10 AMP, 38V, 3 PHASE MOSFET DC BRUSHLESS DIGITAL MOTOR CONTROLLER

Transcription

1 MIL-PRF AND CERTIFIED FACILITY AMP, 38V, 3 PHASE MOSFET DC BRUSHLESS 4366 DIGITAL MOTOR CONTROLLER M.S.KENNEDY CORP. FEATURES: 38 Volt Maximum Operating Motor Supply Voltage 55 Volt Absolute Maximum Output Stage Rating Amp Continuous Output Switch Capability % Duty Cycle High Side Conduction Capable Shoot-Through/Cross Conduction Protection Hall Sensing and Digital Commutation Circuitry on Board Locked Anti-Phase Full Complimentary Digital PWM Full Four Quadrant Torque Control Capability Good Accuracy Around Zero Torque CAN Bus Digital Communication Field Programmable Control Parameters Through CAN Stored in EEPROM Isolated Package Design for High Voltage Isolation Plus Good Thermal Transfer Contact MSK for MIL-PRF Qualification Status DESCRIPTION: The MSK4366 is a non-isolated, completely digitally controlled 3 Phase Brushless DC Motor Control Torque Amplifier in a convenient isolated hermetic package. The controller is capable of amps continuous output current with 55V absolute maximum rated MOSFETs, allowing a 38V maximum motor supply voltage. Bridge protection is included. The digital signal processor controls the hall sensing, commutation, current sensing and PWM control for a complete closed loop, current mode torque amplifier. The PWM scheme used by the processor is "Locked Anti-Phase Full Complementary" digital PWM. This provides full four quadrant control of the motor around zero torque without losing loop control. The MSK4366 has good thermal conductivity for MOSFET power dissipation due to the isolated package design that allows direct heat sinking of the device without insulators. BLOCK DIAGRAM PIN-OUT INFORMATION V +5V GND CANL CANH GND CAN RESET HALLA HALLB HALLC RESET GND CV- CØ CV+ BV BØ BV+ AV- AØ AV+ RTN RSENSE Rev. A 4/4

2 ABSOLUTE MAXIMUM RATING 6 +V +VDD High Voltage Supply 7-3V transient to + 55V Low Voltage Supply -.3V to +5.5V Voltage on any logic, analog input pin with respect to GND -.3V to + VDD +.3V Continuous Output Current A Peak Output Current (dissipation limited) 6A RØJC TST TLD TJMAX TC CANH,CANL Thermal Resistance Storage Temperature Range 8 Lead Temperature Range Seco nds Output Switches Case Operating Temperature -42V to 42V.4 C/W -65 C to 5 C +3 C +5 C -4 C to +85 C ELECTRICAL SPECIFICATIONS 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 subgroup and 4 unless otherwise specified. Military grade devices ( H suffix) shall be % tested to subgroups,2,3 and 4. Subgroups 5 and 6 testing available upon request. Subgroups,4 TA=TC=25 C 2,5 TA=TC=85 C 3,6 TA=TC=-4 C Continuous operation at or above absolute maximum ratings may adversely effect the device performance and/or life cycle. When applying power to the device, apply the low voltage followed by the high voltage or alternatively, apply both at the same time. Internal solder reflow temperature is 8 C, do not exceed Rev. A 4/4

