differential Signals
3
Encoder_1+
CLOCK+
CLOCK+
Clock+ pin for absolute encoders
4
Encoder_1-
CLOCK-
CLOCK-
Clock- pin for absolute encoders
5
Encoder_2+
A+
SIN+
A+ (for AqB) or SIN+ (for analog Sin/Cos)
6
Encoder_2-
A-
SIN-
A- (for AqB) or SIN- (for analog Sin/Cos)
7
Encoder_3+
B+
COS+
B+ (for AqB) or COS+ (for analog Sin/Cos)
8
Encoder_3-
B-
COS-
B- (for AqB) or COS- (for analog Sin/Cos)
9
Encoder_4+
Z+
Z+
DATA+
DATA+
Data+ for absolute encoders or Z+ for both AqB and
analog Sin/COS encoder
10
Encoder_4-
Z-
Z-
DATA-
DATA-
Data- for absolute encoders or Z- for both AqB and
analog Sin/COS encoder
Connector Manufacturer: 3M
Mating Connector Part number: 36210-0100PL + hood (36310-3200-008)

AGD301 Product Manual Rev1.3
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Note –Incremental encoder interface details.
Each differential-pair includes a built-in 120 ohms terminator and the required
hardware circuits to detect disconnected encoder cable. In such case when the
encoder cable is disconnected, the controller will disable the motor. The detection is
done on the A and B channels only (not on the index or Z-channel).
The product does not support single-ended encoder by default.
Note –5V supply limitation.
The 5V supply provided at pin 1 of each ENC connector is internally limited to 0.5A per
connector. The maximum total current provided by all the 5V pins in the product is
limited to 1.5A.