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Agito AGD301 Series Product Manual

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

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Summary of Contents for Agito AGD301 Series

  • Page 1 AGD301 Product Manual Rev1.3 AGD301 3-axis Controller and Drive Product Manual Page 1...
  • Page 2 AGD301 Product Manual Rev1.3 Revision History Version Description Date Initial Release 3 August 2020 Added “X7” label to connector references in remarks 5 November 2020 Corrected P/N for encoder connectors 17 November 2020 Added connector reference to TOC 25 November 2020 Page 2...

  • Page 3: Table Of Contents

    AGD301 Product Manual Rev1.3 Table of Content General Description ______________________________________________________ 4 Product Description ________________________________________________________ 4 Product Naming ___________________________________________________________ 4 Contact information ________________________________________________________ 4 Safety, Warranty, Compliance and Environment _______________________________ 5 Safety ____________________________________________________________________ 5 Warranty _________________________________________________________________ 5 Compliance _______________________________________________________________ 5 Environment Conditions _____________________________________________________ 6 Copyrights and Trademarks __________________________________________________ 6 2.5.1 Copyright Notice ________________________________________________________________ 6...

  • Page 4: General Description

    AGD301 Product Manual Rev1.3 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. Figure 1: AGD301 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.

  • Page 5: Safety, Warranty, Compliance And Environment

    AGD301 Product Manual Rev1.3 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).

  • Page 6: Environment Conditions

    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.

  • Page 7: Installation Instruction

    AGD301 Product Manual Rev1.3 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.

  • Page 8: Power Rating, Safe Operating Area And Grounding Policy

    AGD301 Product Manual Rev1.3 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.

  • Page 9: Safe Operating Area

    AGD301 Product Manual Rev1.3 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: Three axes at 5.6A continuous each, at 90% PWM duty cycle, and...
  • Page 10 AGD301 Product Manual Rev1.3 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. Page 10...

  • Page 11: Grounding Policy

    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...
  • Page 12 AGD301 Product Manual Rev1.3 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.

  • Page 13: Electrical Interface

    AGD301 Product Manual Rev1.3 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...

  • Page 14: X5: Bus Power

    AGD301 Product Manual Rev1.3 3.3.1.2 X5: Bus Power Figure 4: Bus Power Connector Connector X5: MAIN PWR Pin # Name Description VBus 12 to 90 VDC – Motor Bus power VBus 12 to 90 VDC – Motor Bus power VBus 12 to 90 VDC –...

  • Page 15: X6: Backup Power

    AGD301 Product Manual Rev1.3 3.3.1.3 X6: Backup Power Figure 5: Backup Power Connector Connector X6: BACKUP PWR Pin # Name Description VBackup 5 to 28 VDC – Backup Power VBackup_Return Gnd – Backup Power Return Protective Earth Connector Manufacturer: Wurth Electronics Mating Connector Part number: 691364100003 Connector Pitch: 3.5mm...

  • Page 16: Communication Ports

    AGD301 Product Manual Rev1.3 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.

  • Page 17: X8, X9: Can Bus, Rs-232 And Rs-485 (Serial Communication Port)

    AGD301 Product Manual Rev1.3 3.3.2.2 X8, 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 Digital Ground RS232_RX RS232 input (receive at product) RS232_TX RS232 output (transmit from product) RS485_B RS-485 bus, inverted...

  • Page 18: X1: Micro Usb

    AGD301 Product Manual Rev1.3 3.3.2.3 X1: Micro USB Figure 8: USB Connector Connector X1: USB Pin # Name Description Data- Data+ USB OTG ID 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).

  • Page 19: Axis Interfaces

    AGD301 Product Manual Rev1.3 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.
  • Page 20 AGD301 Product Manual Rev1.3 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).

