Emerson PACMotion IC830DP00306 User manual

Installation and User Manual
GFK-3168A
September 2020
903-200003-EMR1
PACMotion™PSD
INSTALLATION AND USER MANUAL

PACMotion™ PSD Installation and User Manual Warnings and Cautions
GFK-3168A September 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.
DANGER
Danger notices are used in this publication to emphasize that failure to observe all precautionary signs on
equipment may result in death or serious injury to personnel.
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™ PSD Installation and User Manual Contents
GFK-3168A September 2020
Contents ii
Contents
Section 1 Introduction ..........................................................1
1.1 Document Revisions............................................................................................ 1
1.2 About this manual ............................................................................................... 1
1.3 Safety.................................................................................................................. 1
1.3.1 You should pay attention to this................................................................ 1
1.3.2 Specialist staff required! ............................................................................ 1
1.3.3 Read the documentation!.......................................................................... 2
1.3.4 Check Hardware Revision! ......................................................................... 2
1.3.5 Pay attention to the technical data! ........................................................... 2
1.3.6 Perform a risk assessment! ........................................................................ 2
1.3.7 Automatic Restart! .................................................................................... 2
1.3.8 Observe electrostatically sensitive components! ....................................... 2
1.3.9 Hot surface! .............................................................................................. 2
1.3.10Earthing! ................................................................................................... 3
1.4 Leakage Current! ................................................................................................. 3
1.4.1 High Voltages! .......................................................................................... 3
1.4.2 Functional Safety!...................................................................................... 3
1.4.3 Use as Directed ......................................................................................... 3
1.4.4 Prohibited Use........................................................................................... 5
1.4.5 Warning notes placed on the product........................................................ 5
Section 2 Product Life Cycle Handling ...................................6
2.1 Transport ............................................................................................................ 6
2.2 Packaging............................................................................................................ 6
2.3 Storage ............................................................................................................... 6
2.3.1 Capacitor Storage ..................................................................................... 7
2.4 Installation, setup and normal operation ............................................................. 7
2.5 Decommissioning ............................................................................................... 8
2.6 Maintenance and cleaning................................................................................... 8
2.7 Disassembly ........................................................................................................ 8
2.8 System Repair ..................................................................................................... 9
2.8.1 Exchange of the device.............................................................................. 9
2.8.2 Exchange of other drive system parts ........................................................ 9
Section 3 Package Supplied.................................................10
3.1 Part Number Scheme ........................................................................................10
Section 4 Technical Description and Data............................11
4.1 The PSD Family of Digital Drives......................................................................... 11
4.1.1 Standard features.................................................................................... 11
4.1.2 Power section.......................................................................................... 11
4.1.3 Integrated safety.....................................................................................11
4.1.4 Auxiliary supply voltage 24V DC .............................................................. 12
4.1.5 Operation and parameter setting ............................................................ 12

