MIL-PRF-38534 AND 38535 CERTIFIED FACILITY
10 AMP, 55V, 3 PHASE
MOSFET BRUSHLESS
MOTOR CONTROLLER
4360
FEATURES:
55 Volt Motor Supply Voltage
10 Amp Output Switch Capability
100% Duty Cycle High Side Conduction Capable
Shoot-Through/Cross Conduction Protection
Hall Sensing and Commutation Circuitry on Board
Internal ±15 Volt Regulators
"Real" Four Quadrant Torque Control Capability
Good Accuracy Around the Null Torque Point
Isolated Package for High Voltage Isolation Plus Good Thermal Transfer
Contact MSK for MIL-PRF-38534 Qualification Status
DESCRIPTION:
The MSK4360 is a complete 3 Phase MOSFET Bridge Brushless Motor Control System in an electrically isolated hermetic
package. The hybrid is capable of 10 amps of output current and 55 volts of DC bus voltage. It has the normal features for
protecting the bridge. Included is all the bridge drive circuitry, hall sensing circuitry, commutation circuitry and all the current
sensing and analog circuitry necessary for closed loop current mode (torque) control. When PWM'ing, the transistors are
modulated in locked anti-phase mode for the tightest control and the most bandwidth. Provisions for applying different
compensation schemes are included. The MSK4360 has good thermal conductivity of the MOSFET's due to isolated substrate/
package design that allows direct heat sinking of the hybrid without insulators.
EQUIVALENT SCHEMATIC
TYPICAL APPLICATIONS
3 Phase Brushless DC Motor Control
Servo Control
Fin Actuator Control
Gimbal Control
AZ-EL Control
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8548-74 Rev. P 11/16
ABSOLUTE MAXIMUM RATINGS
V+
IQ
VIN
+15V
-15V
IOUT
IPK
High Voltage Supply
V+ Quiescent Current
Current Command Input
Output Current
Output Current
Continuous Output Current
Peak Output Current
55V
0.16A
±13.5V
10mA
10mA
10A
16A
OJC
OJC
TST
TLD
TC
TJ
13°C/W
5.5°C/W
-65°C to +150°C
+300°C
Thermal Resistance (Regulator)
Thermal Resistance (Output Switches)
Storage Temperature Range 8
Lead Temperature Range (10 Seconds)
Case Operating Temperature
MSK4360
MSK4360H
Junction Temperature
-40°C to +85°C
-55°C to +125°C
+150°C
ELECTRICAL SPECIFICATIONS
Parameter
Test Conditions
MSK4360 2
MSK4360H 3
Group A
Subgroup
Min.
Typ.
Max.
Min.
Typ.
Max.
4
5,6
15
13.6
16
22
17
18.4
15
-
16
-
17
-
KHz
KHz
1,2,3
1,2,3
4
14.25
-15.75
-
-
15.75
-14.25
250
14.25
-15.75
-
-
15.75
-14.25
250
VOLTS
VOLTS
mV
-
3.0
-
0.8
-
3.0
-
0.8
-
VOLTS
VOLTS
4
5,6
1
2,3
4
5,6
-
-13.5
1.9
1.8
-25
-50
0.475
0.45
-12
2
2
0
0
0.5
0.5
-
+13.5
1.5
2.1
2.2
25
50
0.525
0.55
+12
-13.5
1.8
-50
0.45
-12
2
0
0.5
-
+13.5
1.5
2.2
50
0.55
+12
VOLTS
mA
A/V
A/V
mA
mA
V/A
V/A
VOLTS
-
-12
-
3
1.8
400
+12
-
-12
-
3
1.8
400
+12
-
VOLTS
V/µSec
MHz
V/mV
-
-
0.8
1.6
86
2
1.92
750
1.6
-
-
0.8
1.6
86
2
1.92
750
1.6
-
VOLTS
VOLTS
µA
VOLTS
nSec
µSec
-
3.0
-
-
0.8
3.1
3.0
-
-
0.8
3.1
VOLTS
VOLTS
mA
Units
PWM
Clock Frequency
REGULATORS
+15 VOUT
-15 VOUT
-15 VOUT Ripple
HALL INPUTS
VIL 1
10mA Load
10mA Load
10mA Load
VIH 1
ANALOG SECTION
Current Command Input Range
Current Command Input Current
Transconductance
1
1
7
Offset Current
Current Command=0 Volts
@ ±1 Amp Output
7
Current Monitor
Current Monitor Voltage Swing
ERROR AMP
1
E/A OUTPUT Swing
Slew Rate 1
Input Current
5mA Load
1
1
Unity Gain Bandwidth
Large Signal Voltage Gain
1
OUTPUT SECTION
Voltage Drop Across Bridge (1 Upper & 1 Lower)
Voltage Drop Across Bridge (1 Upper & 1 Lower)
Leakage Current 1
Diode VSD 1
trr 1
Dead Time
DISABLE
VIL 1
VIN 1
6
6
5mA Load
1
1
10 AMPS
10 AMPS @ 150°c Junction
All switches off, V+=44V, 150°C Junction
1
1
NOTES:
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 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
