RTA X-PLUS ET B4 Series Instruction Manual
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RTA X-PLUS ET B4 Series Instruction Manual

Stepping motor drives
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MOTION CONTROL SYSTEMS
X-PLUS ET B4/S4
STEPPING MOTOR DRIVES
INSTRUCTION MANUAL
R.T.A. s.r.l.
R.T.A.
DEUTSCHLAND GmbH
R.T.A. IBERICA
MOTION CONTROL SYSTEMS S.L.
SERIES
R.T.A. s.r.l. – XPETME05 – 11/20
Via E. Mattei – Frazione DIVISA
27020 MARCIGNAGO (PV)
Tel. +39.0382.929.855 - Fax +39.0382.929.150
Internet: http://www.rta.it - e-mail: info@rta.it
Bublitzer Straße, 34
40599 DÜSSELDORF (Germany)
Tel. +49.211.749.668.60-Fax +49.211.749.668.66
Internet: http://www.rta-deutschland.de
e-mail: info@rta-deutschland.de
C/Generalitat 22, 1° 3°
08850 GAVA – BARCELONA (Spain)
Tel. +34.936.388.805-Fax +34.936.334.595
Internet: http://www.rta-iberica.es
e-mail: info@rta-iberica.es

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  • Page 1 STEPPING MOTOR DRIVES INSTRUCTION MANUAL Via E. Mattei – Frazione DIVISA 27020 MARCIGNAGO (PV) R.T.A. s.r.l. Tel. +39.0382.929.855 - Fax +39.0382.929.150 Internet: http://www.rta.it - e-mail: info@rta.it Bublitzer Straße, 34 40599 DÜSSELDORF (Germany) R.T.A. Tel. +49.211.749.668.60-Fax +49.211.749.668.66 DEUTSCHLAND GmbH Internet: http://www.rta-deutschland.de e-mail: info@rta-deutschland.de...

  • Page 2: Table Of Contents

    INDEX NOTICES, MANUAL STRUCTURE AND TERMINOLOGY ........3 HAZARDS AND PRECAUTIONS ................4 GENERAL CHARACTERISTICS AND IDENTIFICATION .......... 7 INPUT AND OUTPUT LOGIC SIGNALS ..............8 POWER INPUTS AND OUTPUTS ................11 SETTING AND SIGNALLING..................13 DRIVE EXTERNAL CONNECTIONS ................ 15 INSTALLATION AND ENVIRONMENT ..............

  • Page 3: Notices, Manual Structure And Terminology

    1 - NOTICES, MANUAL STRUCTURE AND TERMINOLOGY 1.1 - This manual covers the following items: • X-PLUS ET series stepping motor drives in all their standard versions. • Standard characteristics of special versions of X-PLUS ET series stepping motor drives (see chapter 1.2).

  • Page 4: Hazards And Precautions

    1.6 - INFORMATION This manual is conceived in a way to offer to the personnel involved in project and safety verification of a machine all information concerning characteristics, working conditions, application limits hazards and cautions about X-PLUS ET series stepping motor drives. The knowledge of this information is essential for a correct project of machines, apparatus and systems in which the drives are used;...
  • Page 5 In these cases, the person responsible of the installation must design and provide specific equipments or safety techniques, external and independent from the drive, suitable to prevent all dangerous consequences. Use in conditions not complying with one or more specific limitations or prescriptions stated in this manual regarding electrical, mechanical and environmental specifications or characteristics is strictly forbidden.
  • Page 6 2.12 - R.T.A. cannot be considered liable for property losses, equipment damages and personnel injuries arising from use or installation not fully compliant with specifications contained. 2.13 - For STO inputs and Monitor output correct use (X-PLUS S only), please refer to Chapter 12. R.T.A.

  • Page 7: General Characteristics And Identification

    3 - GENERAL CHARACTERISTICS AND IDENTIFICATION 3.1 - DIMENSIONS Fig. 2 – Dimensions: all measures in mm. 3.2 - IDENTIFICATION The models identification of X-PLUS ET series drives is as follows: X-PLUS ET X4.Y where: can be: S, with STO function. is not present in standard models.

  • Page 8: Input And Output Logic Signals

    4 - INPUT AND OUTPUT LOGIC SIGNALS (C2, C3a, C3b and C5 connectors, see Fig. 2, 5 and 7) All input and output logic signals are optically insulated among them and from internal power circuits. 4.1 - INPUTS (C3a) An input is ON when at its terminals is present a voltage within the following limits: 8 Volt <...
  • Page 9 Inputs structure scheme Output structure DRIVE Vmax = 45 Volt DRIVE Imax = 5 mA for Input Common O0 output of outputs 2200 OHM Imax = 50 mA for other outputs 8 < Vin < 24 Volt Vsat 1 Volt Common Output of inputs...
  • Page 10 Note1: Negative encoder power supply (terminal 48) is internally connected to 5 and 6 terminals of C1 and 12 terminal of C5. Note2: C4 connector must be used to connect encoder of RTA EM / RM series motor See also software manual for proper motor setting in combination with drive, with reference to setting of object 0x3210.

  • Page 11: Power Inputs And Outputs

    5 - POWER INPUTS AND OUTPUTS In this chapter drive power input and output and the necessary power supply for drive working are described. 5.1 - Drive power outputs are the four connections to stepping motor. Drive power inputs can be connected to the main or to an insulation transformer.
  • Page 12 5.4 - Table 4 and Table 5 show power inputs and outputs characteristics: AC input X-PLUS ET 110 - 230 Tolerance V Max input current 440 - 920 Max input power (VA) 169 × 129 × 46 Dimensions (mm) Table 4 Motor phase outputs X-PLUS ET +/- 1.41 x V...

