RTA X-PLUS ET B4 Series User manual

R.T.A. s.r.l. – XPETME05 – 11/20
MOTION CONTROL SYSTEMS
X-PLUS ET B4/S4
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 ..........................................7
4 - INPUT AND OUTPUT LOGIC SIGNALS ....................................................................8
5 - POWER INPUTS AND OUTPUTS............................................................................11
6 - SETTING AND SIGNALLING....................................................................................13
7 - DRIVE EXTERNAL CONNECTIONS........................................................................15
8 - INSTALLATION AND ENVIRONMENT.....................................................................17
9 - MAINTENANCE........................................................................................................17
10 - LOGIC INTERFACING EXAMPLES .........................................................................18
11 - APPLICATION NOTES.............................................................................................20
12 - STO FUNCTIONS (X-PLUS ET S4 only). .................................................................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 regard
ing
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 brackets are the original
definition of UL standard rules.

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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).
•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; 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.
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.

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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; 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 2.7.
1.9 - 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 ET 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). The use of stepping motors
with 5 terminals is not allowed.
Their use for different purposes is not allowed.
2.2 - WARNING!
X-PLUS ET 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 ET 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

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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.
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. 7 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 -
CAUTION!
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.

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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.

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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:
X can be:
- B
- S, with STO function.
.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
(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 < Vin < 24 Volt
For each input signal correspondent terminals numbers of connector C3a are indicated.
31 (I3): I3 INPUT. Auxiliary input.
32 (I2): I2 INPUT. Auxiliary input.
33 (I1): I1 INPUT. Auxiliary input.
34 (I0): I0 INPUT. Auxiliary input.
35: COMMON OF INPUTS.
Note: Depending on status of object 0x320C, inputs I0, I1, I2, I3 can be used as special function inputs (see
software manual).
4.2 - INPUTS (C5) Logic supply 24 V
DC
For each input signal correspondent terminals numbers of connector C5 are indicated:
11: V+ 24 V
DC
IN
12: V- 24 V
DC
IN
4.3 - STO INPUTS (C3b). (For X-PLUS ET S4 only)
51 : IN+ STO2. Input IN+ STO2.
52 : IN- STO2. Input IN- STO2.
53 : Shield. Shield connection for STO inputs cables.
54 : IN+ STO1. Input IN+ STO1.
55 : IN- STO1. Input IN- STO1.
4.4 - OUTPUTS (C2)
The outputs are considered ON when they are closed as regards to common of outputs (24). For each signal
the correspondent terminals numbers of connector C2 are indicated:
21 (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.
For X-PLUS ET S4 only. If it is set as BRAKE output (see software manual), output is ON when
the drive is in Operation Enabled state. Please use a relay with a flyback diode to drive the brake.
22 (O1): O1 OUTPUT. Auxiliary output (50 mA max).
For X-PLUS ET B4 only. If it is set as BRAKE output (see software manual), output is ON when
the drive is in Operation Enabled state. Please use a relay with a flyback diode to drive the brake.
For X-PLUS ET S4 only. If it is set as EDM, Error Detection Monitor (see software manual),
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.
23 (O0): O0 OUTPUT. Auxiliary output (5 mA max).
24: COMMON OF OUTPUTS.
Note: Depending on status of object 0x320A, user can set output values (see software manual).

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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)
STO1 and STO2 inputs structure scheme MONITOR output structure
DRIVE
R2
R1 (1W)
In+
Vin = 24 Volt
R1 = 3.3 KOHM
R2 = 390 OHM
18 Volt < Vin < 27 Volt
H
0 Volt < Vin < 3 Volt
L
DRIVE
Out
22
Vmax = 45 Volt
Imax = 50 mA
Vsat 0.8 Volt (at 10 mA)
≤
Out
24
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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4.5 - ENCODER INPUTS AND POWER SUPPLY (C4 Connector, see Fig. 2, 5 and 7)
For each signal the correspondent terminals numbers of connector C4 are indicated:
Pin Description RTA cable colors
41
42
43
44
45
46
47
48
+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 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. For different motors with encoder please contact RTA.
4.6 - 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 Connection) 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 - 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 2.
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 Terminal power supply (HV
AC
) N (Neutral).
8 Terminal power supply (HV
AC
). L (Line).
Table 2
CONNECTOR C5 DENOMINAZIONE
11 Positive terminal logic supply (LV
DC
24V)
12 Negative terminal logic supply (LV
DC
24V)
Table 3
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. 7, 13 and 14.
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 4 and Table 5 show power inputs and outputs characteristics:
AC input X-PLUS ET
HV
AC
nom
(V) 110 - 230
LV
DC
nom
(V) 24
Tolerance V
AC
nom
(%) 15
Max input current (A) 4
Max input power (VA) 440 - 920
Dimensions (mm) 169 × 129 × 46
Table 4
Motor phase outputs X-PLUS ET
V
PH
min (V) 0
V
PH
max
(V) +/- 1.41 x V
AC
I
NP
min
(A) 2.4
I
NP
max
(A) 4
Table 5
5.5 - Definition of terms used in Table 4 and in Table 5:
HV
AC
nom : indicates nominal alternating voltage for drive operation with not stabilized
power supply.
LV
DC
nom: : value of logic continue voltage at which the drive can be supplied.
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.

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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. 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 signalling LEDs, connectors and labels in X-PLUS ET series drives.
Fig. 5 – Signalling leds and connectors.

