Emerson PACMotion IC830M21C User manual

Installation and User Manual
GFK-3169C
Mar 2021
903-500003-EMR1
PACMotion™Rotary Servo Motors
INSTALLATION AND USER MANUAL

PACMotion™ Rotary Servo Motors Installation and User Manual Warnings and Cautions
GFK-3169C Mar 2021
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-3169C Mar 2021
Contents ii
Contents
Section 1: Introduction ..........................................................6
1.1 Document Revisions............................................................................................ 6
1.2 About this manual ............................................................................................... 6
1.3 Related Documentation ...................................................................................... 6
1.4Safety.................................................................................................................. 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

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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/CK Flanges) ......................................... 32
8.2 Dimensions/Radial Forces for IC830M4 (DC/GC Flanges) ................................... 33
8.3 Dimensions/Radial Forces for IC830M6.............................................................. 34
8.3.1 (EK/BK Flanges) Single Connector/Brake/No Brake/SFD ........................... 34
8.3.2 (EK/BK Flanges) Single Connector/Brake/No Brake/DSL ........................... 34
8.3.3 (EK/BK Flanges) Dual Connector/Brake/No Brake/BiSS............................. 35
8.4 Dimensions/Radial Forces IC830M7 (KKflanges) ................................................ 36
Section 9: Motor Speed/Torque Curves ................................39
9.1 IC830M21C with IC830DP00306 at 230 VAC ..................................................... 43
9.2 IC830M22E with IC830DP00306 at 230 VAC...................................................... 44
9.3 IC830M22E with IC830DP00606 at 230 VAC...................................................... 45
9.4 IC830M23E with IC830DP00306 at 230 VAC...................................................... 46
9.5 IC830M24F with IC830DP00606 at 230 VAC...................................................... 47
9.6 IC830M41E with IC830DP00606 at 230 VAC...................................................... 48
9.7 IC830M41E with IC830DP00307 at 400 VAC...................................................... 49
9.8 IC830M41E with IC830DP00607 at 400 VAC...................................................... 50
9.9 IC830M41E with IC830DP00307 at 480 VAC...................................................... 51
9.10 IC830M41E with IC830DP00607 at 480 VAC...................................................... 52
9.11 IC830M42E with IC830DP00306 at 230 VAC...................................................... 53
9.12 IC830M42E with IC830DP00606 at 230 VAC...................................................... 54
9.13 IC830M42E with IC830DP00307 at 400 VAC...................................................... 55
9.14 IC830M42E with IC830DP00607 at 400 VAC...................................................... 56
9.15 IC830M42E with IC830DP00307 at 480 VAC...................................................... 57

