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| ISO 9001 CERTIFIED BY DSCC M.S.KENNEDY CORP. 4707 Dey Road Liverpool, N.Y. 13088 30 AMP, 75V, H-BRIDGE MOSFET BRUSHED MOTOR CONTROLLER 4252 (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 "Real" Four Quadrant Torque Control Capability Good Accuracy Around the Null Torque Point MIL-PRF-38534 CERTIFIED DESCRIPTION: The MSK 4252 is a complete H-bridge MOSFET Brushed Motor Control System in an electrically 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, 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 4252 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 8 -40C to +125C -55C to +125C +150C ELECTRICAL SPECIFICATIONS All Ratings: Tc=+25C Unless Otherwise Specified Parameter POWER SUPPLY REQUIREMENTS +Vcc -Vcc PWM Free Running Frequency CONTROL Transconductance Current Monitor 7 Output Offset ERROR AMP Input Voltage Range 1 Slew Rate 1 Output Voltage Swing 1 Gain Bandwidth Product 1 Large Signal Voltage Gain 1 OUTPUT Rise Time 1 Fall Time 1 1 @ 64V, +150C Junction @ 30 Amps @30Amps, +150C Junction @ 30 Amps, 150C Junction @ 30 Amps, Each FET IF=30 Amps, di/dt=100A/S 1 100 100 280 2 750 1 1.83 0.026 2.6 100 100 280 2 750 0.3 0.6 0.026 2.6 nSec nSec Amps Volts Volts Volts nSec Sec 11 6.5 12 175 12 8 13 6.5 275 11 6.5 12 175 12 8 13 6.5 275 Volts V/Sec Volts MHz V/mV 7 30 Amps Output 30 Amps Output @ 0 Volts Command 4,5,6 4,5,6 4 5,6 2.7 0.28 3 0.33 5.0 3.3 0.38 25.0 50.0 2.4 0.26 3 0.33 5.0 3.6 0.40 35.0 Amp/Volt V/Amp mAmp mAmp 4,5,6 23.5 25 26.5 22 25 28 KHz @ +15V @ -15V 1,2,3 1,2,3 60 16 85 35 60 16 85 35 mA mA Test Conditions Group A Subgroup MSK 4252H/E 3 Min. Typ. Max. Min. MSK 4252 Typ. 2 Max. 45 Leakage Current Voltage Drop Across Bridge (1 Upper and 1 Lower) 1 Voltage Drop Across Bridge (1 Upper and 1 Lower) 1 Drain-Source On Resistance (Each MOSFET) 6 Diode VSD 1 trr 1 Dead Time NOTES: 1 2 3 4 5 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 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 6 7 8 75V 13.5V +16V -18V 30A 50A JC Thermal Resistance @ 125C TST Storage Temperature Range TLD Lead Temperature Range (10 Seconds) TC Case Operating Temperature MSK4252 MSK4252H/E TJ Junction Temperature 1.5C/W -65C to +150C +300C Units APPLICATION NOTES MSK 4252 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. 470F 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. 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. 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 100Amp pull-up. 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. 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 direction. The maximum operational command voltage should be 10 volts for 30 amps of motor current. Going beyond 10 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 3.75K for each pin. 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. IN 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. Going beyond the 10 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 10F capacitor and a 0.1F 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-. -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 10F capacitor and a 0.1F 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. 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 F 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 F or 1 F 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 10 and 11. The high power ground (RTN) pin 18 gets 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 4252 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 MSK4252 TEST CIRCUIT 5 PRELIMINARY Rev. - 2/05 MECHANICAL SPECIFICATIONS WEIGHT= TBD GRAMS TYPICAL NOTE: ALL DIMENSIONS ARE 0.010 INCHES UNLESS OTHERWISE LABELED. ESD Triangle indicates Pin 1. ORDERING INFORMATION Part Number MSK4252 MSK4252E MSK4252H 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 |
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