Agito AGD301 Series User manual

AGD301
3-Axis Controller
with Integrated Drives
Product Manual

AGD301 Product Manual Rev.2.0 Page 2
Revision History
Version Description Date
2.0 Major revision 9 December 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.

AGD301 Product Manual Rev.2.0 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 ____________________________________________________________________16
3.2.1 Mounting the AGD301 ___________________________________________________16
3.2.2 Mounting Multiple Power Amplifiers ________________________________________16
3.3 Electrical Installation ___________________________________________________________18
3.3.1 Power Wiring___________________________________________________________18
3.3.2 Regeneration___________________________________________________________18
3.3.3 Safe Operating Area _____________________________________________________19
3.3.4 Grounding _____________________________________________________________21
Ground Domains ________________________________________________________22
Grounding Policy________________________________________________________22
3.4 Electrical Interfaces ____________________________________________________________23
3.4.1 Interface X5: Main Power _________________________________________________23
3.4.2 Interface X6: Backup Power _______________________________________________24
3.4.3 Interface X7: I/O Power and Brake Power ____________________________________25
Brake Circuitry__________________________________________________________26
3.4.4 Interfaces A4, B4, C4: Motors ______________________________________________27
3.4.5 Interface X3: Safety______________________________________________________28
Safety Circuitry _________________________________________________________29
3.4.6 Interface X10: Regeneration _______________________________________________30
3.4.7Interfaces A1, B1, C1: Encoders ____________________________________________31
3.4.8 Interfaces A2, B2, C2: Hall Sensors and Static Brake_____________________________32
Hall Sensors Circuitry ____________________________________________________35
3.4.9 Interfaces A3, B3, C3: Digital and Analog I/Os _________________________________36
3.4.10 Interface X2: Ethernet (LAN)_______________________________________________40
3.4.11 Interfaces X8, X9: CAN, RS232, RS485________________________________________41
3.4.12 Interface X1: Micro-USB __________________________________________________42
3.4.13 Interface X4: General Purpose I/Os__________________________________________43
3.4.14 I/O Interfaces – Circuitry__________________________________________________46
Isolated Digital Inputs ____________________________________________________46
Isolated Digital Outputs __________________________________________________46
Analog Input ___________________________________________________________47
Analog Output__________________________________________________________48
Differential Inputs _______________________________________________________48
Differential Outputs _____________________________________________________48
Bi-directional Differential I/Os _____________________________________________49
3.4.15 DIP Switches ___________________________________________________________49
3.4.16 Status LED _____________________________________________________________51

AGD301 Product Manual Rev.2.0 Page 4
4Operation ____________________________________________________________ 52
4.1 Motor Configuration____________________________________________________________52
4.2 Drive/Motor Overload Protection _________________________________________________54
4.2.1 I2T ___________________________________________________________________54
4.2.2 Motor Stuck____________________________________________________________55
4.3 Tuning _______________________________________________________________________56
4.3.1 Commissioning _________________________________________________________56
4.3.2 Current Loop Tuning _____________________________________________________57
4.3.3 Auto Velocity and Position Loop Tuning ______________________________________58
4.3.4 Manual Velocity and Position Loop Tuning____________________________________61
5Maintenance and Servicing ______________________________________________ 63
5.1 Troubleshooting _______________________________________________________________63

General Description
AGD301 Product Manual Rev.2.0 Page 5
1 Product Description
1.1 General Description
AGD301 is a series of 3-axis, standalone, high performance
programmable 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, velocity and current control
loops) frequency, AGD301 controllers are ideal for any tightly
coordinated motion systems.
AGD301 has three integrated amplifiers, enabling it to drive three
motors directly. It can drive all types of motors, such as steppers,
voice coils, brushed or brushless motors, and including direct-drive
linear and rotary motors.
Agito PCSuite software and IDE is used for AGD301 programing,
configuration, tuning and operation. Agito PCSuite provides
configuration wizard, time domain tuning and analysis, frequency
domain identification and design, auto tuning and easy to use GUI for
all the features of agito controllers.
Figure 1. AGD301
1.2 Part Numbering
Product Description Part Number Format
3-Axis Controller, Integrated Amplifiers AGD301-ET-2Dxx[-ccc]
ET: Ethernet
2D: 12-90 VDC
xx: Continuous and peak current rating
05: (per axis) 5.6 Arms continuous, 11.2Arms peak
09: (per axis) 9.0 Arms (up to 20 Arms for 3 axes) continuous, 18.0 Arms peak
ccc: Revision code or customized code (optional for standard variant).
Example: AGD301-ET-2D09-001, 9Arms continuous, 18.0 Arms peak current for each axis,
with 16-bit analog input

System Design
AGD301 Product Manual Rev.2.0 Page 6
1.3 System Design
Figure 2. System connections and wiring
1.4 Electrical and Mechanical Specifications
Electrical Specifications
Feature AGD301-ET-2D05 AGD301-ET-2D09
Number of axes 3
Power supply 12–90 VDC
Logic power supply (optional) * 12–36 VDC
Continuous output current
(Internally limited by firmware)
5.6 Arms per axis 5.6 Arms per axis
Peak output current
(Internally limited by firmware)
11.2 Arms 11.2 Arms
Output power @ 90 VDC 504 kVA 504 kVA
Peak current time 3 sec
Output frequency 0–599 Hz
Isolated digital inputs 27
Isolated digital outputs 17
Differential inputs 8
Differential outputs
Analog inputs 4 (12 bit)
Analog outputs 4 (16 bit)

