ISO 9001 CERTIFIED BY DSCC
M.S.KENNEDY CORP.
5 AMP, 55V, 3 PHASE
MOSFET BRUSHLESS
MOTOR CONTROLLER
4707 Dey Road Liverpool, N.Y. 13088
4364
(315) 701-6751
FEATURES:
55 Volt Motor Supply Voltage
5 Amp Output Switch Capability
100% Duty Cycle High Side Conduction Capable
Shoot-Through/Cross Conduction Protection
Hall Sensing and Commutation Circuitry on Board
"Real" Four Quadrant Torque Control Capability
Good Accuracy Around the Null Torque Point
Isolated Design for High Voltage Isolation Plus Good Thermal Transfer
60°/ 120º Phasing Selectable
MIL-PRF-38534 QUALIFIED
DESCRIPTION:
The MSK 4364 is a complete 3 Phase MOSFET Bridge Brushless 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, 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 MSK 4364 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
1
Rev. A 1/02
ABSOLUTE MAXIMUM RATINGS
V+ High Voltage Supply
VIN
Current Command Input
+Vcc
-Vcc
IOUT
Continuous Output Current
IPK
Peak Output Current
θJC
Thermal Resistance @ 25°C
(Junction To Case)
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TST Storage Temperature Range
TLD Lead Temperature Range
(10 Seconds)
TC Case Operating Temperature
TJ Junction Temperature
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55V
±13.5V
+16V
-18V
5A
10A
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-65°C to +150°C
+300°C
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-55°C to +125°C
+150°C
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11°C/W
ELECTRICAL SPECIFICATIONS
All Ratings: Tc=+25°C Unless Otherwise Specified
Parameter
Group A
Subgroup
MSK 4364H/E 3
MSK 4364
2
4 5
Min.
Typ.
Max.
Min.
Typ.
Max.
@ +15V
1,2,3
-
60
85
-
60
85
mA
@ -15V
1,2,3
-
30
40
-
30
40
mA
Test Conditions
Units
POWER SUPPLY REQUIREMENTS
+Vcc
-Vcc
PWM
4
21
22
23
20
22
24
KHz
5,6
18.7
-
25.3
-
-
-
KHz
±5 Amps Output
4,5,6
0.95
1
1.05
0.9
1
1.1
Amp/Volt
±5 Amps Output
4,5,6
0.9
1
1.1
0.9
1
1.1
V/Amp
4
-
±5.0
±25.0
-
±5.0
±35.0
mAmp
5,6
-
-
±50.0
-
-
-
mAmp
Free Running Frequency
CONTROL
Transconductance
7
Current Monitor 7
Output Offset
@ 0 Volts Command
HALL INPUTS
Low Level Input Voltage 1
-
-
-
0.8
-
-
0.8
Volts
High Level Input Voltage 1
-
3.0
-
-
3.0
-
-
Volts
-
±11
±12
-
±11
±12
-
Volts
-
6.5
8
-
6.5
8
-
V/µSec
Volts
ERROR AMP
Input Voltage Range 1
1
Slew Rate
-
±12
±13
-
±12
±13
-
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
-
-
-
750
-
-
750
µAmps
Output Voltage Swing
Gain Bandwidth Product
1
OUTPUT
Fall Time
Leakage Current 1
@ 44V, +150°C Junction
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 @ 5 Amps, +150°C Junction
-
-
-
1.2
-
-
1.2
Volts
@ 5 Amps, 150°C Junction
-
-
-
.100
-
-
.100
Ω
@ 5 Amps, Each FET
-
-
-
1.6
-
-
1.6
Volts
IF=5 Amps, di/dt=100A/µS
-
-
280
-
-
280
-
nSec
-
-
2
-
-
2
-
µSec
Drain-Source On Resistance (Each MOSFET) 6
Diode VSD 1
trr 1
@ 5 Amps
Dead Time 1
NOTES:
1
2
3
4
5
6
7
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.
2
Rev. A
1/02
APPLICATION NOTES
MSK 4364 PIN DESCRIPTIONS
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 can reflect a 120/240 degree commutation or a 60/
300 degree scheme.
V+ - are the power connections from the hybrid to the bus.
All three pins for the motor voltage supply should be connected together to share the current through the three 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. 470µF is recommended.
Capacitors should be placed as close to these pins as practical.
BRAKE - is a pin for commanding the output bridge into a
motor BRAKE mode. When pulled low, normal operation proceeds. When pulled high, the three high side bridge transistors turn off and the three low side transistors turn fully on
without PWM'ing. This will cause rapid deceleration of the
motor and will cease motor operation until pulled high again.
Logic levels for this input are TTL compatible. It is internally
pulled high.
AØ, BØ & CØ- 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. All three pins for each phase should be
connected together to share the current through the three
pins in the hybrid.
60/120 - is a pin for selecting the orientation scheme of the
motor. A high state will produce 60/300 degree commutation, whereas a low state will produce 120/240 degree commutation. Logic levels for this input are TTL compatible. It is
internally pulled high.
RTN - is the power return connection from the module to the
bus. All internal ground returns connect to this point inside
the hybrid. All three pins should be connected together to
share the current. 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.
CURRENT COMMAND (+) - is the input 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 commutation
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.
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.
+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 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-.
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
Rev. A 1/02
APPLICATION NOTES CONTINUED
COMMUTATION TRUTH TABLE
HALL SENSOR PHASING
120°
ICOMMAND = POS.
60°
BRAKE
HALL HALL HALL HALL HALL HALL
A
B
C
A
B
C
1
0
X
ICOMMAND = NEG.
AØ
BØ
CØ
AØ
BØ
CØ
1
0
0
1
0
0
H
-
L
L
-
H
0
1
1
0
1
1
0
-
H
L
-
L
H
0
0
1
0
1
1
1
L
H
-
H
L
-
0
0
1
1
0
1
1
L
-
H
H
-
L
0
0
0
1
0
0
1
-
L
H
-
H
L
0
1
0
1
0
0
0
H
L
-
L
H
-
0
1
1
1
1
0
1
-
-
-
-
-
-
0
0
0
0
0
1
0
-
-
-
-
-
-
0
X
X
X
X
X
X
L
L
L
L
L
L
1
= High Level
= Low Level
= Don't Care
H
L
-
= SOURCE
= SINK
= OPEN
NOTE:
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.
4
Rev. A 1/02
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 11 and 13. The high power grounds (RTN) pins 19 and 20 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 4364 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 +4 volts positive
peak, or -4 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.
5
Rev. A 1/02
MSK4364 TEST CIRCUIT
6
Rev. A 1/02
MECHANICAL SPECIFICATIONS
NOTE: ALL DIMENSIONS ARE ±.010 INCHES UNLESS OTHERWISE LABELED.
ORDERING INFORMATION
MSK4364 H
SCREENING
BLANK = INDUSTRIAL; E = EXTENDED RELIABILITY;
H = CLASS H
GENERAL PART NUMBER
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.
7
Rev. A 1/02