MIL-PRF-38534 AND 38535 CERTIFIED FACILITY 10 AMP, 38V, 3 PHASE MOSFET DC BRUSHLESS DIGITAL MOTOR CONTROLLER M.S.KENNEDY CORP. FEATURES: 4366 38 Volt Maximum Operating Motor Supply Voltage 55 Volt Absolute Maximum Output Stage Rating 10 Amp Continuous Output Switch Capability 100% Duty Cycle High Side Conduction Capable Shoot-Through/Cross Conduction Protection Hall Sensing and Digital Commutation Circuitry on Board Locked Anti-Phase Full Complimentary Digital PWM Full Four Quadrant Torque Control Capability Good Accuracy Around Zero Torque CAN Bus Digital Communication Field Programmable Control Parameters Through CAN Stored in EEPROM Isolated Package Design for High Voltage Isolation Plus Good Thermal Transfer Contact MSK for MIL-PRF-38534 Qualification Status DESCRIPTION: The MSK4366 is a non-isolated, completely digitally controlled 3 Phase Brushless DC Motor Control Torque Amplifier in a convenient isolated hermetic package. The controller is capable of 10 amps continuous output current with 55V absolute maximum rated MOSFETs, allowing a 38V maximum motor supply voltage. Bridge protection is included. The digital signal processor controls the hall sensing, commutation, current sensing and PWM control for a complete closed loop, current mode torque amplifier. The PWM scheme used by the processor is "Locked Anti-Phase Full Complementary" digital PWM. This provides full four quadrant control of the motor around zero torque without losing loop control. The MSK4366 has good thermal conductivity for MOSFET power dissipation due to the isolated package design that allows direct heat sinking of the device without insulators. BLOCK DIAGRAM PIN-OUT INFORMATION 1 2 3 4 5 6 7 +5V +5V GND CANL CANH GND NC 8 9 10 11 12 13 14 NC CAN RESET HALLA HALLB HALLC RESET GND 15 16 17 18 19 20 21 NC NC NC CVCØ CV+ BV- 22 23 24 25 26 27 28 BØ BV+ AVAØ AV+ RTN RSENSE 1 8548-120 Rev. A 4/14 ABSOLUTE MAXIMUM RATING +V +VDD 6 High Voltage Supply 7 -3V transient to + 55V Low Voltage Supply -0.3V to +5.5V Voltage on any logic, analog input pin with respect to GND -0.3V to + VDD +0.3V Continuous Output Current 10A Peak Output Current (dissipation limited) 16A ○ ○ ○ ○ ○ ○ ○ ○ ○ RØJC TST TLD ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ CANH,CANL Thermal Resistance Storage Temperature Range 8 Lead Temperature Range 10 Seco nds Output Switches Case Operating Temperature ○ ○ ○ ○ TJMAX TC ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ -42V to 42V 11.4°C/W -65°C to 150°C ○ ○ ○ ○ ○ ○ ○ +300°C +150°C -40°C to +85°C ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ELECTRICAL SPECIFICATIONS NOTES: 1 2 3 4 5 Guaranteed by design but not tested. Typical parameters are representative of actual device performance but are for reference only. Industrial grade devices shall be tested to subgroup 1 and 4 unless otherwise specified. Military grade devices (‘H’ suffix) shall be 100% tested to subgroups 1,2,3 and 4. Subgroups 5 and 6 testing available upon request. Subgroups 1,4 TA=TC=25°C 2,5 TA=TC=85°C 3,6 TA=TC=-40°C 6 Continuous operation at or above absolute maximum ratings may adversely effect the device performance and/or life cycle. 7 When applying power to the device, apply the low voltage followed by the high voltage or alternatively, apply both at the same time. 8 Internal solder reflow temperature is 180°C, do not exceed. 2 8548-120 Rev. A 4/14 APPLICATION NOTES MSK 4366 PIN DESCRIPTIONS +CV - is the C phase leg motor supply voltage pin. All V+ pins shall be connected together on the PC board. Traces should be sized for 10 amps current to this pin. Motor supply voltage shall be bypassed with a high quality 100uF electrolytic capacitor, a 1uF high quality ceramic capacitor and a high quality 6.8uF metalized polyester capacitor. These capacitors shall be placed as close to the V+pins and RTN pin as practical to minimize stray inductance between the pins and the capacitors. All V+ pins shall be connected together on the PC board. Ideally, some sort of power plane should be used to help reduce stray inductance throughout all the V+ connections to the capacitors. HALL A - is the Hall A sensor input from the motor to allow commutation of the output phases. This input has a 5KΩ pull-up resistor to +VDD for typical open-collector Hall sensor outputs. It is also filtered with a 0.001uF capacitor to ground. HALL B - is the Hall B sensor input from the motor to allow commutation of the output phases. This input has a 5KΩ pull-up resistor to +VDD for typical open collector Hall sensor