Agito AGM800 User manual

AGM800 Product Manual Rev1.0 draft
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AGM800
8-axis Central-i Master Controller
Product Manual

AGM800 Product Manual Rev1.0 draft
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Revision History
Version
Description
Date
1.0
Initial Release
11 August 2020

AGM800 Product Manual Rev1.0 draft
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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 and Grounding Policy ___________________________________________ 8
3.2.1 Power Rating ____________________________________________________________________ 8
3.2.2 General Grounding Policy __________________________________________________________ 9
3.2.2.1 Overview___________________________________________________________________ 9
3.2.2.2 Policy______________________________________________________________________ 9
3.3 Electrical Interface________________________________________________________ 11
3.3.1 Power connectors _______________________________________________________________ 11
3.3.1.1 Power ____________________________________________________________________ 11
3.3.2 Communication Ports ____________________________________________________________ 12
3.3.2.1 Ethernet __________________________________________________________________ 12
3.3.2.2 CAN Bus, RS-232 and RS-485 (serial communication port) __________________________ 13
3.3.2.3 Micro USB _________________________________________________________________ 14
3.3.2.4 SD Card ___________________________________________________________________ 14
3.3.3 Central-i Ports __________________________________________________________________ 15
3.3.4 LED Status _____________________________________________________________________ 15
4. Operation Instruction ___________________________________________________ 16
4.1 Software Configuration ____________________________________________________ 16
4.2 Tuning _________________________________________________________________ 18
4.2.1 Auto Velocity and Position Loop Tuning______________________________________________ 18
4.2.2 Manual Velocity and Position Loop Tuning ___________________________________________ 20
5. Maintenance and Servicing Instruction______________________________________ 21

AGM800 Product Manual Rev1.0 draft
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1. General Description
1.1 Product Description
The following picture illustrates the AG800 series of products, which is an 8-axis Central-i Master
controller.
This product can connect up to 12 Central-i remote devices, of which 8 of them can be remote
amplifiers. Therefore, it can control up to 8 axes in closed-loop position, velocity, force or current mode.
1.2 Product Naming
Product description
Part numbers
8-Axis Central-i Master Controller
AGM800-CI[-CCC]
CCC: Optional customization number
Example: AGM800-CI
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: AGM800
Figure 2: AGM800

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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: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.

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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.

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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 3: Mechanical mounting dimensions

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3.2 Power Rating 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
Power supply
VDC
36
See Note 1.
2
Current per 5v pin
A
0.3
To power communication module in
remote device, internally limited by HW
3
Overall 5v current
A
3.6
To external components. See Note 2.
4
Operating temperature
C
0 –50
See Note 5.
5
Storage temperature
C
-20 –70
Below 40% relative humidity
Notes:
1. While voltage is monitored, 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 0.3A, 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.

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3.2.2 General 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.
3.2.2.1 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
3.2.2.2 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.

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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).

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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 Power
Figure 4: Power Connector
Connector: POWER
Pin #
Name
Description
1
Power
9 to 36 VDC –Power
2
Power_Return
Gnd –Power Return
3
PE
Protective Earth
Mating Connector Manufacturer: DEGSON ELECTRONICS
Mating Connector Part number: 2EDGKF-5.08-03P-14-1000AH
Connector Pitch: 5.08 mm
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.

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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 Ethernet
Figure 5: 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, shielded standard Ethernet straight cable

