Emerson PACMotion IC830DP00307 User manual

Accessories Guide
GFK-3173C
December 2020
PACMotion™Servos Accessories Guide

PACMotion™ Servos Accessories Guide Warnings and Cautions
GFK-3173C December 2020
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 the 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 a particular purpose.

PACMotion™ Servos Accessories Guide Contents
GFK-3173C December 2020
Contents i
Contents
Section 1: Introduction ..........................................................1
1.1 Revisions in this Manual....................................................................................... 1
1.2 About thisManual................................................................................................ 1
1.3 Related Documentation ...................................................................................... 1
Section 2: Digital Drive Systems.............................................2
2.1 Drive System with PSD Drives IC830DP00306 to01206 ........................................ 2
2.2 Drive System with PSD Drives IC830DP00307 to02406 ........................................ 3
Section 3: Shielding Accessories.............................................4
3.1 Safety Instructions............................................................................................... 4
3.2 Shield Plates ........................................................................................................ 4
3.3 PSD Shield Plates ................................................................................................. 4
3.3.1 IC830DPzzz06 Shield Plate ........................................................................ 4
3.3.2 IC830DP00307, IC830DP00607, IC830DP 01207 Shield Plate.................... 5
3.3.3 IC830DP02407 Shield Plate ....................................................................... 5
3.4 External Shielding Busbar (purchased separately) ................................................ 6
Section 4: Mating Connectors and Adapter ............................8
4.1 Connectors for PSD.............................................................................................. 8
Section 5: Mains Filters ........................................................10
5.1 Safety Instructions............................................................................................. 10
5.2 Type Assignment............................................................................................... 10
5.3 Order Codes ...................................................................................................... 10
5.4 Mains filters1NF-10...12 .................................................................................... 11
5.5 Mains filters 1NF-20B,1NF-25............................................................................. 12
5.6 Mains Filters 3NF-07...30.................................................................................... 13
Section 6: Capacitor Modules...............................................14
6.1 Important Notes ................................................................................................ 14
6.2 Order Codes ...................................................................................................... 15
6.3 KCM Module...................................................................................................... 15
6.3.1 Technical Data ........................................................................................ 15
6.4 External Regen ResistorBAFP(U)........................................................................ 16
Section 7: Regeneration Resistors ........................................17
7.1 Safety Instructions............................................................................................. 17

PACMotion™ Servos Accessories Guide Contents
GFK-3173C December 2020
Contents ii
7.2 Type Assignment............................................................................................... 18
7.3 External Regen ResistorBAFP(U)........................................................................ 19
7.4 External Regen ResistorBAR(U) ......................................................................... 20
7.5 External Regen ResistorBAS(U).......................................................................... 21
Section 8: Motor Chokes ......................................................22
8.1 Shielded Motor Cables ....................................................................................... 22
8.1.1 Why use motor chokes? .......................................................................... 22
8.1.2 Why is the cross-section of the motor cable important? .......................... 22
8.2 Safety Instructions............................................................................................. 23
8.3 Type Assignment............................................................................................... 23
8.4 Motor Choke 3YLN-xx ........................................................................................ 24
8.4.1 Technical Data ........................................................................................ 24
Section 9: Cables..................................................................25
9.1 PC Connection................................................................................................... 25
9.2 PSD Performance Cables.................................................................................... 25
9.2.1 Hybrid Cables.......................................................................................... 25
9.2.2 PSD Hybrid Cables by Motor Type ........................................................... 25
9.2.3 Dual Cables ............................................................................................. 25
9.3 Motor Power and FeedbackCables..................................................................... 26
9.3.1 Hybrid Cables (Power and Feedback)......................................................... 26
9.3.2 Power Cables........................................................................................... 26
9.3.3 Feedback ................................................................................................ 26
9.4 Preparing Motor Cables (MotorEnd) .................................................................. 27
9.4.1 PSR motors IC830M2 through IC830M7 .................................................. 27
9.4.2 Motor Power Cable Specifications ........................................................... 27
9.5 Motor Feedback CableSpecifications ................................................................. 28
9.5.1 Cable Routing Standards ......................................................................... 28
General Contact Information ....................................................................................... 30
Technical Support........................................................................................................ 30

PACMotion™ Servos Accessories Guide Section 1
GFK-3173C December 2020
Introduction 1
Section 1: Introduction
1.1 Revisions in this Manual
Revision
Date
Description
C
December 2020
Technical corrections to part numbers,
descriptions, and general ordering information.
B
October 2020
Technical corrections to part numbers,
descriptions, and general ordering information.
A
September 2020
Initial Release
1.2 About this Manual
This manual describes accessories for the PACMotion Servos Drives (PSD) and contains essential
technical data. This manual is only validinconjunctionwith themanuals forPSD driveandapplicable
motorinyourapplication.
1.3 Related Documentation
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