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Contents iv
9.16 IC830M42E with IC830DP00607 at 480 VAC...................................................... 58
9.17 IC830M42G with IC830DP00606 at 230 VAC..................................................... 59
9.18 IC830M42G with IC830DP01206 at 230 VAC..................................................... 60
9.19 IC830M42G with IC830DP00607 at 400 VAC..................................................... 61
9.20 IC830M42G with IC830DP01207 at 400 VAC..................................................... 62
9.21 IC830M42G with IC830DP00607 at 480 VAC..................................................... 63
9.22 IC830M42G with IC830DP01207 at 480 VAC..................................................... 64
9.23 IC830M42H with IC830DP00606 at 230 VAC..................................................... 65
9.24 IC830M43G with IC830DP00606 at 230 VAC..................................................... 66
9.25 IC830M43G with IC830DP01206 at 230 VAC ..................................................... 67
9.26 IC830M43G with IC830DP00607 at 400 VAC..................................................... 68
9.27 IC830M43G with IC830DP01207 at 400VAC...................................................... 69
9.28 IC830M43G with IC830DP00607 at 480VAC...................................................... 70
9.29 IC830M43G with IC830DP00607 at 480VAC...................................................... 71
9.30 IC830M43K with IC830DP01206 at 230 VAC ..................................................... 72
9.31 IC830M43K with IC830DP02406 at 230VAC ...................................................... 73
9.32 IC830M62H with IC830DP00606 at 230VAC...................................................... 74
9.33 IC830M62H with IC830DP00607 at 400 VAC..................................................... 75
9.34 IC830M62H with IC830DP00607 at 480 VAC..................................................... 76
9.35 IC830M62H with IC830DP02406 at 230 VAC ..................................................... 77
9.36 IC830M62K with IC830DP02406 at 230 VAC ..................................................... 78
9.37 IC830M62K with IC830DP02407 at 400 VAC ..................................................... 79
9.38 IC830M62K with IC830DP02407 at 480 VAC ..................................................... 80
9.39 IC830M62L with IC830DP02406 at 230 VAC...................................................... 81
9.40 IC830M62L with IC830DP02407 at 400 VAC...................................................... 82
9.41 IC830M62L with IC830DP01207 at 480 VAC...................................................... 83
9.42 IC830M62L with IC830DP02407 at 480 VAC...................................................... 84
9.43 IC830M62M with IC830DP02406 at 230 VAC .................................................... 85
9.44 IC830M62M at 400 VAC with IC830DP02407 at 480 VAC .................................. 86
9.45 IC830M62M with IC830DP02407 at 480 VAC .................................................... 87
9.46 IC830M63L with IC830DP01206 at 230 VAC...................................................... 88
9.47 IC830M63L with IC830DP02406 at 230 VAC...................................................... 89
9.48 IC830M63L with IC830DP01207 at 400 VAC...................................................... 90
9.49 IC830M63L with IC830DP02407 at 400 VAC...................................................... 91
9.50 IC830M63L with IC830DP01207 at 480 VAC...................................................... 92
9.51 IC830M63L with IC830DP02407 at 480 VAC...................................................... 93
9.52 IC830M63M with IC830DP02406 at 230 VAC .................................................... 94
9.53 IC830M63M with IC830DP02407 at 400 VAC .................................................... 95
9.54 IC830M63M with IC830DP02407 at 480 VAC .................................................... 96
9.55 IC830M72L with IC830DP01207 at 400 VAC...................................................... 97
9.56 IC830M72L with IC830DP02407 at 400 VAC...................................................... 98
9.57 IC830M72L with IC830DP02407 at 480 VAC...................................................... 99

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Contents v
9.58 IC830M72P with IC830DP02406 at 230 VAC ................................................... 100
9.59 IC830M72P with IC830DP02407 at 400 VAC ................................................... 101
9.60 IC830M72P with IC830DP02407 at 480 VAC ................................................... 102
9.61 IC830M72Q with IC830DP02406 at 230 VAC................................................... 103
9.62 IC830M72Q with IC830DP02407 at 400 VAC................................................... 104
9.63 IC830M72Q with IC830DP02407 at 480 VAC................................................... 105
9.64 IC830M72R with IC830DP02406 at 230 VAC ................................................... 106
9.65 IC830M73P with IC830DP02406 at 230 VAC ................................................... 107
9.66 IC830M73P with IC830DP02407 at 400 VAC ................................................... 108
9.67 IC830M73P with IC830DP02407 at 480 VAC ................................................... 109
9.68 IC830M73Q with IC830DP02406 at 230 VAC................................................... 110
9.69 IC830M73Q with IC830DP02407 at 400 VAC................................................... 111
9.70 IC830M73Q with IC830DP02407 at 480 VAC................................................... 112
9.71 IC830M74Q with IC830DP02406 at 230 VAC................................................... 113
9.72 IC830M74Q with IC830DP02407 at 400 VAC................................................... 114
9.73 IC830M74Q with IC830DP02407 at 480 VAC................................................... 115
Section 10: Connector Codes................................................ 116
10.1 Connector Options (B) ..................................................................................... 116
10.1.1Connector Description .......................................................................... 116
10.1.2Reference Connector-Motor.................................................................. 116
10.2 Feedback Options............................................................................................ 117
10.2.1Feedback Description............................................................................ 117
10.2.2Reference Feedback-Motor ................................................................... 117
Section 11: Connector Pinout...............................................118
11.1 Connector codes B, C: IC830M2 - IC830M7 ...................................................... 118
11.1.1Power.................................................................................................... 118
11.2 Connector code 9: IC830M2-IC830M6............................................................. 119
11.2.1Power & SFD3/DSL IC830M2 - IC830M6 (Feedback code CA, GF)........... 119
General Contact Information ..................................................................................... 216
Technical Support...................................................................................................... 216

