Emerson PACMotion GFK-3169B User manual

Installation and User Manual
GFK-3169B
October 2020
903-500003-EMR1
PACMotion™Rotary Servo Motors
INSTALLATION AND USER MANUAL

PACMotion™ Rotary Servo Motors Installation and User Manual Warnings and Cautions
GFK-3169B October 2020
Warnings and Cautions i
Warnings and Caution Notes as Used in this Publication
WARNING
Warning notices are used in this publication to emphasize that hazardous voltages, currents, temperatures, or
other conditions that could cause personal injury exist in this equipment or may be associated with its use.
In situations where inattention could cause either personal injury or damage to equipment, a Warning notice is
used.
CAUTION
Caution notices are used where equipment might be damaged if care is not taken.
Note: Notes merely call attention to information that is especially significant to understanding and
operating the equipment.
These instructions do not purport to cover all details or variations in equipment, nor to provide for every possible
contingency to be met during installation, operation, and maintenance. The information is supplied for
informational purposes only, and Emerson makes no warranty as to the accuracy of the information included
herein. Changes, modifications, and/or improvements to equipment and specifications are made periodically and
these changes may or may not be reflected herein. It is understood that Emerson may make changes,
modifications, or improvements to the equipment referenced herein or to the document itself at any time. This
document is intended for trained personnel familiar with the Emerson products referenced herein.
Emerson may have patents or pending patent applications covering subject matter in this document. The
furnishing of this document does not provide any license whatsoever to any of these patents.
Emerson provides the following document and the information included therein as-is and without warranty of any
kind, expressed or implied, including but not limited to any implied statutory warranty of merchantability or fitness
for particular purpose.

PACMotion™ Rotary Servo Motors Installation and User Manual Contents
GFK-3169B October 2020
Contents ii
Contents
Section 1: Introduction ..........................................................6
1.1 Document Revisions............................................................................................ 6
1.2 About this manual ............................................................................................... 6
1.3 Related Documentation ...................................................................................... 6
1.4 Safety.................................................................................................................. 6
1.4.1 You should pay attention to this ................................................................ 6
1.5 Package............................................................................................................. 10
1.5.1 Delivery package ..................................................................................... 10
1.5.2 Nameplate .............................................................................................. 10
1.5.3 Model number description ...................................................................... 11
Section 2: Technical Description...........................................12
2.1 General technical data ....................................................................................... 12
2.1.1 Ambient temperature (at rated values) ................................................... 12
2.1.2 Style........................................................................................................ 12
2.1.3 Flange ..................................................................................................... 13
2.1.4 Protection class ....................................................................................... 13
2.1.5 Insulation material class........................................................................... 13
2.1.6 Surface.................................................................................................... 13
2.1.7 Shaft end, A-side ..................................................................................... 13
2.1.8 Radial force ............................................................................................. 14
2.1.9 Axial force ............................................................................................... 14
2.1.10Coupling ................................................................................................. 14
2.1.11Vibration class ......................................................................................... 14
2.1.12Wiring technology................................................................................... 15
Section 3: Mechanical Installation ........................................17
3.1 Important Notes................................................................................................ 17
Section 4: Electrical Installation............................................18
4.1 Important notes ................................................................................................ 18
4.1.1 Dangerous voltage!................................................................................. 18
4.2 Guide for electrical installation .......................................................................... 18
4.2.1 Capacity.................................................................................................. 19
4.3 Connection of the motors with preassembled cables ......................................... 19
Section 5: Setup ...................................................................20

