Agito AGA10 Series Product Manual
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Agito AGA10 Series Product Manual

Central-i dc power amplifier
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AGA10x
Central-i DC Power Amplifier
Product Manual

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Summary of Contents for Agito AGA10 Series

  • Page 1 AGA10x Central-i DC Power Amplifier Product Manual...
  • Page 2 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.

  • Page 3: Table Of Contents

    Contents Product Description _____________________________________________________ 5 General Description ______________________________________________________________ 5 Part Numbering _________________________________________________________________ 6 1.2.1 AGA101 Product Variants ___________________________________________________ 6 1.2.2 AGA102 Product Variants ___________________________________________________ 6 1.2.3 AGA103 Product Variants ___________________________________________________ 6 System Design ___________________________________________________________________ 7 Technical Specifications ___________________________________________________________ 8 Environmental Specifications ______________________________________________________ 13 Safety _______________________________________________________________ 14 Safety Symbols _________________________________________________________________ 14 Safety Guidelines _______________________________________________________________ 14...
  • Page 4 3.8.3 Analog Input ____________________________________________________________ 56 3.8.4 Differential Inputs ________________________________________________________ 56 3.8.5 Differential Outputs ______________________________________________________ 57 3.8.6 Bi-directional Differential I/Os ______________________________________________ 57 3.8.7 Hall Sensors _____________________________________________________________ 58 Operation ____________________________________________________________ 59 Motor Configuration _____________________________________________________________ 59 Drive/Motor Overload Protection __________________________________________________ 62 4.2.1 I2T Over Load Protection __________________________________________________ 62 4.2.2 Motor Stuck ____________________________________________________________ 63 4.2.3...

  • Page 5: Product Description

    General Description Product Description 1.1 General Description The AGA10x is a series of DC amplifiers controlled by an AGM series Central-i master. The master controller reads encoder values and current samples from the amplifiers, performs control loops calculation, and generates PWM commands for the amplifiers. Communication between AGA10x amplifiers and master controller is through a fast Central-i fieldbus, which supports 16 kHz sample rate motion profiler and all servo loops.

  • Page 6: Part Numbering

    Part Numbering 1.2 Part Numbering 1.2.1 AGA101 Product Variants Product Description Part Number Format Remote amplifier AGA101-CI-2Dxx CI: Central-i communication 2D: 12–90 VDC power supply xx: Continuous and peak current options 01: 1.4 A continuous, 2.8 A peak  02: 2.8 A continuous, 5.6 A peak ...

  • Page 7: System Design

    System Design 1.3 System Design Figure 2. AGA101 system connections and wiring Figure 3. AGA102 system connections and wiring AGA10x Product Manual Rev.1.1 Page 7...

  • Page 8: Technical Specifications

    Technical Specifications Figure 4. AGA103 system connections and wiring 1.4 Technical Specifications Electrical/Mechanical Specifications Feature Specification AGA101 AGA102 AGA103 Number of axes Power supply 12-90 VDC 12-48 VDC 12-48 VDC Continuous output current (A 1.4 | 2.8 | 5.6 1.4 | 2.8 | 5.6 (internally limited by firmware) Peak output current (A 2.8 | 5.6 | 11.2...
  • Page 9 Technical Specifications Feature Specification AGA101 AGA102 AGA103 Encoder port - Auxiliary Configurable as – – AqB, Absolute BiSS-C, Absolute EnDat2.2 Motor types Voice coil. Voice coil. Voice coil. Brushed/brushless Brushed/brushless Brushed/brushless linear/rotary. linear/rotary. linear/rotary. 2-phase stepper 2-phase stepper 2-phase stepper (open/closed loop, (open/closed loop, (open/closed loop,...
  • Page 10 Technical Specifications Feature Specification 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 Voltage: 5-28 VDC I/Os...
  • Page 11 Technical Specifications AGA101 Dimensions and Weight Feature Specification Unit dimensions (max) H=162 mm, W=36.50 mm, D=102 mm Package dimensions W=210 mm x W=50 mm x D=140 mm Unit weight 306 g Shipping weight 410 g Figure 5. AGA101 dimensions (mm) AGA10x Product Manual Rev.1.1 Page 11...
  • Page 12 Technical Specifications AGA102 Dimensions and Weight – AGA102 Feature Specification Unit dimensions (max) H=120 mm, W=33 mm, D=82 mm Package dimensions H=170 mm x W=50 mm x D=120 mm Unit weight 200 g Shipping weight 286 g Figure 6. AGA102 dimensions (mm) AGA101 Dimensions and Weight Feature Specification...