outputs. It is also filtered with a 0.001uF capacitor to ground. HALL C - is the Hall C sensor input from the motor to allow commutation of the output phases. This input has a 5KΩ pull-up resistor to +VDD for typical open-collector Hall sensor outputs. It is also filtered with a 0.001uF capacitor to ground. A RTN - is the power ground return for the A phase high current path for the motor output. This pin should be connected directly to the RSENSE pin to allow for proper current sensing. +5V - is the main low level digital power for running everything inside the hybrid, exclusive of the motor supply voltage. This supply powers the microprocessor and all its support circuitry, as well as provides the boost converter power for running the gate drive. B RTN - is the power ground return for the B phase high current path for the motor output. This pin should be connected directly to the RSENSE pin to allow for proper current sensing. C RTN - is the power ground return for the C phase high current path for the motor output. This pin should be connected directly to the RSENSE pin to allow for proper current sensing. GND - is the ground return for the low level digital power. All microprocessor / support circuitry and gate driver currents return to this point. For PC board layouts, there should be two ground planes.One ground plane is for the bypass capacitors and components that assist in making a clean low level voltage supply. Digital control inputs should have their returns connected to this ground. The second ground plane is the main high power ground used to drive the motor. That ground plane will contain all the large bypass capacitors for the output stage and the high power main motor supply. Both ground planes should be connected together at one point; that connection point should be at this pin. This connection width should be in the range of 0.1" to 0.15", with a separation between grounds not to exceed 0.25". If the grounds are on separate PC layers, then the grounds can overlap without a problem. However, a large current conducting via connecting the two layers together should be placed as close to this GND pin as practical. RESET - is an asserted low, digital logic input for manually resetting the microprocessor. Activating the pin will halt PWM output and reset program control. The microprocessor will begin operation in exactly the same manner as a cold start from power up. This function is intended to be used as an aid to system development. It is pulled up to +5V by a 10KΩ resistor internally. CAN H - is one of two pins for communicating on the CAN bus. This pin shall be connected to the associated CAN H node on the host bus. CAN L - is the second of two pins for communicating on the CAN bus. This pin shall be connected to the associated CAN L node on the host bus. A PHASE - is one of three phase power output pins to the motor. Traces from this pin should be sized for 10 amps current. CAN RESET - is an asserted low, digital logic input for manually resetting the CAN module. Activating this pin will cause the module to be de-activated, reset to 1M bit/sec speed and re-activated upon release. This pin shall be externally up to +5V via a 10KΩ resistor. B PHASE - is one of three phase power output pins to the motor. Traces from this pin should be sized for 10 amps current. C PHASE - is one of three phase power output pins to the motor. Traces from this pin should be sized for 10 amps current. RSENSE - is the pin used for current sensing. The A RTN, B RTN, C RTN pins should all be connected directly to this pin in order to allow proper current sensing. This pin is connected to one side of the current sense resistor while the RTN pin is connected to the other site. +AV - is the A phase leg motor supply voltage pin. All V+ pins shall be connected together on the PC board. Traces should be sized for 10 amps current to this pin. Motor supply voltage shall be bypassed with a high quality 100uF electrolytic capacitor, a 1uF high quality ceramic capacitor and a high quality 6.8uF metalized polyester capacitor. These capacitors shall be placed as close to the V+pins and RTN pins as practical to minimize stray inductance between the pins and the capacitors. All V+ pins shall be connected together on the PC board. Ideally, some sort of power plane should be used to help reduce stray inductance throughout all the V+ connections to the capacitors. RTN - is the power ground return. All low power ground returns should be through the GND pin. Traces should be sized for 10 