Didge Digital Servo Drive

McFarland Associates intelligent digital servo drives contain the latest advances in motion control technology, support DC and AC brushless motors and feature a range of functionalities including CANopen networking for distributed intelligence. The Didge combines high densities of power, intelligent functionality and space-friendly design.

McFarland Associates motion control servo drives are fully integrated in distributed motion control environments via a serial interface and/or industrial, real-time communication protocols. These include CANopen DS 301 and a full implementation of DS 402 and DS 305. By incorporating a binary interpreter, McFarland Associates implementation of the CANopen protocol in the servo drives enables fast, simultaneous communication via CANopen and serial RS-232 lines.

Features

Feature	Standard	Advanced
CANopen and RS-232 interface	Yes	Yes
Current mode	Yes	Yes
Velocity mode	Yes	Yes
Position mode: jogging, point-to-point	Yes	Yes
Pulse and direction input	Yes	Yes
PT position versus time	Yes	Yes
PVT position and velocity versus time	Yes	Yes
Dual loop	No	Yes
ECAM/Follower	No	Yes
User program size	2 KB	32 KB

Motion Control Modes

• Current, Velocity and Position servo control
• Single and multi-axis coordinated control
• PVT, PT, ECAM, Follower, Dual Loop
• Advanced filtering and gain scheduling
• Step and direction control
• PWM control

Power Switching

• Adjustable PWM
• High density FASST power modules
• High efficiency (over 97%)

Single & Multi-Axis Programming

• Third generation programming language
• Event triggered programming
• Command set
  • Extensive mnemonic command set
  • Command changes on-the-fly

Software Tools

• Setup and configuration of single and multiple axes
• Automatic and manual tuning, analysis and debugging
• Online monitoring with direct and remote access
• Auto tuning of all loops
• High resolution monitoring

Dual Feedbacks

• Digital
  • Digital Incremental Encoder (up to 20 MHz)
  • Digital Halls (up to 2 KHz)
  • Digital Halls + Digital Encoder
• Analog
  • Interpolated Analog (sine/cosine) Encoder up to 250 KHz
  • Internal Interpolation up to X 4096
  • Resolver, 10 - 16 bit resolution
  • DC Tachometer for velocity control (brush motors)
  • Potentiometer for position feedback (brush motors)
  • Analog Halls
• Absolute Encoder
  • Heidenhain EnDat 2.1
  • Sick-Stegmann Hiperface
• Feedback Output
  • Buffered output of main and auxiliary encoder
  • Emulated output of analog feedbacks

Communication

• RS-232
• CANopen DS-301, DS-305, DS-402

Input/Output

• Analog inputs- 14-bit resolution
• Digital input/output:
  • Programmable
  • Optical isolation
  • Fast capturing/output comparison (3 msec)
  • Predefined functions:
    • Inhibit, soft/hard stop, limit switches,
    • begin on input, abort, homing
    • Brake control, fault detection, enabled

Built-in Protection & Diagnostics

• Software error handling
• Abort
• Extensive status reporting
• Protection against:
  • Shorts between motor power outputs and:
    • power input and return
  • Over temperature
  • Over/under voltage
  • Loss of feedback
  • Motor current
  • Current limits
  • Following errors
  • i²t motor current

	Feature	Unit	1/230	3/230	6/23
Supply Voltage	Minimum	VDC	85 (100 VDC)
	Nominal	VDC	230
	Maximum	VDC	270
Output Power	Maximum	W	200	600	1200
Current	Continuous DC (Ic)	A	1	3.3	6
	Continuous RMS (Ic)	A	0.7	2.3	4.2
	Peak (Ip)	A	2 x Ic
Auxiliary Supply (Optional)	Power	VA	10
	Voltage	VDC	85 - 270
I/O	DI/DO/AI		6/ 2/ 1
Mechanical	Weight	kg(oz)	.97kg (2.14 lbs)
	Dimensions	mm(in)	170 x 125 x 58 (6.69" x 4.92" x 2.28")
	Mounting Method		Wall Mount ("Bookshelf") or DIN Rail