  • Page 13: Environmental Specifications

    Environmental Specifications 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...

  • Page 14: Safety

    Safety Symbols 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...

  • Page 15: Compliance

    Compliance Warning Capacitors on the DC bus can retain hazardous voltages after input power has been removed. 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.

  • Page 16: Installation

    Unpacking and Packing 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.

  • Page 17: Mounting Multiple Power Amplifiers

    Mounting 3.2.2 Mounting Multiple Power Amplifiers When mounting multiple amplifiers within a cabinet, clearance between units must be at least 5 mm. In addition, top and bottom clearance must be at least 50 mm. Ambient temperature in the cabinet must not exceed limit defined in the section Environmental Specifications.

  • Page 18: Electrical Installation

    Electrical Installation 3.3 Electrical Installation 3.3.1 Power Supplies Several power sources are required for AGA10x operation when the amplifier is connected to external devices. The power sources provide power to the motor and brake, and to logic and I/Os circuits. Power Source Description AGA101 AGA102...

  • Page 19: Grounding

    Electrical Installation 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 X3: Regeneration. 3.3.4 Grounding It is recommended to install the AGA10x on a metal backplane for better power dissipation, reduced...
  • Page 20 Electrical Installation Ground Domains Name Ground Domain Notes DC power input GND (I/O return) External DC power supply Central-i communication General Isolated for Central-i remote devices Isolated digital inputs/outputs General Isolated Differential inputs/outputs (not isolated) GND Analog inputs/outputs (not isolated) Brake control output General External DC power supply...

  • Page 21: Communication - Central-I

    Communication – Central-i 3.4 Communication – Central-i The AGA10x amplifiers use Central-i for communication with a centralized controller module. The Central-i motion control platform includes a multi-axis motion controller, distributed amplifiers and sensors, and control software. The master controller performs all the control functions, including trajectory and position, velocity, and current loops.

  • Page 22: Aga101 - Electrical Interfaces

    AGA101 – Electrical Interfaces 3.5 AGA101 – Electrical Interfaces 3.5.1 Interface X2: Main Power Connector X2 is used to supply 12–90 VDC to the AGA101. The amplifier includes protection to prevent damage if polarity is inverted at the power input. Note –...

  • Page 23: Interface X5: Safety

    AGA101 – Electrical Interfaces 3.5.2 Interface X5: Safety Connector X5 is used for the hardware safety function that disables power to the motor. Figure 12. Safety connector Connector X5: SAFETY Pin # Name Description 5V supply for safety circuits Safety_Feedback- Safety_Feedback negative (emitter) output Safety_Input_2- Safety_Input_2 negative input...
  • Page 24 AGA101 – Electrical Interfaces Safety connector circuit diagram Figure 13. Electrical interfaces – safety connector Safety_Input_1 and Safety_Input_2 function independently, thus providing safety redundancy.  Each one can disable the power to the motor. Both Safety_Input_1 and Safety_Input_2 disable the power to the motor through hardware ...

  • Page 25: Interface X1: I/O And Backup Power

    AGA101 – Electrical Interfaces 3.5.3 Interface X1: I/O and Backup Power Connector X1 has two functions. It supplies DC power supply to the isolated I/Os. Optionally, it provides backup power for the logic components. The amplifier includes protection to prevent damage if polarity is inverted at the power input. Figure 14.

  • Page 26: Interface X4: Motor

    AGA101 – Electrical Interfaces 3.5.4 Interface X4: Motor Connector X4 serves to supply power to the motor, which can be a 3-phase brushless motor, a single phase brushed motor or a voice coil motor, or a stepper motor. Figure 15. Motor connector Connector X4: MOTOR Pin # Label Brushless Motor Brushed or Voice Coil Motor...

