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freescale.com/motorcontrol

Freescale System Solutions

Motor Control Technologies

www.freescale.com/motorcontrol

www.freescale.com/motorcontrol �

Table of Contents 2 Freescale Solutions for Motor Control Technologies

3 Motor Control Product Design Challenges

4 Motor Control Product Development Tools

5 Motor Control Development Tool Ecosystem

6 Motor Control Product Design Tools

7 A Roadmap to Future-Proof Your New Designs

8 The Broadest Selection of Motor Control Solutions

9 • Universal Motor Systems with Torque Control

10 • Stepper Motor Systems

11 • Brush DC Motor—Dual Feedback Loop Control

12 • Brush DC Motor—Sensorless Dual Feedback Loop Control

13 • Brushless DC Motor (Encoder)

14 • Brushless DC Motor (BLDC)—Sensorless Back-EMF

15 • 3-Phase Induction Motor (ACIM)—V/Hz Open-Loop Control with PFC

16 • 3-Phase Induction Motor (ACIM)—V/Hz Closed-Loop Control with

Slip Compensation

17 • 3-Phase AC Induction Motor (ACIM)—Vector Control

18 • 3-Phase Induction Motor (ACIM)—Sensorless Vector

(Stator-Flux-Oriented) Control

19 • Permanent Magnet Synchronous Motor (PMSM)—Vector Control

20 • Permanent Magnet Synchronous Motor (PMSM)—Sensorless Sinusoidal

PM Motor Control

21 • Sensorless Switch Reluctance Motor Drive

22 Power ICs for Motor Control Products

24 8-bit Microcontroller Motor Control Products

25 • MC3PHAC

26 • Algorithms and Application Notes

27 • Hardware and Software Development Tools

28 • HCS08, RS08 and HC08 Development Tools

29 �6-bit Digital Signal Controller Motor Control Products

29 • 56800 Core-Based Family Combines DSP Processing with MCU Functionality

33 • Hardware Development Tools

34 • 56F8000 Software Modules

37 • 56F8300/8100 Software Modules

39 • Application Notes

40 • 16-bit HCS12 Microcontrollers Motor Control Products

4� 32-bit Microcontroller Motor Control Products

42 • Enhanced Time Processing Unit (eTPU) on the MCF523x and MPC55x Families

43 • Function and Supported Controls for ColdFire® and Families with a Core Built on

Power Architecture™ Technology

44 • Application and Software Notes for ColdFire and Families with a Core Built on

Power Architecture Technology

45 Design Resources—Quick Start

www.freescale.com/motorcontrol �

www.freescale.com/motorcontrol2

Web Site Online Training

Development Tools

Application Notes Analog and Sensors

Reference Designs

Expertise

Demos

Schematics, PCB Gerbers

Freescale’s

Complete Motor

Control Solution

Freescale Solutions for Motor Control Technologies Comprehensive 8-, 16- and 32-bit systems with advanced sensor and analog/mixed signal devicesFreescale offers a broad range of motor

control solutions:

• 8-bit microcontrollers (MCUs)

• �6-bit digital signal controllers (DSCs)

Combining the raw computing power

of a digital signal processor (DSP) with

the intelligent functionality of a

sophisticated MCU

• 32-bit embedded processors

• Acceleration and pressure sensors

• Analog/mixed-signal devices

For motion control, power management and

associated functions

Freescale delivers solutions that feature

time processing units (TPUs) and enhanced

time processing units (eTPUs) that can be

considered motor control coprocessors.

These perform most, if not all, of the motor

control functions, freeing the CPU to perform

other tasks critical to the application. These

technologies are optional solutions for

applications where motor control is important

but not the crucial part of the application.

On-board flash memory enables extensive

system-wide flexibility, and Freescale has

more experience embedding flash memory

in its processors than anyone else in the

industry. Developers can update product

features very late in the development

process and perform field software upgrades

through in-application programmability and

reprogrammability. What’s more, flash can

be configured to emulate EEPROM, which,

in turn, can be used to configure different

feature sets. This allows manufacturers to use

a single development platform for multiple

product lines.

Our comprehensive set of software

development resources assist product

development and further reduce time to

market. These include algorithm-specific

libraries, peripheral drivers and code

examples that accelerate the learning curve,

plus a large number of reference designs,

demos and application notes.

By matching specific applications with the

most effective motor control solutions that

not only improve motor efficiency, but also

minimize system updates, development time

and costs, Freescale gives you increased

flexibility. For example, in a closed-loop

feedback system used for controlling motor

speed or position, Freescale offers a range

of options, including 8-bit products with

outstanding cost/performance characteristics,

mid-range 16-bit solutions and high-end

32-bit solutions for applications requiring

additional processing power for controlling

sophisticated system operations.

Freescale also provides information on related

reference design and demo information, and

provides handy device selection tables and

lists of motor control-related application

notes, hardware/software tools, drivers,

algorithms and useful Web links.

We are dedicated to providing comprehensive

system solutions that not only improve motor

efficiency but also minimize system updates,

development time and maintenance costs.

www.freescale.com/motorcontrol 3

Complexity Devices

• Power Architecture™ MPC5500 family• Power Architecture MPC500 family• ColdFire® family

• ColdFire family• 56F8300/8100 Digital Signal Controllers (DSC)

• 56F8000/56F800 DSC family• S12X 16-bit family

• HCS08 low-voltage, low-power family• HC08 family• RS08 family

Analog• eXtreme Switch

• Motion control• Power management

• E-Field• QUICCsupply

• I/O expansion

Sensors• Low-g accelerometers

• Pressure Flash Technology

Hardw

are and Software Tools:

Motor C

ontrol Drivers and Algorithm

s; D

esign Tools: FreeMASTER

, Processor Expert ™, Q

UIC

KSTAR

T

HIGH

UPPER-MID

MID

LOW

Take a quick look around and you will see that

you are surrounded by electric motors—air

conditioners, computers, washing machines,

power tools, blenders, ceiling fans … and the

list goes on and on. Each of these motors is

consuming electric energy at varying rates,

and Freescale continuously develops new

solutions to increase efficiency.

