RTA ADW Series User manual

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MOTION CONTROL SYSTEMS
ADW 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: [e-mail]

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INDEX
1 - NOTICES AND MANUAL STRUCTURE...................................................................3
2 - LIMITATIONS, HAZARDS AND CAUTIONS ......................................................4
3 - GENERAL CHARACTERISTICS AND IDENTIFICATION ........................................6
4 - OPERATION MODES DESCRIPTION......................................................................9
5 - INPUTS AND OUTPUTS POWER LINES...............................................................14
6. DRIVE SETTING AND ALERT SIGNALS ...............................................................15
7. DRIVE EXTERNAL CONNECTIONS................................................................17
8. INSTALLATION AND ENVIRONMENT LIMITS ................................................20
9. APPLICATION NOTES.....................................................................................21
WARNING
: It is user RESPONSIBILITY to check that this manual refers
to product model and version that will be used.
Symbol meaning
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 .
The section marked with this symbol contains information regarding operations which are strictly
forbidden.
[...] 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 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 AND MANUAL STRUCTURE
1.1 - This manual covers the following items:
•ADW series stepping motor drives with analog input in all their standard versions.
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. In this manual we consider the drive as a BDM (EN 61800-3, chap.3, Fig.1).
•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; usually filter
capacitor, transformer separating from the main, anti-interference filter and all switches and
protection systems.
•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 list in chapter 1.1 and identification code in chapter 3) are CE
marked and comply with the Low Voltage directive (2014/35/CE and further modification) and EMC
directive (2014/30/CE and further modification).
Product standard
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 directives, compliance exists only when a product is 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 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.

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1.5 - Conformity declaration regarding above mentioned products is kept by R.T.A. (as manufacturer
residing in EEC country) together with technical construction file at authority disposal.
1.6 - 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 and
cautions about ADW 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.
1.7 - Consider the fact that these are products with a very wide range of possible applications in many
different working and environment conditions. For this reason this manual can only fix limits and
general rules but cannot take in consideration every single possible application condition. If you have
problems to understand some part of this manual or to meet its indications with your specific
application, do not hesitate to contact R.T.A. for further information. Take into account that R.T.A.
has twenty years of experience in any kind of applications, which cannot be condensed in a manual
but can always be at customer disposal.
1.8 - The terms "user and customer" often used in this manual always indicate a skilled person as defined
in chapter 2.9.
1.9 - 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 - LIMITATIONS, HAZARDS AND CAUTIONS
2.1 - ADW series drives are suitable to drive two phases stepping motors with 4, 6 or 8 terminals. Their
use for different purposes is not allowed.
2.2 - It is not allowed the use of these drives for any purpose different from the one above indicated.
2.3 - It is also not allowed the use in any condition not complying with one or more specific limitations
stated in this manual for electrical, mechanical and environmental quantity or characteristics.
2.4 - ADW series drives are classified as protection degree IP00 (IP20 for ADW 94 and ADW 96). 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. ADW series drives are for use in
pollution degree 2 environment [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.
2.5 - ADW series drives have some dip-switches. They perform some adaptations (to the particular motor,
to application, etc). All these settings have to be made with the machine switched off, before
putting it in service; none of them requires the machine switched on.
2.6 - ADW series drives and related power supply contain capacitors able to store a certain amount of
electrical energy. As a consequence, in some cases, according with application conditions and
supply dimensioning, a dangerous voltage could remain on the drive, after switching off, for a time
greater than 5 seconds. So it is recommended to wait an adequate time before working on the drive.
2.7 - The heatsink can reach high temperatures during normal working conditions (for example about
80 C). Do not touch this component for some minutes, after switching off, in order to avoid scald
hazard.