6 Maximum power dissipation must be limited according to voltage regulator power dissipation.
7 Measurements do not include offset current at 0V current command.
8 Internal solder reflow temperature is 180°C, do not exceed.
1
2
3
4
5
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8548-74 Rev. P 11/16
APPLICATION NOTES
MSK4360 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. The pin should be bypassed by
a high quality monolithic ceramic capacitor for high frequencies
and enough bulk capacitance for keeping the V+ supply from
drooping. 78 µF of ceramic capacitance and 1700 µF of bulk
capacitance was used in the test circuit. The voltage range on
the pin is from 16 volts up to 55 volts.
CURRENT COMMAND (+,-) - are differential inputs for controlling
the module in current mode. Scaled at ±2 amps per volt of input
command, the bipolar input allows both forward and reverse current control capability regardless of motor commutation direction.
The maximum operational command voltage should be ±5 volts
for ±10 amps of motor current.
CURRENT MONITOR - is a pin providing a current viewing signal
for external monitoring purposes. This is scaled at ±2 amps of
motor current per volt output, up to a maximum of ±5 volts, or
±10 amps. As ±10 amps is exceeded, the peaks of the waveform
may become clipped as the rails of the amplifiers are reached.
This voltage is typically ±8 volts, equating to ±16 amps of current
peaks. In DISABLE mode, the CURRENT MONITOR output may
rail positive or negative, depending on internal bias currents.
When re-enabled, this output will resume expected operation.
MOTOR DRIVE A,B,C - are the connections to the motor phase
windings from the bridge output. The wiring to these pins should
be sized according to the required current by the motor. There
are no short circuit provisions for these outputs. Shorts to V+ or
V+ RTN from these pins must be avoided or the bridge will be
destroyed.
V+ RTN - is the power return connection from the module to the
bus. All ground returns connect to this point from internal to the
module in a star fashion. All external ground connections to this
point should also 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 OUT - is the current loop error amp output connection. It is
brought out for allowing various loop compensation circuits to be
connected between this and E/A-.
E/A- - is the current loop error amp inverting input connection.
It is brought out for allowing various loop compensation circuits
to be connected between this and E/A OUT.
SIG GND - is a ground pin that connects to the ground plane for
all low powered circuitry inside the hybrid.
HALL A, B & C - are the hall input pins from the hall devices in
the motor. These pins are internally pulled up to 15 volts. The
halls reflect a 120/240 degree commutation scheme.
+15 V - is a regulated +15 volt output available for external uses.
Up to 20 mA is available at this pin. A 10 microfarad capacitor
should be connected as close to this pin as possible and returned
to SIG GND along with a 0.22 microfarad monolithic ceramic capacitor. CAUTION: See Voltage Regulator Power Dissipation.
DISABLE -is a pin for externally disabling the output bridge. A TTL
logic low will enable the bridge, and a TTL logic high will disable
it. It is internally pulled low by a 5K ohm resistor.