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Introduction 6
Section 1: Introduction
1.1 DocumentRevisions
Revision
Remarks
C
Mar 2021
•Updated Dimension Drawings in Section 8.
B
Oct 2020
•Updated Mechanical Data in Section 7: Technical Data
•Added Technical data for IC830M72R in Section 7:
Technical Data
•Updated Documentation Titles
A
Sep 2020
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,

PACMotion™ Rotary Servo Motors Installation and User Manual Section 1
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Introduction 7
assembly, commissioningandoperationof motors andwho bringtheirrelevant minimum qualifications
to bearon theirduties:
•Transport: only by personnel with knowledge of handlingelectrostatically sensitive
components
•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 canbevery hot inoperation, 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
guaranteedandthereis arisk 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.

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Introduction 8
•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.
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.

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Introduction 9
Handling
Transport
•Climatecategory 2K3accordingto IEC 60721-3-2, EN61800-2
•Temperature: -25 - +70 °C, max. 20 K/HR change
•Humidity: rel. humidity 5% -95% , no condensation
•Only by qualifiedpersonnel inthemanufacturer’s original recyclablepackaging
•Avoidshocks, especially totheshaft end
•If thepackagingis damaged, check themotorforvisibledamage. Inform thecarrierand, if
appropriate, themanufacturer.
Packaging
•Cardboardpackingwith Instapak® foam cushion.
Motor
type
Packing
Max. stacking
height
IC830M2
Cardboard
10
IC830M4
Cardboard
6
IC830M6
Cardboard
1
IC830M7
Cardboard
1
Storage
•Climatecategory 1K4accordingto IEC 60721-3-1, EN61800-2
•Storagetemperature: -25 - +55°C, max. variation20K/hr.
•Humidity: rel. humidity 5% -95%, no condensation
•Storeonly inthemanufacturer’s original recyclablepackaging
•Max. stackingheight: seetablein chapter"Packaging"
•Storage time:unlimited
•Maintenance / Cleaning
•Maintenanceandcleaningonly by qualifiedpersonnel
•Theball bearings shouldbe replacedafter20,000hours of operationunderratedconditions (by
themanufacturer).
•Check themotorforbearingnoiseevery 2500operatinghours, respectively eachyear. If any
noises areheard, stoptheoperationof themotor, thebearings must bereplaced(by the
manufacturer).
•Openingthemotorinvalidates thewarranty.
•If thehousingis dirty, cleanhousingwith Isopropanol orsimilar, donot immerseorspray.

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Introduction 10
1.5 Package
1.5.1 Delivery package
•MotorfromthePSRseries
•Product manual (multi language)printed, oneperdelivery
1.5.2 Nameplate
With standard motors the nameplate is adhesive on the housing side. With washdown motors the
nameplateis engravedonthehousingside, anadditional nameplateis addedto every motorpackage.
Figure 1: Nameplate
Legend
Description
MODEL
motor type
Ics
I0rms (standstill current)
Tcs
M0 (standstill torque)
Vs
Un (DC bus link voltage)
Nrtd
nn (rated speed @ Un)
Prtd
Pn (rated power)
Rm
R25 (winding resistance @ 25°)
SERIAL
serial no.
AMBIENT
maximum ambient temp.
Yearof manufacturingis codedintheserial number: thefirst two digits of theserial number aretheyear
of manufacturing, e.g. "17" means 2017.

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Introduction 11
1.5.3 Model number description
Figure 2: Model Number Description

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Technical Description 12
Section 2: Technical Description
2.1 Generaltechnical data
2.1.1 Ambient temperature (at rated values)
•Permissible humidity (at rated values) Power derating (currents and torques)
•5 - +40°C for site altitude up to 1000m amsl
•It is vital to consult ourapplications department forambient temperatures above 40°C and
encapsulated mounting of the motors.
•95% rel. humidity, no condensation
•1%/K in range 40°C - 50°C up to 1000m amsl for site altitude above 1000m amsl and 40°C 6%
up to 2000m amsl
•17% up to3000m amsl 30% up to4000m amsl 55% up to5000m amsl
•Noderatingforsite altitudes above1000m amsl with temperature reduction of 10K /1000m
•Ball-bearing life ≥20,000 operating hours
Note: Technical dataforevery motortypecanbe foundin chapter"Technical Data" from(Section 7:
Technical Data).
2.1.2 Style
The basic style for the IC830M motors is style IM B5 according to EN 60034-7.
Figure 3: IC830M motors