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Contents iii
4.1.6 Full digital control ...................................................................................12
4.1.7 Inputs/Outputs ....................................................................................... 12
4.1.8 Connectivity............................................................................................12
4.2 Ambient Conditions, Ventilation, and Mounting Position................................... 13
4.3 Mechanical Data................................................................................................13
4.4 Inputs/Outputs.................................................................................................. 14
4.5 Electrical Data IC830DPzzz06 ............................................................................ 14
4.6 Electrical Data IC830DPzzz07 ............................................................................ 15
4.7 Performance Data .............................................................................................17
4.7.1 IC830DPzzz06......................................................................................... 17
4.7.2 IC830DPzzz07......................................................................................... 17
4.8 Recommended Tightening Torques...................................................................17
4.9 Grounding System............................................................................................. 18
4.10 Fuses and breakers ............................................................................................18
4.10.1External power supply .............................................................................18
4.11 External 24 V supply .......................................................................................... 19
4.11.1External regen resistor............................................................................. 19
4.11.2External DC Bus link.................................................................................19
4.12 Connectors........................................................................................................ 19
4.12.1IC830DPzzz06 and IC830DPzzz07 types..................................................19
4.12.2IC830DPzzz06 types (120V to 240V Mains Voltage Supply) .....................20
4.12.3IC830DPzzz07 types (240V to 480V Mains Voltage Supply) .....................20
4.13 Cable and Wire Requirements ........................................................................... 21
4.13.1General ................................................................................................... 21
4.14 Dynamic Braking ...............................................................................................22
4.14.1Regen circuit ...........................................................................................22
4.14.2Functional description.............................................................................22
4.14.3Technical data for IC830DPzzz06 ............................................................23
4.14.4Technical data for IC830DPzzz07 ............................................................24
4.14.5Switch-On and Switch-Off Behavior .........................................................25
4.14.6Behavior of “holding brake” function....................................................... 25
4.14.7Switch-on behavior in standard operation ...............................................26
4.14.8Switch-off behavior ................................................................................. 27
4.14.9Switch-off behavior using HW Enable input (uncontrolled stop) .............. 30
4.15 Stop / Emergency Stop / Emergency Off ............................................................ 34
4.15.1Stop Category 0 ......................................................................................34
4.15.2Stop Category 1 ......................................................................................34
4.15.3Stop Category 2 ......................................................................................34
4.15.4Emergency Stop...................................................................................... 35
4.15.5Emergency Off ........................................................................................35
4.16 Safe Torque Off (STO)........................................................................................ 35
4.16.1IC830DP003 up to IC830DP024 ..............................................................35
4.16.2Safety characteristic data ........................................................................ 36
4.16.3Safety instructions ..................................................................................36
4.16.4Use as directed........................................................................................ 37
4.16.5Prohibited use .........................................................................................37
4.16.6Technical data and pinout .......................................................................38
4.16.7Enclosure, wiring..................................................................................... 39
4.16.8OSSD Test Pulses.....................................................................................39
4.16.9Functional description.............................................................................39

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Contents iv
4.17 Shock-hazard Protection ...................................................................................43
4.17.1Leakage current ......................................................................................43
4.17.2Residual current protective device (RCD).................................................44
4.17.3Isolating transformers ............................................................................. 44
Section 5 Mechanical Installation........................................45
5.1 Important Notes................................................................................................45
5.2 Guide to Mechanical Installation........................................................................ 46
5.3 Mechanical Drawings Standard Width ............................................................... 47
5.3.1 Control cabinet layout IC830DPzzz06, standard width ............................ 47
5.3.2 Control cabinet layout IC830DPzzz07, standard width ............................ 49
5.4 Important Notes................................................................................................52
5.5 Guide to electrical installation ...........................................................................53
5.6 Wiring ............................................................................................................... 53
5.7 Components of a servosystem...........................................................................55
5.7.1 With IC830DPzzz06................................................................................. 55
5.8 Connection Overview of IC830DP Drive Connectors ..........................................57
5.8.1 Connector assignment IC830DP00306, IC830DP00606 ..........................58
5.8.2 Connection diagram IC830DP00306, IC830DP00606..............................59
5.8.3 Connector Assignment for IC830DP02406 and IC830DP00307 to 02407 61
5.8.4 Connection diagram IC830DP02406 and IC830DP00307 to 02407 .........62
5.9 EMI Noise Reduction..........................................................................................64
5.9.1 Recommendations for EMI noise reduction .............................................64
5.9.2 Shielding with external shielding busbar..................................................65
5.9.3 Shielding connection to the drive ............................................................ 67
5.10 Electrical Supply Connection ............................................................................. 69
5.10.1Connection to various mains supply networks IC830DPzzz06 (120V to 240V)
69
5.10.2Connection to various mains supply networks IC830DPzzz07 (240V to 480V)
70
5.10.324 V auxiliary supply (X1) ........................................................................71
5.10.4Mains supply connection (X3, X4)............................................................72
5.11 DC Bus link (X3, X14) ......................................................................................... 75
5.11.1DC Bus topology with Y connectors (24 A max.) ...................................... 76
5.11.2DC Bus topology with busbar................................................................... 77
5.11.3External regen resistor (X3) .....................................................................77
5.12 Motor Power Connection (X2) ...........................................................................79
5.12.2IC830DP003 to 024, power connector X2................................................80
5.13 Motor Brake Connection (X2, X15, X16) ............................................................81
5.13.1IC830DP003 to 024, brake connector X2.................................................82
5.13.2Functionality ........................................................................................... 83
5.14 Feedback Connection (X10, X9, X7)...................................................................84
5.14.1Feedback connector (X10) ...................................................................... 85
5.14.2SFD3 ....................................................................................................... 86
5.15 LED display ........................................................................................................ 87
5.16 Rotary Switches (S1, S2) .................................................................................... 88
5.16.1Rotary Switches S1 and S2 with PSD Drives.............................................. 88
5.17 Push-Buttons (B1, B2, B3) .................................................................................. 89
5.17.1Push-Button B1 with PSD Drives ..............................................................89

