Agito AGD101 Product Manual

Low voltage ethercat drive

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General Description

AGD101

Low Voltage EtherCAT Drive

Product Manual

Page 1

AGD101 Product Manual Rev.2.0

Table of Contents

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Summary of Contents for Agito AGD101

Page 1 General Description AGD101 Low Voltage EtherCAT Drive Product Manual Page 1 AGD101 Product Manual Rev.2.0...
Page 2 Agito Akribis Systems Ltd. Products Rights AGDx, AGCx, AGMx, AGAx, AGIOx, 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
Safety Symbols ____________________________________________________________ 12 Safety Guidelines __________________________________________________________ 12 Compliance ______________________________________________________________ 13 Installation ___________________________________________________________ 14 Unpacking and Packing ______________________________________________________ 14 Mounting________________________________________________________________ 14 3.2.1 Mounting the AGD101 ________________________________________________ 14 3.2.2 Mounting Multiple AGD101 Units________________________________________ 15 Electrical Installation _______________________________________________________ 16 3.3.1 Power Wiring ______________________________________________________ 16 3.3.2 Regeneration_______________________________________________________ 16 3.3.3...
Page 4 4.3.3 Auto Velocity and Position Loop Tuning ___________________________________ 42 4.3.4 Manual Velocity and Position Loop Tuning _________________________________ 45 Maintenance and Servicing ______________________________________________ 47 Troubleshooting ___________________________________________________________ 47 AGD101 Product Manual Rev.2.0 Page 4...
Page 5: Product Description
It can also serve as a full-featured single-axis standalone controller. The AGD101 also supports receiving analog input 10V current or velocity commands, and pulse and direction position commands. Agito PCSuite software is used for configuration and tuning via an Ethernet port on the drive.
Page 6: System Design
System Design 1.3 System Design Figure 2. System connections and wiring – AGD101 Electrical Specifications Feature AGD101- EC-2D05 AGD101- EC-2D10 Number of axes Nominal supply voltage 12–90 VDC Minimum supply voltage 12 VDC Maximum supply voltage 100 VDC Logic power supply 12–36 VDC...
Page 7 Absolute: EnDat 2.2, BiSS-C Aux encoder port Incremental: AqB (in I/O connector) Absolute: EnDat 2.2, BiSS-C *Please consult agito sales representative if this feature is required. Power supply to encoder 0.5 A per encoder port Power supply to encoder port Voltage: 5V Current: 0.5 A...
Page 8 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. Bi-directional Diff I/O with single Support 5V single ended inputs ended inputs Operational voltage: 12V...
Page 9 System Design Figure 3. Product Dimensions (mm) AGD101 Product Manual Rev.2.0 Page 9...
Page 10: Motion Control Specifications
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 AGD101 Product Manual Rev.2.0 Page 10...
Page 11: Environmental Specifications
Operating temperature 0°C to 50°C Storage temperature -20°C to 70°C Operating humidity < 90% Storage humidity < 40% Pollution degree Vibration 1G @ 150 Hz according to IEC 60068-2-6 Operating conditions Protection class: IP20 AGD101 Product Manual Rev.2.0 Page 11...
Page 12: Safety
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. AGD101 Product Manual Rev.2.0 Page 12...
Page 13: Compliance
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. AGD101 Product Manual Rev.2.0 Page 13...
Page 14: Installation
3.2.1 Mounting the AGD101 The heatsink of AGD101 includes slots for mounting the unit. The AGD101 is mounted in book mount position using 2 M4 screws, as shown in Figure 4. Alternatively, it can be mounted flat using 4 M4 screws.
Page 15: Mounting Multiple Agd101 Units
3.2.2 Mounting Multiple AGD101 Units When mounting multiple AGD101 units within a cabinet, clearance between units must be at least 10 mm. In addition, top and bottom clearance must be at least 50 mm for the cables to be routed.
Page 16: Electrical Installation