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6.3- Fig. 6 shows the position of EtherCAT connectors located on the high side of the case.
IN OUT
E
t
h
e
r
C
A
T
OUT Port
E
t
h
e
r
C
A
T
IN Port
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:
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).
6.3-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- 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.
-Motor losses: mainly depending on motor type, drive voltage, speed and duty cycle.
-Drive losses: mainly depending on drive model, current setting and duty cycle; according with these
parameters these losses can approximately vary between 60 and 130 Watt. It is often very hard to
do an exact forecast of drive and motor losses; in these cases a safety over-dimensioning of the
supply elements proportional to the uncertainty of the data is recommended. To get more accurate
information, contact R.T.A. describing all the data of the particular application.
7.2- WARNING!
Protection systems indicated in Fig. 7 must include:
- SPD (Surge Protection Device) nominal working voltagedi 240 V
AC
, overvoltage category III,
1500 V
P
, 20 kA (Modello VAL-US-240/40/1+0 Phoenix Contact GmbH or equivalent) [Primary
Circuit Overvoltage Protection].
- Residual current protective device with operating residual current of 30 mA.
- Branch circuit protection fuses: UL Type JDDZ, class CC, 600 VAC, 8 Amp (Cooper Bussman
model KTK-R-8 or equivalent) [Branch circuit protection fuses].
7.3- WARNING!
For external connections copper wire must be used [Use Copper Conductors only] and certified to work
at 60/75 °C [Use 60/75 °C wires only].
The cross-sectional area of conductors used in power supply circuit must be chosen according with
dimensioning power (see 7.1). The cross-sectional area of the four shielded conductors between motor
and drive must be chosen in accordance with nominal current which has been set in the drive.

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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+).

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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. Installation is allowed in a micro-environment with:
•Environment conditions class 3K3 (IEC 721-3-3): that implies, among other things, a
working temperature from +5°C to +40°C and relative humidity from 5% to 85% non condensing.
•Pollution degree 2: that implies, among other things, 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 721-3-3).
•Maximum operating altitude: 2000 meters.
If the environment in which the machine is used does not satisfy these conditions, suitable
conditioning systems have to be provided for the enclosure.
8.3 - Storage environment in original enclosure:
•Temperature: from -25°C to +55°C. Relative humidity: from 5% to 95%.
•Environment conditions class 1K3 (IEC 721-3-1). Pollution degree 2.
8.4 - The drives generate some amount of heat (see chap. 7.1). 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.
9 - MAINTENANCE
9.1- INFORMATION .
ROUTINE MAINTENANCE.
It needs to check periodically status and installation of the drive:
•Tightening and correct insertion of input and output power connectors.
•Correct insertion of logic signals connector.
•Tightening of earth connections.
•Cleaning air gratings both on the chassis and on the heatsink of the drive.
9.2- FAILURE MAINTENANCE.
In case of failure, the faulty drive must be returned to R.T.A.
Do not try to repair a faulty device. Only R.T.A. personnel is authorized to repair operation.

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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.
Note: The following interfacing examples MUST NOT be used with STO1, STO2 inputs and MONITOR
output.
X-PLUS ET
SERIES DRIVE
OUTPUT
V+
CONTROL
SYSTEM
PNP INPUT
CONTROL
SYSTEM
NPN INPUT
X-PLUS ET
SERIES DRIVE
OUTPUT
V+
V+ < 45 Volt
Fig. 8 – Interfacing a X-PLUS ET logic output and an input of a control system operating at V+
voltage.
X-PLUS ET
SERIES DRIVE
OUTPUT
V+
V+ < 45 Volt
I < 50 mA
Fig. 9 – Driving a micro-relay by means of a X-PLUS ET logic output.
CONTROL
SYSTEM
NPN OUTPUT
X-PLUS ET
SERIES DRIVE
INPUT
+
V+
8 V
DC
< V+ < 24 V
DC
Fig. 10 – Driving a X-PLUS ET logic input from a control system with a NPN open collector output.

R.T.A. s.r.l. – XPETME05 – 11/20
19/29
CONTROL
SYSTEM
PNP OUTPUT
X-PLUS ET
SERIES DRIVE
INPUT
V+
+
8 V
DC
< V+ < 24 V
DC
Fig. 11 – Driving a X-PLUS ET logic input from a control system with a PNP output.
CONTROL SYSTEM
V+ OUTPUT
INPUT
GND
OUTPUT +
-
X-PLUS ET
SERIES DRIVE
8 V
DC
< V
+
< 24 V
DC
Fig. 12 -Connection example with control system with TOTEM-POLE (PUSH-PULL) output.

R.T.A. s.r.l. – XPETME05 – 11/20
20/29
11 - APPLICATION NOTES
11.1- INFORMATION .
Electromagnetic compatibility (directive 2014/30/CE). X-PLUS 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.
11.1.1- 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 X-PLUS ET series drive terminal 5. The shield of encoder cable, if it is
available, has to be directly connected to the earth screw of the drive. 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 drive in a cabinet shielded from electromagnetic interferences.
•Interpose an EMI filter in AC power input line (see Fig. 7) in order to reduce conducted
electromagnetic interferences. Filter characteristics in a specific installation depend on following
factors:
- Strictness degree of the specific standard regarding the machine on which drive is used.
- Power level of application (voltage and current setting of the drive).
- Presence of other filtering systems in the general electrical machine installation.
In any case, following filter type is recommended:
- CORCOM SK series.
Different models inside these series differ for current rating; thereby choose the specific model
according to power level of your 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.
11.1.2- 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.
•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.