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Technical Description 13
2.1.3 Flange
IEC flange accuracy according to DIN 42955. Tolerances of shaft extension run-out and of mounting
flanges for rotating electrical machines.
Code
Flange
K
NEMA ICS 16 Metric Flange
C
NEMA ICS 16 Metric Flange
D
IEC 60072 Flange
G
IEC 60072 Flange
E
NEMA ICS 16 Metric Flange
B
NEMA ICS 16 Metric Flange
2.1.4 Protection class
Standard Motor
Connector Option
Shaft Seal
Protection class
IC830M2 - IC830M7
9, B, C, H
without
IP54
2.1.5 Insulation material class
The motors come up to insulation material class F according to IEC 60085 (UL1446 class F).
2.1.6 Surface
Themotors arecoatedwith polyesterpowdercoatinginmatteblack. This finishis not resistant against
solvents (e.g. trichlorethylene, nitro-thinners, orsimilar).
2.1.7 Shaft end, A-side
Powertransmissionis madethroughthecylindrical shaft endA, fit k6(IC830M1: h7)to EN 50347, with a
lockingthreadbut without a fitted keyway.
Motors arealsoavailablewith keyway andinsertedkey accordingto DIN 6885. Theshaft with keyway is
balancedwith short (half)key.
Bearing life is calculated with 20.000 operating hours.
Order code
Shaft end
Available for
C
Keyway, closed
IC830M2...7
K
Keyway, open
IC830M4...7

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Technical Description 14
2.1.8 Radial force
If the motors drive via pinions or toothed belts, then high radial forces will occur. The permissiblevalues
at theendof theshaft may bereadfromthediagrams inchapter"Drawings" from(Section8:Dimension
Drawings). Themaximum values at ratedspeedyouwill find at thetechnical datafrom (➜#169). Power
take-off fromthemiddleof thefreeendof theshaft allows a10% increase inFR.
2.1.9 Axial force
Whenassemblingpinions orwheels totheaxis anduseof e.g. angulargearheads axial forces arise. The
maximumvalues at rated speedarefoundinthetechnical data.
2.1.10 Coupling
Double-coned collets have proved to be ideal zero-backlash coupling devices, combined, if required,
with metal bellows couplings.
2.1.11 Vibration class
The motors are made to vibration class A according to EN 60034-14. For a speed range of 600-3600rpm
andashaft centerbetween56-132mm, this means that theactual valueof the permittedvibration
severity is 1.6mm/s.
Velocity [rpm]
max. rel. Vibration
Displacement [µm]
max. Run-out [µm]
<= 1800
90
23
> 1800
65
16

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Technical Description 15
2.1.12 Wiring technology
Connectors
Descriptions of the available connectors: (➜ # 12). Connector pinout: from (➜ # 205).
Wire cross sections
Power Cable, Combi Cable
Combi cables contain 4 power lines and 2 additional lines for motor holding brake control.
Cross Section
Current Carrying Capacity
Remarks
(4x1)
(4x1+(2x0.75))
0A < I0rms ≤ 10.1A
The brackets (...) show the
shielding.
Current carrying capacity acc.
to EN60204-1:2006
Table 6, Column B2
(4x1.5)
(4x1.5+(2x0.75))
10.1A < I0rms ≤ 13.1A
(4x2.5)
(4x2.5+(2x1))
13.1A < I0rms ≤ 17.4A
(4x4)
(4x4+(2x1))
17.4A < I0rms ≤ 23A
(4x6)
(4x6+(2x1))
23A < I0rms ≤ 30A
(4x10)
(4x10+(2x1.5))
30A < I0rms ≤ 40A
(4x16)
(4x16+(2x1.5))
40A < I0rms ≤ 54A
(4x25)
(4x25+(2x1.5))
54A < I0rms ≤ 70A
Feedback Cable
Type
Cross Section
Remarks
Encoder
(7x2x0.25)
BiSS, HIPERFACE DSL®
Hybrid Cable
Type
Cross Section
Remarks
SFD3/ DSL
(4x1.0+(2x0.34)+(2x0.75))
4 power lines & 2 brake lines &
2 signal lines for SFD3/DSL
SFD3/DSL
(4x1.5+(2x0.34)+(2x0.75))
SFD3/DSL
(4x2.5+(2x0.34)+(2x1.0))
SFD3/DSL
(4x4+(2x0.34)+(2x1.0))