amps current to this pin. The motor supply bypass capacitors shall be connected to this point as close as practical to minimize stray inductance between these pins and the capacitors. A power ground plane shall be used between this pin and the capacitors to help reduce stray inductance. This power ground plane shall be connected to the low power GND plane only at one point – the GND pin. Follow the guidelines explained with GND for details on this connection. +BV - is the B phase leg motor supply voltage pin. All V+ pins shall be connected together on the PC board. Traces should be sized for 10 amps current to this pin. Motor supply voltage shall be bypassed with a high quality 100uF electrolytic capacitor, a 1uF high quality ceramic capacitor and a high quality 6.8uF metalized polyester capacitor. These capacitors shall be placed as close to the V+pins and RTN pin as practical to minimize stray inductance between the pins and the capacitors. All V+ pins shall be connected together on the PC board. Ideally, some sort of power plane should be used to help reduce stray inductance throughout all the V+ connections to the capacitors. 3 8548-120 Rev. A 4/14 APPLICATION APPLICATION NOTES NOTES CONT'D CONT'D MSK 4366 CAN COMMAND SET SUMMARY General 0xFFF0 0xFFF1 0xFFF2 0xFFF3 Error Responses: = Invalid Data for Command Sent = Invalid Data Length for Command Sent = Unrecognized Command Tag = Overflow Error; Command not processed Get Status – Requests status of controller. Send Contents: Command Tag only [1 word]. Command Tag: 0x10 Response Contents: Response Tag followed by 8 bits of data[2words]. Response Tag: 0x11 Data: 0x01 – Running Mode 0x02 – Brake Mode 0x03 – Disable Mode Description: Will request status information from the controller. mode. Status will indicate if control is in running mode, brake mode, or disable Default Data Value: N/A Set Disable Mode – Commands controller to halt all PWM activity to the output bridge. Bridge is then inactive. Send Contents: Command Tag only [1 words]. Command Tag: 0x12 Response Contents: Response Tag only [1 word]. Response Tag: 0x13 Description: Commands the controller to disable the output bridge completely by shutting off all PWM modulation and all levels necessary to turn off all of the transistors. With the bridge now inactive, the motor can move freely. This does not reset command or PID history so motor will resume as last commanded when it is enabled. Default Data Value: Bridge is disabled by default. Set Enable Mode – Commands controller to enable all PWM activity to the output bridge. Bridge is then active. Send Contents: Command Tag only [1 words]. Command Tag: 0x14 Response Contents: Response Tag only [1 word]. Response Tag: 0x15 Description: Commands the controller to enable the output bridge. This will only have an effect if it is in disable mode or brake mode. The motor will resume normal control and move as previously commanded. Default Data Value: N/A Set Torque Proportional Value – Commands controller to receive torque proportional gain value. Send Contents: Command Tag followed by 16 bits of data [3 words]. Command Tag: 0x16 Data: 0x0000 – 0x7FFF Response Contents: Response Tag only [1 word]. Response Tag: 0x17 Description: Commands the controller to receive the torque proportional gain factor for programming the compensation values for the torque control digital error loop. Valid values are 0-32767. An input gain of 0 (zero) means that there will be no proportional gain at all, and that the torque error will go directly to the duty cycle control. A value of 32767 would equal the maximum possible gain. The value is stored in nonvolatile memory and does not have to be re-introduced every time the device is powered up. Default Data Value: 0x0CCC 4 8548-120 Rev. A 4/14 APPLICATION APPLICATION NOTES NOTES CONT'D CONT'D Set Torque Integral Value – Commands controller to receive torque integral gain value. Send Contents: Command Tag followed by 16 bits of data [3 words]. Command Tag: 0x18 Data: 0x0000 – 0x7FFF Response Contents: Response Tag only [1 word]. Response Tag: 0x19 Description: Commands the controller to receive the torque integral gain factor for programming the compensation values for the torque control digital error loop. Valid values are 0-32767. An input gain of 0 (zero) means that there will be no integral gain at all, and that the torque error loop will contain proportional gain only, if proportional gain has been programmed in. A value of 32767 would equal the maximum possible gain. