I can also confirm that this still happens on Ubuntu 16.04
There were newer releases of the package libifd-cyberjack6 on the 
manufacturer's homepage. I have tested the last one by downloading and 
installing 
http://support.reiner-sct.de/downloads/LINUX/V3.99.5_SP11/libifd-cyberjack6_3.99.5final.sp11_amd64_u1604.deb
 and the problem was gone.
Reading the changelog I think that with release SP09 the problem was solved 
yet. The source package for version SP09 is also in Debian Strech(stable) Repo: 
https://packages.debian.org/source/stable/pcsc-cyberjack.
Please, could you upstream release SP11 or at least SP09 to the Ubuntu Repo?
Thanks in advance.

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https://bugs.launchpad.net/bugs/1507190

Title:
  Disconnect Smartcard reader from USB causes pscd to crash

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