  • Page 21: A3, B3, C3: Digital And Analog I/Os

    AGD301 Product Manual Rev1.3 3.3.3.2 A3, B3, C3: Digital and Analog I/Os The Axis I/O port, one for each axis, provides 6 isolated inputs, 3 isolated outputs, 1 analog output and 1 analog input (note: analog input may not be available in certain product variants). The “GENERAL IN/OUT”...
  • Page 22 AGD301 Product Manual Rev1.3 Software Pin # Name Description Representation Can be NPN or PNP, depending on connection Digital_Input_6 DInPort.bit(5) of the common pin of this group Digital_Output_Common_Power Common Power for all Digital Outputs in the same port. Digital_Output_Common_Return Common Power Return for all Digital Outputs in the same port Analog_Output_1 AOutPort[1]...
  • Page 23 AGD301 Product Manual Rev1.3 Software Pin # Name Description Representation GND for 5V and differential signals Common for all Digital Inputs in the same Digital_Input_Common port, can be power or return, depending on external connection. Can be NPN or PNP, depending on connection Digital_Input_8 DInPort.bit(7) of the common pin of this group...
  • Page 24 AGD301 Product Manual Rev1.3 Software Pin # Name Description Representation Digital_Output_8 DOutPort.bit(7) Programmable sink or source Digital_Output_9 DOutPort.bit(8) Programmable sink or source Analog_Input_3+ AInPort[3] ±12V, 12-bit resolution Must connect to GND if analog input is single- Analog_Input_3- ended. 5V Power Supply, limited to 0.5A GND for 5V and differential signals Common for all Digital Inputs in the same Digital_Input_Common...
  • Page 25 AGD301 Product Manual Rev1.3 Electrical interfaces – Discrete, Isolated, outputs: Notes: ▪ The interface circuit is identical for all outputs. ▪ Each output can be programmed (by software parameter) to act as a current sourcing output (up to 300mA) or as a current sinking output (up to 500mA). ▪...
  • Page 26 AGD301 Product Manual Rev1.3 Electrical interfaces – Discrete, Isolated, inputs: Notes: ▪ The interface circuit is identical for all 18 digital inputs in the axis IN/OUT connectors ▪ The 18 digital inputs are organized into 3 equal groups, 1 group for each axis. ▪...
  • Page 27 AGD301 Product Manual Rev1.3 Electrical interfaces – Analog outputs: Notes: ▪ The electrical interfaces of analog outputs 1 to 4 are identical. ▪ The analog outputs’ range is from -12V to +12V, resolution is 16 bits. ▪ Output resistance is 10ohms. ▪...
  • Page 28 AGD301 Product Manual Rev1.3 Electrical interfaces – Analog inputs: Notes: ▪ The electrical interfaces of analog inputs 1 to 4 are identical. ▪ The analog inputs’ range is -12V to +12V, resolution is 12 bits. ▪ The analog inputs are designed for standard differential analog input, with a simple input circuit, having an input resistance of ~60K ohms.

  • Page 29: A2, B2, C2: Static Brakes And Hall Sensors

    AGD301 Product Manual Rev1.3 3.3.3.3 A2, B2, C2: Static Brakes and Hall Sensors Figure 11: Brake and Hall Sensors Connector Connector A2: HALLS (AXIS A) Pin # Name Software Representation Description Static_Brake Brake Output, sinking up to 3A Brake Power Supply, internally connected to VBrake X7: I/O PWR Connector Pin 3 (VBrake) Hall_A...
  • Page 30 AGD301 Product Manual Rev1.3 Connector B2: HALLS (AXIS B) Pin # Name Software Representation Description Static_Brake Brake Output, sinking up to 3A Brake Power Supply, internally connected to VBrake X7: I/O PWR Connector Pin 3 (VBrake) Hall_A DInPort.bit(21) Hall A signal. Digital Input Port bit-21 Hall_B DInPort.bit(22) Hall B signal.
  • Page 31 AGD301 Product Manual Rev1.3 Electrical interfaces – static brakes: Electrical interfaces – Halls: Page 31...

  • Page 32: A4, B4, C4: Motor Power

    AGD301 Product Manual Rev1.3 3.3.3.4 A4, B4, C4: Motor Power A4, B4 and C4 MOTOR ports are used to connect to the motors' phases of Axis A/B/C respectively. Connection depends on the types of motor, as described below. Figure 12: Motor Power Connector Connector A4, B4 and C4: MOTOR (For Brushless Motor): Pin # Name Description...

  • Page 33: System And Miscellaneous Interfaces

    AGD301 Product Manual Rev1.3 3.3.4 System and Miscellaneous Interfaces This section describes the other ports and interfaces for general purpose I/Os, safety and external re- generation resistor. 3.3.4.1 X4: General Purpose I/Os The “X4: GENERAL I/O” port provides more I/Os in addition to those in the axis I/O ports. Figure 13: General Purpose I/O Connector Connector X4: GENERAL I/O Software...
  • Page 34 AGD301 Product Manual Rev1.3 Software Pin # Name Description Representation Digital Output 14, Digital_Output_14 DOutPort.bit13 Programmable sink or source Digital Output 15, Programmable sink or Digital_Output_15 DOutPort.bit14 source Digital Output 16, Programmable sink or Digital_Output_16 DOutPort.bit15 source Digital Output 17, Digital_Output_17 DOutPort.bit16 Programmable sink or source...