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Technical Description 16
Holding brake
All motors areoptionally available with a holdingbrake. A springappliedbrake(24V DC) is integrated
intothemotors. Whenthis brakeis de-energizedit blocks therotor.
Secure hanging loads!
If thereis asuspendedload(vertical axes), themotor's holdingbrakeis released, and, at the same time,
the servo drive does not produce any output, the load may fall down! Risk of injury exists forthe
personnel operatingthemachine.
The user should consider required local safety standards in the case of hanging loads (vertical axes)and
theneedtoinsurepersonnelsafety by usingadditional safety measures for hazardavoidance.
Note: The holding brakes are designed as standstill brakes and are not suited for repeated operational
braking. Inthecaseof frequent, operational braking, prematurewearandfailureof the holdingbrakeis
to beexpected.
The motor length increases when a holding brake is mounted.
The holding brake can be controlled directly by the servo amplifier (no personal safety !), the windingis
suppressedin theservoamplifier—additional circuitry is not required(seeinstruction manual of the
servo amplifier). If the holding brake is not controlled directly by the servo drive, an additional wiring
(e.g. varistor)is required. Consult our support department.
Brake data are listed in chapter "Technical Data Brakes" from (Section 7.7, Technical DataBrakes) .
Fan for IC830M7
For theIC830M7model size, an add-onkit forforcedventilationis available. Theintegratedfan enables up
to 30% more power output for the IC830M7 motors. Assembly instructions for the fankit is contained
withinthescopeof delivery of theadd-onkit.
Thefanhousingcanbe mountedeitherwith boththesupplied brackets andspacers orwith thebrackets
only.Thechoiceof mounting method depends on the application. If strong vibrations are expected, you
should use both brackets and spacers. Motors with integrated brakes require the longs spacers.
Figure 4: IC830M7
Note: Makesure, that freeairflow is availableforthefan. Keepaspaceof at least 25mm behind the fan
guard.
Themotors becomedirty considerably fasterdueto forcedconvection. Dirt deposits leadto falling
cooling capacity and can put the motors at risk. Dust may burnin case of overheating. Socleantheair
duct, thefan, andthemotorat regularintervals.
By adding a fan, the mounting dimensions of IC830M7 motors increase.
Incaseof IC830M7motors with connectoroption"C", winding"Q" andforcedventilationyou must limit
themotorcurrent to 23,5A forconnectorprotection.
You can find technical information on IC830M7 motors with fans (Section 7.6 Technical Data IC830M7
withfan).
You can find the dimensional drawing for IC830M7 motors with fans on (Section 8.4,
Dimensions/Radial Forces IC830M7 (KKflanges)).

