RTA A-NDC Series User manual

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[...] UL
Some parts of the text between square brackets 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 identificatio
n label
on the specific model.
In any case, we advise to comply with these requirements even for non-
UL
certified models.
WARNING: It is user RESPONSIBILITY to check that this manual refers to product model and
version that will be used.
1) GENERAL CHARACTERISTICS
A-NDC 04
A
-
NDC 04.V
A-NDC 06
A
-
NDC 06.V
A-NDC 94 A-NDC 96
A
-
NDC 96.S
V
DC
nom
(V)
from 24 to 85 from 24 to 85 from 24 to 85 from 24 to 85
I
N
P
min
(A)
0.65 1.9 0.65 1.9
I
N
P
max
(A)
2 6 2 6
Dimension
s
(mm)
93.5 × 101 × 25 110 × 108 × 34
Operati
ng temperature
from + 5°C to + 45°C (see point 7)
Table 1
V
DC
nom Nominal value of DC voltage supply (range) at which the drive can operate without stabilized
supply.
I
NP
Nominal phase current (peak value) which flow in each motor winding, measurable with motor
turning at low speed. This current can be selected by user among eight different values using
DIP-SWITCHES. Automatic current reduction at motor standstill is 50% of value set using DIP-
SWITCHES.
I
NP
min and max Minimum and maximum value of nominal phase current setting.
2) LOGIC INPUT AND OUTPUT SIGNALS (connectors AM3 or C2, see Fig. 1, 7, 9 and 10)
All inputs and outputs are optically insulated (mutually and respect to internal power circuit). For all inputs and outputs you
have both positive and negative terminal.
Driving an input with a slow signal (i.e. relays) or with variable delay (i.e. PLC output) can give precision problem
or, worse, make the board do not work at all. If you have this type of signal, contact R.T.A.
2(-) ; 3(+) CURRENT OFF INPUT: When this signal is ON drive is active. When it is OFF drive is inhibited, thus motor
current (and so holding torque) is turned to zero. With jumper CO this input is always ON (drive is always
active).
4(-) ; 5(+) DIRECTION INPUT: With this signal ON motor rotation direction is opposite to the one obtained with input
OFF. This signal has to be valid at least 20 µsec. before STEP signal and has to stay in this state for at least
20 µsec. after last step sent to the drive.
6(-) ; 7(+) STEP INPUT: Step is performed on ON-OFF transition of this signal. Suggested duty-cycle: 50%. Max.
frequency: 300 KHz
(1)
with square wave signal supplied from a source with voltage between 3.5 and 13 Volt
(or a nominal voltage of 24 Volt for A-NDC96.S). In any case STEP signal half period has to be higher than
1.5 µsec.
(1)
NOTE: Max. frequency = 100 KHz with B and D type current profiles (400, 800 and 1600 steps/rev).
Max. frequency = 200 KHz with B and D type current profiles (3200 steps/rev).
Max. frequency = 300 KHz with B and D type current profiles (6400 and 12800 steps/rev).

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8(-) ; 9(+) DRIVER FAULT OUTPUT: When this output is SHORTED, drive is normally working; when it is OPEN drive
is in no-working state. Drive automatically goes in no-working state when some protection is active and
automatically recovers when the protection resets.
1 ; 10 INTERNAL GND: (internally interconnected and connected to terminals 12, 13 and 18). Galvanically
insulated from logic inputs and outputs and connected to power supply common. They can be used to
connect the shield of logic signal cable (if that is mandatory or useful depending on type of control system).
STEP, DIRECTION and CURRENT-OFF
simplified input structure
DRIVE
GND
In+
Step Dir Coff
R1
R2
In+
680 680
1000 1000
57
4
3
2
6
R1 and R2 in Ohm
3.5 Vin 13 Volt< <
390
1200
DRIVE
Out +
9
FAULT
output structure
NOTE:
Insert a protection diode in parallel with the load
in case of inductive load.
Vmax = 45 Volt
Imax = 50 mA
Vsat 0.8 Volt
Out -
8
Fig. 1 a
Fig. 1 b
Fig. 1 c: Simplified Input Scheme for A
-
NDC 96.S
CONNECTION EXAMPLES
NPN OUTPUT
CONTROL SYSTEM
GND
OUTPUT
VU
INPUT
+
-
PNP OUTPUT
CONTROL SYSTEM
GND
OUTPUT
VU
INPUT
+
-
Fig. 2 Connection example with control system with NPN
output.
Fig. 3 Connection example with control system with PNP
output.