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up. Default Data Value: 0x03E8 Set Current Command – Commands controller to set current direction and magnitude. Send Contents: Command Tag followed by 16 bits of data [3 words]. Command Tag: 0x1A Data: 0xFE51 - 0x01AF. 2’s compliment format. Response Contents: Response Tag only [1 word]. Response Tag: 0x1B Description: Commands the controller to receive the magnitude and direction of the torque. The command range will allow for a command of +/- 431, which correspond to +/-14A RMS. Note that if at any point the measured current is higher than +/-14A, the bridge will be disabled on a cycle by cycle basis. Default Data Value: 0x0000 Get Measured Current – Get current measurement from controller. Send Contents: Command Tag only [1 word]. Command Tag: 0x1C Response Contents: Response Tag followed by 16 bits of data [3 words]. Response Tag: 0x1D Data: 0xFE51 – 0x01AF. 2’s compliment format. Description: Commands the controller to send the average of the last 200 measured current values, where the current is measured every PWM duty cycle. This value should fall between +/-14A or +/-431. Note that if at any point the measured current is higher than +/-14A, the bridge will be disabled on a cycle by cycle basis. Default Data Value: N/A Set Brake Mode – Commands controller to receive Brake command. Send Contents: Command tag followed by 8 bits of data [2 words]. Command Tag: 0x20 Data: 0x01 – 0xFF Response Content: Response Tag only [1 word]. Response Tag: 0x21 Description – Commands the controller to begin applying PWM brake signals to the output bridge and to reset the command and PID history to 0. This is dissipative braking only, using the internal resistance of the motor windings and Back EMF to slow down the motor and apply braking resistance to the shaft. Braking is achieved by turning on the bottom transistors of the bridge, regardless of shaft angle of the motor, and using the shorting of the Back EMF voltage through the resistance of the motor windings essentially shorting all windings together. However, this can be harsh if not applied in a controlled way. Control is achieved by implementing PWM modulation of the low side transistors. Increasing the duty cycle will increase the amount of time each cycle that the windings are shorted together. An 8-bit word is sent to the controller telling how long the ramp time is for increasing the duty cycle, with each bit being equal to about 7.8ms. A data value of 1 would have a ramp time of 7.8ms and the full data value of 255 would be have a 2 second ramp time. Default Data Value: N/A 5 8548-120 Rev. A 4/14 APPLICATION APPLICATION NOTES NOTES CONT'D CONT'D Set CAN Mask - Sets the mask bits for the CAN module. For filtering CAN messages. Send Contents: Command Tag followed by 40 bits of data. Data = First 16 represent the SID bits. The upper 5 bits are ignored. The remaining 24 bits represent the EID. The upper 6 bits are ignored. When used with an EID, the SID bits and EID bits are combined with the SID bits being most significant [6 words]. Command Tag: 0x22 Data: 0x00 0000 0000 – 0xFF FFFF FFFF Response Contents: Response Tag only [1 word]. Response Tag: 0x23 Description: The CAN Mask works with the CAN Filter 1 and 2 in order to decide which messages are meant to be accepted by the controller. If a given mask bit is set, the corresponding bit in the filter will be used to filter messages. If it is not set, the corresponding bit in the filter will be ignored. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up. Mask Bit n Filter Bit n Message Identifiere bit Accept or Reject bit n x x Accept 0 0 0 Accept 1 0 1 Reject 1 1 0 Reject 1 1 1 Accept 1 Default Data Value: 0x00 0000 0000 Set CAN Filter 1 - Sets the filter 1 bits for the CAN module. For filtering CAN messages. Send Contents: Command Tag followed by 40 bits of data. Data = First 16 represent the SID bits. The upper 5 bits are ignored. The remaining 24 bits represent the EID. The upper 6 bits are ignored. When used with an EID, the SID bits and EID bits are combined with the SID bits being most significant [6 words]. Command Tag: 0x24 Data: 00 0000 0000 – 0xFF FFFF FFFF Response Contents: Response Tag only [1 word]. Response Tag = 0x25 Description: The CAN Filter works with the CAN mask in order to decide which messages are meant to be read by the controller. If a given mask bit is set, the corresponding bit in the filter will be used to filter messages. If it is not set, the corresponding bit in the filter will be ignored. