RTA CSD ET 04 Series Assembly Instructions

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MOTION CONTROL SYSTEMS
HARDWARE INSTRUCTION MANUAL
STEPPING MOTOR DRIVES
CSD ET 04 - CSD ET 94
SERIES
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: [e-mail]
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 - INPUT AND OUTPUT LOGIC SIGNALS...................................................................7
(C3 Connector, see Fig. 2, 5 and 7) ..........................................................................7
5 - INPUTS AND OUTPUTS POWER LINES.................................................................9
6. DRIVE SETTING AND ALERT SIGNALS ...............................................................10
7. DRIVE EXTERNAL CONNECTIONS......................................................................12
8. INSTALLATION AND ENVIRONMENT LIMITS .........................................15
9. LOGIC INTERFACING EXAMPLES........................................................................15
10. APPLICATION NOTES ..............................................................................17
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:
•CSD ET series stepping motor drives in all their standard versions.
•Standard characteristics of special versions of CSD ET 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. 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 EMC directive (2014/30/CE).
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 CSD 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, 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 - CSD ET series drives are suitable to drive two phases stepping motors with 4, 6 or 8 terminals. It is
not allowed the use of stepping motors with 3 or 5 terminals.
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 - CSD ET series drives are classified as protection degree IP20. 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. They 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 - CSD ET 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.

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2.6 - 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.
2.7 - 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.
2.8 - 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.
2.9 - 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.
2.10 - 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.
2.11 - EtherCAT commands used to switch off the drive output power and internal electronic functional
protections use semiconductor devices; they cannot be used to interrupt power in emergency stop
function or in any function involving personnel safety.
2.12 - Remote overload protection is required (see figure 7 and 8). [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 CDS ET 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 - DIMENSIONS
CSD
ERR
RUN
L/A-OUT
L/A-IN
106
130
5
1616
30
32
Fig. 2 – Dimensions: all measures in mm.
3.2 - IDENTIFICATION
The models identification of CSD ET series drives is as follows:
CSD ET X4.Y
where:
X it can be:
- 0, if the cover is metallic
- 9, if the cover is plastic.
.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.
Each sample is also identified with a serial number.

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4 - INPUT AND OUTPUT LOGIC SIGNALS
(C3 Connector, 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 (C3)
An input is ON when at its terminals is present a voltage within the following limits:
8 Volt < Vin < 24 Volt
For each input signal correspondent terminals numbers of connector C3 are indicated.
21 (I4) I4 INPUT. Auxiliary input.
22 (I3): I3 INPUT. Auxiliary input.
23 (I2): I2 INPUT. Auxiliary input.
24 (I1): I1 INPUT. Auxiliary input.
25 (I0): I0 INPUT. Auxiliary input.
26: COMMON OF INPUTS.
NOTE: Depending on status of object 320Ch, inputs I0, I1, I2, I3 can be used as a general input or special
function inputs (see software manual). I4 input can be used as a general input only (without special
functions).
4.2 - OUTPUTS (C3)
The outputs are considered ON when they are closed as regards to common of outputs (16). For each signal
the correspondent terminals numbers of connector C3 are indicated.
11 (O4): O4 OUTPUT. Auxiliary output (50 mA max).
12 (O3): O3 OUTPUT. Auxiliary output (50 mA max).
13 (O2): O2 OUTPUT. Auxiliary output (50 mA max).
If it is set as Driver FAULT OUTPUT (see software manual), output is ON when drive is
active; output is OFF when drive is blocked by a protection.
14 (O1): O1 OUTPUT. Auxiliary output (50 mA max).
If it is set as BRAKE OUTPUT (see software manual), output is ON when drive is in
Operation Enable state. Please use a relay with a flyback diode to drive the brake.
15 (O0): O0 OUTPUT. Auxiliary fast output (5 mA max).
16: COMMON OF OUTPUTS.
NOTE: Depending on status of object 320Ah, user can set output values (see software manual).
Inputs structure scheme Output structure
8 < Vin < 24 Volt
DRIVE
680 OHM
2200 OHM
Input
Common
of inputs
DRIVE
Common
of outputs
NOTE:
Insert a protection diode in parallel with the load
in case of inductive load (ex. relay)
Output
Vmax = 45 Volt
Imax = 50 mA for
other outputs
Vsat 1 Volt
Imax = 5 mA for
O0 output
(3a) (3b)
Fig. 3 – Inputs and outputs scheme.

