ISO 9001 CERTIFIED BY DSCC
M.S.KENNEDY CORP.
5 AMP, 55V, H-BRIDGE
MOSFET BRUSHED
MOTOR CONTROLLER
4707 Dey Road Liverpool, N.Y. 13088
4253
(315) 701-6751
MIL-PRF-38534 CERTIFIED
FEATURES:
55 Volt Motor Supply Voltage
5 Amp Output Switch Capability
100% Duty Cycle High Side Conduction Capable
Shoot-Through/Cross Conduction Protection
"Real" Four Quadrant Torque Control Capability
Good Accuracy Around the Null Torque Point
DESCRIPTION:
The MSK 4253 is a complete H-bridge MOSFET Brushed Motor Control System in an electrically isolated hermetic
package. The hybrid is capable of 5 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, 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 MSK
4253 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
Brushed DC Motor Control
Servo Control
Fin Actuator Control
Voice Coil Control
Gimbal Control
AZ-EL Control
1
PRELIMINARY
Rev. - 2/05
ABSOLUTE MAXIMUM RATINGS
V+ High Voltage Supply
VIN
Current Command Input
+Vcc
-Vcc
IOUT
Continuous Output Current
IPK
Peak Output Current
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8
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θJC Thermal Resistance @ 125°C
TST Storage Temperature Range
TLD Lead Temperature Range
(10 Seconds)
TC Case Operating Temperature
MSK4253
MSK4253H/E
TJ Junction Temperature
55V
±13.5V
+16V
-18V
5A
10A
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11°C/W
-65°C to +150°C
+300°C
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-40°C to +125°C
-55°C to +125°C
+150°C
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ELECTRICAL SPECIFICATIONS
All Ratings: Tc=+25°C Unless Otherwise Specified
Parameter
Group A
Subgroup
MSK 4253H/E 3
MSK 4253
2
4 5
Min.
Typ.
Max.
Min.
Typ.
Max.
@ +15V
1,2,3
-
60
85
-
60
85
mA
@ -15V
1,2,3
-
16
35
-
16
35
mA
4,5,6
23.5
25
26.5
22
25
28
KHz
Test Conditions
Units
POWER SUPPLY REQUIREMENTS
+Vcc
-Vcc
PWM
Free Running Frequency
CONTROL
±5 Amps Output
4,5,6
0.9
1.0
1.1
0.8
1.0
1.2
Amp/Volt
±5 Amps Output
4,5,6
0.85
1.0
1.15
0.8
1.0
1.2
V/Amp
4
-
±5.0
±25.0
-
±5.0
±35.0
mAmp
5,6
-
-
±50.0
-
-
-
mAmp
Input Voltage Range 1
-
±11
±12
-
±11
±12
-
Volts
Slew Rate 1
-
6.5
8
-
6.5
8
-
V/µSec
Volts
Transconductance
7
Current Monitor 7
Output Offset
@ 0 Volts Command
ERROR AMP
Output Voltage Swing 1
-
±12
±13
-
±12
±13
-
Gain Bandwidth Product 1
-
-
6.5
-
-
6.5
-
MHz
Large Signal Voltage Gain 1
-
175
275
-
175
275
-
V/mV
Rise Time 1
-
-
100
-
-
100
-
nSec
1
-
-
100
-
-
100
-
nSec
@ 44V, +150°C Junction
-
-
-
750
-
-
750
µAmps
@ 5 Amps
OUTPUT
Fall Time
Leakage Current
1
Voltage Drop Across Bridge (1 Upper and 1 Lower) 1
-
-
-
0.6
-
-
0.6
Volts
Voltage Drop Across Bridge (1 Upper and 1 Lower) 1
@ 5Amps, +150°C Junction
-
-
-
1.2
-
-
1.2
Volts
Drain-Source On Resistance (Each MOSFET) 6
@ 5 Amps, 150°C Junction
-
-
-
0.1
-
-
0.1
Ω
@ 5 Amps, Each FET
-
-
-
2.6
-
-
2.6
Volts
IF=5 Amps, di/dt=100A/µS
-
-
280
-
-
280
-
nSec
-
-
2
-
-
2
-
µSec
Diode VSD 1
trr
1
Dead Time
1
NOTES:
1
2
3
4
5
6
7
8
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
This is to be used for MOSFET thermal calculation only.
Measurements do not include offset current at 0V current command.
Continuous operation at or above absolute maximum ratings may adversly effect the device
performance and/or life cycle.