  • Page 27: Interface X3: Regeneration

    AGA101 – Electrical Interfaces 3.5.5 Interface X3: Regeneration Connector X3 is used to connect an external power resistor to dissipate energy generated by the motor, typically during deceleration. The motor-generated energy will charge up the internal capacitor. When the internal capacitor is fully charged, the bus voltage will increase. When bus voltage is higher than the operating limit of the product, it will trigger over-voltage protection and disable the motor.

  • Page 28: Interface X11: Brake

    AGA101 – Electrical Interfaces 3.5.6 Interface X11: Brake Some motors may have a static brake, which is engaged when the motor is not enabled. Connector X11 is used this functionality. Figure 17. Brake connector Connector X11: BRAKE Pin # Name Description Static_Brake_High Static brake output for motor.

  • Page 29: Interfaces X8 And X9: Encoders

    AGA101 – Electrical Interfaces 3.5.7 Interfaces X8 and X9: Encoders X8 and X9 are identical connectors. Each one serves as an interface to a single encoder. Typically, X8 is used for the motor encoder. X9 is used for the secondary feedback device in a dual- loop control system.
  • Page 30 AGA101 – Electrical Interfaces Connector manufacturer SUNCHU Mating connector part number SC-10-4P Wiring 26 AWG, insulation rated for 100V Note – Incremental encoder interface Each differential-pair includes a built-in 120Ω terminator and the required hardware circuits to detect a disconnected encoder cable. When a disconnected encoder cable is detected, the controller will disable the motor.

  • Page 31: Interfaces X7, X10 And X12: I/Os

    AGA101 – Electrical Interfaces 3.5.8 Interfaces X7, X10 and X12: I/Os Connectors X7, X10 and X12 are used for connecting external I/O devices to the amplifier. For schematics and more information about these interfaces, refer to the section Electrical Interfaces Circuit Diagrams.
  • Page 32 AGA101 – Electrical Interfaces Software Pin # Name Description Representation Digital_Input_7 DInPort.bit(6) Isolated digital input 7 (NPN or PNP, depending on the connection of the group’s common pin). Digital_Input_5 DInPort.bit(4) Isolated digital input 5 (NPN or PNP, depending on the connection of the group’s common pin).
  • Page 33 AGA101 – Electrical Interfaces Interface X10 Figure 22. I/O-1 connector Connector: X10: I/O-1 Pin # Name Software Description Representation Vin_24V_IO_RTN I/O power return Vin_24V_IO 24V I/O power Digital_Input_4 DInPort.bit(3) Isolated digital input 4 (NPN or PNP, depending on the connection of the group’s common pin). Digital_Input_2 DInPort.bit(1) Isolated digital input 2 (NPN or PNP, depending on...
  • Page 34 AGA101 – Electrical Interfaces Interface X12 Figure 23. I/O-3 connector Connector X12: I/O-3 Pin # Name Software Description Representation Vin_24V_IO_RTN I/O power return Vin_24V_IO 24V I/O power Digital_Input_11 DInPort.bit(10) Isolated digital input 11 (NPN or PNP, depending on the connection of the group’s common pin) Digital_Input_9 DInPort.bit(8) Isolated digital input 9 (NPN or PNP, depending on...

  • Page 35: Interface X6: Central-I

    AGA101 – Electrical Interfaces 3.5.9 Interface X6: Central-i Connector X5 is used for communication with the Central-i master controller, such as the AGM800, and other remote amplifiers and devices. Figure 24. Communication connector (Central-i) Connector X6: Central-i (RJ45) Pin # Name Description Central-i data0+ Bi-directional + data +...

  • Page 36: Aga102 - Electrical Interfaces

    AGA102 – Electrical Interfaces 3.6 AGA102 – Electrical Interfaces 3.6.1 Interface X2: Main Power Connector X2 is used to supply 12–48 VDC to the AGA102. The input voltage is connected directly to the amplifier power bridge to drive the axis motor. The input voltage also supplies the power for the amplifier internal logic.

