RTA X-PLUS C Series User manual

R.T.A. s.r.l. – XPCSME03 – 12/20
MOTION CONTROL SYSTEMS
X-PLUS C – X-PLUS S
SERIES
STEPPING MOTOR DRIVES
INSTRUCTION MANUAL
R.T.A. s.r.l.
Via E. Mattei – Frazione DIVISA
27020 MARCIGNAGO (PV)
Tel. [phone] - Fax [phone]
Internet: http://www.rta.it - e-mail: [email protected]
R.T.A.
DEUTSCHLAND GmbH
Bublitzer Straße, 34
40599 DÜSSELDORF (Germany)
Tel. [phone]-Fax [phone]
Internet: http://www.rta-deutschland.de
e-mail: [e-mail]
R.T.A. IBERICA
MOTION CONTROL SYSTEMS S.L.
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: [email protected]

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INDEX
1 - NOTICES, MANUAL STRUCTURE AND TERMINOLOGY ......................................3
2 - HAZARDS AND PRECAUTIONS..............................................................................4
3 - GENERAL CHARACTERISTICS AND IDENTIFICATION ........................................6
4 - INPUT AND OUTPUT LOGIC SIGNALS ..................................................................7
5 - POWER INPUTS AND OUTPUTS............................................................................9
6 - SETTING AND SIGNALLING..................................................................................11
7 - DRIVE EXTERNAL CONNECTIONS......................................................................15
8 - INSTALLATION AND ENVIRONMENT...................................................................17
9- MAINTENANCE......................................................................................................17
10 - LOGIC INTERFACING EXAMPLES .......................................................................18
11 - APPLICATION NOTES...........................................................................................20
12- STO FUNCTION (X-PLUS S2 / S4 and X-PLUS S2.1 / S4.1).................................24
WARNING
: it is user RESPONSIBILITY to check that this manual refers
to product model and version that will be used
SYMBOL MEANING
WARNING!
The section marked with this symbol contains warnings regarding
safety problems.
If the directions indicated in these sections are not
fulfilled, it could arise hazardous situations for human life.
CAUTION! The section marked
with this symbol contains information
regarding operations which are strictly forbidden.
INFORMATION
The section marked with this symbol contains important information
s to avoid not compliant installations.
[...] UL
Some parts of the text between square brac
kets are the original
definition of UL standard rules.
These requirements
are mandatory for the models of this manual
that are UL compliant. These models can be identified by UL mark
in the identification label on the specific model.
In any case, we advise to comply with these requirements even for
non-UL certified models.

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1 - NOTICES, MANUAL STRUCTURE AND TERMINOLOGY
1.1 - This manual covers the following items:
•X-PLUS C and X-PLUS S series stepping motor drives in all their standard versions.
•Standard characteristics of special versions of X-PLUS C and X-PLUS S series stepping motor
drives (see chapter 1.2).
•For models and versions identification see also chapter 3.
1.2 - For the purposes of this manual the terms used assume the meaning below described (see Fig. 1).
Control system
(PLC, CNC or others)
Stepping
motor drive
Electrical
supply
Movement
mechanical
system
External commands
and/or sensors
Stepping
motor
Fig. 1
•Drive: electronic part of an electromechanical motion system, which receives some digital or
analog input signals from an external control system and gives to the stepping motor the
suitable phase excitation sequences, in order to obtain the mechanical movements required by
the control system. The drive can also communicate its status to the control system through
some logic signals. Concerning UL standard, the drive is classified as an [Open Type Motor
Drive] and it is suitable to control stepping motors with 4 terminals.
•Control system: part of the machine which decides and controls all machine functions and gives
to the drive all execution commands. It could be a numerical or programmable control, a
personal computer or a specific control card. In the simplest machines it could also be a group
of sensors and electromechanical switches.
•Electrical supply: all machine parts suitable to supply the drive in a correct way; anti-interference
filter, switches, protection systems and in some cases transformer.
•Standard drives are all models (see chapter 3 for identification) whose characteristics comply
completely with those described in this manual. Special versions are all models in which some
characteristics differ from the description given in this manual. For these models, some part of
the manual does not apply and, in these cases, you must have the specific "variation sheet"
which becomes an integral part of the manual itself.
1.3 - Products described in this manual (see identification code in chapter 3) complies with Low Voltage
(2014/35/CE) and Electromagnetic Compatibility (2014/30/CE).
Product standards:
1) UL 61800-5-1 1st Edition – Power Conversion Equipment
2) CSA C22.2 No.274 - Industrial control equipment.
1.4 - Remember that, as stated in all regulations, compliance exists only when a product is installed and
used in accordance with its destination and following manufacturer prescriptions. Thereby, all
relevant indications about use, cautions, installation and limitations here described must be followed
by user in order to stay within safety and compliance limits: from this point of view, chapter 2, 8 and
10 are particularly important, but the entire content of this manual has to be carefully read and
considered in order to obtain the information necessary for a correct use of the product.

