ISO 9001 CERTIFIED BY DSCC
M.S.KENNEDY CORP.
10 AMP, 55V, 3 PHASE
BRUSHLESS MOTOR
SPEED CONTROLLER
4310
4707 Dey Road Liverpool, N.Y. 13088
(315) 701-6751
MIL-PRF-38534 CERTIFIED
FEATURES:
55 Volt Motor Supply Voltage
10 Amp Output Switch Capability
Shoot-Through/Cross Conduction Protection
Hall Sensing and Commutation Circuitry on Board
User Programable Current Limit
Tach Out-Closed Loop Control
Available With 3 Lead Configurations
DESCRIPTION:
The MSK 4310 is a complete 3 Phase Brushless Motor Speed Controller in an electrically isolated hermetic
package. The hybrid is capable of 10 amps of output current and 55 volts of DC bus voltage. Included is all of the
bridge drive circuitry, hall sensing circuitry and commutation circuitry. Also included is a user programable current
limit circuit and a tachometer circuit for closed loop operation. The MSK 4310 has good thermal conductivity of the
output switches due to isolated substrate/package design that allows direct heat sinking of the hybrid without
insulators.
EQUIVALENT SCHEMATIC
PIN-OUT INFORMATION
TYPICAL APPLICATIONS
Fan/Blower Speed Control
Azimuth/Elevation Antenna Control
Optical Tracking Control
Robot Velocity Control
1
2
3
4
5
6
7
8
9
10
1
+15V INPUT
-15V INPUT
TACH OUT
REF OUT
TACH RC
HALL A
HALL B
HALL C
SPEED - COMMAND
SPEED + COMMAND
20
19
18
17
16
15
14
13
12
11
V+
CØ
BØ
AØ
GND
BRAKE
E/A OUT
-E/A
CURRENT LIMIT ADJUST
SIGNAL GND
Rev. B
2/04
ABSOLUTE MAXIMUM RATINGS
V+
VIN
VIND
IOUT
IpK
+15VIN
-15VIN
High Voltage Supply
Speed Command (+,-)
Hall A,B,C,Brake
Continuous Output Current
Peak Output Current
+15 Volt Input Voltage
-15 Volt Input Voltage
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4.8°C/W
OJC Thermal Resistance (@ 125°C)
-65°C to +150°C
TST Storage Temperature Range
+300°C
TLD Lead Temperature Range
(10 Seconds)
TC Case Operating Temperature
-40°C to +85°C
TJ MSK4310
-55°C
to +125°C
MSK4310H/E
+150°C
Junction Temperature
+55V
±15VIN
+V REF
10A
15A
+16V
-16V
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ELECTRICAL SPECIFICATIONS
Parameter
Test Conditions
MSK 4310 3
MSK 4310H/E 3
Group A
Subgroup
Min.
Typ.
Max.
Min.
Typ.
Max.
4
5,6
21
20
25
25
29
30
20
-
25
-
30
-
KHz
KHz
Units
PWM
Clock Frequency
POWER SUPPLY REQUIREMENTS
+15 Volt Input Current
-15 Volt Input Current
HALL INPUTS
VIL 2
VIH 2
ANALOG SECTION
Speed Command Input Range
Speed Command Input Range
Speed Command Input Current 2
REFERENCE OUTPUT VOLTAGE
50
-
37
60
mA
41
8
60
15
-
8
18
mA
mA
2,3
-
9
20
-
-
-
mA
-
3.0
-
0.8
-
3.0
-
0.8
-
VOLTS
VOLTS
1
1.2
-
4.5
1.2
-
4.5
VOLTS
1
-
-1.2
-
-
-4.5
1.5
-1.2
-
-
-4.5
1.5
VOLTS
mA
1
5.9
6.24
6.5
5.82
6.24
6.57
VOLTS
2,3
5.82
-
6.57
-
-
-
VOLTS
-
-
0.4
8.0
10
500
-
0.4
8.0
10
500
mV
nA
-
0
-46
-
-1000
VREF
0
-46
-
-1000
VREF
nA
V
-
70
55
80
86
-
70
55
80
86
-
db
db
-
65
105
-
65
105
-
db
-
-
0.8
1.6
1.92
-
0.8
1.6
1.92
VOLTS
VOLTS
-
-
-
750
1.6
-
-
750
1.6
µA
VOLTS
-
-
86
2
-
-
86
2
-
nSec
µSec
I Source = 5mA
-
3.60
3.95
4.20
3.60
3.95
4.20
V
I Sink = 10mA
R/C=20K/0.01uF
4
150
0.25
200
0.50
250
150
0.25
200
0.50
250
V
µSec
Current Limit Adjust Pin=Open
1,2,3
0.4
1
1.60
0.3
1
1.70
Amps
@ 1mA
Input Offset Current 2
Input Bias Current
2
Input Common Mode Voltage Range 2
Open-Loop Voltage Gain 2
VO=3V, RL=15K
Input Common Mode Rejection Ratio 2
Power Supply Rejection Ratio 2
OUTPUT SECTION
Voltage Drop Across Bridge (1 Upper & 1 Lower) 2
10 AMPS
Voltage Drop Across Bridge (1 Upper & 1 Lower) 2 10 AMPS @ 150°C Junction
Leakage Current 2
All switches off, V+=44V, 150°C Junction
Diode VSD 2
trr 2
Dead Time 2
TACH OUT
Current Limit
37
-
E/A DC Gain=1, Positive Command
ERROR AMP
Input Offset Voltage 2
Output Pulse Width 1
CURRENT LIMIT
-
E/A DC Gain=1, Negative Command
VIN=5V
Reference Voltage
Output Voltage High State
Output Voltage Low State
1
2,3
1
NOTES:
1
2
3
4
5
6
±15V INPUT=±15V, V+=28V, BRAKE=GND unless otherwise specified.