3 APPLICATION NOTES MSK 4366 PIN DESCRIPTIONS HALL A - is the Hall A sensor input from the motor to allow commutation of the output phases. This input has a 5KΩ pull-up resistor to +VDD for typical open-collector Hall sensor outputs. It is also filtered with a.uf capacitor to ground. HALL B - is the Hall B sensor input from the motor to allow commutation of the output phases. This input has a 5KΩ pull-up resistor to +VDD for typical open collector Hall sensor outputs. It is also filtered with a.uf capacitor to ground. HALL C - is the Hall C sensor input from the motor to allow commutation of the output phases. This input has a 5KΩ pull-up resistor to +VDD for typical open-collector Hall sensor outputs. It is also filtered with a.uf capacitor to ground. +5V - is the main low level digital power for running everything inside the hybrid, exclusive of the motor supply voltage. This supply powers the microprocessor and all its support circuitry, as well as provides the boost converter power for running the gate drive. GND - is the ground return for the low level digital power. All microprocessor / support circuitry and gate driver currents return to this point. For PC board layouts, there should be two ground planes.one ground plane is for the bypass capacitors and components that assist in making a clean low level voltage supply. Digital control inputs should have their returns connected to this ground. The second ground plane is the main high power ground used to drive the motor. That ground plane will contain all the large bypass capacitors for the output stage and the high power main motor supply. Both ground planes should be connected together at one point; that connection point should be at this pin. This connection width should be in the range of." to.5", with a separation between grounds not to exceed.25". If the grounds are on separate PC layers, then the grounds can overlap without a problem. However, a large current conducting via connecting the two layers together should be placed as close to this GND pin as practical. A PHASE - is one of three phase power output pins to the motor. Traces from this pin should be sized for amps current. B PHASE - is one of three phase power output pins to the motor. Traces from this pin should be sized for amps current. C PHASE - is one of three phase power output pins to the motor. Traces from this pin should be sized for amps current. +AV - is the A phase leg motor supply voltage pin. All V+ pins shall be connected together on the PC board. Traces should be sized for amps current to this pin. Motor supply voltage shall be bypassed with a high quality uf electrolytic capacitor, a uf high quality ceramic capacitor and a high quality 6.8uF metalized polyester capacitor. These capacitors shall be placed as close to the V+pins and RTN pins as practical to minimize stray inductance between the pins and the capacitors. All V+ pins shall be connected together on the PC board. Ideally, some sort of power plane should be used to help reduce stray inductance throughout all the V+ connections to the capacitors. +BV - is the B phase leg motor supply voltage pin. All V+ pins shall be connected together on the PC board. Traces should be sized for amps current to this pin. Motor supply voltage shall be bypassed with a high quality uf electrolytic capacitor, a uf high quality ceramic capacitor and a high quality 6.8uF metalized polyester capacitor. These capacitors shall be placed as close to the V+pins and RTN pin as practical to minimize stray inductance between the pins and the capacitors. All V+ pins shall be connected together on the PC board. Ideally, some sort of power plane should be used to help reduce stray inductance throughout all the V+ connections to the capacitors. +CV - is the C phase leg motor supply voltage pin. All V+ pins shall be connected together on the PC board. Traces should be sized for amps current to this pin. Motor supply voltage shall be bypassed with a high quality uf electrolytic capacitor, a uf high quality ceramic capacitor and a high quality 6.8uF metalized polyester capacitor. These capacitors shall be placed as close to the V+pins and RTN pin as practical to minimize stray inductance between the pins and the capacitors. All V+ pins shall be connected together on the PC board. Ideally, some sort of power plane should be used to help reduce stray inductance throughout all the V+ connections to the capacitors. A RTN - is the power ground return for the A phase high current path for the motor output. This pin should be connected directly to the RSENSE pin to allow for proper current sensing. B RTN - is the power ground return for the B phase high current path for the motor output. This pin should be connected directly to the RSENSE pin to allow for proper current sensing. C RTN - is the power ground return for the C phase high current path for the motor output. This pin should be connected directly to the RSENSE pin to allow for proper current sensing. RESET - is an asserted low, digital logic input for manually resetting the microprocessor. Activating the pin will halt PWM output and reset program control. The microprocessor will begin operation in exactly the same manner as a cold start from power up. This function is intended to be used as an aid to system development. It is pulled up to +5V by a KΩ resistor internally. CAN H - is one of two pins for communicating on the CAN bus. This pin shall be connected to the associated CAN H node on the host bus. CAN L - is the second of two pins for communicating on the CAN bus. This pin shall be connected to the associated CAN L node on the host bus. CAN RESET - is an asserted low, digital logic input for manually resetting the CAN module. Activating this pin will cause the module to be de-activated, reset to M bit/sec speed and re-activated upon release. This pin shall be externally up to +5V via a KΩ resistor. RSENSE - is the pin used for current sensing. The A RTN, B RTN, C RTN pins should all be connected directly to this pin in order to allow proper current sensing. This pin is connected to one side of the current sense resistor while the RTN pin is connected to the other site. RTN - is the power ground return. All low power ground returns should be through the GND pin. Traces should be sized for amps current to this pin. The motor supply bypass capacitors shall be connected to this point as close as practical to minimize stray inductance between these pins and the capacitors. A power ground plane shall be used between this pin and the capacitors to help reduce stray inductance. This power ground plane shall be connected to the low power GND plane only at one point the GND pin. Follow the guidelines explained with GND for details on this connection Rev. A 4/4

