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ISO 9001 CERTIFIED BY DSCC
M.S.KENNEDY CORP.
4707 Dey Road Liverpool, N.Y. 13088
30 AMP, 75V, 3 PHASE MOSFET BRUSHLESS MOTOR CONTROLLER
4361
(315) 701-6751
FEATURES:
75 Volt Motor Supply Voltage 30 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 Package Design for High Voltage Isolation Plus Good Thermal Transfer 60/ 120 Phasing Selectable
MIL-PRF-38534 CERTIFIED
DESCRIPTION:
The MSK 4361 is a complete 3 Phase MOSFET Bridge Brushless Motor Control System in a convenient isolated hermetic package. The hybrid is capable of 30 amps of output current and 75 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 4361 has good thermal conductivity of the MOSFET's due to isolated package design that allows direct heat sinking of the hybrid without insulators.
BLOCK DIAGRAM
TYPICAL APPLICATIONS
3 Phase Brushless DC Motor Control Servo Control Fin Actuator Control Gimbal Control AZ-EL Control
1 2 3 4 5 6 7 8 9 10 11 12 REFOUT HALL A HALL B HALL C 60 /120 BRAKE CLOCK SYNC DIS GND NC NC E/A OUT 1
PIN-OUT INFORMATION
13 14 15 16 17 18 19 20 21 22 23 24 E/A GND +Current Command -Current Command +15 VIN Current Monitor Out -15 VIN NC NC NC GND NC 25 N/C 26 LGND 27 RTN 28 RTN 29 CVS 30 CVS 31 CO 32 CO 33 CV+ 34 BVS 35 BVS 36 BO 37 38 39 40 41 42 43 BO BV+ AVS AVS AO AO AV+
Rev. E 2/05
ABSOLUTE MAXIMUM RATINGS

7
-65C to +150C +300C

-55C to +125C -40C to +125C +150C

ELECTRICAL SPECIFICATIONS
Parameter
INPUT CURRENT +15 VIN -15 VIN PWM Clock Free Running Frequency CLOCK SYNC INPUT VIL 1 VIH 1 Duty Cycle 1 SYNC Frequency 1 REFERENCE REFOUT LOGIC INPUTS (Hall A,B,C,Brake,60/120,DIS) VIL 1 VIH 1 ANALOG SECTION Current Command Input Range 1 Current Command Input Current 1 Transconductance Offset Current Current Monitor 6 1 5mA Load 5mA Load 1 1 6 Output PWM'ing Current Command=0 Volts
Test Conditions
Group A Subgroup 1 1 4 5,6 -
MSK 4361H/E 3 Min. 21 18.7 12.5 10 Clock +0 5.82 Typ. 68 30 22 22 Max. 85 40 23 25.3 Min. 20 -
MSK 4361 2 Typ. 68 30 22 Max. 85 40 24 Units
2.5 12.5 10 90 Clock +3 Clock +0 6.57 5.82
2.5 VOLTS VOLTS 90 % Clock +3 KHz 6.57 VOLTS
15mA Load
1,2,3
4 5,6 1 2,3 4 5,6 -
3.0 -13.5 2.70 2.55 -25 -50 0.300 0.280 -12 -12 6.5 175 -
3 3 0 0 0.33 0.33 8 6.5 275 280 2
0.8 +13.5 1.5 3.30 3.45 25 50 0.367 0.380 +12 +12 1 1.83 750 2.6 -
3.0 -13.5 2.55 -50 0.280 -12 -12 6.5 175 -
3 0 0.33 8 6.5 275 280 2
0.8 -
Current Command=0 Volts
Current Monitor Voltage Swing ERROR AMP E/A OUT Swing 1 Slew Rate 1 Gain Bandwidth Product Large Signal Voltage Gain OUTPUT SECTION
+13.5 VOLTS 1.5 mA 3.45 A/V A/V 50 mA mA 0.380 V/A V/A +12 VOLTS +12 1 1.83 750 2.6 VOLTS V/Sec MHz V/mV VOLTS VOLTS A VOLTS nSec Sec
30 AMPS Voltage Drop Across Bridge (1 Upper & 1 Lower) 30 AMPS @ 150c Junction Voltage Drop Across Bridge (1 Upper & 1 Lower) All switches off, V+=60V, 150C Junction Leakage Current 1 Diode VSD trr 1 Dead Time 1 1
NOTES:
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 = +25C 2, 5 TA = TC =+125C 3, 6 TA = TC = -55C 6 Measurements do not include offset current at 0V current command. 7 Continuous operation at or above absolute maximum ratings may adversly effect the device performance and/or life cycle. 1 2 3 4 5
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Rev. E 2/05

High Voltage Supply Current Command Input Logic Inputs REFOUT External Load E/A OUT External Load Clock SYNC Input Continuous Output Current Peak Output Current