PACMotion™ Rotary Servo Motors Installation and User Manual Contents
GFK-3169B October 2020
Contents iii
5.1 Important notes ................................................................................................ 20
5.2 Hot surface!....................................................................................................... 20
5.3 High voltages! ................................................................................................... 20
5.3.1 Secure unplanned movements!............................................................... 20
5.3.2 Guide for setup ....................................................................................... 20
Section 6: Troubleshooting ..................................................21
Section 7: Technical Data .....................................................22
7.1 Definition of Terms for TechnicalData................................................................ 22
7.2 Technical DataIC830M2 .................................................................................... 23
7.3 Technical DataIC830M4 .................................................................................... 24
7.4 Technical DataIC830M6 .................................................................................... 25
7.5 Technical Data IC830M7 withoutfan.................................................................. 26
7.6 Technical Data IC830M7 withfan ....................................................................... 27
7.7 Technical DataBrakes ........................................................................................ 29
Section 8: Dimension Drawings ...........................................32
8.1 Dimensions/Radial Forces IC830M2 (KK Flanges) ............................................... 32
8.2 Dimensions/Radial Forces IC830M2 (CK Flanges) ............................................... 33
8.3 Dimensions/Radial Forces IC830M4 (GC Flanges) .............................................. 34
8.4 Dimensions/Radial Forces IC830M6 (Kx/Gxflanges) ........................................... 35
8.5 Dimensions/Radial Forces IC830M7 (KKflanges) ................................................ 36
Section 9: Motor Speed/Torque Curves ................................38
9.1 IC830M21C with IC830DP00306 at 230 VAC ..................................................... 42
9.2 IC830M22E with IC830DP00306 at 230 VAC...................................................... 43
9.3 IC830M22E with IC830DP00606 at 230 VAC...................................................... 44
9.4 IC830M23E with IC830DP00306 at 230 VAC...................................................... 45
9.5 IC830M24F with IC830DP00606 at 230 VAC...................................................... 46
9.6 IC830M41E with IC830DP00606 at 230 VAC...................................................... 47
9.7 IC830M41E with IC830DP00307 at 400 VAC...................................................... 48
9.8 IC830M41E with IC830DP00607 at 400 VAC...................................................... 49
9.9 IC830M41E with IC830DP00307 at 480 VAC...................................................... 50
9.10 IC830M41E with IC830DP00607 at 480 VAC...................................................... 51
9.11 IC830M42E with IC830DP00306 at 230 VAC...................................................... 52
9.12 IC830M42E with IC830DP00606 at 230 VAC...................................................... 53
9.13 IC830M42E with IC830DP00307 at 400 VAC...................................................... 54
9.14 IC830M42E with IC830DP00607 at 400 VAC...................................................... 55
9.15 IC830M42E with IC830DP00307 at 480 VAC...................................................... 56
9.16 IC830M42E with IC830DP00607 at 480 VAC...................................................... 57
9.17 IC830M42G with IC830DP00606 at 230 VAC..................................................... 58

PACMotion™ Rotary Servo Motors Installation and User Manual Contents
GFK-3169B October 2020
Contents iv
9.18 IC830M42G with IC830DP01206 at 230 VAC..................................................... 59
9.19 IC830M42G with IC830DP00607 at 400 VAC..................................................... 60
9.20 IC830M42G with IC830DP01207 at 400 VAC..................................................... 61
9.21 IC830M42G with IC830DP00607 at 480 VAC..................................................... 62
9.22 IC830M42G with IC830DP01207 at 480 VAC..................................................... 63
9.23 IC830M42H with IC830DP00606 at 230 VAC..................................................... 64
9.24 IC830M43G with IC830DP00606 at 230 VAC..................................................... 65
9.25 IC830M43G with IC830DP01206 at 230 VAC..................................................... 66
9.26 IC830M43G with IC830DP00607 at 400 VAC..................................................... 67
9.27 IC830M43G with IC830DP01207 at 400VAC...................................................... 68
9.28 IC830M43G with IC830DP00607 at 480VAC...................................................... 69
9.29 IC830M43G with IC830DP00607 at 480VAC...................................................... 70
9.30 IC830M43K with IC830DP01206 at 230 VAC ..................................................... 71
9.31 IC830M43K with IC830DP02406 at 230VAC ...................................................... 72
9.32 IC830M62H with IC830DP00606 at 230VAC...................................................... 73
9.33 IC830M62H with IC830DP00607 at 400 VAC..................................................... 74
9.34 IC830M62H with IC830DP00607 at 480 VAC..................................................... 75
9.35 IC830M62H with IC830DP02406 at 230 VAC..................................................... 76
9.36 IC830M62K with IC830DP02406 at 230 VAC ..................................................... 77
9.37 IC830M62K with IC830DP02407 at 400 VAC ..................................................... 78
9.38 IC830M62K with IC830DP02407 at 480 VAC ..................................................... 79
9.39 IC830M62L with IC830DP02406 at 230 VAC...................................................... 80
9.40 IC830M62L with IC830DP02407 at 400 VAC...................................................... 81
9.41 IC830M62L with IC830DP01207 at 480 VAC...................................................... 82
9.42 IC830M62L with IC830DP02407 at 480 VAC...................................................... 83
9.43 IC830M62M with IC830DP02406 at 230 VAC .................................................... 84
9.44 IC830M62M at 400 VAC with IC830DP02407 at 480 VAC .................................. 85
9.45 IC830M62M with IC830DP02407 at 480 VAC .................................................... 86
9.46 IC830M63L with IC830DP01206 at 230 VAC...................................................... 87
9.47 IC830M63L with IC830DP02406 at 230 VAC...................................................... 88
9.48 IC830M63L with IC830DP01207 at 400 VAC...................................................... 89
9.49 IC830M63L with IC830DP02407 at 400 VAC...................................................... 90
9.50 IC830M63L with IC830DP01207 at 480 VAC...................................................... 91
9.51 IC830M63L with IC830DP02407 at 480 VAC...................................................... 92
9.52 IC830M63M with IC830DP02406 at 230 VAC .................................................... 93
9.53 IC830M63M with IC830DP02407 at 400 VAC .................................................... 94
9.54 IC830M63M with IC830DP02407 at 480 VAC .................................................... 95
9.55 IC830M72L with IC830DP01207 at 400 VAC...................................................... 96
9.56 IC830M72L with IC830DP02407 at 400 VAC...................................................... 97
9.57 IC830M72L with IC830DP02407 at 480 VAC...................................................... 98
9.58 IC830M72P with IC830DP02406 at 230 VAC ..................................................... 99
9.59 IC830M72P with IC830DP02407 at 400 VAC ................................................... 100