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Contents v
5.18 Service Interface (X11) ...................................................................................... 90
5.18.1Pinout X11 .............................................................................................. 90
5.18.2Service Bus Protocols X11........................................................................90
5.18.3Possible Network Configurations............................................................. 91
5.18.4Setting the IP Address IC830DP ...............................................................91
5.19 EtherCat Interface (X5/X6/EtherCat).................................................................. 93
5.19.1Pinout X5, X6, X11 .................................................................................. 94
5.19.2Bus Protocols X5, X6, X11........................................................................94
5.19.3EtherCAT................................................................................................. 94
Section 6 PSD Setup ............................................................95
6.1 Important Notes................................................................................................95
6.2 Setup of PSD Drives ...........................................................................................96
6.2.1 Setup software Workbench .....................................................................96
6.2.2 Use as directed........................................................................................ 96
6.2.3 Software description ............................................................................... 97
6.2.4 Hardware requirements .......................................................................... 97
6.2.5 Operating systems .................................................................................. 98
6.2.6 Installation under Windows 7/8/10 .........................................................98
6.2.7 Initial Drive Test of the PSD...................................................................... 99
6.3 Fault and Warning Messages ...........................................................................103
6.3.1 Fault and warning messages from the PSD ............................................103
Section 7 Troubleshooting the PSD ................................... 107
General Contact Information .....................................................................................109
Technical Support......................................................................................................109

PACMotion™ PSD Installation and User Manual Section 1
GFK-3168A September 2020
Introduction 1
Section 1 Introduction
1.1 Document Revisions
Revision
Remarks
A
Initial Release
1.2 About this manual
This manual provides the technical descriptions and adjustments available for the PSR series of
synchronous servomotors. The motors are operated in drive systems together with Emerson servo
amplifiers. Please observe the entire system documentation, consisting of:
Instructions manualfortheservo amplifier:
•EtherCAT
•Onlinehelpof theamplifier's setupsoftware
•Regional accessories manual
•Technical description of the PSR series of motors
1.3 Safety
1.3.1 You should pay attention to this
This section helps you to recognize and avoid dangers to people and objects.
1.3.2 Specialist staff required!
Only properly qualified personnel are permitted to perform such tasks as transport, installation and
setup. Qualified specialist staff are persons with expertise in transport, installation, assembly,
commissioning and operation of electrotechnical equipment.
•Transport, storage, unpacking: only by personnel with knowledge of handling electrostatically
sensitive components.
•Mechanical installation: only by personnel with mechanical expertise. Electrical installation:
only by personnel with expertise in electrical engineering.
•Basic tests / setup: only by personnel with expertise in electrical engineering and drive
technology.
•The qualified personnel must know and observe ISO 12100 / IEC 60364 / IEC 60664 and
national accident prevention regulations.