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4.3 - ENCODER INPUTS AND POWER SUPPLY (C1 Connector, see Fig. 2, 5 and 7)
For each signal the correspondent terminals numbers of connector C1 are indicated.
Pin Description RTA cable colors
31
32
33
34
35
36
37
38
+5 V
DC
(Imax = 150 mA)
IN- I. IN- INDEX.
IN+ I. IN+ INDEX.
IN- B. IN- phase B encoder.
IN+ B. IN+ phase B encoder.
IN- A. IN- phase A encoder.
IN+ A. IN+ phase A encoder.
GND: Negative encoder power supply
Note1: Negative encoder power supply (terminal 38) is internally connected to 2, 3, 8 and 9 terminals of C2.
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. For different motors with encoder please contact RTA.
4.4 - RJ-45 CONNECTORS (EtherCAT communication)
Two standard Ethernet RJ-45 modular connectors (IN, OUT) are provided for the EtherCAT communication.
The same pin disposition (same signal) is assigned for both connectors. Figure 4 shows connector RJ-45
used for connection between the drive and the control system.
1
8
Figure 4 – RJ-45 modular connector
Terminal Number
(
IN
/
OUT
)
Signal
(Ethernet C
onnection)
Description
1 TX+ Transmitting signals +
2 TX- Transmitting signals -
3 RX+ Receiving signals +
4 -- 75 ΩConnection
5 -- 75 ΩConnection
6 RX- Receiving signals-
7 -- 75 ΩConnection
8 -- 75 ΩConnection
Table 1
Connect IN to the higher-level device and OUT to the next slave.
Use twisted-pair cables that satisfy at least “Category 5e” to connect the cable.
When you make cables using exclusive tools, use STP (Shielded twisted pair cable) and RJ-45 modular plug
with shield.

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5 - INPUTS AND OUTPUTS POWER LINES
In this chapter drive inputs and outputs power lines and the required power supply lines are described.
5.1-Drive power outputs are the four phase lines driving the stepping motor winding. Drive power inputs are
two lines that must be connected to V
DC
power supply. All terminals in connector C2 are listed in the
following Table 2.
TABLE 2
CONNECTOR C2 DESCRIPTION
1 Positive terminal logic supply (LV
DC
24V)
2 Negative terminal logic supply (LV
DC
24V)
3 GND
4 Motor winding terminal B
5 Motor winding terminal B-
6 Motor winding terminal A-
7 Motor winding terminal A
8 GND
9 Negative terminal power supply (HV
DC
)
10 Positive terminal power supply (HV
DC
)
5.2-Earth terminal in CSD ET 04 (see Figure 5) – Earth terminal is on the frontal panel in the inferior part of it
and has to be electrically connected to earth (PE terminal of the machine in which the drive is installed).
Note: Earth terminal is not available in CSD ET 94.
5.3-The terminal indicated as GND is the point of motor-drive system that has to be connected to earth (PE
terminal in CSD ET 04) in order to guarantee the correct operation of some drive protection systems. No
other point at a different potential of logic circuit and of power circuit has to be connected to earth; in
particular it has not to be connected to earth transformer secondary winding. Shield of shielded cables of
motor outputs must be connected to terminal 1 of C2 connector and shield of shielded cables of signal
outputs must be connected to PE with connection with the less possible length. Furthermore it is
important to note that GND terminal is internally connected to terminal 2, 3, 8 and 9 of C2 and to terminal
38 of C1. See connection schemes of Fig. 7, 14 and 15.
5.4-Table 4 shows power inputs and outputs characteristics:
TABLE 4 CSD ET 04 - CSD ET 94
HV
DC
nom (VOLT) from 24 to 48
LV
DC
nom (VOLT) 24
Tolerance V
DC
nom (%) +/- 10
I
NF
nom (AMP) 4
Phase inductance (mH) See motor list on SW manual
Dimensions (mm) 110 × 108 × 34
Operating temperature from +5°C to +40°C (see par. 8.3)
5.5-Definition of terms used in Table 4:
HV
DC
nom: value of power continue voltage at which the drive can be supplied.
LV
DC
nom: value of logic continue voltage at which the drive can be supplied.
I
NP
: indicates nominal phase current (peak value), which flows in each motor winding,
it can be measurable with motor turning at low speed. The drive provides an
automatic current reduction equal to 50% of the nominal value when the motor is
in hold condition.