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1.5 - 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 C and X-PLUS S 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; it is strongly recommended not to start any operation with the drives before you have
completely read and understood the content of this manual; if you find some part of this manual not
completely understandable or lacking regarding your particular application, do not hesitate to contact
directly R.T.A. that can provide, if necessary, further information in order to make the user able to
design his machine and the related safety systems in the best way. Take into account that an
incorrect use or installation, a wrong dimensioning of external safety elements related with the drive
could bring to economical damages and also to hazards for human life.
1.6 - The terms "user and customer" often used in this manual always indicate a skilled person as defined
in chapter 2.4
1.7 - INFORMATION .
This manual is considered valid at the moment of the selling of the product. It cannot be considered
inadequate as a consequence of product or manual changes or improvements after the selling.
R.T.A. reserves the right of products and manual revisions without notice neither obligation of
previous products and manuals revision.
2 - HAZARDS AND PRECAUTIONS
2.1 - INFORMATION .
X-PLUS C and X-PLUS S series drives are suitable to drive two phases stepping motors with 4, 6 or
8 terminals. (see also section 10 for more details about motor and application limits). Their use for
different purposes is not allowed.
2.2 - WARNING!
X-PLUS C and X-PLUS S series drives [UL category: Open Type Motor Drive] are power conversion
equipments with protection degree IP20 (IEC 60529), foreseen for use in pollution degree 2
environment, with a working temperature range between 5°C (41 °F) and 40°C (104 °F). Thereby,
they must be located within a protective enclosure suitable to maintain the above mentioned
conditions. The position inside the enclosure must be chosen in a way to avoid that small tools or
particles of material can drop inside the drive through the ventilation holes. Avoid absolutely to
install in explosive or flammable environments. Avoid also to install near easily flammable
materials and components; we recommend to verify that all the components located in the
enclosure are realized using self-extinguishing materials.
2.3 - WARNING!
X-PLUS C and X-PLUS S series drives are designed for use in general industrial equipments. Do not
use in installations in which an utilization mistake or a malfunction or a failure of the drive could
cause:
•Injuries or hazards for human life
•Property damages
•Risks of social and public upsets
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.

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2.4 - CAUTION!
All products considered in this manual are sub-assemblies without a direct function, foreseen to be
integrated in a more complex machine. Only a professional assembler, expert in the field of motor
drives and in their related problems, can install and put in service this component. It is exclusive
responsibility of the designer of the complete machine or installation in which this component is used
to take care of the safety and reliability of his project. It is forbidden to use this material in application
covered from one or more EEC directives (for instance 2014/30/CE, 2006/42/CE, etc.) before the
conformity to those directives has been declared. Regarding 2014/30/CE directive, see chapter 10.
2.5 - CAUTION!
Suitable for use on a circuit capable of delivering not more than 5000 A rms symmetrical amperes,
230 Volts maximum; overvoltage category III. Overvoltage category IV is not permitted.
2.6 - CAUTION!
Remote overload protection is required. Integral solid state short circuit protection does not provide
branch circuit protection. Branch circuit protection must be provided in accordance with National
Electrical Code and any additional local code] (see Fig. 5 or Fig. 6 chapter 7).
[The drive does not provide Motor Overload protection. External or remote Motor Overload protection
shall be provided in the end-use applications]. [The drive does not provide motor over-temperature
sensing. It shall be provided in the end-use applications].
It is exclusive responsibility of the designer of the complete machine or installation in which this
component is used to take care of the safety and reliability of his project.
2.7 - CAUTION!
The drive and related motor have a protective earth terminal which must be connected to earth, in
order to prevent risk of electric shock.
2.8 - CAUTION!
With the drive switched on, do not perform any wiring, maintenance, inspection; in particular, do not
perform the setting of the dip-switches. After switching the power off, wait at least 10 minutes before
to fulfill these tasks.
Do not touch the inside of the drive and do not get close to connection terminals while the device is
powered on.
Do not plug or unplug the connectors while the device is powered on. These operations cause some
underhand damages of the contact surface which could bring to a subsequent risk of overheating
and fire.
2.9 - CAUTION!
Do not try to repair a faulty device. Only R.T.A. personnel is authorized to repair operation.
2.10 - CAUTION!
During normal working conditions, the heatsink can reach temperatures until 80°C ( 176 °F). Do not
touch this component for some minutes, after switching off, in order to avoid scald hazard.
2.11 - 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.
2.12 - For STO inputs and Monitor output correct use (X-PLUS S only), please refer to Chapter 12.

