Agito AGD155 User manual

General Description
AGD155 Product Manual Rev.2.2 Page 1
AGD155
Standalone 240 VAC Drive
Product Manual

AGD155 Product Manual Rev.2.2 Page 2
Revision History
Version Description Date
2.2 Updated format for consistency with other product manuals. 18 August 2021
2.1 Updated for CE compliance. Product description revised:
Standalone 240 VAC Drive. Minor text corrections.
9 June 2021
2.0 Revision of manual content and format 3 May 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..
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.

AGD155 Product Manual Rev.2.2 Page 3
Contents
1Product Description _____________________________________________________ 5
1.1 General Description ______________________________________________________________ 5
1.2 Part Numbering _________________________________________________________________ 5
1.3 System Design___________________________________________________________________ 6
1.4 Technical Specifications ___________________________________________________________ 6
1.5 Environmental Specifications______________________________________________________ 10
2Safety _______________________________________________________________ 11
2.1 Safety Symbols _________________________________________________________________ 11
2.2 Safety Guidelines _______________________________________________________________ 11
2.3 Compliance ____________________________________________________________________ 12
3Installation ___________________________________________________________ 13
3.1 Unpacking and Packing___________________________________________________________ 13
3.2 Mounting _____________________________________________________________________ 13
3.2.1 Mounting the AGD155 ____________________________________________________ 13
3.2.2 Mounting Multiple Power Amplifiers ________________________________________ 14
3.3 Electrical Installation ____________________________________________________________ 15
3.3.1 Power Wiring ___________________________________________________________ 15
Regeneration____________________________________________________________ 15
3.3.2 Circuit Breakers__________________________________________________________ 16
3.3.3 AC Line filter ____________________________________________________________ 16
3.3.4 Safe Operating Area (SOA) _________________________________________________ 17
3.3.5 Grounding ______________________________________________________________ 18
Ground Domains_________________________________________________________ 18
Grounding Policy_________________________________________________________ 19
3.3.6 PT100/PT1000 Temperature Sensors ________________________________________ 19
3.4 Electrical Interfaces _____________________________________________________________ 20
3.4.1 Interface X10: Main Power_________________________________________________ 20
3.4.2 Interface X14: I/O and Brake Power _________________________________________ 21
3.4.3 Interface X7: Motor ______________________________________________________ 22
For Brushless Motor ______________________________________________________ 22
For Brush (or Voice Coil) Motor _____________________________________________ 22
3.4.4 Interface X15: Safety _____________________________________________________ 23
Safety Circuitry __________________________________________________________ 24
3.4.5 Interface X8: Static Brake __________________________________________________ 25
Brake Circuitry___________________________________________________________ 25
3.4.6 Interface X9: Regeneration_________________________________________________ 26
3.4.7 DIP Switches ____________________________________________________________ 28
3.4.8 Interface X13: Ethernet (LAN) ______________________________________________ 29
3.4.9 Interfaces X11, X12: CAN Bus, RS232 and RS485 _______________________________ 30
3.4.10Interface X1: Micro USB___________________________________________________ 31
3.4.11 Interface X2: Main Encoder ________________________________________________ 32
3.4.12 Interface X3: Auxiliary Encoder _____________________________________________ 33
3.4.13 Interface X4: Hall Sensors__________________________________________________ 34
3.4.14 Interface X5: System I/O___________________________________________________ 36
3.4.15 Interface X6: Control I/O __________________________________________________ 37
3.4.16 I/O Interfaces – Circuitry __________________________________________________ 40
Isolated Digital Inputs 1 to 3, 5 to 9, and 13 to 16 ______________________________ 40
Isolated Digital Input 4 ____________________________________________________ 40
Isolated Digital Outputs 1 to 2, and 3 to 6_____________________________________ 41
Differential Inputs 1 to 3 __________________________________________________ 41
Differential Outputs 1 to 4 _________________________________________________ 42
Bi-Directional Differential I/O_______________________________________________ 42

AGD155 Product Manual Rev.2.2 Page 4
Analog Inputs 1 to 2 ______________________________________________________ 43
Analog Outputs 1 to 2_____________________________________________________ 43
4Operation____________________________________________________________ 44
4.1 Motor Configuration_____________________________________________________________ 44
4.2 Drive/Motor Overload Protection __________________________________________________ 46
4.2.1 I2T Over Load protection __________________________________________________ 46
4.2.2 Motor Stuck ____________________________________________________________ 48
4.2.3 Motor Temperature Protection _____________________________________________ 48
4.3 Tuning ________________________________________________________________________ 49
4.3.1 Commissioning __________________________________________________________ 49
4.3.2 Current Loop Tuning______________________________________________________ 50
4.3.3 Auto Velocity and Position Loop Tuning ______________________________________ 51
4.3.4 Manual Velocity and Position Loop Tuning ____________________________________ 54
5Maintenance and Servicing ______________________________________________ 56
5.1 Troubleshooting ________________________________________________________________ 56

