(md200)=

# MD200

```{figure} ../images/md200_ake90_wth_bg.png
:alt: MD200 integrated with AKE90-8 motor
:width: 450px
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

MD200 integrated with the AKE90-8 motor
```

## General parameters

MD200 is a high-current brushless motor controller targeted at robotic actuators with high motor
phase current and power requirements, such as the
[AKE90-8](https://www.mabrobotics.pl/product-page/ake90-8-cubemars-t-motor). It shares the control
algorithm (FOC), encoder, FDCAN communication interface and operation modes (position PID, velocity
PID, impedance, profile position and profile velocity) with the [MD80](#md80), so all software
tools and configuration procedures described for MD80 apply to MD200 as well.

**General parameters table:**

```{list-table}
---
header-rows: 1
---
* - Parameter
  - Value
* - Nominal Input Voltage Range
  - 24 - 48 VDC
* - Maximum Input Voltage Range
  - 12 - 60 VDC
* - Max Input Current (M4 terminals)
  - 175 A
* - Max Continuous Phase Current w/o cooling (see [Thermal characteristics](md200_thermal))
  - 70 A at 24 - 48 V, 60 A at 60 V
* - Max Peak Phase Current
  - 200 A for approx. 10 s (see [Peak current](md200_peak_current))
* - Max Power
  - 2 kW*
* - PWM Frequency
  - 40 kHz
* - Termination resistor
  - optional, solder pads on PCB
* - FDCAN Baudrate (adjustable)
  - 1/2/5/8 Mbps
* - Position PID Controller Execution Frequency
  - 1 kHz
* - Velocity PID Controller Execution Frequency
  - 5 kHz
* - Impedance Controller Execution Frequency
  - 40 kHz
* - Torque Control Execution Frequency
  - 40 kHz
* - Torque Bandwidth (adjustable)
  - 50 Hz - 2.5 kHz
* - External encoder support
  - yes, SPI and RS422 (optional)
* - External 5V power supply max current
  - 150 mA
* - Weight
  - 83 g
* - Minimum firmware version
  - 3.0.0
```

\*The maximum power of MD200 is still under investigation and this value may change. The achievable
power depends strongly on cooling, supply voltage and the motor used. In the free-air tests described in
[Thermal characteristics](md200_thermal), MD200 delivered approx. 1 kW of mechanical power for 120 s
(60 V, 60 A) and up to 1.58 kW for 14 s (60 V, 150 A).

```{important}
MD200 requires firmware version 3.0.0 or newer. See [Downloads](device_firmware) for the latest
firmware.
```

## Mechanical integration

The 3D model of the controller can be downloaded
[here](https://drive.google.com/file/d/1bpqXe-KO8DsIHSqVn6Uil96rZMs_xd8a/view?usp=drive_link).

### Mounting

MD200 is fixed with four M2.5x5 DIN 912 screws placed on a Ø93 mm hole circle (top view). The
screws are threaded into PCB mounting elements, e.g. bosses on the motor rear cover, as shown in
section A-A. The Ø3.1 mm step of the mounting element centers the PCB, and the Ø4.8 mm shoulder
supports it (PCB mounting element).

```{figure} ./images/MD200/md200_drawing_top.png
:alt: MD200 top view
:width: 600px
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

Top view - mounting holes, terminals and section line A-A
```

```{figure} ./images/MD200/md200_drawing_section_aa.png
:alt: MD200 section A-A
:width: 450px
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

Section A-A - PCB fixed to the mounting elements
```

```{figure} ./images/MD200/md200_drawing_mounting_element.png
:alt: MD200 PCB mounting element
:width: 550px
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

Recommended dimensions of the PCB mounting element
```

```{warning}
Always make sure the head of the screw does not touch any copper or components outside the mounting
hole outline. A short circuit between the screw head and the copper planes can permanently damage
the controller.
```