Electrical and Mechanical Specifications
AGD301 Product Manual Rev.2.0 Page 7
Feature AGD301-ET-2D05 AGD301-ET-2D09
Brake outputs 3
Encoder ports 3
Hall sensors ports 3
Regeneration output 1
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
Encoder Ports Specifications
Feature Specification
Encoder types Incremental AqB, Sin/Cos, 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 Ω
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 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: 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

Electrical and Mechanical Specifications
AGD301 Product Manual Rev.2.0 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
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 or 16 bit
Analog outputs Operational voltage: ±12V
Resolution: 16 bit
Static brake output Operational voltage: 24V
Maximum current: 3A

Electrical and Mechanical Specifications
AGD301 Product Manual Rev.2.0 Page 9
Mechanical Specifications
Feature Specification
Unit dimensions (max) H=57 mm, W=188 mm, D=105 mm
Package dimensions H=70 mm, W=235 mm, D = 145 mm
Unit weight 0.4 kg
Shipping weight 0.5 kg
Figure 3. Product Dimensions (mm)

Motion Control Specifications
AGD301 Product Manual Rev.2.0 Page 10
1.5 Motion Control Specifications
Motion Control Specification
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 Ultra Precision 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
AGD301 Product Manual Rev.2.0 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
AGD301 Product Manual Rev.2.0 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.
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

Compliance
AGD301 Product Manual Rev.2.0 Page 13
injury and/or damage to equipment.
Warning
Connectors A4/B4/C4, X5, X7, X10 are high power. Do not touch these connectors
when the product is powered.
Warning
Capacitors on the DC bus can retain hazardous voltages after input power has been
removed. In general it is not recommended to touch or plug in/out connectors when unit
is powered.
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
AGD301 Product Manual Rev.2.0 Page 14

Unpacking and Packing
AGD301 Product Manual Rev.2.0 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.

Mounting
AGD301 Product Manual Rev.2.0 Page 16
3.2 Mounting
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.
3.2.1 Mounting the AGD301
The AGD301 includes 6 slots for mounting the unit, as shown in Figure 3. The unit can be mounted
using either the 2 side slots or the 4 bottom slots.
The AGD301 is mounted using M4 screws. It is important to mount the product on metal panel for
both grounding and secure connections.
The heatsink of the AGD301 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 AGD301 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.
3.2.2 Mounting Multiple Power Amplifiers
When mounting multiple amplifiers within a cabinet, clearance between units must be at least 5 mm
for vertical mounting and 70mm for horizontal mounting . In addition, top and bottom clearance
must be at least 60 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. Horizontal mounting multiple amplifiers within cabinet (mm)

Mounting
AGD301 Product Manual Rev.2.0 Page 17
Figure 5. Vertical mounting multiple amplifiers within cabinet (mm)

Electrical Installation
AGD301 Product Manual Rev.2.0 Page 18
3.3 Electrical Installation
3.3.1 Power Wiring
AGD301 is designed to operate on voltage ranging from 12 VDC to 90 VDC, which is supplied to bus
voltage, to motor, and to logic power.
3.3.2 Regeneration
AGD301 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 AGD301 X10 connector to dissipate excess regenerated energy, and
prevent it from reaching undesirable levels. The regeneration resistor starts to dissipate energy when
actual bus voltage reaches threshold defined by RegenOn parameter. Regeneration voltage threshold
parameters are software configurable and can be modified according to the motor’s maximum
voltage specification.
AGD301 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 X10: Regeneration.
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
AGD301 Product Manual Rev.2.0 Page 19
3.3.3 Safe Operating Area
While each specific maximal rating can be safely used, the product cannot support certain
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:
Three axes at 5.6Arms continuous each, at 90% PWM duty cycle
1.5A external load on the 5V supply
Product mounted horizontally and not attached to a suitable base plate
50°C ambient temperature.
Permitted combinations, as well as forbidden combinations, cannot be specifically provided since
they are a function of multiple conditions, such as continuous current of all three axes, bus voltage,
PWM duty cycle of all three 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 the Technical Specifications) 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°C, all motors will be disabled and
ererors will be reported. A motor-enable request will create an error if BoardTemp is higher than
75°C.
The following figures are examples of safe operating cases. The SOA charts assume 90% duty cycle on
PWM output continuously; that is, motors are moving at the maximum speed allowed by the bus
voltage.
Attention
Each of the power/voltage/current absolute maximal ratings is valid over the overall
operating temperature range, subject to the safe operating area (SOA).
Attention
Operating (or storing) the product contrary to the defined absolute maximal ratings is
not allowed and will damage the product.

Electrical Installation
AGD301 Product Manual Rev.2.0 Page 20
AGD301-ET-2D05 Safe operating area (SOA) @90 VDC
AGD301-ET-2D09 Safe operating area (SOA) @90 VDC
PWM power
Overall PWM power to motors is the sum of PWM power to all three motors.
PWM power = 0.95
× Main_Power_Supply_Voltage [V] × Motor_Continuous_Current [Arms]
This formula assumes 90% PWM duty cycle.