General Description
AGD155 Product Manual Rev.2.2 Page 5
1 Product Description
1.1 General Description
The AGD155 is an AC powered single-axis intelligent drive and a
fully featured single-axis standalone controller in one package.
It is also equipped to receive analog input ±10V current or
velocity commands, and pulse and direction input as position
commands.
The AGD155 can drive various types of motors, such as voice coil,
brushed, and brushless, including direct-drive linear and rotary
motors. AGD155 can also synchronize with other axes in an
Ethernet, CAN, and RS485 networks.
AGD155 includes programing capabilities, and supports up to 8
multi-threading tasks, each of which can be configured with
different priority.
With an external PC or PLC as a system level controller, the
AGD155 can be used in a synchronized, multi-axis environment.
Figure 1. AGD155
1.2 Part Numbering
Product Description Part Number Format
Standalone Drive AGD155-xx-2Ayy[-CCC]
xx: Feature option
PA: External pulse and direction command or ±10V analog command
AF: Full featured model
yy: Continuous and peak current options
03: 3 Arms continuous, 9 Arms peak
06: 6 Arms continuous, 18 Arms peak
10: 10 Arms continuous, 20 Arms peak
CCC: Optional customization number
Example: AGD155-AF-2A06 indicates 6 Arms continuous, 18 Arms peak current

System Design
AGD155 Product Manual Rev.2.2 Page 6
1.3 System Design
Figure 2. System connections and wiring
One-phase wiring: AC connects to L1 and L2
1.4 Technical Specifications
Electrical/Mechanical Specifications
Feature AGD155-AF-2A03 AGD155-AF-2A06 AGD155-AF-2A10
Number of axes 1
Power supply 1-phase 120-240 VAC, 50-60 Hz
3-phase, 208VAC , 50-60 Hz
Continuous output current
(Internally limited by firmware)
3 Arms 6 Arms 10 Arms
Peak output current
(Internally limited by firmware)
9 Arms 18 Arms 20 Arms
Output power @ 110 VAC 0.33 kVA 0.66 kVA 1.1 kVA
Output power @ 240 VAC 0.72 kVA 1.44 kVA 2.4 kVA
Input current @ 1-phase 120-240 VAC 4.5 Arms 9 Arms 15 Arms
Input current @ 3-phase 208 VAC 3 Arms 6 Arms 10 Arms
Peak current time 1.5 sec

Technical Specifications
AGD155 Product Manual Rev.2.2 Page 7
Feature AGD155-AF-2A03 AGD155-AF-2A06 AGD155-AF-2A10
Output Frequency 0 – 599 Hz
Short-circuit rating Rated short-circuit breaking capacity: 5 kA*
Isolated inputs 16
Isolated outputs 4
Differential inputs 3
Differential outputs 4
Bi-directional differential I/Os (RS422) 1
Analog inputs 2
Analog outputs 2
PT100/PT1000 inputs 1
Brake outputs 1
Regeneration outputs 1
Encoder ports 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
Maximum leakage current 6 mA
* During compliance testing, the short-circuit current was 200A
Encoder Ports Specifications
Feature Specification
Encoder types Incremental AqB, Sin/Cos
Absolute: EnDat 2.2, 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
(available 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

Technical Specifications
AGD155 Product Manual Rev.2.2 Page 8
Feature Specification
Absolute BiSS-C Hardware: Differential RS422/RS485, clock (MA), data (SLO)
Clock frequency: 1 MHz
Max. position bits: 32 bits
Commutation: Auto-phasing, by absolute offset
Absolute EnDat 2.2 Hardware: Differential RS422/RS485, clock, data
Clock frequency: 1 MHz
Max. position bits: 32 bits
Commutation: Auto-phasing, by absolute offset
Hall sensors Opto-isolated 5V with internal or external power supply
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 , Handwheel
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 direction 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.

Technical Specifications
AGD155 Product Manual Rev.2.2 Page 9
Feature Specification
Analog inputs Operational voltage: ±12V
Resolution: 16 bit
Analog outputs Operational voltage: ±12V
Resolution: 16 bit
Static brake output Operational voltage: 24V
Maximum current: 3A
Temperature sensors inputs PT100 or PT1000. Refer to the section PT100/PT1000
Temperature Sensors.
Dimensions and Weight
Feature Specification
Unit dimensions (max) H=196.97 mm, W=65.80 mm, D=158.60 mm
Package dimensions 244 mm x 92 mm x 198 mm
Unit weight 1.29 kg
Shipping weight 1.44 kg
Figure 3. Product Dimensions (mm)

Environmental Specifications
AGD155 Product Manual Rev.2.2 Page 10
1.5 Environmental Specifications
Environmental Specifications
Feature Specification
Operating temperature* AGD155-xx-2A03: 0°C to 50°C
AGD155-xx-2A06: 0°C to 50°C
AGD155-xx-2A10: 0°C to 40°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
* The operational range may be additionally limited by the internal temperature protection of the
product. Refer to the section Safe Operating Area (SOA). However, it is the user’s responsibility to
avoid operating the product in environmental conditions that do not conform to the defined limits.