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6. DRIVE SETTING AND ALERT SIGNALS
6.1- CSD 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.
Do not forget to do these settings: wrong setting could get application errors and also motor
damages and hazard conditions. Three led indicate the drive status.
6.2- Fig. 5 shows the position of alert LED and connectors on the case.
CSD
ERR
RUN
L/A-OUT
L/A-IN
EARTH
(CONNECT TO PE)
Fig. 5 – Alert led and connectors.
Note: PE terminal screw is not available in CSD ET 94.

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6.3-Fig. 6 shows the position of EtherCAT connectors located on the high side of the case.
E
t
h
e
r
C
A
T
OUTPort
OUT
E
t
h
e
r
C
A
T
I
N
P
o
r
t
I
N
Fig. 6 – EtherCAT connectors (CSD ET series drives high side view).
6.4-The following list shows the meaning of the alert LEDs.
LED HV (green): ON = supply voltage is in the correct operating range.
OFF = drive is not supplied or supply voltage is out of the correct range (in the second
case also LED FAU is ON).
LED FAU (red):ON = drive is in no-working state due to one of the following protection:
a-Thermal protection (if LED TER is ON).
b-Max or Min supply voltage (if LED HV is OFF).
c-Short circuit or wrong motor connection (if LED HV is ON and LED TER is OFF).
OFF = drive is in working state if LED HV is ON.
LED TER (yellow):ON = drive is in no-working state by thermal protection (in this case LED FAU is ON).
OFF = heatsink temperature is lower than the limiting value.
When one of the above-written protections occur, the drive goes in Fault state, in accordance with standard
EtherCAT (see software manual).
6.5-The following list shows the meaning of the alert LEDs provided for the EtherCAT communication:
PORT0 Link/Activity indicator:L/A – IN (green)
PORT1 Link/Activity indicator:L/A – OUT (green)
RUN indicator: RUN (green)
ERR indicator: ERR (red)

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7. DRIVE EXTERNAL CONNECTIONS
7.1- Design the external components: the power of transformer, bridge rectifier, filter capacitor and related
external components has to be higher than the sum of the power requested from drive and motor (total
power). This one can be calculated as the sum of the following terms:
- Mechanical power delivered to load: mainly depending on application characteristics like friction,
inertia, efficiency of mechanical transmission etc.
-Motor losses: mainly depending on motor type, drive voltage, speed and duty cycle.
-Drive losses: mainly depending on drive model and operating conditions, between 3 and 15 Watt.
7.2-Transformer must meet the following requirements:
- Supply the correct voltage through a transformer secondary winding. The V
AC
voltage value is
intended as measured at secondary terminals in no load condition and with primary voltage equal to
the nominal value. Maximum voltage drop at full power load must be less than 5%.
- Ensure the galvanic insulation between the drive circuits and the main. Remember that direct
connection of drive circuits to the main is strictly forbidden. The use of autotransformer is
strictly forbidden.
- Ensure the galvanic insulation between the drive circuits and all other circuits of the same machine.
This means that the drive dedicated transformer secondary has to be used exclusively for the
drive.
7.3- Fuses F1 and F2 (see Fig. 7 and Fig. 8) are time lag with nominal current according transformer
power.
7.4- Fuse F3 (see Fig.7 and Fig. 8) must be uf type KTK-R-8 by COOPER BUSSMAN LCC or
equivalent [Branch circuit protection fuses]
7.6- C capacitor value has to be calculated in a way to get an adequate ripple voltage level; in any case,
also if the ripple level value is fulfilled, this component can never have a capacitance below the one
given by the following formula:
min C×N
in which: N = number of drives connected to the same power supply; C
min
= 4700 µF
7.7- C capacitor must have a working voltage at least equal to the working voltage chosen for the drive and
must have a relatively low impedance at high frequency.
7.8- The cross-section area of conductors used in power supply circuit must be chosen according with
power dimensioning (see 7.1). The cross-section area of the four shielded conductors connecting
motor to the drive must be chosen with regard to the nominal current which has been set in the drive.