Several factors contribute to better motor

efficiency, and Freescale anticipates that the

greatest energy-saving advances will come

from improved motor control techniques,

frame design, materials and manufacturing

precision. For example, using an electronic

speed control can reduce energy consumption

by half when compared with the energy needs

of conventional mechanical throttling systems.

By offering the broadest portfolio of

embedded MCUs and DSCs for motor

control applications, Freescale provides

additional flexibility so product designers can

develop more power-efficient and

cost-effective designs.

Motor Control Product Design Challenges Freescale offers a full range of products, technology, services and tools

Design Challenges

Several kinds of motors are used in motion

control, including brushless DC motors,

brush-commutator permanent magnet DC

motors, linear motors and stepper motors.

Freescale understands that system

engineers must not only choose the right

kind of motor for the mechanical task, but

they must also choose the appropriate

control loop scheme for encompassing both

the mechanical and electrical time-variant

responses of the system.

Tuning this control loop is often performed

in the design stage of the drive electronics.

Developers face a number of design variables

because each type of motor has a unique set

of requirements for the drive electronics.

Freescale Motor Control Solutions A full range of products, technology, services and tools

Designing drive electronics is further

complicated by the electric motors

themselves, which, by their inductive nature,

are prone to producing electromagnetic

interference (EMI), radio frequency interference

(RFI) and destructive high energy transients.

Drive electronics design must prevent EMI

and RFI while still withstanding transient over-

voltage and over-current conditions.


Motor Control Product Development Tools Hardware and software tools and reference designs that work for youFreescale offers a comprehensive ecosystem

of product development tools that can help

you successfully complete your product

design. Our extensive library of hardware,

software tools and reference designs are

designed to enable fast and inexpensive

product development. This leads to fast time

to market and cost-effective solutions.

• CodeWarrior®—The backbone of

Freescale’s software development tools is

the CodeWarrior Integrated Development

Environment (IDE). With compiler, debugger,

linker, editor, assembler and other features,

the CodeWarrior IDE, with a user-friendly

graphical interface, makes C/C++ source-

level debugging and embedded application

development as worry-free as possible.

Furthermore, CodeWarrior Development

Studio for HC(S)08/RS08 v5.1 is designed

to enhance the user experience. It has

been re-architected to emphasize ease

of use, fast execution and convenient

accessibility through the Freescale Web site

for product downloads and updates. The

CodeWarrior tool suite is consistent across

all supported platforms, without host-to-

host incompatibilities.

Learn More: Visit freescale.com/mcu for information onCodeWarrior development tools

• Processor Expert™—CodeWarrior

Development Studios for HC(S)08, and

HC(S)12 Freescale DSCs include UNIS

Processor Expert, a Rapid Application

Design (RAD) component-based application

builder and system integration tool.

This tool enables component-oriented

programming, provides tested, ready-to-use

code and delivers instant functionality of

generated code.

Processor Expert frees developers from

the long effort of learning bits and bytes

of new peripherals and how to set them

up to implement the desired functions.

It allows developers to describe how

built-in peripherals and their hardware

environments will be used and automatically

generates the code to properly initialize,

write to and read these peripherals.

• Freescale software tools include GNU

support plus additional development tools

from a large network of third-party vendor

partners.

• Comprehensive MCU and DSC evaluation

kits include demo boards, serial cables,

quick start guides and CodeWarrior

software development tools with Processor

Expert. The kits give developers a

comprehensive package to develop and

evaluate applications using Freescale

solutions.

Each demo board includes:

• On-board flash

• RS-232 COM serial port w/DB9

connector

• Optional serial debug/breakpoint

(MON08) interface through COM port X

• Regulated +5V power supply

• 68K/ColdFire embedded-processor

evaluation systems, demo boards and cost-

effective development systems include a

number of selections from the industry’s

leading third-party vendors

• Additional hardware development tools

include program adapters, logic and

protocol analyzers, board testers and

emulators, probes, wigglers and evaluation

kits for sensor products

• A suite of free design tools for motor

control application development such

as FreeMASTER, an intuitive application

development tool for all motor control

devices, from 8-bit to 32-bit, and our “most

downloaded” software; TPU/eTPU SW

library; eTPU Graphical Configuration Tool;

eTPU General Function set and QuickStart

for 32-bit devices

• CodeWarrior software development

tools are available as downloads from

the Freescale Web site. Special Edition

development suites are free of charge,

after registration and subject to a licensing

agreement. Point your browser to www.

freescale.com/codewarrior and select

“Downloads.”

In addition to all of the above, you can test

drive our development tools and products

through virtual labs and benefit from our

motor control tutorials found at Freescale’s

Embedded Learning Center.


PrototypeFull ChipSimulator

TRADITIONAL IN-CIRCUIT EMULATOR

FSICE Kit

EvaluationBoard

Demonstration Kit

EvaluationModule

DemonstrationBoard

DEVELOPMENT PLATFORMS

IN-CIRCUIT DEBUGGER INTERFACE

BDM Multilink

MON08 Multilink

SolutionsDevelopmental HardwareDevelopmental Software

Final System/Application

CodeWarrior®*

Your Idea

Cyclone Pro

Motor Control Product Development Tool Ecosystem Easy process to help you get started

Interactive Development Tools Ecosystem

Start with your idea. Then, use Freescale’s Interactive Development Tool Ecosystem to

design a development process that meets your needs. Begin with CodeWarrior Development

Studio software tools and add only the hardware tools you need to complete your design. You

can even choose tools as you go along, taking advantage of the ecosystem’s interoperability

to meet any contingencies and get your products out to market, on time and on budget.

*Check SG1011 and Web for third-party solutions.


Motor Control Product Design Tools Targeting motor control applications in the automotive, industrial and consumer markets

Design Tools–FreeMASTER

FreeMASTER software (formerly known

as PC Master) is a sophisticated tool with

intuitive navigation that can be used in

any application development.

This tool allows remote control of an

application from a user-friendly graphical

environment running on a PC. It also

provides the ability to view real-time

application variables in both text and

graphical form.

Whether your design targets automotive,

industrial or consumer appliances,

FreeMASTER gives you what you

need to monitor the system in real-time,

control it from a PC and demonstrate

advanced capabilities of Freescale-driven

solutions. Versatile FreeMASTER software

can be used for multipurpose algorithms

and applications, real-time debugging,

diagnostics, demonstration, sales and

educational purposes.