L1 - is a pin for connecting an external inductor to the DC - DC
converter for generating -15 volts. A 47 µH switching inductor
capable of running at 250 KHz and about 1 amp of DC current
shall be used. Connect the inductor between L1 and SIG GND.
VOLTAGE REGULATOR POWER DISSIPATION - To figure
voltage regulator power dissipation and junction temperature,
use the following as an example:
-15 V - is a regulated -15 volt output available for external uses. Up
to 20 mA is available at this pin. A 10 microfarad capacitor should
be connected as close to this pin as possible and returned to SIG
GND along with a 0.22 microfarad monolithic ceramic capacitor.
CAUTION: See Voltage Regulator Power Dissipation
Given:
V+ = 28V, MSK4360 +15V IQ = 80mA, -15V IQ = 40mA.
External Loads: +15V = 20 mA, -15V = 20 mA
-15V Converter Efficiency = 50%
PDISS due to +15V IQ, 80 mA x 13V = 1.04 W
PDISS due to -15V IQ, (40 mA / 0.5) x 13V = 1.04 W
PDISS due to +15V Ext load, 20 mA x 13V = 260 mW
PDISS due to -15V Ext load, (20 mA / 0.5) x 13V = 620mW
PDISS Total = 1.04W + 1.04 W + 260 mW + 520mW = 2.86W
3.12W x 13°C/W = 28°C RISE above case temperature
Maximum Case Temperature = 150°C - 41°C = 109°C
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8548-74 Rev. P 11/16
APPLICATION NOTES CONTINUED
COMMUTATION TRUTH TABLE
HALL SENSOR PHASING
120°
ICOMMAND = POS.
ICOMMAND = 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
1 = High Level
H = SOURCE
NOTE:
0 = Low Level
L = SINK
X = Don't Care
= OPEN
Because of the true 4 quadrant method of output switching,
the output switches will PWM between the ICOMMAND POSITIVE
and ICOMMAND NEGATIVE states, with the average percentage
based on ICOMMAND being a positive voltage and a negative
voltage. With a zero voltage ICOMMAND, the output switches will
modulate with exactly a 50% duty cycle between the
ICOMMAND POSITIVE and ICOMMAND NEGATIVE states.
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8548-74 Rev. P 11/16
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.
REGULATED VOLTAGE FILTER CAPACITORS
It is recommended that about 10 µF of capacitance (tantalum electrolytic) for bypassing the + and -15V regulated outputs 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 V+ RTN pin, pin 16. Pin 16 should be connected to pin 10 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 MSK4360 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. By observing the E/A OUT pin which is the
error amp output, much can be found out about the health and stability of the system. An even waveform with some rounded triangle
wave should be observed. As current goes up, the DC component of the waveform should move up or down. At full current (with a regular
supply) the waveform should not exceed +8 volts positive peak, or -8 volts negative peak. Some audible noise will be heard which will be
the commutation frequency. If the motor squeals, there is instability and power should be removed immediately unless power dissipation
isn't excessive due to limited supply current.NFor compensation calculations, refer to the block diagram for all information to determine
the amplifier gain for loop gain calculations.
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8548-74 Rev. P 11/16
MSK4360 TEST CIRCUIT
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8548-74 Rev. P 11/16
MECHANICAL SPECIFICATIONS
ESD TRIANGLE INDICATES PIN 1
WEIGHT = 41.7 GRAMS TYPICAL
ALL DIMENSIONS ARE SPECIFIED IN INCHES
ORDERING INFORMATION
MSK4360 H U
LEAD CONFIGURATIONS
S= STRAIGHT; U= BENT UP; D= BENT DOWN
SCREENING
BLANK= INDUSTRIAL; H=MIL-PRF-38534 CLASS H
GENERAL PART NUMBER
The above example is a Military grade hybrid with leads bent up.
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8548-74 Rev. P 11/16
REVISION HISTORY
MSK
www.anaren.com/msk
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.
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8548-74 Rev. P 11/16