  • Page 13: Setting And Signalling

    6 - SETTING AND SIGNALLING 6.1- INFORMATION X-PLUS ET series drives are general purpose products which can be used to drive many different motor models in different kind of applications. For this reason they can be set with proper commands (see programmer’s manual) suitable to adapt drive characteristics to the specific motor and/or application.
  • Page 14 6.3- Fig. 6 shows the position of EtherCAT connectors located on the high side of the case. Fig. 6 – EtherCAT connectors (X-PLUS ET series drives high side view). 6.4- INFORMATION The following list shows the meaning of the alert LEDs provided for the EtherCAT communication: = supply voltage is in the correct operating range.

  • Page 15: Drive External Connections

    7 - DRIVE EXTERNAL CONNECTIONS 7.1- CAUTION! Dimensioning power for filter, switching and protection system and possible transformer. The basis to calculate this power is the total power required from drive and motor. It is the sum of the following terms: - Mechanical power delivered to load: mainly depending on application characteristics like friction, inertia, efficiency of mechanical transmission etc.
  • Page 16 Note: C3b connector is not available in X-PLUS ET B4. Fig. 7 – Drive external connections scheme. Note: For connection drive-encoder use twisted-pair shielded cable (EI- and EI+; EB- and EB+; EA- and EA+). R.T.A. s.r.l. – XPETME05 – 11/20 16/29...

  • Page 17: Installation And Environment

    8 - INSTALLATION AND ENVIRONMENT All products considered in this manual have the following common characteristics: 8.1 - Protection degree IP20: it is user responsibility to provide an adequate protection enclosure suitable to meet the standards regarding the specific application in which the products are used. 8.2 - CAUTION! Installation and work environment.

  • Page 18: Logic Interfacing Examples

    10 - LOGIC INTERFACING EXAMPLES In this chapter some interfacing techniques are shown. They have to be considered only as examples. The best way to interface the drive with the control system can be chosen only with a complete knowledge of control system and application needs.
  • Page 19 CONTROL X-PLUS ET SYSTEM SERIES DRIVE < V+ < 24 V PNP OUTPUT INPUT Fig. 11 – Driving a X-PLUS ET logic input from a control system with a PNP output. CONTROL SYSTEM X-PLUS ET SERIES DRIVE V+ OUTPUT < V <...

  • Page 20: Application Notes

    • It is suggested not to exceed the maximum length of 10 meters for the wiring between motor and drive. In case of application requires the exceeding of this limit, please contact RTA. • Connect earth line to motor chassis. To reduce the radio-frequency emissions, the mechanical connection of motor to machine chassis (by means of mounting flanges and screws), is typically simple and effective solution.
  • Page 21 11.1.3- Following these procedures is essential to realize an installation which complies with the requirements of 2014/30/CE directive. The real specific standard compliance have to be proved in the complete installation. In fact the effectiveness of the suggested application notes depends also on machine topology and on the measurement setup.
  • Page 22 11.2- MOTOR LIMITATIONS. X-PLUS ET drives can be used with many different motor types; nevertheless there are some limitations about the characteristics of the motor as specified in the following tables. The Table 6 and Table 7 indicate the suggested limits for nominal motor current and nominal phase inductance.
  • Page 23 11.3 - REVERSE ENERGY MANAGEMENT. During deceleration of load with high inertia, some amount of energy can flow from motor to drive. In case of excessive reverse energy, an overvoltage protection could inhibit the drive operation making impossible the application. During the test of a new application in which there are decelerations starting from relatively high speed, with high inertial load, always check carefully the operation conditions during the decelerations.

  • Page 24: Sto Functions (X-Plus Et S4 Only)

    12 - STO FUNCTIONS (X-PLUS ET S4 only). 12.1- SYSTEM CONFIGURATION DESCRIPTION STO2 Emergency Safety Stop button output - STO1 Monitor Feedback input SAFETY UNIT SHIELD Fig. 15 – Connection scheme. 12.2- STO FUNCTION Safe-torque-off function reduces injury risks and ensures the safety for those who work near moving parts of equipment.
  • Page 25 12.5- WARNING! RISK ASSESSMENT The drive meets the requirements safety standards above described. However, before activating safety function, make sure to assess the risks associated with the overall equipment to ensure complete safety. 12.6- WARNING! RESIDUAL RISK Even if STO function is active, the following risks remain. Please ensure the installation safety is maintained, even in case the below-indicated situations occur, through a correct risk assessment.
  • Page 26 STO1 and STO2 inputs structure scheme MONITOR output structure Vmax = 45 Volt DRIVE Vin = 24 Volt Imax = 50 mA DRIVE ≤ Vsat 0.8 Volt (at 10 mA) R1 = 3.3 KOHM R1 (1W) R2 = 390 OHM 18 Volt <...
  • Page 27 12.8- ENABLE / DISABLE STO: TIMING INDICATIONS The correct and stable enabling of STO function is effective after a maximum time of 20 ms after STO1 and STO2 switching off. Monitor Output indicates that STO function is active with a maximum delay of 20 ms from STO1 and STO2 input signals switch off (Figure 18).
  • Page 28 12.10- EDM (ERROR DETECTION MONITOR) Error Detection Monitor output is a signal to monitor problems in safe-torque-off circuit or between SAFETY UNIT and STO1 and STO2 inputs. The following Table 10 shows correspondences between STO1 and STO2 inputs and Monitor Output states. STO1 STO2 MONITOR OUT...
  • Page 29 5. In case of short circuit or failure of power device transistor, the motor could make an uncontrolled movement within a range up to 180 degrees in electrical angle (180 degrees in electrical angle=1/50 of a turn) and then remain a stable position. It is necessary to verify that this limited movement does not correspond to some risky conditions.

This manual is also suitable for:

X-plus et s4 series

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