Available from Freescale

• FreeMASTER—PC side application

• FreeMASTER—embedded side drivers (HC(S)08, S12X, MPC500, MPC5500, DSP56F800,

MC56F8300, MC56F8100, MC56F8000)

• Application notes

• Plug-in modules (remote connection, planned—BDM, JTAG, CAN)

• Application support from Freescale's, Roznov Czech System Center (Roznov CSC) experts

Application Usage

• Application development

• Parameter tuning

• Demonstration

• Remote control

Application Features

• Graphical environment

• Real-time debugging

• Diagnostic tool

• Demonstration tool

• Education tool

Target Devices/Platforms (8- to 32-bit Devices)

• HC(S)08, S12X, DSP56F800, MC56F8300, MC56F8100, MC56F8000, MPC5xx

• Real-time embedded applications

• Quick start software

Development Kit

• Processor Expert


Com

plex

ity

32-bit MCU• Dual-Axis Vector Control

• Torque Control

• Vector Control and Sensorless Vector Control

16-bit DSC• Vector Control and Sensorless Vector Control

16-bit MCU• Open and Close Loop V/Hz and 3-Ph. Sensorless ACIM/BLDC/SR

8-bit MCU• PWM Phase-Angle Control

Sensors

Low-g A

ccelerometers, P

ressure, E-Field

Proxim

ity

Analog P

ortfolio eX

treme S

witch, M

otion Control, P

ower M

anagement, Q

UIC

Csup

ply, I/O

Exp

ansion

Available Now 2007 2008

908GR

908MR

908GP

9S08GB

9S08GT

908QY

908QT908QB

9S08AW

9S08QG

9S08QD

9RS08KA

9S08AC

9S08SH

9S08DZ

9S08DN

9S08DV 9RS08SA908QC

9S12XD9S12XA

9S12XE9S12XS

DSP56F82x

DSP56F80x

DSP5685xMC56F83xx

MC56F8013/14

MC56F81xxMC56F802x

MC56F803x

MC56F800xx

MC56F804x

MC56F8011

MPC55x

MCF528x

MPC56x

MCF548x

MCF547x

MCF527xMCF523x

MPC5553

MCF532x

MCF537x

MCF521x

MCF520x

MPC551x

MCF5222x

MPC556x

MPC5554MPC553x

MCF51AC

MCF5223x

A Roadmap to Future-Proof Your Designs Intelligent solutions driving new generations of motor control applications

Freescale MCUs and DSCs, when coupled with analog/mixed-signal and power integrated circuits, are designed to provide system solutions

for motor control, motion control and static load control for an incredible variety of applications.

The product roadmaps demonstrate that new feature integration and software compatibility will continue to drive future generations of

embedded motor control solutions.


• Universal Motor Systems with Torque

Control

• Stepper Motor Systems

• Brush DC Motor—Dual Feedback Loop

Control

• Brush DC Motor—Sensorless Dual

Feedback Loop Control

• Brushless DC Motor (Encoder)

• Brushless DC Motor (BLDC)—

Sensorless Back-EMF

• 3-Phase Induction Motor (ACIM)—

V/Hz Open Loop Control with PFC


V/Hz Closed Loop Control with

Slip Compensation

• 3-Phase AC Induction Motor (ACIM)—

Vector Control Systems


Sensorless Vector (Stator-Flux-

Oriented) Control

• Permanent Magnet Synchronous Motor

(PMSM)—Vector Control

• Permanent Magnet Synchronous Motor

(PMSM)—Sensorless Sinusoidal PM

Motor Control

• Sensorless Switch Reluctance

Motor Drive

The Broadest Selection of Motor Control Solutions For multiple electric motor topologies

When designing motor control systems,

instruction set efficiency and sophisticated

peripherals that are specifically tuned for

electric motor control environments provide

the greatest performance advantages.

Freescale provides comprehensive motor

control solutions for virtually all electric motor

topologies. In the following pages we feature

recommended devices—from 8-, 16- and

32-bit embedded processors to analog/mixed

signal power ICs—as well as demonstration

boards and reference designs for each of

these electric motor systems:

Any motor control can execute a control

algorithm given the proper hardware. The

only real difference is the speed of execution

that can be attained by the processor and

the details of algorithm control required.

Freescale has the broadest selection of

embedded controller solutions for motor

control applications. We give you the option

to choose the system components that meet

your specific electronic motor design needs.


ADCADC Timer

- CurrentController

Triac TriggeringTime Calculation

MCUGPIO and Serial Interface

DriverDriver

CurrentSensing

Zero

Crossing

Detection

Motor

Triac

AC

TorqueReference

tTriggering

Triggering

Motor Voltage

Universal Motor Systems with Torque Control

Advantages

• Cost-effective control topology

• Targeted for cost-effective motor

applications

Applications

• AC power tools

• Washers

• Dryers

• Garage door openers

• Food mixers, blenders

• Vacuum cleaners

• Dishwashers

• HVAC

• Vibrating equipment

• Coffee makers

• Vending machines

• Pumps

Recommended Devices

8-bit MCU: 908JK/JL, 908MR, 908QT/QY, 908QB, 908QC, 908GP, 908GR, 9S08AW, 9S08GB, 9S08GT, 9S08QG, 9S08QD

www.freescale.com/motorcontrol�0

3392234922

BipolarStepperMotor

V+A

V+A V+B

V+B

IN2

IN1

IN3

IN4

M1

M3

CA

CB

M4FBA

FBB M2

AnalogPowerSupplyIC MCU/DSC

OUT

OUT

OUT

OUT

A/D

A/D

Advantages

• Precise position control

Applications

• Industrial machines

• Medical scanners

• Computers

• Office equipment

• Toys

Stepper Motor Systems

Recommended Devices

8-bit MCU: 908JK/JL, 908MR, 908QT/QY, 908QB, 908QC, 908GP, 908GR, 9S08AW, 9S08GB, 9S08GT, 9S08QG, 9S08QD

�6-bit DSC: MC56F80x, MC56F80xx, MC56F83xx

�6-bit MCU: S12XD, S12XA

32-bit MCU: MCF521x, MCF523x, MPC56x, MPC55xx

Analog/Mixed-Signal Power ICs: MPC17529, MPC17531, MPC17533, MPC17550, MPC17559, MC34920, MC34921, MC34922, MC33926, MC34710, MC34703