### Encoder and magnet

Place the
[diametrically magnetized magnet](https://www.mabrobotics.pl/product-page/encoder-on-axis-magnet)
on the motor shaft, on the same rotation axis as the encoder, at a distance of 1.2 ±0.2 mm from the
bottom surface of the PCB. Section C-C shows the position of the encoder on the board, and detail D
shows the magnet and the encoder in close-up.

```{figure} ./images/MD200/md200_drawing_section_cc.png
:alt: MD200 section C-C and detail D
:width: 700px
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

Section C-C and detail D - magnet and encoder placement
```

(md200_cooling)=

### Cooling and thermal interface

Most of the MD200 losses are generated in the power stage (MOSFETs). The values in
[Thermal characteristics](md200_thermal) were measured in free air, without any heatsink. A heatsink
on the power stage lowers the MOSFET temperature, which increases the continuous phase current and
extends the time for which MD200 can deliver peak current. The best results are achieved when the
heatsink is also thermally connected to a larger metal part, such as the actuator housing.

To make the integration easy, we prepared a reference radiator. It can be used as is, or as a
starting point for a heatsink integrated into the actuator housing. The 3D model of the reference
radiator can be downloaded
[here](https://drive.google.com/file/d/1IPlCsJjpr9Lcex5QSyhXzZErPZKnnHAa/view?usp=drive_link).

```{figure} ./images/MD200/radiator/md200_with_radiator.png
:alt: MD200 with the reference radiator
:width: 600px
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

MD200 with the reference radiator mounted on the power stage
```

```{figure} ./images/MD200/radiator/md200_radiator_bottom.png
:alt: Reference radiator, bottom side
:width: 500px
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

Reference radiator, side facing the MOSFETs
```

**Mounting**

The radiator is placed on the top side of the board, over the power stage, and fixed with four
DIN 912 M2x4 screws inserted from the bottom side of the PCB into the threaded standoffs of the
radiator (see section A-A of the radiator drawing below). The four Ø2.2 mm mounting holes are placed on a 61.2 x 18.8 mm rectangle.

```{figure} ./images/MD200/radiator/md200_radiator_mounting_holes.drawio.png
:alt: MD200 radiator mounting holes
:width: 600px
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

Radiator mounting holes
```

```{figure} ./images/MD200/radiator/md200_radiator_section.png
:alt: MD200 with radiator, section A-A
:width: 500px
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

Radiator drawing, section A-A - radiator fixed to the PCB
```

- Tighten the screws with a torque of **0.2 Nm**. Overtightening bends the PCB and loads the MOSFET
  solder joints.
- Secure the screws against loosening caused by vibration with threadlocker (e.g. medium strength,
  removable) and/or spring washers. When washers are used, check that the screw still engages enough
  threads in the standoff - a longer screw may be needed.

**Thermal interface material (TIM)**

```{danger}
The MD200 MOSFETs are dual-side cooled packages with an exposed metal pad on top. These pads are
electrically live - they carry the bus voltage and the switching phase voltage. The reference radiator
is made of bare (non-anodized) aluminium, which is electrically conductive. The TIM between the
MOSFETs and the radiator **must be electrically insulating**. Never mount the radiator directly on the
MOSFETs or with an electrically conductive paste.
```

MAB does not recommend a particular thermal pad. When choosing the TIM, consider:

```{list-table}
---
header-rows: 1
---
* - Property
  - Recommendation
* - Type
  - Soft, electrically insulating thermal gap pad (e.g. silicone based)
* - Electrical insulation
  - Electrically non-conductive, with a breakdown voltage well above the maximum bus voltage (60 V)
    plus switching overshoots - typical gap pads offer several kV
* - Thermal conductivity
  - As high as possible, at least approx. 3 W/(m·K)
* - Thickness
  - Matched to the gap between the MOSFETs and the radiator in your design (check it in the 3D
    model), so that the pad is compressed by approx. 10 - 30%. A thicker pad than necessary
    increases the thermal resistance
* - Hardness
  - Soft (low Shore 00 hardness), so that the compression does not load the MOSFETs and their
    solder joints
* - Operating temperature
  - At least 125°C
```