  • Page 35: Dip Switches

    AGD301 Product Manual Rev1.3 Note – 5V supply limitation. The 5V supply provided at pin 7 is limited to 0.5A. The maximum total current provided by all the 5V pins in the product is limited to 1.5A. Notes: ▪ The electrical interfaces of the 8 Bi-Directional Differential I/Os are all identical. 3.3.4.2 DIP Switches The product includes 8-way DIP switches to define CAN or Ethernet address offset, connect a 120-ohm CAN terminator resistor, turn on a forced firmware-download mode, etc.

  • Page 36: X3: Safety

    AGD301 Product Manual Rev1.3 CAN address: the actual CAN address of the unit is equal to: CANAddr + offset * 16 Note: Requires power cycle or reset. Reserved for Future Use Always keep at OFF state. Reserved for Future Use Always keep at OFF state.
  • Page 37 AGD301 Product Manual Rev1.3 ▪ The safety inputs implemented in the product are not certified to Functional Safety Standards. ▪ The Safety_Input_1 and Safety_Input_2 are defined with a positive pin (+) and a negative pin (-). However (refer to the electrical interfaces described below) the opto-coupler at the Safety_Input (also for all other discrete, isolated inputs of the product) is equipped with two input diodes, enabling operation at "positive"...

  • Page 38: X10: Regeneration

    AGD301 Product Manual Rev1.3 3.3.4.4 X10: Regeneration Connector: REGEN Pin # Name Description Internal VBus The internal VBus power (internally connected to VBus on connector PWR). Regeneration pin to be connected to an external regeneration resistor. Limited to 16A. Regeneration The external regeneration resistor should be connected between this pin (pin 2) and the Internal DC Bus pin (pin 1).

  • Page 39: Operation Instruction

    AGD301 Product Manual Rev1.3 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.
  • Page 40 AGD301 Product Manual Rev1.3 Click ‘Next’ to setup position, velocity and motor stuck protection. Fill in the limits according to the application requirements. Figure 18 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.

  • Page 41: Tuning

    AGD301 Product Manual Rev1.3 4.2 Tuning 4.2.1 Auto Phasing This step is required only for brushless motor. Select TUNE -> PHAS. in the tune option, configure the main encoder resolution. For Auto-Phasing mode, select “Automatic upon power on” if the application allows “shake and wake” upon power up.

  • Page 42: Current Loop Tuning

    AGD301 Product Manual Rev1.3 4.2.2 Current Loop Tuning Select TUNE -> CURR. Enter motor’s phase resistance and phase inductance according to motor’s datasheet and enter the desired current loop bandwidth for this axis. Typically, 1000 Hz is suitable for most applications. Click “Calculate PI” to calculate the current loop gains. Check both checkboxes for auto data recording and user predefined data recording and click “Apply Current Command”...

  • Page 43: Auto Velocity And Position Loop Tuning

    AGD301 Product Manual Rev1.3 4.2.3 Auto Velocity and Position Loop Tuning 1. System Identification. Select TUNE -> IDEN. Click on “Begin Identification” button to perform system identification. Figure 25 Begin System Identification When the identification is completed successfully, the plant’s transfer function, like the picture on the Figure 24 Typical Plant Transfer Function right, will be shown.
  • Page 44 AGD301 Product Manual Rev1.3 4. Once Auto-Tuning is completed, click ‘Write to Controller’ to download the calculated gains into the controller. Figure 28 Download the parameters to the controller 5. Check the motion performance in the Motions Tab, setting the required motion profile and click “Go 1”...

  • Page 45: Manual Velocity And Position Loop Tuning

    AGD301 Product Manual Rev1.3 4.2.4 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 30 Manual Velocity Loop Tuning Figure 31 Typical Velocity Loop Performance Similarly, adjust proportional gain of position loop.

  • Page 46: Maintenance And Servicing Instruction

    AGD301 Product Manual Rev1.3 5. Maintenance and Servicing Instruction Possible fault conditions: Condition Potential Cause Possible Resolution Power is On but no LED light Power connector is loose Check power connector, measure power supply voltage using a volt-meter. Firmware is corrupted Turn on DIP SW.
  • Page 47 AGD301 Product Manual Rev1.3 Do advanced auto tuning to allow PCSuite identify and apply a suitable filter. Perform TUNE->IDEN and TUNE -> DESI (Expert -> Expert Tune mode for best result). Cannot achieve the required Acceleration and/or Adjust acceleration, speed deceleration and/or speed is deceleration and smooth set too low, or smooth is set...
  • Page 48 AGD301 Product Manual Rev1.3 the controller or power cycle the controller. The axis is configured in a Check all motion related wrong operating mode or configurations. function, e.g. as a slave axis or another master. Motor connector is loose. Check motor power connection The motor is faulty.

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