Electrical Installation 3.3 Electrical Installation 3.3.1 Power Wiring AGD101 is designed to operate on voltage ranging from 12 VDC to 90 VDC, which is supplied to bus voltage, to motor. The logic power is derived via a step-down transformer. 3.3.2 Regeneration AGD101 uses the main DC power input to output a controlled electrical power through the phases of the motor.
Page 17: Grounding
3.3.3 Grounding It is recommended to install the AGD101 on a metal plate for better heat dissipation, reduced EMI, and grounding connection. Make sure the plate is not painted. The heatsink of the AGD101 is electrically conductive and serves as the protective earth (PE) ground of the product.
Page 18: Grounding Policy
The enclosures and other external parts that may be touched by the user are in the safe domain. ▪ The AGD101 must be connected to protective earth (PE) and connected to the building’s ground. PE is protected with an earth-leakage circuit breaker (ELCB); hence it is safe to touch. Refer to Figure 5.
Page 19 On steady There is a controller fault. Blinking Commutation is needed and failed at last attempt. Green Blinking Commutation is needed but not done yet On steady All is okay. Figure 6. Status (LED) indicator AGD101 Product Manual Rev.2.0 Page 19...
Page 20: Electrical Interfaces
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 AGD101 Product Manual Rev.2.0 Page 20...
Page 21: X7: Main Power
PGND. The other end of the external regeneration resistor should be connected to VB+, the Internal DC Bus power (pin 1). X7: Main Power Connector X7 is used to supply 12–90 VDC to the AGD101. Pin # Label Name Description Main Power Power input: 12–90V, up to 7.07A/14.14A continuous...
Page 22: Interface X9: Safety
Pin # Name Type Description PWR - OUT 5V supply for safety circuits Safety_Feedback- Safety_Feedback negative (emitter) output Safety_Input_2- Safety_Input_2 negative input Safety_Input_1- Safety_Input_1 negative input Safety_Feedback+ Safety_Feedback positive (collector) output Safety_Input_2+ Safety_Input_2 positive input AGD101 Product Manual Rev.2.0 Page 22...
Page 23: Safety Circuitry
26 AWG, insulation rated for 100 V Disabling Safety function If the Safety function is not required in your application, you can disable it by using a jumper plug from Agito. Part number: C-AGD301-SFT Safety Circuitry Figure 10. Safety ▪...
Page 24: Interface X3: Ethernet (Lan)
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, standard Ethernet straight cable Wiring 26 AWG, insulation rated for 100 V AGD101 Product Manual Rev.2.0 Page 24...
Page 25: Interfaces X1, X2: Ethercat Fieldbus
Electrical Interfaces 3.4.5 Interfaces X1, X2: EtherCAT Fieldbus Connectors X1 and X2 are EtherCAT communication ports. Figure 12: EtherCAT Communication Connectors – AGD101-EC Connectors X11 and X12: EtherCAT IN and EtherCAT OUT Pin # Name Description TX + Transmit data +...
Page 26: Interface X4: Encoder
This port supports digital quadrature incremental encoders (AqB), analog sin/cos encoders, absolute BiSS-C encoders, and absolute EnDat2.2 encoders. The type of encoder connected to the AGD101 is configured in the Agito PCSuite software. Figure 13. Main Encoder Connector...
Page 27 (not on the index or Z-channel). By default, the product does not support single-ended encoder. For use of single-ended encoder, contact Technical Support. Note – 5V supply limitation The maximum current available for the encoder is 0.5 A. AGD101 Product Manual Rev.2.0 Page 27...
Page 28: Interface X5: Hall Sensors
Isolated digital input 5 (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. The following inputs (6 and 7) will be set automatically as Hall B and Hall C.
Page 29: Hall Sensor Circuitry
5V pins in the product is limited to 1.5A. Hall Sensor Circuitry Motor Hall sensors can be connected to opto-isolated digital inputs 5, 6, and 7 on connector X5 (HALLS). In Agito PCSuite the first input must be configured to mode 23-Hall A. Figure 15. Hall sensors ▪...
Page 30: Interface X6: I/Os
Analog input 1, 12V full scale AInPort[1] Analog Input_1 Analog_Input_Return Analog input 1, return Isolated digital output 1, DOutPort.bit(0) Digital_Output_1 programmable sink or source DOutPort.bit(1) Isolated digital output 2, Digital_Output_2 programmable sink or source AGD101 Product Manual Rev.2.0 Page 30...
Page 31 To maintain output high voltage at > 4.5V, limit the current to 60 mA. Note – 5V Digital_Output_Common_Power source mode limitation. AGD101 Differential Input_X- and Differential_Output_X- are not GND. They must be connected to the negative (-) side of a differential pair in the customer’s machine electronics.
