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AGD301

3-Axis Controller

with Integrated Drives

Product Manual

Summary of Contents for AGD301 Series

Page 1: ...AGD301 3 Axis Controller with Integrated Drives Product Manual...

Page 2: ...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 docu...

Page 3: ...terfaces ____________________________________________________________23 3 4 1 Interface X5 Main Power _________________________________________________23 3 4 2 Interface X6 Backup Power ______________...

Page 4: ...______________________________55 4 3 Tuning_______________________________________________________________________56 4 3 1 Commissioning _________________________________________________________56 4 3...

Page 5: ...ors such as steppers voice coils brushed or brushless motors and including direct drive linear and rotary motors Agito PCSuite software and IDE is used for AGD301 programing configuration tuning and o...

Page 6: ...y 12 90 VDC Logic power supply optional 12 36 VDC Continuous output current Internally limited by firmware 5 6 Arms per axis 5 6 Arms per axis Peak output current Internally limited by firmware 11 2 A...

Page 7: ...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 Commutation Auto phasing Hall sensors Sin Cos...

Page 8: ...utputs Type PNP NPN Max current 0 5A for NPN type 0 3A for PNP type Propagation delay 10 s Max frequency 100 kHz Functionality alarm in position event PEG and others Bi directional differential I O Ha...

Page 9: ...01 Product Manual Rev 2 0 Page 9 Mechanical Specifications Feature Specification Unit dimensions max H 57 mm W 188 mm D 105 mm Package dimensions H 70 mm W 235 mm D 145 mm Unit weight 0 4 kg Shipping...

Page 10: ...al sensor Spring and friction compensation Active yaw gantry control Control Sampling Rate 16 kHz profiler position velocity optional force current Motion Modes Point to point Repetitive CNC sequentia...

Page 11: ...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 1 6 Environ...

Page 12: ...air the product Before starting installation maintenance or operation ensure that all system components are connected to protective earth ground PE The PE wire must be colored green yellow in accordan...

Page 13: ...rds Compliance Directive Standard 2014 35 EU EC Machinery Low Voltage Directive IEC 61800 5 1 2007 A1 2017 2014 30 EU Electromagnetic Compatibility Directive EMC IEC 61800 3 2017 RoHS 2011 65 EU EU 20...

Page 14: ...Compliance AGD301 Product Manual Rev 2 0 Page 14...

Page 15: ...To unpack the product 1 Carefully remove the product from the box and the packing materials 2 Visually inspect the product to ensure that there is no damage If any damage has occurred report it immedi...

Page 16: ...tive earth PE ground of the product However it is critical to ensure the PE screws are electrically conducting between the PE of AGD301 and the PE of main power supply in the system All cables connect...

Page 17: ...Mounting AGD301 Product Manual Rev 2 0 Page 17 Figure 5 Vertical mounting multiple amplifiers within cabinet mm...

Page 18: ...rollers have one regeneration resistor input for both axes Regeneration power of two motors must be taken into consideration when selecting the resistor Warning DC Vbus is monitored and motors will be...

Page 19: ...rientation and ambient temperature The SOA of the product is defined as any combination of operational conditions each within the absolute maximal ratings defined in the Technical Specifications and a...

Page 20: ...05 Safe operating area SOA 90 VDC AGD301 ET 2D09 Safe operating area SOA 90 VDC PWM power Overall PWM power to motors is the sum of PWM power to all three motors PWM power 0 95 Main_Power_Supply_Volta...

Page 21: ...connection Make sure the plate is not painted The heatsink of the AGD301 is electrically conductive and serves as the protective earth PE ground of the product However it is critical to ensure the PE...

Page 22: ...the product must comply with the following guidelines The enclosures and other external parts that may be touched by the user must be in the safe domain The AGD301 must be connected to protective ear...

Page 23: ...ard and to external devices such as encoders and I Os The AGD301 is fully operational with this single power supply Figure 7 Main Power Connector Connector X5 MAIN PWR Pin Name Description 1 Vbus Moto...

Page 24: ...the digital logic If you are interested in such a scheme contact Technical Support 3 4 2 Interface X6 Backup Power Connector X6 BACKUP PW provides optional backup 9 36 VDC power for the logic componen...

Page 25: ...he brake output port Figure 9 I O and Brake Power Connector Connector X7 I O PWR Pin Name Description 1 IO_PWR 5 to 28 VDC User supplied I O power input up to 2A 2 IO_PWR_Return Ground I O power retur...

Page 26: ...brake Connect the Motor Brake wire directly to the power supply positive terminal A2 B2 C2 pin 2 VBrake Connect the Motor Brake wire to A2 B2 C2 pin 1 Static_Brake for motor A brake B brake C brake AG...

Page 27: ...follow the wiring specifications for each motor Figure 11 Motor Power Connector Connectors A4 B4 and C4 MOTOR Pin Label Brushless Motor Brushed or Voice Coil Motor 1 A Motor phase A M1 Motor phase Ph...

Page 28: ..._Feedback OUT Safety_Feedback negative emitter output 3 Safety_Input_2 IN Safety_Input_2 negative input 4 Safety_Input_1 IN Safety_Input_1 negative input 5 GND PWR GND 6 Safety_Feedback OUT Safety_Fee...

Page 29: ...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 is...

Page 30: ...the motor To prevent this from happening users can connect an external power resistor to dissipate the unwanted energy Refer to the section Regeneration for more information about Regeneration Figure...