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3 -GENERAL CHARACTERISTICS AND IDENTIFICATION
3.1 - DIMENSIONS
129.8 (5.11)
46 (1.81)
OFF
DP1
ON
1
5
2
(
5
.
9
8
)
116.8 (4.6)
Ø 4.5 (0.18) Ø 4.5 (0.18)
Ø 4.5 0.18)Ø 4.5 (0.18)
23 (0.90)
94.7 (3.73)
5
.
2
5
(
0
.
2
1
)
HV
C1
SHIELD
B-
B
MOTOR
N
46 (1.81)
OFF
DP1
ON
HV
-
Dir.
-
C. Off
-
-
-
-
X-PLUS
series
C1
SHIELD
B-
B
MOTOR
N
X-PLUS C X-PLUS S
Fig. 2 – Dimensions: all measures in mm.
3.2 - IDENTIFICATION
The models identification of X-PLUS C and X-PLUS S series drives is as follows:
X-PLUS Cz.y, X-PLUS Sz.y
where:
.y is not present in standard models. If present y can be a number or an alphanumeric
character identifying a special version with some variations with respect to standard models.
Z can be equal to 2for 2 A nominal phase current version or 4for 4 A nominal phase current
version.
Each sample is also identified with a serial number.

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4 -INPUT AND OUTPUT LOGIC SIGNALS
All input and output logic signals are optically insulated among them and from internal power circuits.
Positive and negative terminals are separately accessible. For all logic signals in the following we indicate
the corresponding numbers of connector C2. An input signal is considered ON when a voltage is applied
(Fig. 3a). For STO inputs and Monitor output correct use and indications in X-PLUS S, please refer to
Chapter 12.
20 and 19 EDM OUTPUT (ERROR DETECTION MONITOR) (X-PLUS S only): this output is ON if
both STO1 and STO2 inputs are OFF. In this case, the drive is in Safe Torque Off
operation mode and the current flowing in each motor winding is inhibited. The output is
OFF if one or both STO1 or STO2 inputs are ON.
EDM OUTPUT not available in X-PLUS C.
18(-) and 17(+) STO2 INPUT (X-PLUS S only): with this signal ON drive is active (with flowing current in
each motor winding) on condition that STO1 input is ON. When STO2 is OFF the drive is
inhibited, thus motor current (and so holding torque) is turned to zero.
STO2 INPUT not available in X-PLUS C.
Note: The current flows in the motor winding 50 ms. later from the OFF-ON transition of
the STO inputs.
Depending on the mechanical load and inertia of the system, it needs to wait additional 50
ms to allow the mechanical settling of the motor. During this time it is not allowed to send
commands to the drive.
16(-)and 15(+) STO1 INPUT (X-PLUS S only): with this signal ON drive is active (with flowing current in
each motor winding) on condition that STO2 input is ON. When STO1 is OFF the drive is
inhibited, thus motor current (and so holding torque) is turned to zero.
Note: The current flows in the motor winding 50 ms. later from the OFF-ON transition of
the STO inputs.
Depending on the mechanical load and inertia of the system, it needs to wait additional 50
ms to allow the mechanical settling of the motor. During this time it is not allowed to send
commands to the drive.
CURRENT OFF INPUT (X-PLUS C only): with this signal ON drive is active. When this
signal is OFF the drive is inhibited, thus motor current (and so holding torque) is turned to
zero.
14(-)and 13(+) DIRECTION INPUT: with this signal ON motor rotation direction is opposite to the one
obtained when this input is OFF. This signal has to be valid at least 100 µsec before STEP
signal and has to stay in this status for at least 100 µsec after last STEP sent to the drive.
12(-)and 11(+) STEP INPUT: active transition is the ON-OFF transition of this signal. Suggested duty-
cycle 50%. Max frequency: 120 kHz (with square signal amplitude = 5 Volt) with square
wave signal supplied from an output able to produce a voltage between 5 and 24 Volt.
10 and 9 FAULT OUTPUT: when this output is ON, drive is normally working; when it is OFF drive is
in no-working state. Drive automatically goes in no-working state when some protection is
active and automatically recovers when this protection resets.