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3.3.2.2 CAN Bus, RS-232 and RS-485 (serial communication port)
Figure 6: 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 Micro USB
Figure 7: 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
3.3.2.4 SD Card
This product includes a SD card reader to allow expansion of flash memory storage space.
Figure 8 SD Card slot
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 Central-i Ports
The Central-i Ports are communication ports between the AGM800 controller and any Central-i remote
devices, such as remote amplifiers (AGA series), remote I/O modules (AGIO series), remote link
adapters (AGL series).
Port-A to Port-H can be connected to any type of remote devices, while Port I, J, K and L can only be
connected to I/O modules.
Typically, the Central-i link can be connected by any standard CAT5e shielded cable, up to 10m.
However, a hardware option is available for up to 100m long connection between AGM800 and remote
devices. Please consult your sales representative for such option.
Figure 9 Central-i Ports
Connector X10: Ci-A, Ci-B, Ci-C, Ci-D, Ci-E, Ci-F, Ci-G, Ci-H, Ciaux-I, Ciaux-J, Ciaux-K, Ciaux-L
Pin #
Name
Description
1
DATA_1+
Data Channel 1+
2
DATA_1-
Data Channel 1-
3
DATA_2+
Data Channel 2+
4
Reserved
Reserved for future use
5
Reserved
Reserved for future use
6
DATA_2-
Data Channel 2-
7
V_REMOTE
Power supply to remote unit’s communication module
8
GND
GND
Connector Description: Standard RJ45, shielded
Mating Connector Part Number: Any CAT5e compatible shielded connector
Cable: CAT5e or higher, shielded standard Ethernet straight cable
3.3.4 LED Status
LED: ST
LED Status
Description
Green
Powered ON
Red
Red Blinking Fast (>2Hz_
Boot mode, waiting for FW download (refer to PCSuite manual)

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4. Operation Instruction
4.1 Software Configuration
This manual uses the product with a Linear DC Brushless motor as an example for illustration of the
configuration and operation. For advanced configuration and operation, refer to the respective
software manuals.
Connect the product to power supply, motor, encoder and other I/Os cable according to the electrical
interface section. Ensure that the safety port is connected before any operation.
Open PCSuite software. Select SYS in CONFIG below and setup the parameters as follows:
Figure 10 Operation Mode configuration
Click ‘Next’ and set the motor type and number of pole pairs according to the test motor：
Figure 11 Select Motor Type
Click ‘Next’ to setup the position feedback parameters. The definition of ‘Resolution’depends on the
motor and encoder type. For rotary motor and rotary encoder, it is the number of encoder counts per
mechanical revolution. For linear motor, it is the number of encoder counts per magnetic pitch (one
pole-pair),
Figure 12 Feedback Parameters
Note: Value of ‘Invert direction’ affects
commutation of the motor, it is required
that the encoder is moving in the positive
direction during auto-phasing process.

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Click ‘Next’ to setup position, velocity and motor stuck protection. Fill in the limits according to the
application requirements.
Figure 13 Position and Velocity Protection
Click ‘Next” to configure current and voltage limits. It is important to refer to motor’s specifications.
The limits entered here must be within the motor operating limits to avoid damaging the motor.
Figure 14 Current and Voltage Protection

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4.2 Tuning
4.2.1 Auto Velocity and Position Loop Tuning
1. System Identification. Select TUNE -> IDEN. Click on “Begin Identification”button to perform
system identification.
When the identification is completed successfully,
the plant’s transfer function, like the picture on the
right, will be shown.
2. Next, click on “Go to Auto-Tune”button. Alternatively, select TUNE-> DESI to open the Auto-
Tuning (controller design) page.
3. Click on “Run Auto-Tune”to start Auto-Tuning. It will take a few seconds, or longer for more
complex systems, to calculate the optimum PIV gains for this plant.
Figure 17 Go to Auto-Tuning page
Figure 18 Start Auto-Tuning calculation
Figure 16 Begin System Identification
Figure 15 Typical Plant Transfer Function

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4. Once Auto-Tuning is completed, click ‘Write to Controller’ to download the calculated gains into
the controller.
5. Check the motion performance in the Motions Tab, setting the required motion profile and click
“Go 1”or “Go 2”to move to Target 1 or Target 2. Record the motion data to analyze the motion
performance in detail.
Figure 20 Testing Motion
Figure 19 Download the parameters to the controller

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4.2.2 Manual Velocity and Position Loop Tuning
Select TUNE -> PIV. in the tune option, adjust the proportional (“PI, gain”) and
integral (“PI, integral”) gains of velocity loop, click “Apply Vel Command”to
check the performance.
Figure 21 Manual Velocity Loop Tuning
Figure 22 Typical Velocity Loop Performance
Similarly, adjust proportional gain of position loop. In addition, adjust acceleration and velocity
feedforward to improve performance. Click ‘Apply Pos Command’ to check performance.
Figure 23 Position Loop Tuning Figure 24 Typical Position Loop performance
Repeat the configuration and tuning steps for all the axes connected to the product.
Finally, test the motion according to the required motion profile, as in Figure 24 Testing Motion.