Agito AGD155 Product Manual Download Page 53

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Tuning

AGD155 Product Manual Rev.2.2

Page 53

Check the motion performance in the Motions Tab, set the required motion profile, and click

Go 2

to move to Target 1 or Target 2. Record the motion data to analyze the motion

performance in detail.

Figure 53. Testing Motion

Summary of Contents for AGD155

Page 1: ...General Description AGD155 Product Manual Rev 2 2 Page 1 AGD155 Standalone 240 VAC Drive Product Manual...

Page 2: ...m 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 pr...

Page 3: ...rs ________________________________________ 19 3 4 Electrical Interfaces _____________________________________________________________ 20 3 4 1 Interface X10 Main Power________________________________...

Page 4: ...Stuck ____________________________________________________________ 48 4 2 3 Motor Temperature Protection _____________________________________________ 48 4 3 Tuning ___________________________________...

Page 5: ...rnet 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 s...

Page 6: ...0 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 limit...

Page 7: ...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 c...

Page 8: ...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 s Max frequency 100...

Page 9: ...on 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...

Page 10: ...mperature 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...

Page 11: ...specified 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 p...

Page 12: ...rcuits 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 3 Compl...

Page 13: ...t The AGD155 must be mounted vertically book mounting as shown in Figure 3 The AGD155 is mounted using 2 M4 screws It is important to mount the product on metal panel for both grounding and secure con...

Page 14: ...learance must be at least 50 mm Ambient temperature in the cabinet must not exceed the limit defined in section Safe Operating Area SOA If amplifiers are mounted on a backplane the backplane temperatu...

Page 15: ...ough the phases of the motor The motor converts this electrical power to a mechanical power that moves the load During motor deceleration and stopping the inertia of the load drives the movement of th...

Page 16: ...155 6A 10 A AGD155 3A 6 A Voltage rating AC 600 VAC Interrupt rating minimum 10 kA Example circuit breaker SE iC60N 3P 6A C 3 3 3 AC Line filter For proper product operation an external AC line filter...

Page 17: ...provided since they are a function of multiple conditions such as continuous current bus voltage PWM duty cycle 5V consumption I O s high current usage mounting base plate size product mounting orient...

Page 18: ...cally conductive and serves as the protective earth PE ground of the product However it is critical to ensure the PE screws are electrically conducting between the PE of AGD155 and the PE of main powe...

Page 19: ...ve their shield connected to PE as part of the external metal enclosure PGND is bypassed to PE with low capacitance around 10 nF for EMI EMC purposes It is critical to avoid ground loops in the system...

Page 20: ...ectronics equivalent 691359740006 Degson equivalent 2EDGKDM 5 08 6P 14 Connector pitch 5 08 mm Wiring AWG 14 insulation rated for 600 V Mains connections Connect L1 L2 and L3 for main bus power If the...

Page 21: ...wer Connector Connector X14 I O PWR Pin Name Description 1 IO_PWR 5 to 24 VDC User supplied I O power input up to 2A 2 IO_PWR_Return Ground I O power return 3 VBrake 12 to 48 VDC Brake power input up...

Page 22: ...se B M2 3 Phase C Motor phase C M3 4 PE Protective earth motor power cable shield Connector manufacturer Phoenix Contact Mating connector part number 1942507 Wurth Electronics equivalent 691340500004...

Page 23: ...e Description 1 5V PWR OUT 5V supply for safety circuits 2 Safety_Feedback OUT Safety_Feedback negative emitter output 3 Safety_Input_2 IN Safety_Input_2 negative input 4 Safety_Input_1 IN Safety_Inpu...

Page 24: ...ng 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 When sufficient current...

Page 25: ...R Static_Brake Static brake output for motor A Open drain output with built in flyback diode to the VBrake for direct connection into inductive load 2 BR VBrake Power out to brake Internally connected...

Page 26: ...generation Regeneration pin to be connected to an external regeneration resistor Designed for 16A not protected When Regeneration is triggered this pin is connected internally to PGND The other end of...

Page 27: ...sistor cool down before touching it Unplug it only when the controller power is off During development if the supply voltage is to be modified first disconnect the regeneration resistor and before rec...

Page 28: ...eep in OFF state 3 Force Communication to Default Forces the controller to default communication parameters bypassing other software parameters in the controller Ethernet IP 172 1 1 101 Ethernet Port...

Page 29: ...mit 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 1...

Page 30: ...ion rated for 100 V Dual port connector The serial port is a dual port RJ45 connector The two ports have identical pinouts and are interchangeable Two ports are provided to support daisy chain connect...

Page 31: ...5 GND GND Connector type Micro USB 2 0 B Cable Any Micro USB 2 0 B type cable Wiring 20 to 28 AWG insulation rated for 100 V USB to RS232 bridge The Micro USB connection is implemented using an inter...