4 MSK 4366 CAN COMMAND SET SUMMARY General Error Responses: xfff = Invalid Data for Command Sent xfff = Invalid Data Length for Command Sent xfff2 = Unrecognized Command Tag xfff3 = Overflow Error; Command not processed Get Status Requests status of controller. Send Contents: Command Tag only [ word]. Command Tag: x Response Contents: Response Tag followed by 8 bits of data[2words]. Response Tag: x Data: x Running Mode x2 Brake Mode x3 Disable Mode Description: Will request status information from the controller. Status will indicate if control is in running mode, brake mode, or disable mode. Default Data Value: N/A Set Disable Mode Commands controller to halt all PWM activity to the output bridge. Bridge is then inactive. Send Contents: Command Tag only [ words]. Command Tag: x2 Response Contents: Response Tag only [ word]. Response Tag: x3 Description: Commands the controller to disable the output bridge completely by shutting off all PWM modulation and all levels necessary to turn off all of the transistors. With the bridge now inactive, the motor can move freely. This does not reset command or PID history so motor will resume as last commanded when it is enabled. Default Data Value: Bridge is disabled by default. Set Enable Mode Commands controller to enable all PWM activity to the output bridge. Bridge is then active. Send Contents: Command Tag only [ words]. Command Tag: x4 Response Contents: Response Tag only [ word]. Response Tag: x5 Description: Commands the controller to enable the output bridge. This will only have an effect if it is in disable mode or brake mode. The motor will resume normal control and move as previously commanded. Default Data Value: N/A Set Torque Proportional Value Commands controller to receive torque proportional gain value. Send Contents: Command Tag followed by 6 bits of data [3 words]. Command Tag: x6 Data: x x7fff Response Contents: Response Tag only [ word]. Response Tag: x7 Description: Commands the controller to receive the torque proportional gain factor for programming the compensation values for the torque control digital error loop. Valid values are An input gain of (zero) means that there will be no proportional gain at all, and that the torque error will go directly to the duty cycle control. A value of would equal the maximum possible gain. The value is stored in nonvolatile memory and does not have to be re-introduced every time the device is powered up. Default Data Value: xccc Rev. A 4/4

5 Set Torque Integral Value Commands controller to receive torque integral gain value. Send Contents: Command Tag followed by 6 bits of data [3 words]. Command Tag: x8 Data: x x7fff Response Contents: Response Tag only [ word]. Response Tag: x9 Description: Commands the controller to receive the torque integral gain factor for programming the compensation values for the torque control digital error loop. Valid values are An input gain of (zero) means that there will be no integral gain at all, and that the torque error loop will contain proportional gain only, if proportional gain has been programmed in. A value of would equal the maximum possible gain. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up. Default Data Value: x3e8 Set Current Command Commands controller to set current direction and magnitude. Send Contents: Command Tag followed by 6 bits of data [3 words]. Command Tag: xa Data: xfe5 - xaf. 2 s compliment format. Response Contents: Response Tag only [ word]. Response Tag: xb Description: Commands the controller to receive the magnitude and direction of the torque. The command range will allow for a command of +/- 43, which correspond to +/-4A RMS. Note that if at any point the measured current is higher than +/-4A, the bridge will be disabled on a cycle by cycle basis. Default Data Value: x Get Measured Current Get current measurement from controller. Send Contents: Command Tag only [ word]. Command Tag: xc Response Contents: Response Tag followed by 6 bits of data [3 words]. Response Tag: xd Data: xfe5 xaf. 2 s compliment format. Description: Commands the controller to send the average of the last 2 measured current values, where the current is measured every PWM duty cycle. This value should fall between +/-4A or +/-43. Note that if at any point the measured current is higher than +/-4A, the bridge will be disabled on a cycle by cycle basis. Default Data Value: N/A Set Brake Mode Commands controller to receive Brake command. Send Contents: Command tag followed by 8 bits of data [2 words]. Command Tag: x2 Data: x xff Response Content: Response Tag only [ word]. Response Tag: x2 Description Commands the controller to begin applying PWM brake signals to the output bridge and to reset the command and PID history to. This is dissipative braking only, using the internal resistance of the motor windings and Back EMF to slow down the motor and apply braking resistance to the shaft. Braking is achieved by turning on the bottom transistors of the bridge, regardless of shaft angle of the motor, and using the shorting of the Back EMF voltage through the resistance of the motor windings essentially shorting all windings together. However, this can be harsh if not applied in a controlled way. Control is achieved by implementing PWM modulation of the low side transistors. Increasing the duty cycle will increase the amount of time each cycle that the windings are shorted together. An 8-bit word is sent to the controller telling how long the ramp time is for increasing the duty cycle, with each bit being equal to about 7.8ms. A data value of would have a ramp time of 7.8ms and the full data value of 255 would be have a 2 second ramp time. Default Data Value: N/A Rev. A 4/4