2
PRELIMINARY
Rev. - 2/05
APPLICATION NOTES
MSK 4253 PIN DESCRIPTIONS
AV+, BV+ - are the power connections from the hybrid to
the bus. All pins for the motor voltage supply should be connected together to share the current through the pins in the
hybrid. The external wiring to these pins should be sized
according to the RMS current required by the motor. A high
quality monolithic ceramic capacitor for high frequencies and
enough bulk capacitance for keeping the V+ supply from
drooping should bypass these pins. 100µF minimum is recommended. Capacitors should be placed as close to these
pins as practical. The addition of high quality ceramic capacitance will help with noise issues.
SENSE RESISTOR + - is the top of the sense resistor for
sensing the bridge current and closing the loop. The bottom
of the sense resistor is RTN. All RSENSE A and RSENSE B
pins should be connected to this point, with connectios being
as short as possible.
OUTPUT A, OUTPUT B- 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 gound from these pins must be avoided
or the bridge will be destroyed.
DIS - is a pin for externally disabling the output bridge. A TTL
logic low will enable the bridge and a TTL high will disable it.
It is internally pulled up by a 100µAmp pull-up.
RSENSE A, RSENSE B - are the power pins for the bottom
of the bridge. Both of these pins are to be connected to sense
resistor +, with connections being as short as possible.
CURRENT COMMAND (+,-) - are differential inputs for controlling the module in current mode. Scaled at 1 amp per volt
of input command, the bipolar input allows both forward and
reverse current control capability regardless of motor direction. The maximum operational command voltage should be
±5 volts for ±5 amps of motor current. Going beyond 5
volts of command voltage will force the bridge to conduct
more than the desired maximum current. There is internal
current limiting that will ultimately limit the absolute maximum
current being output by the bridge. The input impedance is
approximately 3.75KΩ for each pin.
RTN - is the power return connection from the module to the
bus. All internal ground returns connect to this point inside
the hybrid. All capacitors from the V+ bus should connect to
this point as close as possible. All external V+ return connections should be made as close to these pins as possible.
Wiring sizing to this pin should be made according to the
required current.
IN
GND - is the return point for the low powered circuitry inside
the hybrid. All GND pins should be tied together. All capacitors for bypassing the + and -15V supplies should be tied at
this point, as close to the pins as possible. Any ground plane
connections for low powered and analog citcuitry outside the
hybrid should be tied to this point.
CURRENT MONITOR - is a pin providing a current viewing
signal for external monitoring purposes. This is scaled at ±1
amp of motor current per volt output, up to a maximum of ±5
volts, or ±5 amps. Going beyond the 5 volt maximum may
result in clipping of the waveform peaks.
E/A OUT - is the current loop error amplifier output. It is
brought out for allowing various loop compensation circuits
to be connected between this and E/A-.
+15VIN - is the input for applying +15 volts to run the low
power section of the hybrid. Both pins should be used together for optimum operation. These pins should be bypassed
with a 10µF capacitor and a 0.1µF capacitor as close to these
pins as possible.
E/A- - is the current loop error amplifier inverting input. It is
brought out for allowing various loop compensation circuits
to be connected between this and E/A OUT.
-15VIN - is the input for applying -15 volts to run the low
power section of the hybrid. Both pins should be used together for optimum operation. These pins should be bypassed
with a 10µF capacitor and a 0.1µF capacitor as close to these
pins as possible.
3
PRELIMINARY
Rev. - 2/05
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.
±15VIN FILTER CAPACITORS
It is recommended that about 10 µF of capacitance (tantalum electrolytic) for bypassing the + and -15V inputs be placed as close
to the module pins as practical. Adding ceramic bypass capacitors of about 0.1 µF or 1 µF will aid in suppressing noise transients.
GENERAL LAYOUT
Good PC layout techniques are important. Ground planes for the analog circuitry must be used and should be tied back to the
small signal grounds, pins 9 and 10. The high power grounds (RTN) pins 17 and 18 get tied back to the small signal ground
internally. DO NOT connect these grounds externally. A ground loop will result.
LOW POWER STARTUP
When starting up a system utilizing the MSK 4253 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 +9 volts positive peak,
or -9 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. For
compensation calculations, refer to the block diagram for all information to determine the amplifier gain for loop gain calculations.
For the power up sequence, ±15 volts should be powered at the same time or before the V+ voltage is applied.
4
PRELIMINARY
Rev. - 2/05
MSK4253 TEST CIRCUIT
5
PRELIMINARY
Rev. - 2/05
MECHANICAL SPECIFICATIONS
WEIGHT= 21 GRAMS TYPICAL
NOTE: ALL DIMENSIONS ARE ±0.010 INCHES UNLESS OTHERWISE LABELED.
ESD Triangle indicates Pin 1.
ORDERING INFORMATION
Part
Number
MSK4253
MSK4253E
MSK4253H
Screening Level
Industrial
Extended Reliability
Mil-PRF-38534 Class H
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.
6
PRELIMINARY
Rev. - 2/05