- The pad must cover all exposed MOSFET pads completely.
- Deburr the radiator edges and keep the contact surfaces clean - a burr or a metal chip can cut
  through the pad and short the MOSFETs to the radiator.
- Make sure the radiator does not touch any other component or copper on the board.
- After assembly, check with a multimeter that there is no electrical connection between the
  radiator and the VCC and motor phase terminals.

```{note}
The performance of MD200 with a heatsink has not been characterized yet. The values in
[Thermal characteristics](md200_thermal) (free air, no heatsink) can be treated as conservative.
```

(md200_connectors)=

## Connectors pinout

```{figure} ./images/MD200/md200_connectors.drawio.png
:alt: MD200 connectors
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

MD200 connectors overview
```

### CAN FD

MD200 has two CAN FD connectors (Molex Micro-Lock Plus, PCB header 505567-0371, mating housing
[505565-0301](https://www.molex.com/en-us/products/part-detail/5055650301)). Both connectors are
connected in parallel for easy daisy-chaining. The CAN FD port is not isolated. The termination
resistor can be mounted on the solder pads marked TERM if necessary.

```{figure} ./images/MD200/md200_can_pinout.drawio.png
:alt: MD200 CAN FD connector pinout
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

CAN FD connector pinout (both connectors are identical)
```

The CAN FD cable supplied with MD200, used to connect it to CANdle, follows the wire colors listed
in the table below.

```{list-table}
---
header-rows: 1
---
* - Pin
  - Signal
  - Wire color
* - 1
  - CAN_H
  - grey
* - 2
  - GND
  - black
* - 3
  - CAN_L
  - yellow
```

```{warning}
<font color='red'> Always make sure CAN bus lines are not shorted to the positive power rail.
Applying supply voltage to these pins will cause permanent damage to the controller! </font>
```

### Thermistor connection

MD200 measures the MOSFET and motor temperature in the same way as MD80. The motor shutdown
temperature is configurable up to 140°C max with a hysteresis of 20°C. The driver shutdown
temperature is fixed at 100°C with a hysteresis of 20°C. The MOSFET thermistor is built in directly
under the power stage and only the motor thermistor pads (marked MOTOR TEMP) are available.

```{figure} ./images/MD200/md200_motor_thermistor.drawio.png
:alt: MD200 motor thermistor pads
:width: 384px
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

Motor thermistor pads (MOTOR TEMP)
```

```{note}
We recommend using [MABs thermistors](https://www.mabrobotics.pl/product-page/thermistor). Using
other thermistors may result in imprecise temperature readout.
```

### Aux connectors

MD200 has the same auxiliary connectors as MD80.

**Aux 1 connector (SPI)** is dedicated to connect MABs
[ME_am](https://www.mabrobotics.pl/product-page/me-am) and other SPI based encoders (_530480650
Molex PicoBlade_).

**Aux 2 connector (RS422/GPIO)** has two user-configurable GPIOs and an RS422 interface for
connecting to the RLS Axim2 encoder (_530480810 Molex PicoBlade_). AUX GPIO A pin can be used as an
automatic brake control output signal, the same way as on MD80. See [Brakes](/MD/brakes) for
details.

```{warning}
<font color='red'>While auxiliary connector pins are 5V tolerant, we recommend using 3.3V logic if
possible. </font>
```

```{figure} ./images/MD200/md200_spi_pinout.drawio.png
:alt: MD200 Aux 1 (SPI) connector pinout
:width: 556px
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

Aux 1 (SPI) connector pinout
```

```{figure} ./images/MD200/md200_rs422_pinout.drawio.png
:alt: MD200 Aux 2 (RS422/GPIO) connector pinout
:width: 568px
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

Aux 2 (RS422/GPIO) connector pinout
```

```{warning}
By default the RS422 transceiver is not soldered on the boards. If you plan to use the RLS Axim2
encoder with MD200, let us know when ordering the board.
```

