Agito AGD301 Series, Product Manual

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AGD301 Product Manual Rev.2.0 Page 3
Contents
1 Product Description _____________________________________________________ 5
1.1 General Description _____________________________________________________________ 5
1.2 Part Numbering ________________________________________________________________ 5
1.3 System Design __________________________________________________________________ 6
1.4 Electrical and Mechanical Specifications _____________________________________________ 6
1.5 Motion Control Specifications ____________________________________________________ 10
1.6 Environmental Specifications _____________________________________________________ 11
2 Safety _______________________________________________________________ 12
2.1 Safety Symbols ________________________________________________________________ 12
2.2 Safety Guidelines ______________________________________________________________ 12
2.3 Compliance ___________________________________________________________________ 13
3 Installation ___________________________________________________________ 15
3.1 Unpacking and Packing __________________________________________________________ 15
3.2 Mounting ____________________________________________________________________ 16
3.2.1 Mounting the AGD301 ___________________________________________________ 16
3.2.2 Mounting Multiple Power Amplifiers ________________________________________ 16
3.3 Electrical Installation ___________________________________________________________ 18
3.3.1 Power Wiring___________________________________________________________ 18
3.3.2 Regeneration ___________________________________________________________ 18
3.3.3 Safe Operating Area _____________________________________________________ 19
3.3.4 Grounding _____________________________________________________________ 21
Ground Domains ________________________________________________________ 22
Grounding Policy ________________________________________________________ 22
3.4 Electrical Interfaces ____________________________________________________________ 23
3.4.1 Interface X5: Main Power _________________________________________________ 23
3.4.2 Interface X6: Backup Power _______________________________________________ 24
3.4.3 Interface X7: I/O Power and Brake Power ____________________________________ 25
Brake Circuitry __________________________________________________________ 26
3.4.4 Interfaces A4, B4, C4: Motors ______________________________________________ 27
3.4.5 Interface X3: Safety ______________________________________________________ 28
Safety Circuitry _________________________________________________________ 29
3.4.6 Interface X10: Regeneration _______________________________________________ 30
3.4.7 Interfaces A1, B1, C1: Encoders ____________________________________________ 31
3.4.8 Interfaces A2, B2, C2: Hall Sensors and Static Brake _____________________________ 32
Hall Sensors Circuitry ____________________________________________________ 35
3.4.9 Interfaces A3, B3, C3: Digital and Analog I/Os _________________________________ 36
3.4.10 Interface X2: Ethernet (LAN) _______________________________________________ 40
3.4.11 Interfaces X8, X9: CAN, RS232, RS485 ________________________________________ 41
3.4.12 Interface X1: Micro-USB __________________________________________________ 42
3.4.13 Interface X4: General Purpose I/Os__________________________________________ 43
3.4.14 I/O Interfaces – Circuitry __________________________________________________ 46
Isolated Digital Inputs ____________________________________________________ 46
Isolated Digital Outputs __________________________________________________ 46
Analog Input ___________________________________________________________ 47
Analog Output __________________________________________________________ 48
Differential Inputs _______________________________________________________ 48
Differential Outputs _____________________________________________________ 48
Bi-directional Differential I/Os _____________________________________________ 49
3.4.15 DIP Switches ___________________________________________________________ 49
3.4.16 Status LED _____________________________________________________________ 51