PACMotion™ PSD Installation and User Manual Section 1
GFK-3168A September 2020
Introduction 2
1.3.3 Read the documentation!
Read the available documentation before installation and commissioning. Improper handling of the
devices can cause harm to people or damage to property. The operator of systems using the drive
system must ensure that all personnel who work with the drive read and under- stand the manual
before using the drive.
1.3.4 Check Hardware Revision!
Check the Hardware Revision Number of the product (see product label). The product Hardware
Revision Number must match the Hardware Revision Number in the IPI.
1.3.5 Pay attention to the technical data!
Adhere to the technical data and the specifications on connection conditions. If permissible voltage
values or current values are exceeded, the devices can be damaged. Unsuitable motor or wrong
wiring will damage the system components. Check the combination of drive and motor. Compare
the rated voltage and current of the units.
1.3.6 Perform a risk assessment!
The manufacturer of the machine must generate a risk assessment for the machine, and take
appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any
person or property. Additional requirements on specialist staff may also result from the risk
assessment.
1.3.7 Automatic Restart!
The drive might restart automatically after power on, voltage dip or interruption of the supply
voltage, depending on the parameter setting.
Risk of death or serious injury for humans working in the machine.
If the parameter DRV.ENDEFAULT is set to 1, then place a warning sign to the machine (Warning:
Automatic Restart at Power On) and ensure, that power on is not possible, while humans are in a
dangerous zone of the machine. In case of using an undervoltage protection device, you must
observe EN 60204-1:2006 chapter 7.5 .
1.3.8 Observe electrostatically sensitive components!
The devices contain electrostatically sensitive components which may be damaged by incorrect
handling. Electrostatically discharge your body before touching the device. Avoid contact with
highly insulating materials (artificial fabrics, plastic film etc.). Place the device on a conductive
surface.
1.3.9 Hot surface!
Drives may have hot surfaces during operation. The housing can reach temperatures above 80 °C.
Risk of minor burns! Measure the temperature, and wait until the housing has cooled down below
40 °C before touching it.

PACMotion™ PSD Installation and User Manual Section 1
GFK-3168A September 2020
Introduction 3
1.3.10 Earthing!
It is vital that you ensure that the drive is safely earthed to the PE (protective earth) busbar in the
switch cabinet. Risk of electric shock. Without low-resistance earthing no personal protection can
be guaranteed.
1.4 Leakage Current!
Since the leakage current to PE is more than 3.5 mA, in compliance with IEC61800-5-1 the PE
connection must either be doubled or a connecting cable with a cross-section >10 mm² must be
used. Deviating measures according to regional standards might be possible.
1.4.1 High Voltages!
The equipment produces high electric voltages up to 900 V. Risk of electric shock. Do not open or
touch the equipment during operation. Keep all covers and cabinet doors closed. During operation,
drives may have uncovered live sections, according to their level of enclosure protection.
Lethal danger exists at live parts of the device. Built-in protection measures such as insulation or
shielding may not be removed. Work on the electrical installation may only be performed by
trained and qualified personnel, in compliance with the regulations for safety at work, and only with
switched off mains supply, and secured against restart.
Never undo any electrical connections to the drive while it is live. There is a danger of electrical
arcing with damage to contacts and personal injury. Wait at least 7 minutes after disconnecting the
drive from the main supply power before touching potentially live sections of the equipment (such
as contacts) or removing any connections.
Always measure the voltage in the DC bus link and wait until the voltage is below 50 V before
handling components.
1.4.2 Functional Safety!
The STO safety implementation on the PSD is qualified. The assessment of the safety functions
according to EN13849 or EN 62061 must finally be done by the user.
1.4.2.1 Reinforced Insulation
Thermal sensors, motor holding brakes and feedback systems built into the connected motor must
have reinforced insulation (according to IEC61800-5-1) against system components with power
voltage, according to the required application test voltage. All Emerson components meet these
requirements.
1.4.2.2 Never modify the drive!
It is not allowed to modify the drive hardware without permission by the manufacturer. Opening
the housing causes loss of warranty.
1.4.3 Use as Directed
The PACMotion Servo Drives (PSD) are exclusively intended for driving suitable synchronous
servomotors with closed-loop control of torque, speed, and/or position.
PSDs are components that are built into electrical plants or machines and can only be operated as
integral components of these plants or machines. The manufacturer of the machine used with a
drive must generate a risk assessment for the machine. When the drives are built into machines or
plant, the drive must not be used until it has been established that the machine or plant fulfills the
requirements of the regional directives.