PACMotion™ Servos Accessories Guide Section 2
GFK-3173C December 2020
Digital Drive Systems 2
Section 2: Digital Drive Systems
The systems shown are possible scenarios for setting up a digital drive system with relevant components.
2.1 Drive System with PSD Drives
IC830DP00306 to 01206
Figure 1: Drive System with IC830D00306 to 01206 (no Mains Filter required)

PACMotion™ Servos Accessories Guide Section 2
GFK-3173C December 2020
Digital Drive Systems 3
2.2 Drive System with PSD Drives
IC830DP00307 to 02406
Figure 2: Drive System with IC830DP00307 to 02406 (with Mains Filter)

PACMotion™ Servos Accessories Guide Section 3
GFK-3173C December 2020
Shielding Accessories 4
Section 3: Shielding Accessories
3.1 Safety Instructions
CAUTION
Youmust readtheinstructions manual forthe drive/motoryouareusinginyourapplicationand observethe safety
instructions they containbeforebeginningmounting/installationwork.
This manual is only valid inconjunctionwiththeinstructionmanuals forthedriveandmotoryouare usinginyour
application.
3.2 Shield Plates
Shield plates can be attached to drives to assist in grounding and routing cabling.
Figure 3: Shield Plates
3.3 PSD Shield Plates
3.3.1 IC830DPzzz06 Shield Plate
Figure 4: IC830DPzzz06 Shield Plate
This shield plate is notincluded with IC830DPzzz06, but can be ordered separately
(Item 153-230000-01).

PACMotion™ Servos Accessories Guide Section 3
GFK-3173C December 2020
Shielding Accessories 5
3.3.2 IC830DP00307, IC830DP00607, IC830DP 01207 Shield Plate
This shieldplate(Itemnumber153-254001-00) is included for use with IC830DP 00307, IC830DP 00607,
and IC830DP 01207 drives.
Figure 5: IC830DP00307, IC830DP00607, IC830DP01207 Shield Plate
3.3.3 IC830DP02407 Shield Plate
This shield plate (Item 153-255000-02) is included for use with the IC830DP02407 drive.
Figure 6: IC830DP02407 Shield Plate

PACMotion™ Servos Accessories Guide Section 3
GFK-3173C December 2020
Shielding Accessories 6
3.4 External Shielding Busbar (purchased separately)
Inspecial cases, thecableshields canbe routedto anadditional busbarviashield clamps. Thefollowing
shieldclampis recommended:
Figure 7: External Shield Busbar
A possible scenario for setting up a busbar for the above shield clamps is described below.
1. Cut abusbarof therequired lengthfrom abrass rail (cross-section10x 3mm)and drill holes init as
indicated. All shieldclamps requiredmust fit betweenthedrill holes.
Figure 8: Cutting the Busbar
2. Squeezetogether thecoil spring andthesupportingplateand pushthe busbar throughthe openingin
theholder.
CAUTION
Risk of injury is present due to the spring force of the coil spring. Use pincers.
3. Mount thebusbarwith theshieldclamps fittedontheassembly plate. Use eithermetal spacerbushes
orscrews with nuts andaccessories tomaintainaspacingof 50mm. Earththebusbarusingasingle
conductorwith a cross-section of at least 2.5mm².

PACMotion™ Servos Accessories Guide Section 3
GFK-3173C December 2020
Shielding Accessories 7
Figure 9: Mounting the Busbar
3. Striptheexternalcablesheathtoalengthof approximately 30mm, takingcarenot todamagethe
braidedshield. Pushtheshieldclampup androutethecableto it viathebusbar.
Note: Make sure good contact exists between the shield clamp and the braided shield.
Figure 10: Cable Sheath