PACMotion™ Rotary Servo Motors Installation and User Manual Section 3
GFK-3169C Mar 2021
Mechanical Installation 17
Section 3: Mechanical Installation
Note: Dimensiondrawings canbefoundinchapter"Dimension Drawings".
3.1 Important Notes
Note: Only qualified staff with knowledgeof mechanical engineeringarepermittedto assemblethe
motor.
Protect themotorfrom unacceptablestresses. Duringtransport andhandlingno components must be
damaged.
The site must befreeof conductiveandaggressivematerial. ForV3-mounting(shaft end upwards), make
surethat no liquids canenterthebearings. If anencapsulatedassembly is required, please consult
Emerson beforehand.
Ensureanunhinderedventilationof themotors andobservethepermissibleambient and flange
temperatures. For ambient temperatures above 40°C please consult our applications department
beforehand. Ensure that there is adequate heat transfer in the surroundings and themotor flange.
Motorflangeandshaft areespecially vulnerableduringstorageandassembly -so avoid bruteforce. It is
important tousethelockingthreadwhichis providedto tightenup coup- lings, gearwheels orpulley
wheels andwarmupthedrivecomponents, wherepossible. Blows ortheuseof forcewill leadto damage
to thebearings andtheshaft.
Figure 5: Intermediate Washer
•Wherever possible, use only backlash-free, frictionally-locking collets or couplings. Ensure
correct alignment of thecouplings. A displacement will causeunacceptablevibrationandthe
destructionof thebearings andthecoupling.
•Inall cases, do not createa mechanically constrainedmotorshaft mountingby usinga rigid
couplingwith additional external bearings (e.g. inagearbox).
•Takenoteof theno. of motorpoles andtheno. of resolverpoles (if applicable), andensure that
the correct setting is made in the servo amplifier which is used. An incorrect setting canleadto
thedestructionof themotor, especially with small motors.
•Avoidaxialloads onthemotorshaft, as faras possible. Axial loadingsignificantly shortens thelife
of themotor.
•Check thecompliancetothepermittedradial andaxial forces FRandFA. Whenyouusea toothed
belt drive, theminimal permitteddiameter of thepinion
•e.g. follows from the equation: dmin ≥ (M0/FR)*2

PACMotion™ Rotary Servo Motors Installation and User Manual Section 4
GFK-3169C Mar 2021
Electrical Installation 18
Section 4: Electrical Installation
Note: Pinout fortheconnectorcanbe found inchapter"ConnectorPinout". Pinout of theservoamplifier's
endcanbefoundintheinstructions manualof theservoamplifier.
4.1 Important notes
Note: Only staff qualifiedandtrainedinelectrical engineeringareallowedto wireup themotor.
4.1.1 Dangerous voltage!
Always make sure that the motors are de-energized during assembly and wiring, i.e. no voltage may be
switched on for any piece of equipment which is to be connected.
There is a risk of death or severe injury from touching exposed contacts. Ensure that the switch cabinet
remains turned off (barrier, warning signs etc.). The individual voltages will only be turned on again
during setup.
Never undo the electrical connections to the motor while it is energized. Risk of electric shock! In
unfavorablecircumstances, electric arcs canarisecausingharmtopeopleand damagingcontacts.
A dangerous voltage, resulting from residual charge, can be still present on the capacitors up to 10
minutes afterswitch-off of the mains supply. Evenwhenthemotoris not rotating, control andpower
leads may belive.
MeasuretheDC-link voltageandwait until it has fallenbelow 60V.
Thegroundsymbol , whichyouwill findinthewiringdiagrams, indicates that youmust providean
electrical connection, with as largeasurfaceareaas possible, betweentheunit indicated and the
mounting plate in the switch cabinet. This connection is to suppress HF interferenceandmustnotbe
confusedwiththePE (protectiveearth)symbol (protective measure to EN60204).
Towireupthemotor, usethewiringdiagrams intheInstallationandSetupInstructions of the servo
amplifierwhichis used.
4.2 Guidefor electrical installation
•Check that theservoamplifierandmotormatcheachother. Comparetheratedvoltage and
ratedcurrent of theunit. Carry out thewiring accordingtothewiringdiagraminthe instructions
manual of the servo amplifier. The connections to the motor are shown in chapter"Connector
Pinout".
•Install all cables carryingaheavy current with an adequatecross-section, as per
EN 60204. The recommended cross-section can be found in the Technical data.
Note: Incaseof longmotor cables (>25m)anddependent onthetypeof theusedservoamplifiera motor
choke(3YLor3YLN)must beswitchedintothemotorcable(seeinstructions manual of theservo
amplifierandaccessory manual).
•Ensurethat thereis properearthingof theservoamplifier andthemotor. Use correct earthing
andEMC-shieldingaccordingto theinstructions manual of theservoamplifierwhichis used.
Earththemountingplateandmotorcasing.
•If a motor power cable is used which includes integral brake control leads, then these brake
control leads must be shielded. Theshieldingmust be connectedat bothends (see instructions
manual of theservoamplifier).