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Step & Direction input structure scheme FAULT output structure
DRIVE
R1
In+
5 < Vin < 24 Volt
R1 = 1.0 KOHM
I=5mA
DRIVE
Out
9
NOTE:
Insert a protection diode in parallel with the load
in case of inductive load.
Out
10
Vmax = 45 Volt
Imax = 50 mA
Vsat 0.8 Volt (@ 20 mA)≤
(3a)
(3b)
STO1 /
STO2
and CURRENT OFF
inputs structure scheme MONITOR output structure (X-PLUS S only)
DRIVE
R2
R1 (1W)
In+
Vin = 24 Volt
18 Volt < Vin < 27 Volt
H
0 Volt < Vin < 3 Volt
L
R1 = 1.8 KOHM
R2 = 680 OHM
X-PLUS C:
R1 = 3.3 KOHM
R2 = 390 OHM
X-PLUS S:
DRIVE
Out
19
Vmax = 45 Volt
Imax = 50 mA
Vsat 0.8 Volt (at 20 mA)
≤
Out
20
NOTE:
Insert a protection diode in parallel with the load
in case of inductive load.
(3c)
(3d)
Fig. 3 – Inputs and outputs scheme.

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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. All connector C1 terminals are listed in the following
Table 1.
TABLE 1
CONNECTOR C1 DESCRIPTION
1 Motor winding terminal B
2 Motor winding terminal B-
3 Motor winding terminal A-
4 Motor winding terminal A
5 SHIELD
6 GROUND
7 AC power supply.
N (Neutral).
8 AC power supply.
L (Line).
5.2 - CAUTION!
Earth terminal screw – Earth terminal screw is in frontal panel inferior part and has to be electrically
connected to earth (PE terminal of the machine in which the drive is installed). The terminal 6 of C1
connector has to be connected to earth too.
Earth terminal screw and terminal 6 of C1 connector are the points of motor-drive system that have to
be connected to earth (PE terminal). No other point at a different potential power circuit has to be
connected to earth. The terminal 5 of C1 connector (SHIELD) is internally connected to terminal 6 of
C1 connector. Other points at the same potential of GND could be connected to earth using the
cautions suggested by classical techniques to obtain a correct location of multiple earth connections.
Shielded cables of motor outputs must be connected to points at the same potential. See connection
schemes of Fig. 5, 12 and 13.
5.3 - The drive is Protection Class I , it is necessary to take into account earth connections to ensure
correct protection levels.

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5.4 - Table 2 and Table 3 show power inputs and outputs characteristics:
TABLE 2
AC input X-PLUS C4 / X-PLUS S4 X-PLUS C2 / X-PLUS S2
V
AC
nom
(VOLT) 110 - 230 110 - 230
Tolerance
V
AC
nom
(%) 15 15
Max input current (AMP)
4 2
Max input power (VA) 440 - 920 440 - 920
Dimensions (mm) 152 × 129 × 46 152 × 129 × 46
TABLE 3
Motor phase outputs X-PLUS C4 / X-PLUS S4 X-PLUS C2 / X-PLUS S2
V
PH
min
(VOLT)
0 0
V
PH
max
(VOLT)
+/- 1.41 x V
AC
+/- 1,41 x V
AC
I
NP
min
(AMP) 2.4 1,2
I
NP
max
(AMP) 4 2
5.5 - Definition of terms used in Table 2 and in Table 3:
V
AC
nom : indicates nominal alternating voltage for drive operation with not stabilized
power supply.
Max input current : maximum input current allowed for continuous operations.
Max input power : maximum input power allowed for continuous operations.
V
PH
min : minimum value of the voltage at each motor phase output.
V
PH
max : maximum value of the voltage at each motor phase output.
I
NP
: indicates nominal phase current, which flows in each motor winding,
measurable with motor turning at low speed. The drive is equipped with
automatic current reduction with motor at standstill. Phase current is calibrated
at final test moment and can be set from the customer, choosing among four
different values, by means of DIP-SWITCH. This value is the peak value of the
sinusoidal approximation of the phase current.
I
NP
min and max : minimum and maximum nominal phase current value which can be set by user
using DIP-SWITCH.