PACMotion™ Servos Accessories Guide Section 4
GFK-3173C December 2020
Mating Connectors and Adapters 8
Section 4: Mating Connectors and Adapter
4.1 Connectors for PSD
Mating connectors are part of delivery (except SubD and RJ types). For spare parts, see the tables below.
Drive Connectors
Description
Order Code
Mating connector X2, motor, with shield clamp SK14, Drive
240 V 3/6 A, Power Plug Pitch 5,08 6 Positions
AKD-X2+SK14-KIT
Mating connector X2, motor, with shield plate, Drive
P01206/P02406/P0xx07, Power Plug Pitch 7.62 6 Positions
AKD-X2+SHIELD-KIT
Mating connector X3, mains, DC-Bus, Regen Resistor, 7
POSITION, Drive 3-6 A, 240 V, Screw Lock
CON-AKDX3A-SL
Mating connector X3, mains, DC-Bus, Regen Resistor, 8
POSITION,5.08 SPACING, 12 A, 240 V, Screw Lock
CON-AKDX3B-SL-J
Mating connector X4, mains, 4 POSITION, 24 A, 3-24, 7,62
Spacing Screw Lock
CON-AKDX3C-SL-J
Mating connector X4, Mains, 24A 240V, 3-24 A 480 V
CON-AKDX3C-SL-Y
Digital I/O
Description
Order Code
Screw lock mating connector kit for IC830DP00306-NBEC
and IC830DP00606-NBEC (includes X1, X2, X3, X7, and
X8 connectors)
AKD-CONKIT-MV3-6-SL
Screw lock mating connector kit for IC830DP01206-NBEC
(includes X1, X2, X3, X7, and X8 connectors)
AKD-CONKIT-MV12-SL
Screw lock mating connector kit IC830DP02406-NBEC
(includes X1, X2, X3, X4, X7, and X8 connectors)
AKD-CONKIT-MV24-SL
Screw lock mating connector kit for IC830DP00307-
NBEC, -DP00607, & -DP01207 (includes X1, X2, X3, X4,
X7 and X8 connectors)
AKD-CONKIT-HV3-12-
SL
Screw lock mating connector kit for IC830P0D2407-NBEC
(includes X1, X2, X3, X4, X7, and X8 connectors)
AKD-CONKIT-HV24-SL
3 Position Mating connector X1, 24Vdc, and STO, Screw
Lock
CON-AKDX1-SL
Screw lock X2 connector for IC830DP00306-NBEC and
DP00606
CON-AKDX2A-SL
Screw lock X2 connector for IC830DP01206-NBEC,
DP02406 &
DPxxx07
CON-AKDX2B-SL
Mating connector X4, Digital I/O, 10 Position, Drive,
keyed option 1, Screw Lock
CON-AKDX4-SL

PACMotion™ Servos Accessories Guide Section 4
GFK-3173C December 2020
Mating Connectors and Adapters 9
Description
Order Code
Mating connector X7, Digital I/O, 10 Position, Drive,
keyed option 1, Screw Lock
CON-AKDX7-SL
Mating connector X8, Digital I/O, 10 Position, Drive keyed
option 2, ScrewLock
CON-AKDX8-SL
Mating connector X21, I/O option, 8 Position, keyed
CON-AKDX21-SL
Mating connector X22, I/O option, 8 Position, keyed
CON-AKDX22-SL
Mating connector X23, I/O option, 14 Position, keyed
CON-AKDX23-SL
Mating connector X24, I/O option, 14 Position, keyed
CON-AKDX24-SL
Connector kit with X10 male 15-pin high density, X9
female 9 pin, 2 housings, Screws
AKD-X9-X10-KIT

PACMotion™ Servos Accessories Guide Section 5
GFK-3173C December 2020
Mains Filters 10
Section 5: Mains Filters
PSD drives IC830DP00306through02406 requirean external mains filter. All other drives feature built-in
mains filters (seetherelevant instructionmanual). Thefilteringeffect of themains filters canonly be
assuredif thepermissiblethroughput rating of themains filters is not exceededevenon peak loadingof
the drives with Ipeak.
The max. available throughput rating of the mains filter must be higher than the max. power
consumption of thedrives andhigherthanthemaximumpowerconsumptionof themotors.
5.1 Safety Instructions
CAUTION
Youmust readtheinstructions manual for thedrive/motoryouareusing inyourapplicationand
observethe safety instructions they contain beforecommencing mounting/installationwork. This
manual is only valid in conjunction withthe instructions manual forthedriveand motoryou areusing
inyourapplication.
WARNING
Powerterminals arecapableof conductinghazardous voltage up to 10 minutes afterthe mains voltage
has been disconnected. Before starting work on power terminals, check that the phase-to-earth and
phase-to-phase voltages havede-energized.
WARNING
Due to the high earth leakage currents induced by the system, you should observe the requirements
of EN 61800-5-1(e.g. fixedinstallation, ≥10mm²ordouble protective earth) whencarryingout
mountingand installation work. A connectiondiagram appears inthe driveinstallationmanual.
5.2 Type Assignment
Drive
Mains filter
IC830DP00306 to 02406 (120 to 240V)
1NF, 3NF
IC830DP00307 to 02407 (240 to 480V))
Not required
5.3 Order Codes
Description
Order Code
Remarks
Mains filter 1NF-10 (230 VAC, 10A)
DE-201565
1~, 230 VAC, CE, UL
Mains filter 1NF-12 (230 VAC, 12A)
DE-201566
1~, 230 VAC, CE, UL
Mains filter 1NF-20B (125V/230V, 20A)
DE-201865
1~, IEC 230 VAC, UL 125 VAC, CE
Mains filter 1NF-25 (230 VAC, 25A)
DE-201568
1~, 230 VAC, CE, UL