Demos*

16-bit DSC DEMO—Three stepper motors controlled by a single DSC demonstrate micro-stepping, half-step stopping, closed-loop current control and precise PID control (56F805)

*Contact local Freescale distributor for demos listed

www.freescale.com/motorcontrol ��

Vcc

SpeedController

CurrentController

PWM ADC Quadrature Decoder

SpeedCommand

MCU or DSC

Encoder

Analog Power ASIC

Vreg2

Interface

HB Driver

CurrentSensing

+ - + -

PWM

Vreg1Vcore

DCMotor

Brush DC Motor—Dual Feedback Loop Control

Advantages


• High-precision speed, torque control,

position loop can be added

Applications

• Robots

• Traction control

• Servo systems

• Automotive


• Toys


Recommended Devices

8-bit MCU: 908MR, 9S08AW, 9S08GB




Analog/Mixed-Signal Power ICs: MPC17510, MPC17529, MPC17531, MPC17533, MPC17550, MPC17559, MC34920, MC34921, MC34922, MC33926, MC34710, MC34703

Demos*

32-bit MCU DEMO—DC motor with speed and current closed loops driven by the eTPU on the MCF5235



Power Stage Driver

SpeedController

MCU/DSC

CurrentController

SpeedReference

Over Current

CurrentSensing

VoltageSensing

Armature Voltage

+

+

+ + --

1Φ or 3Φ DC

Motor

-

GPIO and Serial Interface PWM ADC ADC

Brush DC Motor—Sensorless Dual Feedback Loop Control

Advantages

• Enables bi-directional operation with fast

torque response


• Precise control without speed sensor

Applications



• Toys

• Instrumentation

• AC power tools

Recommended Devices






Demos*

32-bit MCU DEMO—DC motor with speed and current closed loops driven by the eTPU on the MCF5235


www.freescale.com/motorcontrol �3

Power Stage Driver

+

+1Φ or 3Φ

Motor

-Encoder

Over Current

SpeedController

MCU/DSC

CurrentController

SpeedReference

Actual Speed

++

-

-

GPIO and Serial Interface PWMADC ADC Quadrature Decoder

Zero Crossing Periodand Position Recognition

CommuntationControl

SpeedCalculation

PWM Duty Cycle

Phase Communication

Brushless DC Motor (Encoder)

Advantages

• Enables bi-directional operation with

fast torque response, low noise and high

efficiency

• High precision speed

• Torque control

• Position loop can be added

Applications

• Robots

• Traction control

• Servo systems


• Sewing machines

• Fitness machines/treadmills

• Toys


Recommended Devices






Demos*

16-bit DSC DEMO—BLDC motor control application with quadrature encoder (56F80xx)

DEMO—BLDC motor control application with quadrature encoder (56F83xx)

32-bit MCU DEMO—3-phase BLCD motor with hall sensors and speed closed loop driven by the eTPU on the MCF5235

DEMO—Three 3-phase BLDC motors demonstration with hall sensors and speed closed loop driven by the eTPU on the MCF5235



Motor

+

1Φ or 3Φ

-

+

Multiple H-Bridge Gate Drive

Transformer Power IC

GDT GDT GDTCEMF/Detector

ADCGPIO and Serial Interface

SpeedController

CurrentController

CommutationControl

Zero Crossing Period and Position Recognition

SpeedCalculation

PWM ADC and GPIO

SpeedReference

Actual Speed

PWMDuty Cycle

PhaseCommutation

-

-

MCU or DSC

Brushless DC Motor (BLDC)—Sensorless Back EMF

Advantages


fast torque response

• Low noise, high efficiency

• Removes the position sensor


• Speed and torque control

Applications

• Industrial control

• Large appliances

• HVAC

• Compressors

• Blowers

• Toys

• Pumps

• Medical equipment

Recommended Devices

8-bit MCU: 908MR, 9S08AW, 9S08GB, 9S08QD, 9RS08KA




Analog/Mixed-Signal Power ICs: MPC17550, MPC17559, MC34920, MC34921, MC34922

Reference Designs

8-bit MCUs RD68HC908BLDCZC Sensorless BLDC motor control using the MC68HC908MR32

RD68HC908BLDCHS 3-phase BLDC drive control with hall sensors

DRM079Variable speed DC fan control using MC9RS08KA2

DRM086Sensorless BLDC motor control using MC9S08AW60

16-bit DSC RDDSP56F8BLDCAZC 3-phase BLDC with sensorless back-EMF ADC zero crossing detection using 56F805

RDDSP56F8BLDCZC 3-phase sensorless BLDC motor control with back-EMF zero crossing detection using 56F805

RDDSCSENSORLESSBLDC 3-phase brushless DC motor sensorless control using MC56F8013


Power Stage Driver

Motor

+

1Φ or 3Φ

-

+

GIPO ADC Timer

Ref. CurrentCalculator

VoltageController

VoltageController

ADC

3-PhaseSine PWMGeneration

PWM

V/Hz

VoltageBoost

MCU or DSC

DC—BusVoltage

Reference

Amplitude

SineFrequency

SlipCompensation

SpeedReference

Zero VoltageDetector Driver

CurrentSensing

VoltageSensing

+

+

+

+

-

-

PFC Option

GPIO and Serial Interface

Over Current

3-Phase Induction Motor (ACIM)— V/Hz Open-Loop Control with PFC

Advantages


fast torque response

• Simple cost-effective control topology

• Controls both motor and PFC by single

MCU

• Targeted for modest applications accepting

low-precision speed control

Applications


• HVAC

• Blowers, fans

• Pumps

• Industrial controls

• Treadmills

• Industrial compressors

• Universal inverters

Recommended Devices

8-bit MCU: 908MR, 9S08AW, 9S08GB, 9S08QD



Reference Designs/Demos*

8-bit MCUs RD68HC908ACIMDTC 3-phase AC induction motor drive with dead time distortion correction using the MC68HC908MR32RD68HC908ACIMVHD 3-phase AC induction motor drive with tachogenerator using MC68HC908MR32RDHC08ACIM PWM control of the single-phase AC induction motor using the MC68HC908QT4 MCURDMC3PHAC General-purpose 3-phase AC industrial motor controller reference design