(md200_electrical_integration)=

## Electrical integration

### Power and motor wiring

The power supply and the motor phases are connected to seven M4x0.8 threaded terminals (see
[Connectors pinout](md200_connectors)). Use M4 ring (tubular) cable lugs and M4 screws, and tighten
them with a torque of 1.4 Nm. MD200 has two positive (VCC) and two ground (GND) supply terminals, connected in
parallel, for easy daisy-chaining of the power supply between controllers.

```{list-table}
---
header-rows: 1
---
* - Parameter
  - Value
* - Terminals
  - 7x M4x0.8 (2x VCC, 2x GND, 3x motor phase)
* - Terminal current rating
  - 175 A continuous
* - Terminal screw tightening torque
  - 1.4 Nm
* - Cable and cable lugs
  - see [Power cable sizing](md200_cable_sizing)
```

```{figure} ./images/MD200/md200_phase_wiring.png
:alt: MD200 motor phase wiring
:width: 600px
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

Motor phases connected to terminals A, B and C with ring (tubular) cable lugs
```

```{warning}
The order of the motor phases does not matter (does not change the rotation direction) as long as
the order is not changed after the calibration. Each modification in phase order should be followed
by a full motor calibration.
```

(md200_power_supply)=

### Power source

MD200 works with supply voltages of 24 - 48 V nominal (12 - 60 V maximum). The power source, e.g. a
battery or a power supply unit, must meet three requirements:

- **Correct polarity** - MD200 does not have reverse polarity protection.
- **Precharge** - a precharge circuit must be placed between the power source and MD200 to limit
  the inrush current into the DC bus capacitors when the supply is connected.
- **Regenerative energy** - when braking, MD200 feeds energy back to the supply. The power
  source must be able to absorb this energy (e.g. a battery), or a braking resistor must be used. A
  power supply that cannot sink current lets the bus voltage rise.

```{warning}
Reverse polarity or a bus voltage above 60 V will permanently damage the controller.
```

(md200_cable_sizing)=

### Power cable sizing

**Quick recommendation** for a single MD200 at up to 1.5 kW, with a supply cable of up to 1 m:

```{list-table}
---
header-rows: 1
---
* - Supply voltage
  - Recommended cable
  - Result (1 m, 1.5 kW)
* - 12 V
  - not recommended for high power; if used, 6 mm² and as short as possible
  - 6.0% voltage drop, 90 W loss
* - 24 V
  - 6 mm²
  - 1.5% voltage drop, 22 W loss
* - 48 V
  - 2.5 mm²
  - 0.9% voltage drop, 13 W loss
* - 60 V
  - 2.5 mm²
  - 0.6% voltage drop, 9 W loss
```

A higher supply voltage means a lower current for the same power, so a thinner cable can be used and
less energy is lost in the wiring. Whenever possible, use 48 V or 60 V for high-power actuators.

```{note}
These recommendations are a starting point. For longer cables, several actuators on one supply line
or high environment temperature, choose a thicker cable using the details below.
```

#### Details

The tables below show the voltage drop and power loss in the supply cable of a single MD200 drawing
1.5 kW. The cable is 1 m long (2 m of copper in total for VCC and GND), copper at 20°C.