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up. Mask Bit n Filter Bit n Message Identifiere bit Accept or Reject bit n x x Accept 0 0 0 Accept 1 0 1 Reject 1 1 0 Reject 1 1 1 Accept 1 Default Data Value: 0xFF FFFF FFFF Set CAN Filter 2 - Sets the filter 2 bits for the CAN module. For filtering CAN messages. Send Contents: Command Tag followed by 40 bits of data. Data = First 16 represent the SID bits. The upper 5 bits are ignored. The remaining 24 bits represent the EID. The upper 6 bits are ignored. When used with an EID, the SID bits and EID bits are combined with the SID bits being most significant [6 words]. Command Tag: 0x26 Data: 0x00 0000 0000 – 0xFF FFFF FFFF Response Contents: Response Tag only [1 word]. Response Tag = 0x27 Description: The CAN Filter works with the CAN mask in order to decide which messages are meant to be read by the controller. If a given mask bit is set, the corresponding bit in the filter will be used to filter messages. If it is not set, the corresponding bit in the filter will be ignored. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up. Default Data Value: 0xFF FFFF FFFF 6 8548-120 Rev. A 4/14 APPLICATION APPLICATION NOTES NOTES CONT'D CONT'D Set CAN Baud Rate - Allows you to change what speed you want the CAN Bus to operate at. The default is 1Mbps. Send Contents: Command tag followed by 8 bits of data [2 words]. Command Tag = 0x28 Data: 0x01 – 1 Mbps 0x02 – 500 Kbps 0x03 – 250 Kbps 0x04 – 125 Kbps Response Contents: Response Tag only [1 word]. Response Tag = 0x29 Description: When the command is sent to change the CAN Bus bit rate, first the reply will be sent, and then the CAN module will be disabled. It is then reconfigured with the new bit rate, and brought back into an active state. From then on the new bit rate will be used exclusively. To return to default settings the CAN reset pin can be used or commands can be sent at the new baud rate. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up. Default Data Value: 0x01 Set CAN Message Standard ID - This sets the Standard ID used to transmit messages. Send Contents: Command Tag followed by 16 bits of data. The uppermost 5 bits are ignored (bits 16-12), as only 11 bits are allowed in a standard identifier [3 words]. Command Tag: 0x2A Data: 0x0000 – 0x07FF Response Contents: Response Tag only [1 word]. Response Tag: 0x2B Description: This command is sent to the device to set the Message ID used when Standard ID mode is selected. If the CAN Message Mode is set to Extended ID, this value will not be used. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up. Default Data Value: 0x0555 Set CAN Message Extended ID - This sets the Extended ID used to transmit messages. Send Contents: Command Tag followed by 32 bits of data. The uppermost 3 bits are ignored, and the following 29 bits are used as the message ID [5 words]. Command Tag: 0x2C Data: 0x0000 0000 – 0x1FFF FFFF Response Contents: Response Tag only [1 word]. Response Tag: 0x2D Description: This command is sent to the device to set the Message ID used when Extended ID mode is selected. If the CAN Message Mode is set to Standard ID, this value will not be used. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up. Default Data Value: 0x0000 0000 Set CAN Message Mode - This sets device to use a Standard ID or Extended ID when transmitting messages. Send Contents: Command Tag followed by 8 bits of data [2 words]. Command Tag: 0x30 Data: 0x01 - Standard ID 0x02 –Extended ID Response Contents: Response Tag only [1 word]. Response Tag: 0x31 Description: This command is sent to the device to say whether it should send a Standard ID or Extended ID. The actual IDs are set via their own commands. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up. Default Data Value: 0x01 7 8548-120 Rev. A 4/14 MECHANICAL SPECIFICATIONS ESD TRIANGLE INDICATES PIN 1 WEIGHT= 70 GRAMS TYPICAL ALL DIMENSIONS ARE SPECIFIED IN INCHES ORDERING INFORMATION Part Number MSK4366 MSK4366H Screening Level Industrial MIL-PRF-38534 Class H 8 8548-120 Rev. A 4/14 REVISION HISTORY M.S. Kennedy Corp. Phone (315) 701-6751 FAX (315) 701-6752 www.mskennedy.com The information contained herein is believed to be accurate at the time of printing. MSK reserves the right to make changes to its products or specifications without notice, however, and assumes no liability for the use of its products. Please visit our website for the most recent revision of this datasheet. Contact MSK for MIL-PRF-38534 qualification status. 9 8548-120 Rev. A 4/14