  • Page 37: Interface X4: Safety

    AGA102 – Electrical Interfaces 3.6.2 Interface X4: Safety Connector X4 is used for the hardware safety function that disables power to the motor. Figure 26. Safety connector Connector X4: SAFETY Pin # Name Description 5V supply for safety circuits Safety_feedback- Safety_feedback negative (emitter) output Safety_input_2- Safety_input_2 negative input...
  • Page 38 AGA102 – Electrical Interfaces Safety connector circuit diagram Figure 27. Electrical interfaces – safety connector Safety_Input_1 and Safety_Input_2 function independently, thus providing safety redundancy.  Each one can disable the power to the motor. Both Safety_Input_1 and Safety_Input_2 disable the power to the motor through hardware ...

  • Page 39: Interface X1: I/O And Backup Power

    AGA102 – Electrical Interfaces 3.6.3 Interface X1: I/O and Backup Power Connector X1 has two functions. It supplies DC power supply to the isolated I/Os. Optionally, it provides backup power for the logic components. The amplifier includes protection to prevent damage if polarity is inverted at the power input. Figure 28.

  • Page 40: Interface X3: Motor

    AGA102 – Electrical Interfaces 3.6.4 Interface X3: Motor Connector X3 serves to supply power to the motor, which can be a 3-phase brushless motor, a single phase brushed motor, a voice coil motor, or a stepper motor. Figure 29. Motor connector Connector X4: MOTOR Pin # Label Brushless Motor Brushed or Voice Coil Motor...

  • Page 41: Interface X6: Encoder

    AGA102 – Electrical Interfaces 3.6.5 Interface X6: Encoder Connector X6 serves as an interface to a single encoder. Figure 30. Encoder connector Connectors X6: ENC Pin # Name Encoder Types Description AqB Sin/Cos BiSS-C EnDat 2.2 5V power supply (limited to 0.5A per connector) 5V return and reference for differential signals Encoder_1+...

  • Page 42: Interfaces X7 And X8: I/Os

    AGA102 – Electrical Interfaces Note – 5V supply limitation The 5V supply provided at pin 1 on each connector (X8 and X9) is limited to 0.5A per connector. The maximum total current provided by all the 5V pins in the product is limited to 1.5A. 3.6.6 Interfaces X7 and X8: I/Os Connectors X7 and X8 are used for connecting external I/O devices to the amplifier.
  • Page 43 AGA102 – Electrical Interfaces Software Pin # Name Description Representation Bi-Dir_Diff_IO_1+ DInPort.bit(7) Bi-directional differential I/O 1+ Software configurable: DOutPort.bit(2) BiDirConfig.bit(0) = 0 for input  BiDirConfig.bit(0) = 1 for output  Analog_Input_1 AInPort.bit(0) Analog input 1, ±12V, 12 bit GND_EARTH Protective earth GND for 5V and differential signals 5V supply for external I/O circuits.
  • Page 44 AGA102 – Electrical Interfaces Interface X8 Figure 32. I/O-1 connector Connector X8: I/O-1 Pin # Name Software Description Representation 5V_SW1 5V supply for external I/O circuits. Limited to 0.5A Digital_Input_2 DinPort.bit(1) Isolated digital input 2 (NPN or PNP, depending on the connection of the group’s common pin) Digital_Input_Common (1 24V I/O power...

  • Page 45: Interface J5: Central-I

    AGA102 – Electrical Interfaces 3.6.7 Interface J5: Central-i Connector X5 is used for communication with the Central-i master controller, such as the AGM800, and other remote amplifiers and devices. Figure 33. Communication connector (Central-i) Connector: Central-i (RJ45) Pin # Name Description Central-i data0+ Bi-directional + data +...

  • Page 46: Aga103 - Electrical Interfaces

    AGA103 – Electrical Interfaces 3.7 AGA103 – Electrical Interfaces 3.7.1 Interface X5: Main Power Connector X2 is used to supply 12–48 VDC to the AGA103. The input voltage is connected directly to the amplifier power bridge. The input voltage drive the axis motor. It also supplies the power for the amplifier internal logic.