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2.8 - After a failure due to connection mistakes or others, in the drives could arise a temporary hot spot.
For this reason 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.
2.9 - 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/UE, 2006/42/CE, etc.) before the
conformity to those directives has been declared. Regarding 2014/30/UE directive, see chapter 10.
2.10 - Use for safety related functions is forbidden (EN 60204-1). Moreover, when the application
arrangement is in such way that a drive fault or failure could generate a dangerous condition,
external independent safety protection system must be provided in the machine.
2.11 - In some case of drive failure, dangerous high voltage could appear at logic low voltage input and
output terminals, even if this event is extremely rare. For this reason, from the point of view of
evaluation of the machine safety during a single fault condition, the external control system,
connected to these inputs, has to be considered potentially subjected to high voltage, unless an
external separation is provided.
2.12 - Both CURRENT OFF input signal (see chapter 4) and internal electronic functional protections (see
chapter 6) switch off the drive output power by means of semiconductor devices. They cannot be
used to interrupt power in emergency stop function or in any function involving personnel safety.
2.13 - Remote overload protection is required (see figure 7a and 7b). [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 ADW series drives are [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 KTK-R-8 by COOPER BUSSMAN LCC.]

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3 -GENERAL CHARACTERISTICS AND IDENTIFICATION
3.1 - GENERAL CHARACTERISTICS
ADW
ADW 04
ADW 04.V
ADW 06
ADW 06.V
ADW 94 ADW 96
V
DC
nom
(V)
from 24 to 75
from 24 to 75
from 24 to 75
from 24 to 75
I
NF
min
(A)
0,65
1,9
0,65
1,9
I
NF
max
(A)
2
6
2
6
Dimensions
(mm)
93,5 × 122 × 25
110 × 129,5 × 34
Operating temperature
from + 5°C a + 40°C (see chapter 8)
Table 1
Terms definition in 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.
3.2 - IDENTIFICATION
The models identification of ADW series drives is as follows:
ADW ZX.Y
where:
Z can be 0 or 9 and identifies an open frame drive or a boxed drive, respectively
X can be: 4 or 6 and identifies a low current drive, or a high current drive.
.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.
If it is equal to V , it identifies the model with screw input connector.
Each sample is also identified with a serial number.

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3.3 - DIMENSIONS
ADW 04 – ADW 06 ADW 04.V – ADW 06.V
5
LED HV (green)
LED FAU (red)
AM3
AM1
AM2
LED TER (yellow)
8
6
.
4
9
3
.
5
112
86.4
87.2
LED HV (green)
LED FAU (red)
AM3
AM1
AM2
LED TER (yellow)
8
6
.
4
9
3
.
5
51
12
8
6.4
87.2
COMPONENTS LAYOUT
External measures and components
l
a
y
o
u
t
(
s
e
e
from components side without heats
i
n
k
)
.
Dimensions in millimeters.
CONNECTORS FOR ADW 04 and AD
W
0
6
AM1: AMP MODU1 male 6 pole co
n
n
e
c
t
o
r
mod. 280611-2
AM2: AMP MODU1 male 2 pole co
n
n
e
c
t
o
r
mod. 280609-2
AM3: AMP MODU2 male 10 pole c
o
n
n
e
c
t
o
r
mod. 280374-1
COMPONENTS LAYOUT
External measures and components layou
t
(
s
e
e
f
r
o
m
components side without heatsink).
Dimensions in millimeters.
CONNECTORS FOR ADW 04.V and ADW 0
6
.
V
AM1 + AM2: 8 pole screw-type connector
step 3.81 mm
AM3: 10 pole screw-type connector step 2
.
5
4
m
m
Fig. 2 – Dimensions: all measures in mm.

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ADW 94 / ADW 96
Fig. 3 – Dimensions: all measures in mm.