PACMotion™ PSD Installation and User Manual Section 1
GFK-3168A September 2020
Introduction 4
1.4.3.1 Cabinet and wiring
Drives must only be operated in a closed control cabinet suitable for the ambient conditions .
Ventilation or cooling may be necessary to keep the temperature within the cabinet below 40 °C.
Use only copper conductors for wiring. The conductor cross-sections can be derived from the
standard IEC 60204 (alternatively for AWG cross-sections: NEC Table 310-16, 75 °C column).
1.4.3.2 Power supply
The drives can be supplied by 1 or 3 phase industrial supply networks. Drives in the PSD series can
be supplied as follows:
•IC830DPzzz06: 1 or 3 phase industrial supply networks (120 V and 240 V).
•IC830DPzzz07: 3 phase industrial supply networks (240 V, 400 V and 480 V).
Connection to other voltage types of supply networks is possible with an additional isolating
transformer .
Periodic overvoltages between phases (L1, L2, L3) and the housing of the drive must not exceed
1000 V peak. In accordance with IEC 61800, voltage spikes (< 50 µs) between phases must not
exceed 1000 V. Voltage spikes (< 50 µs) between a phase and the housing must not exceed 2000 V.
EMC filter measures for IC830DPzzz06 must be implemented by the user.
1.4.3.3 For the cases of group installations and of DC powered drives
PSD has not been evaluated by Emerson, UL, or TÜV for group installations nor are ratings defined
for DC input voltage.
Group installations must be reviewed and evaluated by the user for branch circuit protection*, wire
size, wire voltage rating, fuse protection, system dielectric requirements, overvoltage and input**
current rating.
In case of DC supplied drives the built-in EMC filter will not work. The user is responsible to keep the
conducted emissions and the immunity of the drive within the required noise levels.
* Special care must be taken in branch circuit design with mixed rating drives to avoid the smaller
drives becoming the effective ‘fuse’ rather than the circuit protective fuse.
** The power supply system design must ensure inrush current protection by limiting input cur-
rent during power up. DC supply polarity must be properly wired. Improper polarity of DC power
will damage the drive and void warranty.
1.4.3.4 Motor voltage rating
The rated voltage of the motors must be at least as high as the DC bus link voltage divided by √2
produced by the drive (UnMotor>=UDC/√2).
1.4.3.5 Safe torque off
Review the section "Use as Directed" in the STO chapter before using this safety function (according
to ISO 13849 category 3).

PACMotion™ PSD Installation and User Manual Section 1
GFK-3168A September 2020
Introduction 5
1.4.4 Prohibited Use
Other use than that described in chapter “Use as directed” is not intended and can lead to
personnel injuries and equipment damage. The drive may not be used with a machine that does not
comply with appropriate national directives or standards. The use of the drive in the following
environments is also prohibited:
•potentially explosive areas
•environments with corrosive and/or electrically conductive
acids, alkaline solutions, oils, vapors, dusts
•ships or offshore applications
1.4.5 Warning notes placed on the product
IC830DP002407
IC830DP00306 ... P02406,
P00307 ... P01206
WARNING
HIGH VOLTAGE!
Wait 7 minutes after removing power
before serving.
WARNING
HIGH VOLTAGE!
Wait 5 minutes after removing power
before serving.
If these signs are damaged, they must be replaced immediately.