16-bit DSC RDDSP56F8ACIMVHD 3-phase ACIM V/Hz control using 56F80X

16-bit DSC DEMO—Digital power factor correction for 3-phase AC motor V/Hz open loopDEMO—Cost-effective, high-performance sensorless digital motor control for BLDC/ACIM/PMSM (56F8000)



ADC ADC PWM

Motor

+

1Φ or 3Φ

-

DC-Bus VoltageCompensation

Slip Speed Calculation

V/Hz

Speed Reference

+

+

+

+

MCU or DSC

+

Power Stage DriverOver Current

VoltageBoost


3-PhaseSine PWMGeneration

Sine Frequency

Amplitude

3-Phase Induction Motor (ACIM)— V/Hz Closed-Loop Control with Slip Compensation

Advantages

• High efficiency

• Precise speed control

• Enables indirect torque control

• Tolerant of motor parameters fluctuation

Applications


• HVAC

• Blowers

• Fan, pumps

• Industrial control

• Lifts, cranes, elevators

• Frequency inverters

• Conveyors

• Treadmills



Recommended Devices

8-bit MCU: MC3PHAC, 908MR, 9S08AW, 9S08GB, 9S08QD





8-bit MCUs RD68HC908ACIMDTC 3-phase AC induction motor drive with dead time distortion correction using the MC68HC908MR32RD68HC908ACIMVHD 3-phase AC induction motor drive with tachogenerator using MC68HC908MR32RDHC08ACIM PWM control of the single-phase AC induction motor using the MC68HC908QT4 MCURDMC3PHAC General-purpose 3-phase AC industrial motor controller reference design

16-bit DSC RDDSP56F8ACIMVHD 3-phase ACIM V/Hz control using 56F80X

16-bit DSC DEMO—3-phase AC induction motor control V/Hz application, open loop (56F801)



Power Stage Driver


1Φ or 3Φ

-

+

PWM

DriverOver Current

SpeedReference

DSC/MCU

DC—Bus Ripple

Compensation

--

-

SpeedController

TorqueController

GPIO

Break Control

FluxModel

ADC ADC ADC

Flux Controller

e -j? 2

3

ω i ts

i tm

i α

i β

u a u b u c

u α

| a | c

u ts

u ms

e jθ

SVM/PWM

r

QuadratureDecoder

£

TorqueModelActual

Speed

-

Flux Current

Controller

Torque Current

Controller

Decoupling

ω

ω

ψ

θ

ψr

s

0

-

-

-

*

u β

Motor

ψ *

ω

3-Phase AC Induction Motor (ACIM)—Vector Control

Advantages

• Very high-precision speed/torque control

• Suitable for drives with high dynamic

requirements

• Highly efficient

Applications


• HVAC

• Blowers

• Fan, pumps

• Industrial controls

• Lifts, cranes, elevators


• Conveyors

Recommended Devices




16-bit DSC RDDSP56F8ACVCD 3-Phase AC induction motor vector control using 56F805

16-bit DSC DEMO—Cost-effective, high-performance, sensorless digital motor control for BLDC/ACIM/PMSM (56F8000)



Power Stage Driver

Motor


+

1Φ or 3Φ

-

+

PWM

DriverOver Current

SpeedReference

DSC/MCU

DC—Bus Ripple

Compensation

+

+

++

+

+ +

-

--

-

+

SpeedController

TorqueController

GPIO

Break Control

Mult

SlipFrequencyEstimator

Flux andSpeed

Estimator

ADC ADC ADC

Flux Controller

2

3e -jq

rs

|y *|

|y r|

|T |

qywy

isq i

ts

itm

ia

ib

ua ub uc

ua

| a | c

ubu ts

ums

e jq

ws

SVM/PWM

wr

e

-

-

w

dtd

3-Phase Induction Motor (ACIM)— Sensorless Vector (Stator-Flux-Oriented) Control

Advantages

• High-precision speed/torque control

• Suitable for drives with high

dynamic requirements

• Removal of speed sensor

Applications



• Water pumps

• Construction machinery


• HVAC


16-bit DSC RDDSP56F8ACVCD 3-phase AC induction motor vector control using 56F805

16-bit DSC DEMO—Cost-effective, high-performance, sensorless digital motor control for BLDC/ACIM/PMSM (56F8000)


Recommended Devices




AC

DCLine

AC

LOADPMSM

SpeedReference

ActualSpeed


SpeedController

PWM

Fault ProtectionBreak

Control

GPIO

TorqueCurrent

Controller

FluxCurrent

Controller

Dec

oup

ling

(Bac

k-E

MF

Feed

forw

ard

)

TorqueCurrent

Controller

ADC

TorqueCurrent

Controller

Quad TimerPWM

DC-BusRipple

Compensation

2

3e -jθ

MCU/DSC

Faults

PWM

Temperature

QuadratureEncoder

Isa Isb Isc

U_Dc bus

U_dcb Sector

Is_a

Is_b

Is_c

Is_a_comp

Is_c_comp

Is_b_comp

Us_q

Us_d

Us_q

Us_d

θ

u sβ

i sα

i sβ

u β

u sα

ω r

u α

DC-bus e jθ

+ +

+

-

-

-

ls_d *

ω

Permanent Magnet Synchronous Motor (PMSM)—Vector Control

Advantages

• Exceptionally low noise operation

• Outstanding drive efficiency

• Precise speed/torque control

Applications

• Robotics

• Elevators

• Servo drivers

• Traction systems

• Industrial motion control

• Automotive

Recommended Devices




16-bit DSC RDDSP56F8SMTVC 3-phase PM synchronous motor torque vector control using 56F805

16-bit DSC DEMO—3-phase PM synchronous motor vector control



Power Stage Driver

Motor

+

1Φ or 3Φ

-

+

PWM

DriverOver Current

GPIO

Break Control

ADC ADC ADC

SpeedReference

MCU/DSC

SpeedController

TorqueController

FluxController

SpeedCalculator

Rotor AngleEstimator

Dec

oupl

ing

2

3

SVM/PWM

DC-BusRippleCompensation

FluxReference

q estim

|ª |c

Udc

Vq

Vd

lq

ld

la

lb

lc

q estim

ejq

-ejq

Permanent Magnet Synchronous Motor (PMSM)— Sensorless Sinusoidal PM Motor Control