Guaranteed by design but not tested. Typical parameters are representative of actual device performance but are for reference only.
Industrial grade and "E" suffix devices shall be tested to subgroups 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.
Subgroup 1, 4 TA = TC = +25°C
2, 5 TA = TC =+125°C
3, 6 TA = TC =
-55°C
2
Rev. B
2/04
APPLICATION NOTES
MSK 4310 PIN DESCRIPTIONS
V+ - is the power connection from the hybrid to the
bus. The external wiring to the pin should be sized
according to the RMS current required by the motor.
This pin should be bypassed by a high quality monolithic ceramic capacitor for high frequencies and enough
bulk capacitance to keep the V+ power supply from
drooping.
HALL A, B & C - are the hall input pins from the hall
devices in the motor. These pins are internally pulled
up to 6.25 volts. The halls reflect a 120/240 degree
commutation scheme.
TACH RC - is used to set the tach out pulse width.
This is done by connecting a resistor from this pin to
the REF OUT pin and a capacitor from the pin to the
signal ground. Selection of these components is based
on the desired maximum motor speed. (See TACH RC
component selection)
AØ OUT, BØ OUT, CØ OUT-are the connections to the
motor phase windings from the bridge output. The wiring to these pins should be sized according to the motor current requirements. There are no internal short
circuit protection provisions for these output pins in
the hybrid. Shorts to V+ or ground from these pins
must be avoided or the bridge will be destroyed.
TACH OUT - is connected to the -E/A pin through a
resistor when using the speed controller in a closed
loop configuration..
GND- is the power return connection from the hybrid
to the bus. All ground returns internal to the hybrid
connect to this point in a star configuration. All external ground connections to this point should be made in
a similar fashion. The V+ capacitors should be returned
to this pin as close as possible. Wire sizing to this pin
connection should be made according to the required
current.
-E/A - is the error amp inverting input connection. It is
brought out to allow various loop compensation circuits to be connected between this and E/A out.
E/A OUT - this is the loop error amp output connection. It is brought out for allowing various loop compensation circuits to be connected between this and
-E/A.
SIG GND - is the ground pin that connects to the ground
plane for all low power circuitry inside the device.
REF OUT - is a 6.25 volt regulated output that can be
used to power the hall devices in various motors. Up
to 15 milliamps of current is available.
+15 V INPUT - is the pin for applying +15 volts to run
the low power control circuitry inside the hybbrid. This
pin should be bypassed to the signal ground pin using
a high quality 10µF tantalum capacitor and a 0.1µF
ceramic capacitor as close to these pins as possible.
CURRENT LIMIT ADJUST - is used to adjust the output current limit. The pin, if left open will limit the
output current to about 1 amp. The pin, taken to ground
will limit the current to about 15 amps. A resistor from
the pin to ground will yield current limits in between.
(See Current Limit Adjust)
-15 V INPUT - is the pin for applying -15 volts to run
the low power control circuitry inside the hybrid. This
pin should be bypassed to the signal ground pin using
a high quality 10µF tantalum capacitor and a 0.1µF
ceramic capacitor as close to these pins as possible.
SPEED COMMAND (+,-) - are differential inputs for
controlling the motor speed. With a positive voltage
command the motor will operate in the forward direction and with a negative command the motor will operate in the reverse direction. The maximum operational command voltage should be ±5 volts.
BRAKE - is the pin for commanding the output bridge
into a motor brake mode. When this pin is taken low,
normal operation of the hybrid proceeds. When this
pin is taken high, the three high side switches in the
bridge turn off and the three lowside switches turn
fully on. This will cause rapid deceleration of the motor
and will cease motor operation until taken low again.
The pin left open is internally pulled high.
3
Rev. B
2/04
APPLICATION NOTES CONTINUED
COMMUTATION TRUTH TABLE
HALL SENSOR PHASING
120°
1
0
X
= High Level
= Low Level
= Don't Care
SPEED COMMAND = POS.