PACMotion™ PSD Installation and User Manual Section 2
GFK-3168A September 2020
Product Life Cycle Handling 6
Section 2 Product Life Cycle Handling
2.1 Transport
Transport the PSD in accordance with IEC 61800-2 as follows:
Transport only by qualified personnel in the manufacturer’s original recyclable packaging. Avoid
shocks while transporting.
Store at or below maximum stacking height, details see Section 2.3, Storage.
Transport only within specified temperature ranges: -25 to +70 °C, max. rate of change 20 K/hour,
class 2K3.
Transport only within specified humidity: max. 95% relative humidity, no condensation, class 2K3.
The drives contain electrostatically sensitive components that can be damaged by incorrect
handling. Electrostatically discharge yourself before touching the drive. Avoid contact with highly
insulating materials, such as artificial fabrics and plastic films. Place the drive on a conductive
surface.
If the packaging is damaged, check the unit for visible damage. Inform the shipper and the
manufacturer of any damage to the package or product.
2.2 Packaging
Model
Package
Dimensions
(mm) HxWxL
Total Weight IC830DP
(kg)
IC830DP00306 , -P00606
113 x 250 x 222
1.7
IC830DP1206
158 x 394 x 292
3.4
IC830DP02406
158 x 394 x 292
5
IC830DP00307, -P00607, -P01207
158 x 394 x 292
4.3
IC830DP02407
158 x 394 x 292
6.7
2.3 Storage
The PSD packaging consists of recyclable cardboard with inserts and a label on the outside of the
box.
Store the PSD in accordance with IEC 61800-2 as follows:
•Store only in the manufacturer’s original recyclable packaging. Store at or
below maximum stacking height:
oIC830DP00306 to 00606 models: 8 cartons,
oIC830DP01206, x02406, x00307 to x02407 models: 6 cartons
•Store only within specified temperature ranges: -25 to + 55 °C, max. rate
of change 20 K/hour, class 1K4.

PACMotion™ PSD Installation and User Manual Section 2
GFK-3168A September 2020
Product Life Cycle Handling 7
•Storage only within specified humidity: 5 to 95% relative humidity, no
condensation, class 1K3.
•Store in accordance with the following duration requirements: Less than 1
year: without restriction.
More than 1 year: capacitors must be re-formed before setting up and operating the drive. Re-
forming procedures are in Section 2.3.1, Capacitor Storage .
2.3.1 Capacitor Storage
Valid for PSD:
Capacitors integrated in servo amplifiers may be uncharged to absolute zero level, if servo
amplifiers are stored for longer than a year without being connected to mains voltage. If rated
voltage is supplied to such a capacitor, then an extremely high charging current (depending on the
charge characteristics curve) may flow for some time, which could overheat and destroy the
capacitor or the PCB. Even load cycles during this phase result in high current peaks due to
recharging processes.
The capacitors must be reformed therefore after long storage phases. The servo amplifier must be
connected with single phase (to L1/L2 terminals) and low voltage (therefore low charging current)
for about 30 minutes. We recommend using the lowest admitted rated mains supply voltage for
the servo amplifier.
The safer, recommended procedure is the use of a variable transformer. If available, use a variable
transformer to apply voltage in 50 Volt increments for at least 20 minutes at each step until rated
voltage is reached, then hold the final (rated) voltage for at least 1 hour. In a separate operation,
with all other electrical connections (including mains power) removed, apply 24VDC in the correct
polarity across +24 V and GND for approximately 30 minutes.
If storage times of over a year are anticipated, the above capacitor re-forming processes may be
avoided by simultaneously powering the servo amplifier with 24 VDC auxiliary power and full rated
mains voltage for at least an hour at intervals of less than a year.
2.4 Installation, setup and normal operation
Installation and setup information are given in the PACMotion PSD Installation and User Guide, GFK-
3168.
Normal operation tested for environmental class 3K3 according to IEC 61800-2 .
The manufacturer of the machine defines the necessary end user expertise based on the risk
assessment for the machine and describes the requirements for normal operation based on the
application.