Advantages

• Low-noise operation

• High drive efficiency

• High-precison speed/torque control

• Suitable for drives with high dynamic

requirements

• Removal of speed sensor

Applications

• Appliances

• HVAC

• Compressors

• Blowers

• Industrial motion controls

Recommended Devices



Demos*

16-bit DSC DEMO*—Cost-effective, high-performance, sensorless digital motor control for BLDC/ACIM/PMSM (56F8000)


www.freescale.com/motorcontrol 2�

Sensorless Switch Reluctance Motor Drive

Advantages

• Reliable electronics

• High starting torque

• Removal of position sensor

Applications


• Medical scanners

• Computers, office equipment

• Toys

• Food processors

• Vacuum cleaners

• Machine tools


Recommended Devices



Reference Designs

16-bit DSC RDDSP56F8SRDS 3-phase SR motor sensorless control reference design RDDSP56F8SRDE 3-phase switched reluctance motor drive control with encoder using 56F805RDDSP56F8SRDHS 3-phase SR motor control with hall sensors reference design

Req.Speed

DesiredSpeed

SpeedError

DesiredCurrent

CurrentError

DutyCycle

ActualSpeed

CommutationAngle

ActualCurrent

PhaseCurrent

CommutationAngle

Commutation

Commutation

DC–BusVoltage

DC – BusVoltage Estim.

FluxRefer.Flux

SpeedRamp

SCI

SpeedController

CurrentController

PWMGeneration

FaultProtection

CommutationAngle

Calculation Comparator

Flux Linkageand

ResistanceEstimation

ReferenceFlux LinkageCalculation

MUX

SpeedCalculation

AC

DC

DC—Bus VoltagePhase CurrentTemperature

PWM

LOAD

3-Phase SR Power Stage

FreeMaster

START

STOP

UP

DOWN

SRM

MCU/DSC

1Φ OR 3Φ

--


Power ICs for Motor Control Products Analog/mixed-signal integrated circuits with SMARTMOS™ technology

Freescale’s analog/mixed-signal and power

integrated circuits provide comprehensive

electric motor system solutions when coupled

with MCUs or DSCs. Freescale’s power

integrated circuits (ICs) are manufactured

using our advanced SMARTMOS™

technology, which enables key protection and

performance functions to be monolithically

integrated within the power IC silicon. When

product designers rely on a printed circuit

board loaded with discrete components (and

the attendant poor MTBF number), Freescale

delivers robust, highly integrated system

solutions that provide a long life of reliable

and highly functional service.

Motor Types vs. Market Power ICs and Applications

Brush Stepper Hall-BLDC Sensorless

Consumer AV and Portables

MPC17510, 11, 17DVD Players, Tape Players, Micro Disks, Hobby/Toy

MPC17531, 33, 50Camera Lens, 8 Shutter Disk Head, Positioner

MPC17559Disk Spinning, VCR Head Spin, Heatsink Fans

MPC17559Disk Spinning,VCR Head Spin, Heatsink Fans

Industrial and Automation

MC33923, 26, E8HBDC Servos and Actuators

MC34920, 21, 22, 29, E8HBCNC, Robotics, Pick’n’Place

BLDC DerivativesSmall Servos, LVDC Fans, Actuators

BLDC DerivativesServos, LVDC Pumps

Health Care (Non-Life-Support)

MC33887 (Used as a Low-Side Gate Driver)Hospital Beds, Wheelchairs, Scooters

MPC17529, E8HBInsulin Pumps, BP Monitors

BLDC DerivativesCPAP Machines, Air Purifiers

IDC DerivativesOXY Concen, LVDC Blowers, Air Purifiers

Product Selector Guide

Product Description Main Characteristics

No. of Outputs

RDS(on) Ω of Each Output

Current Limitation

(A)

Current Limitation Standby

Max

Protection Features Control Status

Reporting Packaging Status

MC33887H-bridge driver

with sleep mode (5.2A)

130 mw @ 25C, sleep mode,

current sense2 130 6 25 μ A Short circuit, current

limit, temp sense Parallel1 status pin (overcurrent/

overtemp)

20-pin HSSCP 54-pin SOICW

Production

MC34920

0.77W max dual 45V H-bridge DC/

stepper motors with charge

pump and dual regulators, device can be paralleled

in H-bridge configuration

Dual 45V H-bridge DC/stepper motor

with charge pump and dual

regulators

8 280 0 2.4 Note 14 mA (n o m)

Overcurrent, undervoltage,

overtemp, undervoltage

Serial I/F

System reset on faults

44-pin PLCC Production

MC34921 Integrated motor drive IC

Dual PWM DC motor drive 4 700 2.5 Note 30 mA Shoot through

undervoltage detectSerial

I/F n/a

54-pin SOIC 64-pin LQFP

Production

MC34922Dual H-bridge

driver with sleep mode (4.0a)

130 mw @ 25C, sleep mode,

current sense4 130 6 25 mA Short circuit, current

limit, temp sense Parallel1 status pin (overcurrent/

overtemp)

29- pin PQFN

(10 x10)Production

MC34929Brushless DC

1.0A, 28V motor driver IC

Three-phase BLDC motor

driver with hall sensor inputs

3 250 1.5 3.0 mA

Load short circuit detect and protect, over temperature

detect and thermal shutdown,

undervoltage detect and shutdown stalled

rotor detect and protect, adjustable

maximum current limit

Parallel n/a 24-pin QFN Production

MPC17510 0.45W H-bridgeSingle 15V

H-bridge with charge pump

2 450 3.0 Note 1.0 mA Shoot through undervoltage detect Parallel Shutdown

undervolage24-pin TSSOP Production

MPC175290.7W dual 6.8V

with charge pump, 3.3V logic

Dual 6.8V with charge pump 2 700 1.4 Note 1.0 mA Shoot through

undervoltage detect Parallel Shutdown undervolage

20-pin VMFP Production

MPC17531

0.7W dual 6.8V with charge

pump and sleep mode

Dual 6.8V with charge pump 2 700 1.4 Note 1.0 mA Shoot through



MPC175330.7W dual 6.8V with external charge pump

Dual 6.8V with external charge

pump2 700 1.4 Note <200 mA Shoot through



MPC17550

0.7W dual 5.0V H-bridge driver

with DC-DC converter

Quad 5.0V H-bridge driver

with DC-DC converter

4 700 2.0 Note 5.0 mA Shoot through undervoltage detect Parallel Shutdown

undervolage36-pin VMFP Production


Power ICs for Motor Control Products Analog/mixed-signal integrated circuits as part of robust, highly integrated system solutions