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CONTROL SYSTEM
5 VOLT OUTPUT
INPUT
GND
OUTPUT +
-
INPUT
+
+
-
GND
-
CONTROL SYSTEM
DIFFERENTIAL OUTPUT
Fig. 4 Connection example with control system with 5 Volt
TOTEM-POLE (PUSH-PULL) output.
Fig. 5 Connection example with control system with
DIFFERENTIAL output (or LINE DRIVER or RS422).
3) POWER INPUTS AND OUTPUTS (AM1 and AM2 or C1 connectors; see Fig. 7, 9 and 10)
11 - Power supply positive pole. (+ V
DC nom
).
12 - Power supply negative pole. (- V
DC nom
).
13 - GROUND; connect to Protective Earth terminal (PE).
14 - Motor winding terminal B-
15 - Motor winding terminal B
16 - Motor winding terminal A-
17 - Motor winding terminal A
18 - Connection point for shield of motor shielded cable.
4) MAIN SETTINGS (Dip switches and jumpers)
Main setting must be done by the user at the installation or replacement time, according to motor type and working
condition. Wrong setting could damage drive or motor and cause a not correct work of the motor.
►= Default settings
NOMINAL CURRENT I
NP
in Ampere (Dip 1, 2 and 3)
Dip 1 Dip 2 Dip 3
Current I
NP
A-NDC 04
A-NDC 04.V
A-NDC 94
A-NDC 06
A-NDC 06.V
A-NDC 96
A
-
NDC 96.S
►
ON
ON
ON
0.65
1.9
ON
ON
OFF
0.75
2.3
ON
OFF
ON
0.9
2.7
ON
OFF
OFF
1.0
3
.1
OFF
ON
ON
1.2
3.6
OFF
ON
OFF
1.4
4.3
OFF
OFF
ON
1.7
5.1
OFF
OFF
OFF
2.0
6.0
Table 2
JUMPER
FC
ON
Automatic current reduction disable
►
FC
OFF
Automatic current reduction active
►
CO
ON
Current off input forced to ON
CO
OFF
Current of
f input available
Table 3

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A
SCREWS
Unscrew only two “A” screws to remove the case and
therefore to set FC, CO and J3 jumpers.
Fig. 6: For A-NDC 94, A-NDC 96 and A-NDC96.S models, remove the case to set FC and CO jumpers (see Fig. 6).
CURRENT PROFILE MANAGEMENT (Dip 4 and Dip 5)
Dip 4
Dip 5
TYPE
CHARACTERISTIC
OFF OFF A STANDARD
►OFF ON B ENHANCED MOTOR SMOOTHNESS
ON OFF C ENHANCED MOTOR TORQUE
ON ON D MIXED (not recommended)
Table 4
APPLICATION NOTES:
•A type ia a standard current profile (used in NDC series).
•B type current profile performs higher motor movement smoothness with lower acoustical noise and vibrations.
Smoothing effect of B type depends on resolution setting: the more resolution is low, the more smoothing is effective.
•C type current profile performs higher motor torque.
•D type current profile is not recommended.
RESOLUTION
Dip 6 Dip 7 Dip 8 STEPS FOR REV.
►ON ON ON 12800
ON ON OFF 6400
ON OFF ON 6400
ON OFF OFF 6400
OFF ON ON 3200
OFF ON OFF 1600
OFF OFF ON 800
OFF OFF OFF 400
Table 5
5) DRIVE STATUS BY LED
LED HV green: ON = supply voltage value in working range.
OFF = no supply voltage or supply voltage out of working range
LED FAU red: ON = drive set in no working state by one of the following protection:
a– Thermal protection, if LED TER is ON
b- Max or Min voltage when LED HV is OFF
c- Short circuit or wrong connection at motor output when LED HV is ON
OFF = drive active provided that LED HV is ON
LED TER yellow: ON = drive set in no working state by thermal protection.
OFF = drive active provided that LED HV is ON.