PACMotion™ PSD Installation and User Manual Section 2
GFK-3168A September 2020
Product Life Cycle Handling 8
2.5 Decommissioning
Note: Only professional staff who are qualified in electrical engineering are allowed to
decommission parts of the system.
DANGER
LETHAL VOLTAGES!
There is a danger of serious personal injury or death by electrical shock or electrical arcing.
•Switch off the main switch of the switchgear cabinet. Secure the system
against restarting.
•Block the main switch.
Wait at least 7 minutes after disconnecting.
2.6 Maintenance and cleaning
The device does not require maintenance. Opening the device voids the warranty. The inside of the
unit can only be cleaned by the manufacturer.
Note: Do not immerse or spray the device. Avoid that liquid enters the device.
To clean the device exterior:
1. Decommission the device (see Section 2.5, Decommissioning).
2. Casing: Clean with isopropanol or similar cleaning solution.
DANGER
HIGHLY FLAMMABLE!
Risk of injury by explosion and fire. Observe the safety notes given on the cleaning liquid package.
Wait at least 30 minutes after cleaning before putting the device back into operation.
3. Protective grill on fan: Clean with a dry brush.
2.7 Disassembly
Note: Only professional staff who are qualified in electrical engineering are allowed to disassemble
parts of the system.
1. Decommission the device (see Section 2.5, Decommissioning)
2. Check temperature.
WARNING
HIGHLY FLAMMABLE!
High Temperature! Risk of minor burns. During operation, the heat sink of the drive may reach
temperatures above 80 °C (176 °F). Before touching the device, check the temperature and wait
until it has cooled below 40 °C (104 °F).
Remove the connectors. Disconnect the potential earth connection last.
Demount: loosen the fastening screws. Remove the device.

PACMotion™ PSD Installation and User Manual Section 2
GFK-3168A September 2020
Product Life Cycle Handling 9
2.8 System Repair
Note: Only professional staff who are qualified in electrical engineering are allowed to exchange
parts of the drive system.
DANGER
AUTOMATIC START!
During replacement work a combination of hazards and multiple episodes may occur.
Work on the electrical installation may only be performed by trained and qualified personnel, in
compliance with the regulations for safety at work, and only with use of prescribed personal safety
equipment.
2.8.1 Exchange of the device
Only the manufacturer can repair the device. Opening the device voids the warranty.
1. Decommission the device (see Section 2.5, Decommissioning)
2. Demount the device (see Section 2.7, Disassembly).
3. Send the device to the manufacturer.
4. Install a new device as described in the Installation Manual.
5. Setup the system as described in the Installation Manual.
2.8.2 Exchange of other drive system parts
If parts of the drive system (e.g. cables) must be replaced, proceed as follows:
1. Decommission the device (see Section 2.5, Decommissioning)
2. Exchange the parts.
3. Check all connections for correct fastening.
4. Setup the system as described in the Installation Manual.

PACMotion™ PSD Installation and User Manual Section 3
GFK-3168A September 2020
Package Supplied 10
Section 3 Package Supplied
•DVD with the Setup software Workbench and product documentation.
•Various mating connectors and earthing plates
Note: The mating SubD and RJ45 connectors are not included in the package.
3.1 Part Number Scheme
Use the part number scheme for product identification only, not for the order process, because not
all combinations of features are possible, always.
Figure 1: Part Number Scheme
Customization: this code includes language version of printed material and customer specials.

PACMotion™ PSD Installation and User Manual Section 4
GFK-3168A September 2020
Technical Description and Data 11
Section 4 Technical Description and Data
4.1 The PSD Family of Digital Drives
Variant (short)
Description
Housing
Connectivity
IC830DP
Position Indexer drive adds the
ability to command multiple
motions, process I/O, make
decisions, add time delays, modify
drive process variables to the base
drive.
Standard
EtherCAT
4.1.1 Standard features
•Supply voltage range 120 V to 480 V ±10%. Several housing dimensions, depending on
current and hardware options.
•Motion bus onboard, TCP/IP service channel onboard.
•Support for SFD, BiSS or HIPERFACE DSL® protocols onboard.Encoder emulation onboard
and support for second feedback
•Safe Torque Off (STO) according to IEC 62061 SIL 2 onboard.
•Use with Synchronous servomotors, linear motors, and induction machines can be used.
4.1.2 Power section
•One or three phase supply, voltage range 120 to 480 V ±10%, 50 to 400 Hz ±5% or DC.
Connection to higher voltage mains only via isolating transformer, (➜ # 103). Single
phase supply possible with output power derating.
•B6 bridge rectifier, integral soft-start circuit. Fusing to be provided by the user.
•DC bus link voltage range 170 to 680 VDC, can be connected in parallel. Output stage IGBT
module with floating current measurement.
•Regeneration circuit with dynamic distribution of the generated power between several
drives on the same DC bus link circuit.
•Internal regeneration resistor for all PSD models (except IC830DP00306 and
IC830DP00606), external regen resistors if required.
4.1.3 Integrated safety
Appropriate insulation/creepage distances and electrical isolation for safe electrical separation, per
IEC 61800-5-1, between the power input/motor connections and the signal electronics.
Soft-start, overvoltage detection, short-circuit protection, phase-failure monitoring. Temperature
monitoring of the drive and motor.
Motor overload protection: foldback mechanism
SIL 2 safe torque off in accordance with IEC 62061(➜ # 54).