  • Page 47: Interface X4: Safety

    AGA103 – Electrical Interfaces 3.7.2 Interface X4: Safety Connector X4 is used for the hardware safety function that disables power to the motor. Figure 35. Safety connector Connector X4: SAFETY Pin # Name Description Safety 5V 5V supply for safety circuits Safety Input + Safety_Input positive input Safety Input -...
  • Page 48 AGA103 – Electrical Interfaces The Safety_Input protection logic is designed so that Safety_Input must be powered to enable  motor operation. Leaving a Safety_Input disconnected prevents motor operation. This logic is required to ensure that a disconnected safety cable is considered an unsafe condition by the control unit.

  • Page 49: Interface X3: Motor

    AGA103 – Electrical Interfaces 3.7.3 Interface X3: Motor Connector X3 serves to supply power to the motor, which can be a 3-phase brushless motor, a single phase brushed motor, a voice coil motor, or a stepper motor. Figure 37. Motor connector Connector X3: MOTOR Pin # Name Brushless Motor Brushed or Voice Coil Motor...

  • Page 50: Interface X2: Encoder

    AGA103 – Electrical Interfaces 3.7.4 Interface X2: Encoder Connector X2 serves as an interface to a single encoder. Figure 38. Encoder connector Connector X2: ENC Pin # Name Encoder Type Description AqB Sin/Cos BiSS-C EnDat 2.2 5V power supply (limited to 0.3A per connector) Encoder_1+ Clock+ Clock+...

  • Page 51: Interface X1: I/Os

    DInPort.bit(0) Isolated digital input 1 (NPN or PNP, depending on the connection of the group’s common pin). To use as Hall input, go to the Agito PCSuite Digital Input page, and configure as Hall A. AGA10x Product Manual Rev.1.1 Page 51...
  • Page 52 AGA103 – Electrical Interfaces Software Pin # Name Description Representation Digital_Input_Common (1 to 2) Common pin (power or return, depending on external connection) for digital input 1 to 2 Digital_Output_1 DOutPort.bit(0) Isolated digital output 1, programmable sink or source Digital_Output_2 DOutPort.bit(1) Isolated digital output 2, programmable sink or source...

  • Page 53: Interface X13: Central-I

    AGA103 – Electrical Interfaces 3.7.6 Interface X13: Central-i Connector X5 is used for communication with the Central-i master controller, such as the AGM800, and other remote amplifiers and devices. Figure 40. Communication connector (Central-i) Connector X13: Central-i (RJ45) Pin # Name Description Central-i data0+...

  • Page 54: Electrical Interfaces Circuit Diagrams

    Electrical Interfaces Circuit Diagrams 3.8 Electrical Interfaces Circuit Diagrams 3.8.1 Isolated Digital Inputs Figure 41. Isolated digital inputs Isolated digital inputs are organized as groups with a dedicated common pin. This enables  connection to different voltage supplies. Each group is fully isolated and independent of the other groups.

  • Page 55: Isolated Digital Outputs

    Electrical Interfaces Circuit Diagrams 3.8.2 Isolated Digital Outputs Figure 42. Isolated digital outputs – AGA101 and 102 Figure 43. Isolated digital outputs – AGA103 The digital output interface circuit is identical for all outputs.  Each output can be programmed (by a software parameter) to act as a current sourcing output ...

  • Page 56: Analog Input

    Electrical Interfaces Circuit Diagrams Note – 5V Digital_Output_Common_Power source mode limitation. When using 5V Digital_Output_Common_Power, higher current (but less than the absolute maximum value of 250 mA) can be driven. However, the output high voltage will drop significantly. To maintain output high voltage at >4.5V, limit the current to 60 mA.

  • Page 57: Differential Outputs

    Electrical Interfaces Circuit Diagrams 3.8.5 Differential Outputs Figure 46. Differential outputs Differential outputs use two complementary signals (Differential_Output+ and  Differential_Output-) to receive information. The same electrical signal is sent as a differential pair, each in its own conductor. The pair is wired ...