6 Set CAN Mask - Sets the mask bits for the CAN module. For filtering CAN messages. Send Contents: Command Tag followed by 4 bits of data. Data = First 6 represent the SID bits. The upper 5 bits are ignored. The remaining 24 bits represent the EID. The upper 6 bits are ignored. When used with an EID, the SID bits and EID bits are combined with the SID bits being most significant [6 words]. Command Tag: x22 Data: x xff FFFF FFFF Response Contents: Response Tag only [ word]. Response Tag: x23 Description: The CAN Mask works with the CAN Filter and 2 in order to decide which messages are meant to be accepted by the controller. If a given mask bit is set, the corresponding bit in the filter will be used to filter messages. If it is not set, the corresponding bit in the filter will be ignored. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up. Mask Bit n Filter Bit n x Message Identifiere bit x or Reject bit n Reject Reject Default Data Value: x Set CAN Filter - Sets the filter bits for the CAN module. For filtering CAN messages. Send Contents: Command Tag followed by 4 bits of data. Data = First 6 represent the SID bits. The upper 5 bits are ignored. The remaining 24 bits represent the EID. The upper 6 bits are ignored. When used with an EID, the SID bits and EID bits are combined with the SID bits being most significant [6 words]. Command Tag: x24 Data: xff FFFF FFFF Response Contents: Response Tag only [ word]. Response Tag = x25 Description: The CAN Filter works with the CAN mask in order to decide which messages are meant to be read by the controller. If a given mask bit is set, the corresponding bit in the filter will be used to filter messages. If it is not set, the corresponding bit in the filter will be ignored. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up. Mask Bit n Filter Bit n x Message Identifiere bit x or Reject bit n Reject Reject Default Data Value: xff FFFF FFFF Set CAN Filter 2 - Sets the filter 2 bits for the CAN module. For filtering CAN messages. Send Contents: Command Tag followed by 4 bits of data. Data = First 6 represent the SID bits. The upper 5 bits are ignored. The remaining 24 bits represent the EID. The upper 6 bits are ignored. When used with an EID, the SID bits and EID bits are combined with the SID bits being most significant [6 words]. Command Tag: x26 Data: x xff FFFF FFFF Response Contents: Response Tag only [ word]. Response Tag = x27 Description: The CAN Filter works with the CAN mask in order to decide which messages are meant to be read by the controller. If a given mask bit is set, the corresponding bit in the filter will be used to filter messages. If it is not set, the corresponding bit in the filter will be ignored. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up. Default Data Value: xff FFFF FFFF Rev. A 4/4

7 Set CAN Baud Rate - Allows you to change what speed you want the CAN Bus to operate at. The default is Mbps. Send Contents: Command tag followed by 8 bits of data [2 words]. Command Tag = x28 Data: x Mbps x2 5 Kbps x3 25 Kbps x4 25 Kbps Response Contents: Response Tag only [ word]. Response Tag = x29 Description: When the command is sent to change the CAN Bus bit rate, first the reply will be sent, and then the CAN module will be disabled. It is then reconfigured with the new bit rate, and brought back into an active state. From then on the new bit rate will be used exclusively. To return to default settings the CAN reset pin can be used or commands can be sent at the new baud rate. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up. Default Data Value: x Set CAN Message Standard ID - This sets the Standard ID used to transmit messages. Send Contents: Command Tag followed by 6 bits of data. The uppermost 5 bits are ignored (bits 6-2), as only bits are allowed in a standard identifier [3 words]. Command Tag: x2a Data: x x7ff Response Contents: Response Tag only [ word]. Response Tag: x2b Description: This command is sent to the device to set the Message ID used when Standard ID mode is selected. If the CAN Message Mode is set to Extended ID, this value will not be used. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up. Default Data Value: x555 Set CAN Message Extended ID - This sets the Extended ID used to transmit messages. Send Contents: Command Tag followed by 32 bits of data. The uppermost 3 bits are ignored, and the following 29 bits are used as the message ID [5 words]. Command Tag: x2c Data: x xfff FFFF Response Contents: Response Tag only [ word]. Response Tag: x2d Description: This command is sent to the device to set the Message ID used when Extended ID mode is selected. If the CAN Message Mode is set to Standard ID, this value will not be used. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up. Default Data Value: x Set CAN Message Mode - This sets device to use a Standard ID or Extended ID when transmitting messages. Send Contents: Command Tag followed by 8 bits of data [2 words]. Command Tag: x3 Data: x - Standard ID x2 Extended ID Response Contents: Response Tag only [ word]. Response Tag: x3 Description: This command is sent to the device to say whether it should send a Standard ID or Extended ID. The actual IDs are set via their own commands. The value is stored in non-volatile memory and does not have to be re-introduced every time the device is powered up. Default Data Value: x Rev. A 4/4

8 MECHANICAL SPECIFICATIONS ESD TRIANGLE INDICATES PIN WEIGHT= 7 GRAMS TYPICAL ALL DIMENSIONS ARE SPECIFIED IN IHES ORDERING INFORMATION Part Number MSK4366 MSK4366H Screening Level Industrial MIL-PRF Class H Rev. A 4/4

9 REVISION HISTORY M.S. Kennedy Corp. Phone (35) FAX (35) 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 qualification status Rev. A 4/4