**Supply current at 1.5 kW**

```{list-table}
---
header-rows: 1
---
* - Supply voltage
  - 12 V
  - 24 V
  - 48 V
  - 60 V
* - Current
  - 125 A
  - 62.5 A
  - 31.3 A
  - 25 A
```

**Voltage drop (percentage of the supply voltage)**

```{list-table}
---
header-rows: 1
---
* - Cable
  - 12 V
  - 24 V
  - 48 V
  - 60 V
* - 2.5 mm²
  - 1.72 V (14.3%)
  - 0.86 V (3.6%)
  - 0.43 V (0.9%)
  - 0.34 V (0.6%)
* - 4 mm²
  - 1.08 V (9.0%)
  - 0.54 V (2.2%)
  - 0.27 V (0.6%)
  - 0.22 V (0.4%)
* - 6 mm²
  - 0.72 V (6.0%)
  - 0.36 V (1.5%)
  - 0.18 V (0.4%)
  - 0.14 V (0.2%)
```

**Power loss in the cable**

```{list-table}
---
header-rows: 1
---
* - Cable
  - 12 V
  - 24 V
  - 48 V
  - 60 V
* - 2.5 mm²
  - 215 W
  - 53.8 W
  - 13.4 W
  - 8.6 W
* - 4 mm²
  - 134 W
  - 33.6 W
  - 8.4 W
  - 5.4 W
* - 6 mm²
  - 89.6 W
  - 22.4 W
  - 5.6 W
  - 3.6 W
```

The voltage drop grows linearly with the current and the cable length, and the power loss grows
linearly with the cable length and with the square of the current. Halving the supply voltage
doubles the current and therefore quadruples the power loss in the same cable.

```{important}
The right cable and lug depend on the application. Consider:
- **cable length** - the losses grow linearly with the length,
- **number of actuators in line** - when the supply is daisy-chained, the first segment carries
  the current of all downstream controllers (see the example below),
- **environment temperature** - copper resistance rises by about 0.4% per °C, and the cable
  current rating must be derated at high temperatures,
- **accepted temperature rise** of the cable and the lugs,
- **duty cycle** - peak power is usually drawn only for a short time, while the cable heating
  depends on the average (RMS) current.
```

#### Cable lugs

MD200 supply terminals accept M4 ring (tubular) cable lugs, matched to the cable cross-section. The lugs
below are examples that fit MD200. Choose the lug based on the cable and the requirements of your
application.

```{list-table}
---
header-rows: 1
---
* - Example part (Würth Elektronik)
  - Screw size
  - Cable cross-section
* - 55804025
  - M4
  - 2.5 mm²
* - 5580404
  - M4
  - 4 mm²
* - 5580406
  - M4
  - 6 mm²
```

### Wiring example

The example below shows three MD200 controllers connected to one power source and one CANdle.

```{figure} ./images/MD200/md200_electrical_integration.drawio.png
:alt: MD200 electrical integration example
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

Power and CAN FD daisy-chaining of three MD200 controllers
```

- **Power** - the power source is connected to the first MD200. The two VCC and two GND terminals
  of each MD200 are connected in parallel, so the supply can be passed on to the next controller.
  Each segment carries the current of all controllers behind it, so the segment closest to the
  power source must be sized for the sum of their currents. For a long chain or high power, connect
  each MD200 directly to a common distribution point (e.g. a bus bar) instead.
- **Precharge** - a precharge circuit must be placed between the power source and the first MD200
  (see [Power source](md200_power_supply)).
- **CAN FD** - CANdle is connected to the first MD200, and the two CAN FD connectors of each MD200
  pass the bus on to the next controller. The bus must be terminated with 120 Ω at both ends:
  CANdle at one end and the last MD200 at the other (TERM pads, see
  [Connectors pinout](md200_connectors)).
- **Motor phases** - each motor is connected only to its own MD200.

After wiring, connect the CAN bus and power the controller. When powered, the controller should
blink shortly with a green LED once a second. If the red LED is fully on there are some errors that
should be cleared after the calibration.

(md200_thermal)=

## Thermal characteristics

**Test conditions and setup**

MD200 was tested at supply voltages of 24, 36, 48 and 60 V in two setups:

- inductive load - star-connected inductors simulating a motor winding,
- dynamometer - QS205 hub motor braked by MD200, driven by an AKE90-8 load motor.

