Agito AGM800 User manual

AGM800 Product Manual Rev.2.0 Page 1
AGM800
8-axis Central-i Master Controller
Product Manual

AGM800 Product Manual Rev.2.0 Page 2
Revision History
Version Description Date
2.0 Major update and revision of all content. 06 July 2022
1.0 Initial release 11 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, Israel
Telephone [phone]
Website www.agito-akribis.com
Copyright Notice
©2022 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..
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.

AGM800 Product Manual Rev.2.0 Page 3
Contents
1Product Description _____________________________________________________ 4
1.1 General Description ______________________________________________________________ 4
1.2 Central-i Overview _______________________________________________________________ 4
1.3 Part Numbering _________________________________________________________________ 5
1.4 Technical Specifications ___________________________________________________________ 6
1.5 Environmental Specifications_______________________________________________________ 8
2Safety ________________________________________________________________ 9
2.1 Safety Symbols __________________________________________________________________ 9
2.2 Safety Guidelines ________________________________________________________________ 9
2.3 Compliance ____________________________________________________________________ 10
3Installation ___________________________________________________________ 11
3.1 Unpacking and Packing___________________________________________________________ 11
3.2 Mounting _____________________________________________________________________ 11
3.2.1 Mounting the AGM800____________________________________________________ 11
3.2.2 Mounting Multiple Units __________________________________________________ 12
3.3 Electrical Installation ____________________________________________________________ 13
3.3.1 Power Supply ___________________________________________________________ 13
3.3.2 Wire and Cable Guidelines _________________________________________________ 13
3.3.3 Grounding ______________________________________________________________ 13
3.4 Communication – Central-i _______________________________________________________ 13
3.4.1 Interface ST: Status LED ___________________________________________________ 14
3.5 Electrical Interfaces _____________________________________________________________ 15
3.5.1 Interface X11: Power _____________________________________________________ 15
3.5.2 Interface X2: Ethernet (LAN) _______________________________________________ 16
3.5.3 Interface X4-ab: CAN bus, RS232 and RS485 ___________________________________ 17
3.5.4 Interface X1: Micro USB ___________________________________________________ 18
3.5.5 Interface X3: SD Card _____________________________________________________ 18
3.5.6 Interface X10: Central-i Ports _______________________________________________ 19
4Operation____________________________________________________________ 21
4.1 Central-i Connection_____________________________________________________________ 21
4.2 Motor Configuration and Tuning Operations _________________________________________ 21

General Description
AGM800 Product Manual Rev.2.0 Page 4
1 Product Description
1.1 General Description
The AGM800 is a high performance 8-axis Central-i master motion
controller
. It has 12 Central-i ports, eight of which can
be connected
to any remote Central
-i amplifier, while another four can be
connected
to a remote device, such as an I/O module or a link
adapter
.
The
AGM800 executes motion profiles and all servo control loops
at
a 16 kHz sampling rate axis synchronization-multithus enabling,
.nanoseconds
within
The
AGM800 is equipped with large amounts of flash and RAM
memories to support complex
applications and features, such as
CNC motion and 3D error mapping
.
AGM800
is ideally suited to control direct drive and servo motors,
providing highly coordinated multi
-axis motion with excellent
posi
tion/velocity tracking, and settling performance. The AGM800
controller supports many advanced features such as active yaw
gantry control, force control, CNC modes, user programs, and
2D/3D error compensation as standard featur
es, and has user
friendly configuration tools for easy
implementation.
Figure 1. AGM800
1.2 Central-i Overview
To support industrial machinery performance demands, Agito developed a distributed control
fieldbus for motion control systems. The core of a Central-i system is a multi-axis master controller,
which performs all control algorithms, including trajectory planning, position, velocity, and current
loops.
The remote units do not require any computational resources or configuration memory, and receive
algorithm results via the simple and efficient Central-i digital protocol. The system’s star
communication topology enables synchronization of all remote devices and their power PWM signals
within nanoseconds.
A Central-i system is easily setup by simply plugging in the cables. The system adapts itself to the
connected remote devices, without needing to learn complex networking protocols or object items.
Although the hardware is distributed, it operates as a centralized system, in which the master
controller has access to all signals at the remote devices in every sampling cycle. The system designer
designs the system as a distributed system, with various locations and types of remote units. The
system integrator configures, tunes and programs the system with all configuration, data and
calculations stored and executed within a single, master controller.
The Central-i network contains all the necessary functionalities for semiconductors, electronic
assembly, 3D printing, flat panel display (FPD), and other high performance applications.