Page 32: I/O Interfaces - Circuitry
Digital_Input_Common pin. Isolated Digital Input 8 Figure 18. Digital Input 8 ▪ Digital_Input_8 is internally pulled to IO_PWR_Return. It can only be connected as sinking input. AGD101 Product Manual Rev.2.0 Page 32...
Page 33: Isolated Digital Outputs 1 To 4
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. AGD101 Product Manual Rev.2.0 Page 33...
Page 34: Bi-Directional Differential I/O
For single-ended analog inputs, be sure to connect the return line to GND. Do not leave it unconnected. ▪ Input circuit bandwidth is 1 kHz, -40 dB/decade. ▪ The controller software provides the following parameters to control the analog input reading: ▪ Filter ▪ Offset ▪ Deadband ▪ Gain AGD101 Product Manual Rev.2.0 Page 34...
Page 35: 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 22. Configuration Figure 23. Operation Mode Configuration 3.
Page 36 Figure 26. Position and Velocity Protection 6. 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. AGD101 Product Manual Rev.2.0 Page 36...
Page 37: Drive/Motor Overload Protection
Drive/Motor Overload Protection Figure 27. Current and Voltage Protection 4.2 Drive/Motor Overload Protection The following methods are used to protect the AGD101 from overload: ▪ ▪ Motor stuck ▪ Motor temperature protection using a PT100. 4.2.1 T Over Load protection In a transient condition, the motor can sustain a certain amount of energy that exceeds the continuous limit.
Page 38 Drive/Motor Overload Protection Figure 28. I In Agito PCSuite, the following parameters define the �� characteristics: ▪ Peak current ▪ Continuous current ▪ Peak time Figure 29. I T Settings Note – The I2T algorithm does not support thermal memory protection or thermal memory during power loss.
Page 39: Motor Stuck
4.2.3 Motor Temperature Protection If the motor temperature sensor option is selected, the AGD101 will monitor the PT100/1000 temperature sensor readings, and display warnings in the status window if the temperature is approaching the specified limit.
Page 40: Tuning
1. Connect Hall sensors to HALLS port and configure the first of the three inputs in the digital I/O page as Hall A. 2. Use the Jump to zero phase method to establish the motor and Hall phases; select Perform learn process and click Perform Auto-Phasing. AGD101 Product Manual Rev.2.0 Page 40...
Page 41: Current Loop Tuning
Click Calculate PI to calculate the current loop gains. Check both checkboxes for auto data recording and user predefined data recording. Click Apply Current Command to test the current loop performance. Figure 35. Current Loop Tuning AGD101 Product Manual Rev.2.0 Page 41...
Page 42: Auto Velocity And Position Loop Tuning
Click Begin Identification to perform system identification. Figure 37. Begin System Identification When the identification is completed successfully, the plant’s transfer function will be displayed, as shown in the following figure. Figure 38. Typical Plant Transfer Function AGD101 Product Manual Rev.2.0 Page 42...
Page 43 PIV gains for this plant. Figure 40. Start Auto-Tuning calculation 4. Once Auto-Tuning is completed, click Write to Controller to download the calculated gains into the controller. Figure 41. Download the parameters to the controller AGD101 Product Manual Rev.2.0 Page 43...
Page 44 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 42. Testing Motion AGD101 Product Manual Rev.2.0 Page 44...
Page 45: Manual Velocity And Position Loop Tuning
Figure 43. Manual Velocity Loop Tuning Figure 44. 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. AGD101 Product Manual Rev.2.0 Page 45...
Page 46 Figure 46. 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 42. Testing Motion. AGD101 Product Manual Rev.2.0 Page 46...
Page 47: Maintenance And Servicing
(free wheel) Position feedback sensor is Go to Agito PCSuite’s CONFIG > FDBK page, toggle configured in wrong direction the Invert direction setting. Encoder signal is interfered Verify if the encoder signal is drifting even when the by EMI noise in the system, motor is physically locked or not moving.
Page 48 Check software position limits and velocity limits at position and velocity limits. Agito PCSuite’s 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. In this case, set the...

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Agd101-ec-2d05 Agd101-ec-2d10