Each run held a constant phase current for up to 120 s. A run ended either after 120 s or when the
driver over-temperature protection tripped at 100°C. All tests were performed in free air at approx.
20°C ambient temperature, with no heatsink and no forced airflow. The temperature was measured with
the onboard power stage thermistor.

```{note}
The continuous current values below are the highest currents at which MD200 completed 120 s without
thermal cutoff. In some of these runs the driver temperature was still rising at the end of the run.
With a heatsink or forced airflow, higher continuous currents can be achieved.
```

```{list-table}
---
header-rows: 1
---
* - Quantity
  - Inductive load
  - Dynamometer
* - Continuous phase current (120 s, no thermal cutoff)
  - 70 A at 24 V and 48 V, 80 A at 36 V, 60 A at 60 V
  - 80 A at 24 V, 70 A at 36 V and 48 V, 60 A at 60 V
* - Time to thermal cutoff at 100 A
  - 40 - 71 s
  - 39 - 64 s
* - Time to thermal cutoff at 150 A
  - 15 - 19 s
  - 14 - 19 s
* - Time to thermal cutoff at 200 A
  - 9.7 - 10.8 s
  - -
* - Max. mechanical power
  - -
  - 1584 W (60 V, 150 A)
* - Max. power fed back to the supply
  - -
  - 858 W (60 V, 90 A)
```

```{tip}
The plots below are interactive: hover to read the values, drag to zoom (double-click to reset) and
click the legend to show or hide curves. The temperature plots can be switched between **Curves**
(the measured runs) and **Thermal map** (temperature over time and phase current, interpolated
between the measured runs).
```

### Test I - inductive load

```{figure} images/thermal/MD200/inductive_load/setup.jpg
:alt: MD200 inductive load setup
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

Inductive load setup: MD200 (right) drives three phases loaded with star-connected inductors
```

In this setup there is no shaft, so all the power is converted to heat. The phase current was swept from 10 A to 200 A in 10 A steps.

```{raw} html
<iframe src="../_static/md200/inductive_plot.html?cutoff" title="MD200 time to thermal cutoff" loading="lazy"
        style="width:100%;height:460px;border:0"></iframe>
```

Between 80 A and 130 A, the time to cutoff at 60 V is 30 - 50% shorter than at 24 V (100 A: 70.6 s at
24 V, 40.1 s at 60 V). Above approx. 170 A all voltages give similar times of 9.7 - 14 s.

```{raw} html
<iframe src="../_static/md200/inductive_plot.html?v=24" title="MD200 inductive load 24 V" loading="lazy"
        style="width:100%;height:600px;border:0"></iframe>
```

_24 V: no cutoff within 120 s up to 70 A (82.5°C at 70 A)_

```{raw} html
<iframe src="../_static/md200/inductive_plot.html?v=36" title="MD200 inductive load 36 V" loading="lazy"
        style="width:100%;height:600px;border:0"></iframe>
```

_36 V: no cutoff within 120 s up to 80 A (99.1°C at 80 A)_

```{raw} html
<iframe src="../_static/md200/inductive_plot.html?v=48" title="MD200 inductive load 48 V" loading="lazy"
        style="width:100%;height:600px;border:0"></iframe>
```

_48 V: no cutoff within 120 s up to 70 A (94.4°C at 70 A)_

```{raw} html
<iframe src="../_static/md200/inductive_plot.html?v=60" title="MD200 inductive load 60 V" loading="lazy"
        style="width:100%;height:600px;border:0"></iframe>
```

_60 V: no cutoff within 120 s up to 60 A (88.6°C at 60 A)_

### Test II - dynamometer

```{figure} images/thermal/MD200/dynamometer/setup.jpg
:alt: MD200 dynamometer setup
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

Dynamometer: QS205 hub motor with MD200 mounted on a 3D printed rear cover, coupled to the AKE90-8
load motor (right)
```