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6) OVERCURRENT AND SHORT CIRCUIT PROTECTION
Remote overload protection is required. (see Fig. 7). [Integral solid state short circuit protection does not provide
branch circuit protection. Branch circuit protection must be provided in accordance with the Manufacturer
Instructions, National Electrical Code and any additional local code].
The protection devices shown infigure 7a and figure 7b must include a branch fuse type: LP-CC-8 by COOPER
BUSSMAN LCC or equivalent. [Suitable for Use On A Circuit Capable Of Delivering Not More Than 5000 Arms
Symmetrical Amperes, 79 Vdc Maximum for all models when protected by semiconductor fuses model LP-CC-8 by
COOPER BUSSMAN LCC.]
7) ELECTRO-MAGNETIC INTERFERENCE
Drive and all related cabling are source of E.M. interference (conducted and radiated). In order to comply to directive
2004/108/CE and related standards (EN 61800-3) installation has to be done according to schematics in Fig 7 and
following indications:
•Locate drives, power supply, transformer and related cables inside the same enclosure, which has to be hermetic
to electromagnetic fields.
•Interpose a filter between the transformer primary and the main (CORCOM mod. 6VDK1). Locate the filter near
the supply entrance. Use only shielded cable (outside the enclosure) for connecting motor and drive.
•Connection made to Protective Earth terminal (PE), shown in Fig.7, must be short and have the lowest possible
inductance.
•Use a supply transformer with a metal shield between primary and secondary winding and connect this shield to
earth.
8) FORCED COOLING
According to operating conditions (ambient temperature, current setting, duty-cycle) forced cooling can be necessary. The
most sure method to evaluate if this need exists or not is to measure temperature of the drive heatsink; if this temperature
is greater than 65 - 70 °C in the most unfavourable working conditions, you need a forced cooling to obtain a reasonable
long life from drive.

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NOTICES, HAZARDS AND CAUTIONS
•A-NDC series drives are BDM (Basic Drive Module), as defined in the EN 61800-3. They are sub-
assemblies without a direct function, foreseen to be integrated in a more complex machine or
installation by a professional assembler, expert in the field of motor drives and in their related
problems. Only a professional assembler can install and put in service this component.
•CE marking: Products here described conform to 2006/95/CE, 2004/108/CE and further
modifications, when correctly installed and used.
•They are intended to drive stepping motors with two phases, base step angle 1.8 degree and
phase inductance between 1.0 and 12.0 mH. Use with different kind of motor is not allowed.
•Protection degree IP00 for A-NDC 04, A-NDC 04.V, A-NDC 06, A-NDC 06.V models: Use only
inside a protective enclosure able to avoid electric shock hazard. Main setting, connector
insertion or extraction has to be done with drive switched off.
•Protection degree IP20 for A-NDC 94, A-NDC 96 and A-NDC 96.S: this means that they must be
located inside a protective enclosure meeting requirements of standards applicable in the
specific application in which they are used.
•Settings and connector insertion or extraction has do be done at drive switched off.
•The drive generates some amount of heat. Take care of this in considering the total amount of
heat generated in the enclosure in which the drives are located. In order to make easier air
circulation in the drive, install the drive vertically (not turned upside down) with at least 5 cm of
free space over and under the drive and 1 cm to the left and the right of the drive. Do not
obstruct air gratings. The maximum surrounding air temperature must be lower than 40 °C
[Maximum surrounding air temperature: 40 °C]
•Installation is allowed in local environment with pollution degree N° 2 [Use in Pollution degree 2
Environment]. Installation in presence of explosive and/or flammable and/or chemically
aggressive and/or electrically conductive gas, vapour or dust and installation near easily
flammable or heat sensitive materials is strictly forbidden.
•Use for safety related functions is forbidden (EN 60204-1); it is also forbidden any application
arrangement in which a driver fault or failure could generate an hazardous condition. It is
forbidden to use this material in application covered from one or more EEC directive before the
conformity to those directives has been declared.
•Residual voltages: depending on supply type (assembled by user) and application conditions, a
waiting time greater than 5 seconds after switching off could be necessary.
•Scald hazard: due to the presence of some components operating at high temperature (120°C),
wait some minutes after switching off in order to avoid scalds.
•Driver could generate electromagnetic interference (both radiated and conducted) if instruction
about installation directions are not respected (chap. 6). We remember however that compliance
to 2004/108/CE directive has to be tested on whole machine in normal working condition.
•Even if logic input and output signals connections are optically insulated, dangerous high
voltage could appear on those connections in case of drive failure. For this reason, regarding to
machine safety, you have to consider that a voltage equal to V
DC
could be present at the I/O in
case of failure.
• Insulation of the drive parts is dimensioned for pollution degree N° 2 and for overvoltage class
II. The drive can’t be connected to the main and it has to be power supplied by a power supply
equipped with transformer main insulation.