PACMotion™ Rotary Servo Motors Installation and User Manual Contents
GFK-3169B October 2020
Contents v
9.60 IC830M72P with IC830DP02407 at 480 VAC ................................................... 101
9.61 IC830M72Q with IC830DP02406 at 230 VAC................................................... 102
9.62 IC830M72Q with IC830DP02407 at 400 VAC................................................... 103
9.63 IC830M72Q with IC830DP02407 at 480 VAC................................................... 104
9.64 IC830M72R with IC830DP02406 at 230 VAC ................................................... 105
9.65 IC830M73P with IC830DP02406 at 230 VAC ................................................... 106
9.66 IC830M73P with IC830DP02407 at 400 VAC ................................................... 107
9.67 IC830M73P with IC830DP02407 at 480 VAC ................................................... 108
9.68 IC830M73Q with IC830DP02406 at 230 VAC................................................... 109
9.69 IC830M73Q with IC830DP02407 at 400 VAC................................................... 110
9.70 IC830M73Q with IC830DP02407 at 480 VAC................................................... 111
9.71 IC830M74Q with IC830DP02406 at 230 VAC................................................... 112
9.72 IC830M74Q with IC830DP02407 at 400 VAC................................................... 113
9.73 IC830M74Q with IC830DP02407 at 480 VAC................................................... 114
Section 10: Connector Codes................................................ 115
10.1 Connector Options (B) ..................................................................................... 115
10.1.1Connector Description .......................................................................... 115
10.1.2Reference Connector-Motor.................................................................. 115
10.2 Feedback Options............................................................................................ 116
10.2.1Feedback Description............................................................................ 116
10.2.2Reference Feedback-Motor ................................................................... 116
Section 11: Connector Pinout............................................... 117
11.1 Connector codes B, C: IC830M2 - IC830M7 ...................................................... 117
11.1.1Power.................................................................................................... 117
11.2 Connector code 9: IC830M2-IC830M6............................................................. 118
11.2.1Power & SFD3/DSL IC830M2 - IC830M6 (Feedback code CA, GF)........... 118
General Contact Information ..................................................................................... 217
Technical Support...................................................................................................... 217

PACMotion™ Rotary Servo Motors Installation and User Manual Section 1
GFK-3169B October 2020
Introduction 6
Section 1: Introduction
1.1 DocumentRevisions
Revision
Remarks
B
•Updated Mechanical Data in Section 7: Technical Data
•Added Technical data for IC830M72R in Section 7: Technical Data
•Updated Documentation Titles
A
Initial Release
1.2 Aboutthis manual
This manual provides the technical descriptions and adjustments available for the Rotary Servo Motors
(PSR) series of synchronous servomotors. The motors areoperated in drive systems together with
Emerson servo amplifiers. Please observe the entire system documentation, consisting of:
Instructions manual fortheservoamplifier:
•EtherCAT
•Onlinehelpof theamplifier's setupsoftware
•Regional accessories manual
•Technical descriptionof thePSR series of motors
1.3 RelatedDocumentation
Description of Manual
GFK Number
PACMotion Servo Drives Installation and User Manual
GFK-3168
PACMotion Rotary Servo Motors Installation and User Manual
GFK-3169
PACMotion Servos Accessories Guide
GFK-3173
PACMotion Servos Secure Deployment Guide
GFK-3177
1.4 Safety
This section helps you to recognize and avoid dangers to people and objects.
1.4.1 You should pay attention to this
Specialist staff required!
Only properly qualified personnel are permitted to perform such tasks as transport, assembly, setup and
maintenance. Qualified specialist staff are persons who are familiar with thetransport, installation,
assembly, commissioningandoperationof motors andwho bringtheirrelevant minimum qualifications
to bearon theirduties:
•Transport: only by personnel with knowledge of handlingelectrostatically sensitive
components