  • Page 58: Hall Sensors

    Electrical Interfaces Circuit Diagrams 3.8.7 Hall Sensors Figure 48. Motor Hall sensors Motor Hall sensors are wired as standard digital inputs.  Hall_A, Hall_B, and Hall_C are connected, respectively, to the corresponding input 1, input 2, and  input 3. AGA10x Product Manual Rev.1.1 Page 58...

  • Page 59: Operation

    Electrical Interfaces section. Make sure the safety port is connected before any operation. 2. Open Agito PCSuite software. Select CFG in CONFIG below and setup the parameters as follows: Figure 49. Operation mode configuration 3. Click Next and set the motor type and number of pole pairs according to the test motor.
  • Page 60 Motor Configuration Figure 51. Feedback parameters The value of Invert direction affects commutation of the motor. The encoder must be moving in the positive direction during auto-phasing process. 5. Click Next to setup position, velocity and motor stuck protection. Fill in the limits according to the application requirements.
  • Page 61 Motor Configuration Figure 53. Current and voltage protection AGA10x Product Manual Rev.1.1 Page 61...

  • Page 62: Drive/Motor Overload Protection

    If the maximal energy level is surpassed, the maximal current is limited to the continuous current, instead of being limited to the peak current as usual. Figure 54. I2T In Agito PCSuite, the following parameters define the ���� ���� characteristics: Peak current ...

  • Page 63: Motor Stuck

    Drive/Motor Overload Protection Note – The I2T algorithm does not consider motor speed. Therefore, the product does not support thermal speed sensitivity. 4.2.2 Motor Stuck Motor stuck indicates whether or not the motor is in fact stuck. The condition is strongly dependent on the application.
  • Page 64 Drive/Motor Overload Protection Figure 58. Motor temperature settings AGA10x Product Manual Rev.1.1 Page 64...

  • Page 65: Tuning

    Tuning 4.3 Tuning 4.3.1 Commissioning 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 66: Current Loop Tuning

    Tuning Figure 60. Using Hall sensors to avoid "shake and wake" 4.3.2 Current Loop Tuning Select TUNE > CURR. Enter motor’s phase resistance and phase inductance according to the motor’s datasheet and enter the desired current loop bandwidth for this axis. Typically, 1000 Hz is suitable for most applications.

  • Page 67: Auto Velocity And Position Loop Tuning

    Tuning Figure 62/ Typical current loop performance 4.3.3 Auto Velocity and Position Loop Tuning 1. System Identification. Select TUNE > IDEN. Click Begin Identification to perform system identification. Figure 63. Begin System Identification When the identification is completed successfully, the plant’s transfer function will be displayed, as shown in the following figure.
  • Page 68 Tuning 2. Click Go to Auto-Tune. Alternatively, select TUNE-> DESI to open the Auto-Tuning (controller design) page. Figure 65. Go to Auto-Tuning page 3. Click 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.
  • Page 69 Tuning 5. Check the motion performance in the Motions Tab, set 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 68.

  • Page 70: Manual Velocity And Position Loop Tuning

    Tuning 4.3.4 Manual Velocity and Position Loop Tuning Select TUNE > PIV. Adjust the proportional (PI, gain) and integral (PI, integral) gains of velocity loop. Click Apply Vel Command to check the performance. Figure 69. Manual velocity loop tuning Figure 70. Typical velocity loop performance Similarly, adjust proportional gain of position loop.
  • Page 71 Tuning Figure 71. Position loop tuning Figure 72. 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 shown in Figure 68. Testing motion.

  • Page 72: Maintenance And Servicing

    (encoder) is faulty out of control or disconnected (free wheel) Position feedback sensor Go to Agito PCSuite’s CONFIG > FDBK page, toggle the is configured in wrong Invert direction setting. direction Encoder signal is Verify if the encoder signal is drifting even when the interfered by EMI noise in motor is physically locked or not moving.
  • Page 73 FLS or RLS of this motor. Check software software position and position limits and velocity limits at Agito PCSuite’s velocity limits. CONFIG > POS page. If the FLS or RLS signal is active when the digital input is changed, the FLS or RLS status will remain ON.

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