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IMPORTANT NOTES
1)C ≥10.000 µF with
V DC = 24 Volt
C ≥4.700 µF with
V DC = 85 Volt
2)Transformer power: from 100
to 450 VA depending on:
•Drive model
•Current setting
•Motor model
•Motor speed
•duty-cycle
3)Fuse F1: time lag with
nominal current according
transformer power.
4)Fuse F2: type LP-CC-8 by
COOPER BUSSMAN LCC. or
equivalent. Fuse F2 is
mandatory for UL
compliance.
5)Rectifier bridge type:
according transformer
power.
6)Terminals 1, 10, 12, 13 and
18 are internally
interconnected. The heatsink
also is connected to them.
7)C capacitor must be near
AM2 or C1 connector; max
cables length = 1 meter.
8)The maximum motor cable
length is 20 meters; Section
according phase current
RMS value.
Fig. 7a - Drive external connection scheme for A-NDC 04, A-NDC 04.V, A-NDC 06,
A-NDC 06.V.
Fig. 7b - Drive external connection scheme for A-NDC 94, A-NDC 96 and A-NDC 96.S.

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KSM KIT BRACKET
(sold separately)
L bracket suitable for vertical rail mounting of A-NDC 04,
A-NDC 04.V, A-NDC 06 and A-NDC 06.V.
KSM01 DIN A KIT BRACKET
(sold separately)
L bracket with plastic elements PHOENIX UM-SE e UM BEFE
35 suitable for vertical rail mounting of A-NDC 04, A-NDC 04.V,
A-NDC 06 and A-NDC 06.V.
Dimensions in millimeters. Dimensions in millimeters.
Fig. 8

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A
-
NDC 04 /
A
-
NDC 06
A
-
NDC 04.V /
A
-
NDC 06.V
9.5
8
6
.
4
9
3
.
5
LED HV (green)
LED FAU (red)
AM3
AM1
AM2
86.4
LED TER (yellow)
CO
Jumpers
9.5
8
6
.
4
9
3
.
5
LED HV (green)
LED FAU (red)
AM3
CO
AM1+AM2
Jumpers
86.4
LED TER (yellow)
COM
P
O
N
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COMPONENTS LAYO
U
T
External measures a
n
d
c
o
m
p
o
n
e
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t
s
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a
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o
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(
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f
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components side wit
h
o
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a
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s
i
n
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)
.
Dimensions in millim
e
t
e
r
s
.
CONNECTORS FOR
A
-
N
D
C
0
4
.
V
a
n
d
A
-
N
D
C
0
6
.
V
AM1 + AM2: 8 pole s
c
r
e
w
-
t
y
p
e
c
o
n
n
e
c
t
o
r
step 3.8
1
m
m
AM3: 10 pole screw
-
t
y
p
e
c
o
n
n
e
c
t
o
r
s
t
e
p
2
.
5
4
m
m
Fig. 9 a Fig. 9 b
NDC
series
TER
C1
C2
A-NDC 94 / A-NDC 96 / A-NDC 96.S
Dimensions in millimeters.
Fig.
10