PACMotion™ PSD Installation and User Manual Section 4
GFK-3168A September 2020
Technical Description and Data 12
4.1.4 Auxiliary supply voltage 24V DC
From an external, safety approved 24 V ±10% power supply.
4.1.5 Operation and parameter setting
Using the setup software Workbench for setup via TCP/IP
4.1.6 Full digital control
•Digital current controller (670 ns)
•Adjustable digital velocity controller (62.5 µs) Software option position controller (250 µs)
4.1.7 Inputs/Outputs
•1 programmable analog input (➜ # 151)
•1 programmable analog output (➜ # 152)
•7 programmable digital inputs (➜ # 153)
•2 programmable digital outputs (➜ # 160)
•1 Enable input (➜ # 153)
•1 STO input (➜ # 54)
•additional digital inputs and outputs depending on variants (for example PSD)
4.1.8 Connectivity
•Inputs/Outputs (➜# 146)
•Encoder feedback output (➜# 144)
•Service Interface (➜# 172)
•Motion Bus interface (➜# 182)
•EtherCAT (➜# 83)

PACMotion™ PSD Installation and User Manual Section 4
GFK-3168A September 2020
Technical Description and Data 13
4.2 Ambient Conditions, Ventilation, and Mounting
Position
Storage / Transport
(➜ # 19) / (➜ # 19)
Surrounding air tem-
perature in operation
non UL/cUL regions:
0 to +40 °C under rated conditions
+40 to +55 °C with continuous current derating 4 % per Kelvin
UL/cUL regions: refer to UL approval (➜ # 23)
Humidity in operation
Relative humidity 5 to 85%, no condensation, class 3K3
Site altitude
Up to 1000 meters above mean sea level without restriction
1,000 to max. 2,500 meters above mean sea level with power
derating 1.5%/100 m
Pollution level
Pollution level 2 as per IEC 60664-1
Vibrations
Class 3M1 according to IEC 60721-3-3
Enclosure protection
IP 20 according to IEC 60529
Mounting position
Vertical (➜ # 68)
Ventilation
Built-in fan (except IC830DP00306 type)
Note: The drive shuts down (fault F234, motor has no torque) in
case of excessively high temperature in the control cabinet.
Make sure sufficient forced ventilation is supplied within the
control cabinet.
4.3 Mechanical Data
Mechanical data
Units
IC830DP00306
IC830DP00606
IC830DP01206
IC830DP02406
Weight (standard width)
kg
1.1
2
3.7
Weight (extended width)
kg
1.3
2.2
4
Height, without
connectors
mm
168
196
248
Height, with connectors
mm
200
225
280
Standard Width
front/back
mm
54/59
72/78.4
96/100
Extended Width
front/back
mm
84/89
91/96
96/100
Depth, without
connectors
mm
156
187
228
Depth, with connectors
mm
185
< 215
<265
Weight (standard width)
kg
2.7
5.3
11.5
Weight (extended width)
kg
2.9
5.5
11.7
Height, without
connectors
mm
256
306
385
Height, with connectors
mm
290
340
526
Standard Width
front/back
mm
65/70
99/105
185/185
Extended Width
front/back
mm
95/100
99/105
-
Depth, without
connectors
mm
185
228
225
Depth, with connectors
mm
<225
<265
<265