75V 13.5V -0.2V to REFOUT 15 mA 5 mA -0.2V to +15V 30 Amps 41 Amps
RJC Thermal Resistance @ 125C (Output Switches) TST Storage Temperature Range TLD Lead Temperature Range (10 Seconds) TC Case Operating Temperature MSK4361H/E MSK4361 TJ Junction Temperature
1.5C/W
mA mA KHz KHz
VOLTS VOLTS
APPLICATION NOTES MSK 4361 PIN DESCRIPTIONS
AV+, BV+, CV+ - are the power connections from the hybrid to the bus. The pins for each phase are brought out separately and must be connected together to the V+ source externally. The external wiring to these pins should be sized according to the RMS current required by the motor. These pins 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 F of ceramic capacitance and 6200 F of bulk capacitance was used in the test circuit. The voltage range on these pins is from 16 volts up to 75 volts. AO, BO & CO- 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. AVS, BVS, CVS - are the return pins on the bottom of each half bridge. They are brought out separately and should be connected together externally to allow the current from each half bridge to flow through the sense resistor. The wiring on these pins should be sized according to the current requirements of the motor. 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. LGND - is an isolated ground connection to the RTN pin of the hybrid that is connected internally. For any circuitry that needs to be connected to the RTN pin without the influence of current flow through RTN should be connected at this point. GND - is a ground pin that connects to the ground plane for all low powered circuitry inside the hybrid. +15 VIN - is the input for applying +15 volts to run the low power section of the hybrid. This pin should be bypassed with a 10 F capacitor and a 0.1 F capacitor as close to this pin as possible. -15 VIN - is the input for applying -15 volts to run the low power section of the hybrid. This pin should be bypassed with a 10 F capacitor and a 0.1 F capacitor as close to this pin as possible. CURRENT COMMAND (+,-) - are differential inputs for controlling the module in current mode. Scaled at 3 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 10 volts for 30 amps of motor current. CURRENT MONITOR- is a pin providing a current viewing signal for external monitoring purposes. This is scaled at 3 amps of motor current per volt output, up to a maximum of 10 volts, or 30 amps. As 30 amps is exceeded, the peaks of the waveform may become clipped as the rails of the amplifiers are reached. This voltage is typically 12.5 volts, equating to 37 amps of current peaks. 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. CLOCK SYNC- is an input for synchronizing to an external clock. The sync circuit will trigger on the edges of the applied clock and effectively shorten the period of the internal oscillator on each cycle. The frequency can be increased from a free running 22 KHz to 25 KHz maximum. The clock applied shall be 15 volts amplitude with at least a 10% duty cycle. REFOUT - is a 6.25 volt regulated output to be used for powering the hall devices in various motors. Up to 15 mA of output current is available. 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 scheme or a 60/300 degree scheme. BRAKE - is a pin for commanding the output bridge into a motor BRAKE mode. When pulled low, normal operation commences. When pulled high, the 3 high side bridge switches turn on, causing 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.
IN
DIS - 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 up by a 100Amp pullup. 60/120 - is a pin for selecting the orientation of the commutation 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.
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Rev. E 2/05
APPLICATION NOTES CONTINUED
COMMUTATION TRUTH TABLE HALL SENSOR PHASING 120 60 ICOMMAND = POS. ICOMMAND = NEG. BRAKE
HALL HALL HALL HALL HALL HALL A B C A B C 1 1 0 0 0 1 1 0 X 0 1 1 1 0 0 1 0 X 0 0 0 1 1 1 1 0 X 1 1 1 0 0 0 1 0 X 0 1 1 1 0 0 0 1 X 0 0 1 1 1 0 1 0 X
AO H L L H L
BO H H L L L
CO L L H H L
AO L H H L L
BO L L H H L
CO H H L L L 0 0 0 0 0 0 0 0 1
1 0 X
= 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.
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Rev. E 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.
GENERAL LAYOUT Good PC layout techniques are a must. Ground planes for the analog circuitry must be used and should be tied back to the small pin grounds 9, 14 and 23. Additional ground, pin 26 is an isolated ground that connects internally directly back to the main DC bus ground pin 27. This can be used as necessary for voltage sensing, etc.
LOW POWER STARTUP When starting up a system utilizing the MSK 4361 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. For compensation calculations, refer to the block diagram for all information to determine the amplifier gain for loop gain calculations.
5
Rev. E 2/05
MSK4361 TEST CIRCUIT
6
Rev. E 2/05
MECHANICAL SPECIFICATIONS
WEIGHT = 88 GRAMS TYPICAL NOTE: ALL DIMENSIONS ARE 0.010 INCHES UNLESS OTHERWISE LABELED. ESD Triangle Indicates Pin 1.
ORDERING INFORMATION
MSK4361 H U
LEAD CONFIGURATION 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.
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Rev. E 2/05

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