Page 31: ...tion AqB Sin Cos BiSS C EnDat 2 2 1 5V 5V power 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 En...

Page 32: ...ly provided at pin 1 of each ENC connector is internally 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 4 8 Interfaces A2 B2 C2...

Page 33: ...20 Hall C signal 6 5V 5V power supply for Hall sensors 7 GND GND for 5V 8 RTD AMotorTemp PT100 9 RTD PT100 10 PE Protective earth Connector B2 HALLS Axis B Pin Name Software Representation Description...

Page 34: ...lowing inputs 25 and 26 will be set automatically as Hall B and Hall C 4 Hall_B DInPort bit 25 Hall B signal 5 Hall_C DInPort bit 26 Hall C signal 6 5V 5V power supply for Hall sensors 7 GND GND for 5...

Page 35: ...first input mode must be configured to mode 23 Hall A Figure 17 Motor Hall sensors It is recommended that Hall sensors be used with incremental encoders Typically Hall sensors are called Ha Hb Hc or H...

Page 36: ...Pin Name Software Representation Description 1 Digital_Input_1 DInPort bit 0 Isolated digital input 1 NPN or PNP depending on the connection of the group s common pin 2 Digital_Input_3 DInPort bit 2...

Page 37: ...IO PWR pin 1 20 IO_Power_Return Connected internally to X7 IO PWR pin 2 Connector manufacturer 3M Mating connector part number 10120 3000PE 10320 52A0 008 Wiring AWG 26 insulation rated for 100 V Con...

Page 38: ...ted internally to X7 IO PWR pin 1 20 IO_Power_Return Connected internally to X7 IO PWR pin 2 Connector manufacturer 3M Mating connector part number 10120 3000PE 10320 52A0 008 Wiring AWG 26 insulation...

Page 39: ...ng on the connection of the group s common pin 14 Digital_Input_18 DInPort bit 17 Isolated digital input 18 NPN or PNP depending on the connection of the group s common pin 15 Digital_Output_Common _P...

Page 40: ...scription 1 TX _D1 Transmit 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 Conn...

Page 41: ...Reserved for future use 7 CAN_L CAN bus Low 8 CAN_H CAN bus High Connector type RJ45 LAN 10 100Base T connector Mating connector part number Any CAT5e compatible shielded connector Cable CAT5e or hig...

Page 42: ...ion performance may be degraded if too many units are placed on the RS485 chain 3 4 12 Interface X1 Micro USB Connector X1 is a Micro USB communication port Figure 21 USB Connector Connector X1 Micro...

Page 43: ...Bi directional differential I Os The electrical interfaces of the 8 bi directional differential I Os are all identical Connector X4 GENERAL I O Pin Name Software Representation Description 1 Bi Dir_D...

Page 44: ...al_Output_15 DOutPort bit 14 Isolated digital output 15 programmable sink or source 17 Digital_Output_16 DOutPort bit 15 Isolated digital output 16 programmable sink or source 18 Digital_Output_17 DOu...

Page 45: ...o 13 Common power pin for isolated digital outputs 10 to 13 32 Digital_Output_Common _Return 10 to 13 Common power return pin for isolated digital outputs 10 to 13 33 Digital_Output_Common _Power 14 t...

Page 46: ...hen the inputs of this group can be used with external NPN devices external current sinking devices If the common is connected to the GND of some external power then the inputs can be used with extern...

Page 47: ...mon_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 sig...

Page 48: ...ameter position position error velocity current or any parameter status of the controller with a user defined scaling factor for easy monitoring using an external oscilloscope Differential Inputs Figu...

Page 49: ...l I Os The bi directional differential output is configurable by software to be a differential output or differential input Both and pins are pulled up to 3 3V There is a 120 termination resistor betw...

Page 50: ...d RS232 USB baud rates are not affected by this DIP switch Requires power cycle or reset 4 6 CAN Ethernet Address Offset DIP Switch 4 Most significant bit DIP Switch 6 Least significant bit DIP switch...

Page 51: ...i colored LED marked ST shows the operational status of the AGD301 ST Status LED indicator Color LED Meaning Off Powered off Red On steady Fault Green On steady Normal operation Green Blinking fast In...

Page 52: ...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 32 Configuration Figure 33 Operation Mo...

Page 53: ...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 36 Position and Velocity Protecti...

Page 54: ...r stuck 4 2 1 I2T In a transient condition the motor can sustain a certain amount of energy that exceeds the continuous limit However the more the current value exceeds the continuous current the less...

Page 55: ...rior to power up 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...

Page 56: ...ance If the stroke does not allow such search distance select Minimal Motion method Figure 41 Auto Phasing for Brushless motor If the system does not allow any motion during power on or motor on use H...

Page 57: ...uctance according to the 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 lo...

Page 58: ...oop Tuning 1 System Identification Select TUNE IDEN Click Begin Identification to perform system identification Figure 45 Begin System Identification When the identification is completed successfully...

Page 59: ...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 48 Start Auto Tuning calcul...

Page 60: ...Page 60 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 61: ...gral PI integral gains of velocity loop Click Apply Vel Command to check the performance Figure 51 Manual Velocity Loop Tuning Figure 52 Typical Velocity Loop Performance Similarly adjust proportional...

Page 62: ...3 Position Loop Tuning Figure 54 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 63: ...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 64: ...gital input is changed 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 Alter...

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