Freescale offers analog evaluation boards and evaluation modules:

• KIT34922EVB

• KIT34920EVB

• KIT17550EVB

• KIT17550EVM

• KIT34710EVB

• KIT34703EVB

• KIT33887EVB

• KIT33926EVB

Please visit www.freescale.com/analog for more details.

333893368933742338893398933997339983470134702

3329033388333903339933661337903389733990

33287337933379433884339723397533993

33186332853328633289333853339533486A338803388233883

33287337933379433884339723397533993

338863388733895339813398233984349203492134929908E624908E625

SPI orParallel Control

Inter-ModuleCommunication

Rotor Position (optional)

Feedback

Sensors and Contact Monitors

System Input

Sensors and Contact Monitors

Physical LayerTransceivers

MCUor

DSCor

ASSPController

Motor

MechanicalAssembly

ProcessorPower Supply

Power IC

Power


Freescale’s 8-bit portfolio includes several low-end devices that provide cost-effective solutions for motor control applications. From flash to

ROM, from 1 KB to 60 KB of memory and from tiny 8-pin QFN to 64-pin quad flat packages, the HCS08, RS08 and HC08 families are designed

to meet all of your 8-bit needs. They feature peripherals, such as 10-bit A/D convertors and multi-channel timers, which make them ideal

candidates for low-end motor control applications.

8-bit Microcontroller Motor Control Products Feature-rich portfolio that meets all of your 8-bit needs

Device Flash RAM

ADC Channels SCI

(uART) ESCI SPI I2C ACMP Timer Clock

Type

Package Dev Tools

�0-bit 8-bit DFN/QFN

QFP/LQFP TSSOP SOIC DIP DEMO EVB FSICE

General Purpose ProductsHCS08 and RS08 Families

MC9S08AW60 60 KB 2 KB 16 2 √ √ 6 + 2-ch. ICG w/FLL 48 64, 44 √

MC9S08AW32 32 KB 2 KB 16 2 √ √ 6 + 2-ch. ICG w/FLL 48 √

MC9S08AW16 16 KB 1 KB 16 2 √ √ 4 + 2-ch. ICG w/FLL 48 √

MC9S08GB60A 60 KB 4 KB 8 √ √ √ 3 + 5-ch. ICG 64 √ √

MC9S08GT60A 60 KB 4 KB 8 √ √ √ 2 + 2-ch. ICG 48 44 √ √

MC9S08GB32A 32 KB 2 KB 8 √ √ √ 3 + 5-ch. ICG 64 √ √

MC9S08GT32A 32 KB 2 KB 8 √ √ √ 2 + 2-ch. ICG 48 44 √ √

MC9S08QG8 8 KB 512B 8 √ √ √ √ 2-ch., MTIM ICS 8, 16 16 8 16 √

MC9S08QG4 4 KB 256B 8 √ √ √ √ 2-ch., MTIM ICS 8, 16 16 8 8 √

MC9RS08KA2 2 KB 63B √ MTIM ICS 6 8 8 √

MC9RS08KA1 1 KB 63B √ MTIM ICS 6 8 8 √

MC9S08GT16A 16 KB 2 KB 8 √ √ √ 3 + 2-ch. ICG 48, 32 44 42 √ √

MC9S08GT8A 8 KB 1 KB 8 √ √ √ 3 + 2-ch. ICG 48, 32 44 42 √

MC9S08QD4 4 KB 256B 4 √ 2 + 3-ch. ICS 8 8 √

MC9S08QD2 2 KB 256B 4 √ 2 + 3-ch. ICS 8 8 √

HC08 FamilyMC908AP64 60 KB 2 KB 8 √ √ √ 2 + 2-ch. PLL 48, 44 42 √ √

MC908GR60A 60 KB 2 KB 24 √ √ 2 + 6-ch. PLL 64, 48, 32 √ √

MC908GR48A 48 KB 1.5 KB 24 √ √ 2 + 6-ch. PLL 64, 48, 33 √ √

MC908AP32 32 KB 2 KB 8 √ √ √ 2 + 2-ch. PLL 48, 44 42 √ √

MC908GP32 32 KB 512B 8 √ √ 2 + 2-ch. PLL 44 40, 42 √ √

MC908GR32A 32 KB 1.5 KB 24 √ √ 2 + 6-ch. PLL 64, 48, 32 √ √

MC908AP16 16 KB 1 KB 8 √ √ √ 2 + 2-ch. PLL 48, 44 42 √ √

MC908GR16 16 KB 1 KB 8 √ √ 2 + 2-ch. PLL 48, 32 √ √

MC908GR16A 16 KB 1 KB 8 √ √ 2 + 2-ch. PLL 48, 32 √ √

MC908JL16 16 KB 512B 13 √ √ 2 + 2-ch. OSC 32 28 28, 32 √ √

MC908QC16 16 KB 512B 10 √ 4 + 2-ch. OSC 20, 28 28 16, 20, 28 √ √

MC908JK8 8 KB 256B 13 √ 2 + 2-ch. OSC 20 20 √

MC908JL8 8 KB 256B 13 √ 2 + 2-ch. OSC 32 32, 28 28 √

MC908QB8 8 KB 256B 10 √ √ 4-ch. OSC 16 16 16 √ √

MC908QC8 8 KB 384B 10 √ 4 + 2-ch. OSC 20, 28 16, 20, 28 √ √

MC908QY8 8 KB 256B 10 2-ch. OSC 16 16 16 √ √

MC908QB4 4 KB 128B 4 √ √ 4-ch. OSC 16 16 16 √ √

MC908JL3E 4 KB 128B 12 2-ch. OSC 48 28 28 √

MC908JK3E 4 KB 128B 12 2-ch. OSC 20 20 √

MC908QT4A 4 KB 128B 6 2-ch. OSC 8 8 8 √ √

MC908QY4A 4 KB 128B 6 2-ch. OSC 16 16 16 √ √

MC908JK1E 1.5 KB 128B 12 2-ch. OSC 20 20 √

MC908QT2A 1.5 KB 128B 6 2-ch. OSC 8 8 8 √ √

MC908QY2A 1.5 KB 128B 6 2-ch. OSC 16 16 16 √ √

MC908QT1A 1.5 KB 128B 2-ch. OSC 8 8 8 √ √

MC908QY1A 1.5 KB 128B 2-ch. OSC 16 16 16 √ √

Product COP Operating Voltage (V)