Page 32: ...wer supply limited to 0 5A per connector 2 GND 5V return and reference for differential signals 3 Encoder_1 CLOCK CLOCK Clock pin for absolute encoders 4 Encoder_1 CLOCK CLOCK Clock pin for absolute e...

Page 33: ...r The X3 encoder port is designed to interface with an auxiliary second encoder for the axis It is similar to the main encoder port supporting digital quadrature incremental encoder absolute BiSS C an...

Page 34: ...x 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 5V supply provided at pin 1 of each...

Page 35: ...10 Digital_Input_Common 1 to 3 Common pin power or return depending on external connection for digital input 1 to 3 11 Digital_Input_3 Hall_C DInPort bit 2 Isolated digital input 3 NPN or PNP dependi...

Page 36: ...roup 4 Digital_Output_5 DOutPort Bit 4 Isolated digital output 5 programmable sink or source 5 Digital_Output_6 DOutPort Bit 5 Isolated digital output 6 programmable sink or source 6 Analog_Input_2 AI...

Page 37: ...gital outputs 5 to 6 16 N A 17 N A 18 GND Ground 19 IO_PWR Internally connect to connector X14 I O PWR pin 1 20 IO_PWR_Return Internally connect to connector X14 I O PWR pin 2 Connector manufacturer 3...

Page 38: ...mmon pin of this group 13 Digital_Input_9 DInPort Bit 8 Isolated digital input 9 NPN or PNP depending on connection of the common pin of this group 14 Digital_Input_11 DInPort Bit 10 Isolated digital...

Page 39: ...4 Digital_Output_3 DOutPort Bit 2 Isolated Digital Output 3 programmable sink or source 35 Digital_Output_4 DOutPort Bit 3 Isolated Digital Output 4 programmable sink or source 36 5V 5V output Connect...

Page 40: ...ther groups Each group can be connected as NPN or PNP interfaces depending on the wiring of the group s Digital_Input_Common pin If the Digital_Input_Common pin is connected to power between 5V and 24...

Page 41: ...external flyback diode is required Discrete outputs specifications Digital_Output_Common_Power voltage range is between 5V and 28V Maximal load current per each output Sink mode any Digital_Output_Co...

Page 42: ...ly and leaving the negative pin disconnected The differential inputs can be used with 5V differential sources Differential Outputs 1 to 4 Figure 29 Differential Outputs 1 to 4 Dedicated digital ground...

Page 43: ...following parameters to control the analog input reading Filter Offset Deadband Gain Analog Outputs 1 to 2 Figure 32 Analog Outputs 1 to 2 The electrical interfaces of all analog outputs are identical...

Page 44: ...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 33 Configuration Figure 34 Operation Mo...

Page 45: ...ion during auto phasing process 5 Click Next to setup position velocity and motor stuck protection Fill in the limits according to the application requirements Figure 37 Position and Velocity Protecti...

Page 46: ...tection using a PT100 or PT1000 4 2 1 I2T Over Load protection In a transient condition the motor can sustain a certain amount of energy that exceeds the continuous limit However the more the current...

Page 47: ...ous current Peak time Figure 40 I2 T Settings Note The I2T algorithm does not support thermal memory protection or thermal memory during power loss On drive power up the algorithm does not consider th...

Page 48: ...in amount of minimal current StuckCurr but the motor does not move at the minimal expected speed StuckVel for a certain amount of time StuckTime If this condition occurs the motor will be shut off 4 2...

Page 49: ...r is ready for motor on Use Jump to zero phase for Auto Phasing method for most reliable result This method requires the longest search distance If the stroke does not allow such search distance selec...

Page 50: ...l 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 b...

Page 51: ...oop Tuning 1 System Identification Select TUNE IDEN Click Begin Identification to perform system identification Figure 48 Begin System Identification When the identification is completed successfully...

Page 52: ...uning 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 Figure 51 Start Auto Tuning calcul...

Page 53: ...Page 53 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 performanc...

Page 54: ...gral PI integral gains of velocity loop Click Apply Vel Command to check the performance Figure 54 Manual Velocity Loop Tuning Figure 55 Typical Velocity Loop Performance Similarly adjust proportional...

Page 55: ...6 Position Loop Tuning Figure 57 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...

Page 56: ...rol loops gains are too high Go to Agito PCSuite s Tune page select CURR and or PIV page to reduce the gains to half If the situation improved redo tuning for the axis Velocity or Acceleration command...

Page 57: ...the FLS or RLS status will remain ON In this case set the digital input to FLS or RLS manually move the motor away from the sensor before change the digital input function Alternatively reset the cont...

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