PACMotion™ Servos Accessories Guide Section 5
GFK-3173C December 2020
Mains Filters 11
Description
Order Code
Remarks
Mains filter 3NF-07 (480 VAC, 07A)
DE-201569
3~, 480 VAC, CE, UL
Mains filter 3NF-16 (480 VAC, 16A)
DE-201570
3~, 480 VAC, CE, UL
Mains filter 3NF-30 (480 VAC, 30A)
DE-201571
3~, 480 VAC, CE, UL
5.4 Mains filters 1NF-10...12
Observe the safety instructions. For single-phase operation only.
Figure 11: Mains filters 1NF-10...12
Figure 12:1NF-10...12
Technical Data
Type
Nominal
Current
A*
Nominal
Voltage
V
A
mm
B
mm
C
mm
D
mm
F
mm
M
mm
N
mm
P
mm
Weight
kg
Connection
1NF-10
10
230
85
49
40.
3
54
75
5.3
6.3
87
0.29
Fast-on
1NF-12
12
230
156
57.
5
45.
4
130
.5
143
5.3
6
156
0.73
Fast-on
*at 40°C environment temperature

PACMotion™ Servos Accessories Guide Section 5
GFK-3173C December 2020
Mains Filters 12
5.5 Mains filters 1NF-20B, 1NF-25
Figure 13: Mains filters 1NF-20B, 1NF-25
Technical Data
Type
Nominal
Current
[A]*
Nominal Voltage
Weight [kg]
Connection
Phase
Terminals
Connection PE
IEC
UL/CSA
1NF-20B
20
230V
125V
0.93
Wires up to
4mm² Torque
0.6 to 0.8 Nm
Bolt M 6
Torque 3.5 to 4 Nm
1NF-25
25
230V
230V
0.7
Wires up to
10mm² Torque
1.5 to1.8 Nm
*at 50°C environmenttemperature

PACMotion™ Servos Accessories Guide Section 5
GFK-3173C December 2020
Mains Filters 13
5.6 Mains Filters 3NF-07...30
Figure 14: Mains Filters 3NF-07...30
Technical Data
Type
Nominal
Current*
A
[mm]
B
[mm]
C
[mm]
D
[mm]
F
[mm]
G
[mm]
M
[mm]
P
[mm]
Weight [kg]
Terminals
PE Bolt
3NF-07
7 A
190
40
70
160
180
20
4.5
180
0.5
4 mm²,
0.7 to 0.8
Nm
M5,
2.2Nm
3NF-16
16
A
250
45
70
220
235
25
5.4
240
0.8
3NF-30
30
A
270
50
85
240
255
30
5.4
260
1.2
10 mm²,
1.9 to 2.2
Nm
* at 50°C environment temperature

PACMotion™ Servos Accessories Guide Section 6
GFK-3173C December 2020
Capacitor Modules 14
Section 6: Capacitor Modules
KCM(EmersonCapacitorModules)absorbstheenergy generatedby themotorwhenit is operatingin
generator mode. Normally, this energy is dissipated as waste through brake resistors. KCM feeds the
energy storedback intotheDC Bus link as andwhenit is required.
KCM-S
Saves energy: Theenergystored inthecapacitormoduleduringregenerativebrakingis
available the next time acceleration happens. The module’s inception voltage is
calculated automatically duringthe first loadcycles.
KCM-P
Powerdespite powerfailure: If thepower supply fails, the moduleprovides the drive
with thestored energy that is requiredto bringthedriveto a standstill inacontrolled
manner(this only applies to the powersupply voltage; battery-back the24 V supply
separately).
KCM-E
Expansion modulefor bothapplications. Expansion modules areavailableintwo
capacitance classes.
6.1 Important Notes
DANGER
DC Bus link terminals inservosystems carry highDC voltageof upto 900 V. Touchingtheterminals while
they are carrying voltage is extremely dangerous. Switch off (disconnect) the line voltage. You must only
work ontheconnections whenthesystemis disconnected.
It can take over an hour for the modules to self-discharge. Check the state of charge with a measuring
devicethat is suitablefora DC voltage of upto 1,000V. When measuringavoltageof over60 V between
the DC+/DC- terminals orto ground, dischargethe modules as describedin theKCM Instructions
Manual.
NOTE: Youmust readtheinstructions manual forthedrive/servomotoryouareusinginyourapplication
and observethesafety instructions they containbefore commencingmounting/installationwork.
The wiringdiagram andmoreimportant notes concerningwiringcanbefoundin theKCMinstructions
manual and the instructions manual of theuseddrive.