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Fig. 7 – Drive external connections scheme in CSD ET 04. Fuse F3 is mandatory for UL compliance.
NOTE: For connection drive-encoder use twisted-pair shielded cable (EI- and EI+; EB- and EB+; EA- and
EA+).

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Fig. 8 – Drive external connections scheme in CSD ET 94. Fuse F3 is mandatory for UL compliance.
NOTE: For connection drive-encoder use twisted-pair shielded cable (EI- and EI+; EB- and EB+; EA- and
EA+).

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8. INSTALLATION AND ENVIRONMENT LIMITS
All products described in this manual are subjected to the following characteristics:
8.1-IP20 protection degree: 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-Direct connection with the main is not allowed. Transformer separation is mandatory.
8.3-Installation and work environment. Installation is allowed in a micro-environment with:
•Environment conditions class 3K3 (IEC 60721-3-3): it includes a working temperature from
+5°C to +40°C [Maximum surrounding air temperature: 40 °C] and relative humidity from 5% to
85% non condensing.
•Pollution degree 2 [Use in Pollution degree 2 Environment]: it includes that installation in
environments in which explosive and/or flammable and/or chemically aggressive and/or
electrically conductive gas, vapor or dust could be present is strictly forbidden.
•Mechanical conditions class 3M1 (IEC 60721-3-3).
If the environment in which the machine is used does not satisfy these conditions, suitable conditioning
system or suitable case have to be used.
8.4-Storage environment limits with drive in its original packaging:
•Temperature: from -25°C to +55°C. Relative humidity: from 5% to 95%.
•Environment conditions class 1K3 (IEC 60721-3-1). Pollution degree 2.
8.5-The drive generates some amount of heat (see chap. 7.1). This must be considered during the global
electrical cabinet design. In order to ease air flowing around 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 on the left and
on the right of the drive. Do not obstruct air gratings.
9. 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 the
control system and application requirements.
CSD ET
SERIES DRIVE
V+
CONTROL
SYSTEM
PNP INPUT
CONTROL
SYSTEM
NPN INPUT
CSD ET
SERIES DRIVE
V+
V+ < 45 Volt
OUTPUT
COMMON OF
OUTPUTS
OUTPUT
COMMON OF
OUTPUTS
Fig. 9 – Electric connection between a CSD ET logic output and an input of a control system
operating at V+ voltage.

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CSD ET
SERIES DRIVE
V+
V+ < 45 Volt
OUTPUT
COMMON OF
OUTPUTS
Fig. 10 - Driving a micro-relay by means of a CSD ET logic output.
CONTROL
SYSTEM
NPN OUTPUT
CSD ET
SERIES DRIVE
V+
INPUT
COMMON OF
INPUTS
Fig. 11 - Driving a CSD ET logic input from a control system with a NPN open collector output.
CONTROL
SYSTEM
PNP OUTPUT
CSD ET
SERIES DRIVE
V+
INPUT
COMMON OF
INPUTS
Fig. 12 - Driving a CSD ET logic input from a control system with a PNP output.
CONTROL SYSTEM
24 VOLT OUTPUT
GND
OUTPUT
CSD ET
SERIES DRIVE
INPUT
COMMON OF
INPUTS
Fig. 13 -Connection example with control system with 24 Volt TOTEM-POLE (PUSH-PULL) output.