SPEED COMMAND = NEG.
HALL
A
HALL
B
HALL
C
AØ
BØ
CØ
AØ
BØ
CØ
1
0
0
H
-
L
L
-
H
1
1
0
-
H
L
-
L
H
0
1
0
L
H
-
H
L
-
0
1
1
L
-
H
H
-
L
0
0
1
-
L
H
-
H
L
1
0
1
H
L
-
L
H
-
1
1
1
-
-
-
-
-
-
0
0
0
-
-
-
-
-
-
X
X
X
L
L
L
L
L
L
H
L
-
= SOURCE
= SINK
= OPEN
4
Rev. B
2/04
APPLICATION NOTES CONTINUED
BUS VOLTAGE FILTER CAPACITORS
The size and placement of the capacitors for the DC bus has a direct bearing on the amount of noise filtered and also on the size
and duration of the voltage spikes seen by the bridge. What is being created is a series RLC tuned circuit with a resonant
frequency that is seen as a damped ringing every time one of the transistors switches. For the resistance, wire resistance, power
supply impedance and capacitor ESR all add up for the equivalent lumped resistance in the circuit. The inductance can be figured
at about 30 nH per inch from the power supply. Any voltage spikes are on top of the bus voltage and the back EMF from the
motor. All this must be taken into account when designing and laying out the system. If everything has been minimized, there is
another solution. A second capacitance between 5 and 10 times the first capacitor and it should either have some ESR or a
resistor can be added in series with the second capacitor to help damp the voltage spikes.
Be careful of the ripple current in all the capacitors. Excessive ripple current, beyond what the capacitors can handle, will destroy
the capacitors.
INPUT VOLTAGE FILTER CAPACITORS
It is recommended that about 10 µF of capacitance (tantalum electrolytic) for bypassing the + and -15V power supplies be placed
as close to the module pins as practical. Adding ceramic bypass capacitors of about 0.1 µF to 1 µF will aid in suppressing noise
transients.
GENERAL LAYOUT
Good PC layout techniques are a must. Ground plane for the analog circuitry must be used and should be tied back to the SIG
GND. Ground plane for the power circuitry should be tied back to the GND pin, pin 16. Pin 16 should be connected to pin 11
external to the hybrid by a single thick trace. This will connect the two ground planes together.
LOW POWER STARTUP
When starting up a system utilizing the MSK 4310 for the first time, there are a few things to keep in mind. First, because of the
small size of the module, short circuiting the output phases either to ground or the DC bus will destroy the bridge. The current
limiting and control only works for current actually flowing through the bridge. The current sense resistor has to see the current
in order for the electronics to control it. If possible, for startup use a lower voltage and lower current power supply to test out
connections and the low current stability. With a limited current supply, even if the controller locks up, the dissipation will be
limited. The ±15 volt power should be applied prior to applying the V+ voltage.
5
Rev. B
2/04
APPLICATION NOTES CONTINUED
TACH RC COMPONENT SELECTION
For a given maximum motor speed, the tach output has a maximum pulse width. For example, if a maximum motor speed of 3000
RPM were desired and the permanet magnet on the rotor of the motor being used has two pairs of poles, each mechanical
revolution would cause each hall effect sensor to deliver two pulses. The three sensors would generate six pulses. The MSK4310
tachometer would generate 12 pulses, one for each rising and falling edge of the sensor pulses. If a maximum motor speed in the
example were desired, this would be 50 revolutions per second. The tachometer will be producing 600 pulses per second or have
a frequency of 600Hz. Therefore, the maximum puse width would have to be less than 1.66 milliseconds. Figure one can be used
to select component values to achieve the desired pulse width.
FIGURE 1
CURRENT LIMIT ADJUST
With the current limit adjust pin (pin 12) left open, the current will be limited to 1 amp ±0.6 amps. If a current limit of more than
1 amp but less than 15 amps is desired, a resistor between the pin and ground can be used to set a different limit. Figure two can
assist in the selection of the resistor value for this purpose.
FIGURE 2
6
Rev. B
2/04
MSK4310 TYPICAL APPLICATION CIRCUIT
7
Rev. B
2/04
MECHANICAL SPECIFICATIONS
ESD Triangle Indicates Pin 1.
NOTE: ALL DIMENSIONS ARE INCHES UNLESS OTHERWISE LABELED.
ORDERING INFORMATION
MSK4310 H U
LEAD CONFIGURATIONS
S= STRAIGHT; U= BENT UP; D= BENT DOWN
SCREENING
BLANK= INDUSTRIAL; E=EXTENDED RELIABILITY;
H=MIL-PRF-38534 CLASS H
GENERAL PART NUMBER
The above example is a Military grade hybrid with leads bent up.
M.S. Kennedy Corp.
4707 Dey Road Liverpool, New York 13088
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.
8
Rev. B
2/04