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4 - OPERATION MODES DESCRIPTION
ADW series drives are characterized by its versatility thank to four different selectable operation modes and
the different available settings. The speed of the motor can be set:
•By using an Analog Input: in this case the speed of the motor is proportional to the value of the analog
input, respect to the full scale value of the selected range (ANALOG MODE).
or
•Pre-setting minimum and maximum speed through dip-switches configuration. The transition between
minimum and maximum speed is realized through dedicated input (DIGITAL MODE).
The maximum speed of the motor is established by setting the dip-switches 4,5 and 6 of DP1 (as shown in
Fig.2), while the minimum speed is fixed by dip-switches 7 and 8 of DP1. Moreover, the drives provides
AUTOSTOP functionality, selectable with a specific dip-switch setting. Thank to this features, the motor stops
automatically when reaches the minimum settled speed.
New advanced microstepping innovative feature ensures smoothness of the movement.
The complete list of the operation modes is reported below:
•RUN: in this operation mode the motor start and stop is controlled by an enable input. When enable
input is ON the motor starts, when enable input is off the motor stops. The logic level of a second
input allows to set the direction.
•CW/CCW: in this operation mode the motor runs clockwise (CW) or counterclockwise (CCW)
depending on the logic state set to the two inputs.
•START/STOP: in this operation mode the motor starts only after a positive edge transition on a
specific input. Thus, the motor is stopped only after a positive edge transition on another input. A
third input allows to set the direction.
•LIMIT SWITCH: this operation mode is suitable for applications in which the stepping motor is used
to drive a swing of forward and backward movements controlled by two limit switches placed at the
ends of the course. This mode requires to use limit switches, realized with normally open contact,
which in off state provides at output a high logic state. In this mode AUTOSTOP functionality is
always active.
The drive has an open collector STEP output, that provides a square wave signal with frequency proportional
to the motor speed with a fixed resolution of 800 step/rev. This output could be connected for example to a
step input of an A-NDC slave drive.
When the analog input is disabled, do not connect corresponding pin 9.
Table 2 shows the position of dips 1 and 2 (DP2) related to different operation modes:
OPERATION MODE (DIP 1, 2 of DP2)
DIP 1 DIP 2 FUNCTION
►
OFF
OFF
RUN
OFF
ON
CW/CCW
ON
OFF
START
-
STOP
ON
ON
LIMIT SWITCH
Table 2
= default factory setting.

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4.1 - LOGIC INPUT AND OUTPUT SIGNALS
An input is ON when at its terminals is present a voltage within the following limits:
Vin-
MIN
= 5 Volt, Vin-
MAX
= 24 Volt
For each input signal, correspondent terminals numbers of connector AM3 (C2 in ADW 94/96) are indicated.
All logic input signals are optically insulated (respect to internal power circuit). Analog input and STEP output
are not optically insulated but are referred to A-GND (Pin 8 of AM3 / C2 connector).
Note: 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.
1 COMMON OF INPUTS.
2 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).
3 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 100 µsec. before START or STOP signals transition and
has to stay in this state for at least 100 µsec. after last START or STOP signals transition. This input is
not active in CW/CCW operation mode.
4 START: Start signal function is showed in TABLE 3, depending on the set of drive operation mode:
PIN 4 (START) OPERATION MODE
DRIVE OPERATION MODE INPUT SIGNAL
RUN ON (Level Sensitive) Run Start
OFF Run Stop
CW/CCW ON (Level Sensitive) CCW Enable
OFF Not Used
START - STOP ON (Positive Edge Sensitive) Motor Start
OFF Not Used
LIMIT SWITCH ON (Negative Edge Sensitive) CCW Stop
OFF Not Used
Table 3
When the motor stops and after adjustment it keeps the load blocked with the torque at 50% of the set value
(automatic current reduction). The maximum delay at enabling or disabling is lower than 1.5 ms.
Note: In CW/CCW mode the motor stops when Pin 4 logic level is equal to Pin 5 logic level.
5 STOP: Stop signal function is showed in TABLE 4:
PIN 5 (STOP) OPERATION MODE
DRIVE OPERATION MODE INPUT SIGNAL
RUN ON (Level Sensitive) Not Used
OFF Not Used
CW/CCW ON (Level Sensitive) CW Enable
OFF Not Used
START - STOP ON (Positive Edge Sensitive) Motor Stop
OFF Not Used
LIMIT SWITCH ON (Negative Edge Sensitive) CW Stop
OFF Not Used
Table 4
Note: In CW/CCW mode the motor stops when pin 4 logic level is equal to pin 5 logic level.