PACMotion™ Rotary Servo Motors Installation and User Manual Section 1
GFK-3169B October 2020
Introduction 7
•Mechanical Installation: only by mechanically qualifiedpersonnel.
•Electrical Installation: only by electrically qualifiedpersonnel.
•Setup: only by qualifiedpersonnel with extensiveknowledgeof electrical engineeringand drive
technology
•Thequalifiedpersonnel must know andobserveIEC 60364/ IEC 60664andnational accident
preventionregulations.
Read the documentation!
Readtheavailabledocumentationbeforeinstallationandcommissioning. Improperhandling of the
motor can cause harm to people or damage to property. The operator must therefore ensurethat all
persons entrustedto work onthemotorhavereadandunderstoodthemanual andthat thesafety
notices inthis manualareobserved.
Pay attention to the technical data!
Adheretothetechnical dataandthespecifications onconnectionconditions (ratingplateand
documentation). If permissible voltage values or current values are exceeded, the motors canbe
damaged, forexampleby overheating.
Perform a risk assessment!
The manufacturerof themachinemust generatearisk assessment forthemachine, andtake appropriate
measures to ensure that unforeseen movements cannot cause injury or damage to any personor
property. Additional requirements on specialist staff may alsoresult from the risk assessment.
Secure the key!
Removeany fittedkey (if present)from theshaft beforelettingthemotorrunwithout coupled load, to
avoidthedangerous results of thekey being thrownout by centrifugal forces. When delivered, thekey is
protectedwith a plastic cap.
Hot surface!
Thesurfaces of themotors canbe very hot in operation, accordingto theirprotectioncategory. Risk of
minorburns! Thesurfacetemperaturecanexceed100°C.
Measurethetemperature, andwait until themotorhas cooleddownbelow 40°C before touchingit.
Earthing! High voltages!
It is vital that you ensure that the motor housing is safely earthed to the PE (protective earth)busbarin
theswitch cabinet. Risk of electric shock. Without low-resistanceearthing nopersonal protectioncanbe
guaranteed andthereis a risk of deathfrom electric shock.
Not having optical displays does not guarantee an absence of voltage. Power connections may carry
voltage even if the motor shaft is not rotating.
•Do not unplug any connectors during operation. There is a risk of death or severe injury from
touching exposed contacts. Power connections may be live even when the motor shaft is not
rotating. This can causeflashovers with resulting injuries to persons anddamageto the
contacts.
•Afterdisconnectingtheservoamplifierfromthesupply voltage, wait several minutes before
touching any components which are normally live (e.g. contacts, screw connections)or
openingany connections.
•Thecapacitors inthe servoamplifiercanstill carry a dangerous voltageseveral minutes after
switching off the supply voltages. To be quite safe, measure the DC-link voltage andwait until
thevoltagehas fallenbelow 60V.

PACMotion™ Rotary Servo Motors Installation and User Manual Section 1
GFK-3169B October 2020
Introduction 8
Secure hanging loads!
•Built-in holding brakes do not ensure functional safety!
•Hangingloads (vertical axes)requireanadditional, external mechanical braketo ensure
personnel safety.
Use as directed
•The PSR series of synchronous servomotors is designedespecially fordrives forindustrial
robots, machine tools, textile and packing machinery and similar with high requirements for
dynamics.
•The useris only permittedto operatethemotors undertheambient conditions whichare
defined in thisdocumentation.
•The PSR series of motors is exclusively intendedto bedrivenby servoamplifiers under speed
and/ortorquecontrol.
•Themotors areinstalledas components inelectrical apparatus ormachines andcanonly be
commissioned and put into operation as integral components of such apparatus or machines.
•The thermal sensorwhichis integratedinthemotorwindings must beobservedandevaluated.
•Theholdingbrakes aredesignedas standstill brakes andarenot suitedforrepeatedoperational
braking.
•Theconformity of theservosystem tothestandards mentionedin theCE Declarationof
Conformity is only guaranteedwhenthecomponents (servoamplifier, motor, cables etc.)that
areusedhavebeensuppliedby Emerson.
Prohibited use
•Theuseof theStandard Motors is prohibited
odirectly on mains supplynetworks,
oinareas where thereis arisk of explosions,
oincontact with foodandbeverage,
oinenvironments with caustic and/orelectrically conductingacids, bases, oils, vapors,
dusts.
•Commissioningthemotoris prohibitedif themachineinwhichit was installed
odoes not meet therequirements of theEC Machinery Directive,
odoes not comply with theEMC Directive,
odoes not comply with theLow VoltageDirective.
•Built-inholdingbrakes without furtherequipment must not beusedto ensurefunctional safety.