Part Numbering
AGM800 Product Manual Rev.2.0 Page 5
1.3 Part Numbering
Product Description Part Number Format
8-Axis Central-i Master Controller AGM800-CI[-CCC]
CI: Central-i communication
CCC: Optional customization number
Example: AGM800-CI

Technical Specifications
AGM800 Product Manual Rev.2.0 Page 6
1.4 Technical Specifications
General Specifications
Feature Specification
Number of Central-i ports 12
Number of axes 8
Power supply 9–36 VDC
CPU ARM Cortex A9, 900 MHz dual core
Flash memory 128 MB (and external SD card)
RAM 8 GB
Communication Ethernet, RS232
Fieldbus to amplifiers and I/O Central-i
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
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 (position, velocity, optional force, current)
Motion modes Point-to-point, Repetitive, Jog, ECAM, Gearing, Joystick,
Handwheel, Pulse and direction, Gantry, Vector, Tracking, CNC
sequential contour (G-codes)
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
Interface to camera/laser Via fast differential or optically isolated I/Os in remote AGIO or
AGA10x: Event – position output event (1D or 2D), Lock – position
capture.
User programmable PWM output via remote unit with 1 MHz
frequency.
CNC mode CNC sequential contour (G-codes) support, FIFO buffering, Corners
compensation, Linear, Circular and Helical interpolations.
Homing modes User programmable: on encoder index, home switch, limit switch,
hard stop. Easily configurable to any sequence.
Commutation Motor learning, Auto-phasing (for incremental encoders), Hall
sensors, Absolute encoder.

Technical Specifications
AGM800 Product Manual Rev.2.0 Page 7
Feature Specification
Programming interfaces Standalone multi-tasking user programs – high level script-based
program executed in the controller (up to 8 multi-threading
programs with priority setting for each thread. More than 300
commands per 1 ms.
IDE integrated in Agito PCSuite.
IDE and Host Interfaces Agito PCSuite 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
Central-i Specifications
Feature Specification
Topology Star (peer to peer)
Cycle time 61 µs
Connector type RJ-45 (Cat5e cable)
Cable length Up to 100m
Physical layer Dual channel RS485 full duplex
Baud rate 20 Mbps (per channel)
Synchronization between nodes
8 nanosecond
Supported Central-i devices AGA101, AGA102, AGA103, AGA155
AGL101, ACL102
AGIO01, AGIO02
Dimensions and Weight
Feature Specification
Unit dimensions (max) H=141 mm, W=41 mm, D=107 mm
Package dimensions 155 mm x 55 mm x 120 mm
Unit weight 0.4 kg
Shipping weight 0.5 kg

Environmental Specifications
AGM800 Product Manual Rev.2.0 Page 8
Figure 2. Product dimensions (mm)
1.5 Environmental Specifications
The operational range may be additionally limited by the internal temperature protection of the
product. It is the user’s responsibility to avoid operating the product in environmental conditions
that do not conform to the defined limits.
Environmental Specifications
Feature Specification
Operating temperature 0°C to 45°C
Storage temperature -20°C to 70°C
Operating humidity < 90%
Storage humidity < 40%
Pollution degree 2
Vibration 1G @ 150 Hz according to IEC 60068-2-6
Operating conditions Protection class: IP20

Safety Symbols
AGM800 Product Manual Rev.2.0 Page 9
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.

Compliance
AGM800 Product Manual Rev.2.0 Page 10
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
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.