The AKE90-8 drove the shaft while MD200 braked the QS205 at the set phase current, from 10 A to
150 A in 10 A steps. Mechanical power is calculated from the torque estimated by MD200 and the
measured shaft speed. Both drives were powered from the same supply, so power circulates in a closed
loop and the supply delivers only the losses of both drives.

```{figure} images/thermal/MD200/dynamometer/power_flow.png
:alt: MD200 dynamometer power flow
:class: bg-primary mb-1
:align: center
:class: no-scaled-link

Power flow at 48 V, 100 A, averages over a 44 s run
```

```{raw} html
<iframe src="../_static/md200/dynamometer_plot.html?power" title="MD200 mechanical power and power fed back" loading="lazy"
        style="width:100%;height:520px;border:0"></iframe>
```

At low currents (10 - 20 A) MD200 feeds 77 - 86% of the shaft power back to the DC bus. At high
currents the losses in the motor exceed the shaft power, and MD200 draws power from the bus while
braking (24 V from 90 A, 36 V at 130 - 140 A).

```{list-table}
---
header-rows: 1
---
* - Supply voltage
  - Shaft speed, 10 → 150 A [rad/s]
  - Max. shaft power
  - Max. power fed back
  - Continuous current, 120 s
* - 60 V
  - 21.8 → 12.2
  - 1584 W (150 A)
  - 858 W (90 A)
  - 60 A (86.9°C)
* - 48 V
  - 17.1 → 9.0
  - 1214 W (140 A)
  - 570 W (80 A)
  - 70 A (96.7°C)
* - 36 V
  - 12.6 → 6.7 (140 A)
  - 817 W (130 A)
  - 347 W (60 A)
  - 70 A (88.7°C)
* - 24 V
  - 8.2 → 2.9
  - 416 W (110 A)
  - 159 W (50 A)
  - 80 A (93.5°C)
```

```{raw} html
<iframe src="../_static/md200/dynamometer_plot.html?v=24" title="MD200 dynamometer 24 V" loading="lazy"
        style="width:100%;height:600px;border:0"></iframe>
```

_24 V: no cutoff within 120 s up to 80 A (93.5°C at 80 A)_

```{raw} html
<iframe src="../_static/md200/dynamometer_plot.html?v=36" title="MD200 dynamometer 36 V" loading="lazy"
        style="width:100%;height:600px;border:0"></iframe>
```

_36 V: no cutoff within 120 s up to 70 A (88.7°C at 70 A)_

```{raw} html
<iframe src="../_static/md200/dynamometer_plot.html?v=48" title="MD200 dynamometer 48 V" loading="lazy"
        style="width:100%;height:600px;border:0"></iframe>
```

_48 V: no cutoff within 120 s up to 70 A (96.7°C at 70 A)_

```{raw} html
<iframe src="../_static/md200/dynamometer_plot.html?v=60" title="MD200 dynamometer 60 V" loading="lazy"
        style="width:100%;height:600px;border:0"></iframe>
```

_60 V: no cutoff within 120 s up to 60 A (86.9°C at 60 A)_

(md200_peak_current)=

### Peak current

The maximum phase current available to users is limited to 200 A.

The time for which MD200 can deliver a high phase current is limited by the driver over-temperature
protection (100°C). Starting from approx. 30°C in free air, the inductive load test gave the
following times to thermal cutoff:

```{list-table}
---
header-rows: 1
---
* - Phase current
  - Time to thermal cutoff
* - 100 A
  - 40 - 71 s (60 V - 24 V)
* - 150 A
  - 15 - 19 s (60 V - 24 V)
* - 200 A
  - approx. 10 s (all supply voltages)
```

Above approx. 170 A the time to cutoff hardly depends on the supply voltage. A higher starting
temperature shortens these times, and a heatsink or forced airflow lengthens them.