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10. APPLICATION NOTES
10.1- Drive (or drives) power supply can not be used to supply other machines.
10.2- Electromagnetic compatibility (directive 2014/30/CE). CSD ET series drives are BDM (Basic Drive
Module), as defined in the EN 61800-3. Only a professional assembler, expert in the field of motor
drives and in their EMC aspects, can install and put in service this component. R.T.A. has the
responsibility to verify the products compatibility in some typical way of use in order to give correct
installation information. In any cases, it is responsibility of the professional assembler, who installs
this product, to verify the compatibility of the complete machine or system with the above and other
possible specific directives.
10.2.1- The set consisting of drive, motor, transformer and all related cablings are source of electromagnetic
interferences. The assembler of installation must consider these problems during the project of the
plant where the drive (or drives) will be installed in order to shield and/or reduce these interferences.
Tests performed by R.T.A. show that the most effective measures able to reduce these interferences
are the following:
•Shielding of cables for the connection between motor and drive. The shield of this cable has to
be directly connected to terminal 1. The shield of encoder cable, if it is available, has to be
directly connected to the earth screw of the drive (only for CSD ET 04). This shielding can be
avoided only in case of very small and compact machine where motor, drive and related
connections are located in the same enclosure, showing adequate shield performance.
•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. In this case, both screws and chassis must be of conductor
material and the chassis must be connected to earth. See fig. 14.
•Location of motor-drive set in the same cabinet shielded from electromagnetic interferences.
•Use a power supply transformer with a metallic shield, connected to earth, interposed between
primary and secondary winding.
•Interpose a filter between the transformer primary and the main (220 or 380 V
AC
). The filter is
used to reduce conducted electromagnetic interferences. Filter characteristics in a specific
installation depend on the following factors:
- The specific standard limits the machine (in which drive is used) is subjected to.
- Power level of application (voltage and current setting of the drive).
- Presence of other filtering systems in the general electrical machine connections.
In any case, the following filter types are recommended:
- CORCOM VDK series for single-phase power supply.
- CORCOM FCD10 series for three-phase power supply.
Different types of these series differ for current rating. Choose the specific model according to
the power level of the specific installation.
•Consider that the position of the filter in the system is extremely important: no electromagnetic
coupling must take place between electromagnetic source and circuits (and lines). To this end,
filter and main must be kept as close as possible.
•All earth connections mentioned above have to be realized with the less possible inductance.
10.2.2- To improve the drive logic input/output signals immunity from external noise the following well known
procedures, to manage the relatively fast signals treatment must be considered:
•Use shielded cables with shield connected to PE.
•When cables length exceeds 5-6 meters, prefer "buffer" type driving signals instead of "open
collector" type.

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•Keep signal cables separate from power cables. In particular keep signal cables separate from
motor output cables.
•Carefully verify logic level compatibility when interfacing drive with control system.
10.2.3- 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. Test performed by R.T.A. simulating typical
installations and following the mentioned above indications show that EN61800-3 standard
compliance applications can be achieved.
10.2.4- In some cases, due to the characteristics of particular installations, conflicts between ground
connections necessary for shielding purposes and ground connections necessary for safety reasons
could arise. Remember that, in such cases, prescriptions regarding safety take priority, but
remember also that, in almost all of the cases it is possible to find a solution meeting both
prescriptions; R.T.A. is available for further information about these problems.
PE
Stepping
motor To Drive
WRONG
PE
Stepping
Motor To Drive
RIGHT
D
D distance as short
as possible
(few centimeters)
Fig. 14 - Shielded connection at stepping motor side.
To motor
Drive
WRONG
CSD ET
To motor
Drive
RIGHT
CSD ET
Fig. 15 - Shielded connection at drive side (for CSD ET 04 only).
.