Max.Bus Frequency (MHz) Temp Packaging OTP Status Additional Information Documentation

MC3PHAC Y 5.0 4.0 √

32-pin LQFP (FA),

28-pin SOIC (DW),

28-pin PDIP (P)

n/a Samples available

A complete solution, contains all functions

required to implement control of open loop

3–phase AC motor drive

MC3PHAC DRM006


8-bit Microcontroller Motor Control Products MC3PHAC—A cost-effective, comprehensive solution for 3-phase AC motor controlMC3PHAC: Motor Control Unit

The MC3PHAC is a high-performance monolithic intelligent motor controller specifically designed

to meet the requirements of cost-effective, variable-speed, 3-phase AC motor control systems.

The device is adaptable and configurable based on its environment, and contains all of the active

functions required to implement the control portion of an open-loop, 3-phase AC motor drive.

One of the unique aspects of this device is that, in addition to being adaptable and configurable,

it does not require any software development. This makes the MC3PHAC a perfect fit for

designers who require AC motor control but have limited or no software resources available.

MC3PHAC Features• V/Hz speed control• DSP enhances speed stability• 32-bit calculations for high-precision

operation• Internet-enabled• No user software development

required for operation• 6-output pulse-width modulator

(PWM)• 3-phase waveform generation• 4-channel analog-to-digital converter

(ADC)• User configurable for stand-alone or

hosted operation• Dynamic bus ripple cancellation

Learn More: Free* MC3PHAC driver source code. Now available for download. For more information, go to freescale.com/8bit and search for MC3PHAC.

*Subject to license agreement and registration


8-bit Microcontroller Motor Control Products Algorithms and Application Notes

List of 8-bit Microcontroller Application Notes

ID Description

AN2149 Compressor Induction Motor Stall and Totation Detection Using Microcontrollers

AN1853 Embedding Microcontrollers in Domestic Refrigeration Appliances

AN2396 Servo Motor Control Application on a Local Area Interconnect Network (LIN)

AN2356 Sensorless BLDC Motor Control on MC68HC908MR32 Software Porting to Customer Motor

AN2355 Sensorless BLDC Motor Control on MC68HC908MR32 Software

AN2357 Sine Voltage Powered 3-Phase Permanent Magnet Motor with Hall Sensor

AN2154 Cost-Effective, 3-Phase, AC Motor Control System with Power Factor Correction Based on MC68HC908MR32

AN1857 3-Phase, AC Motor Control System with Power Factor Correction Based on MC68HC908MR32

AN1858 Sensorless Brushless DC Motor Using the MC68HC908MR32 Embedded Motion Control Development System

AN1663 Cost-Effective Universal Motor Sensorless Phase Angle Drive System

AN1734 Pulse Width Modulation Using the 16-bit Timer

AN1664 Cost-Effective 3-Phase AC Motor Control System Based on MC68HC908MR32

AN1590 High-Voltage Medium Power Board for 3-Phase Motors

8-bit Microcontroller Drivers and Algorithms

Motor Type Available Drivers and Algorithms

Drivers Timer PWM I/O ports

Flash SCI CAN (DSP only)

ADC SPI Position Sensing Encoder (DSP only)

AC Induction Power factor Brake control Board identification

3-phase waveform generation V/Hz and PFC SCI communication routine

Space vector modulation PI/PID controllers Lookup table

Ramp Velocity calculation and estimation

Switch/push button Position calculation and estimation

Brushless DC BLDC commutation handler with sensor BLDC with sensors Switch control

BLDC commutation handler, sensorless Ramp Board identification

PI/PID controllers Switch/push button SCI communication routine

Position calculation and estimation Velocity calculation and estimation

BLDC with zero crossing Brake control

Switched Reluctance

SR commutation handler Switch/push button Brake control

SR commutation angle calculation PI/PID controllers Switch control

SR with sensors Velocity calculation and estimation Board identification

SCI communication routine Position calculation and estimation

Ramp Look-up table


8-bit Microcontroller Motor Control Products Hardware and Software Development Tools

Demonstration Boards (DEMO):Demonstration boards that allow users to program and debug applicationcode with basic I/O

functions and peripherals. Designers save on design time and costs with these demo boards

targeted at specific HC(S)08/RS08 MCUs. CodeWarrior Development Studio for HC(S)08/RS08,

Special Edition is included with the board.

MON08 Multilink (USBMULTILINK08E):The MON08 Multilink is for all HC08 MCUs. It provides in-circuit debugging and programming

through the standard MON08 serial debug/breakpoint interface. CodeWarrior Development

Studio for HC(S)08/RS08, Special Edition is included with the MON08 Multilink.

BDM Multilink (USBMULTILINKBDME):The BDM Multilink is for RS08, HCS08 and HCS12 MCUs, and provides real-time,

in-circuit flash programming, emulation and debugging through the BDM interface. CodeWarrior

Development Studio for RS08, HC(S)08 and HC(S)12, Special Edition is included with the

BDM Multilink.

Evaluation Boards (EVB):Evaluation boards allow users to program and debug advanced application code with expanded

I/O functions and peripherals. HC(S)08 EVBs may include advanced features including zero

insertion force (ZIF) sockets, LCDs and large prototype areas. CodeWarrior Development Studio

for RS08, HC(S)08 and HC(S)12, Special Edition is included with the board.

Freescale Semiconductor In-Circuit Emulator (FSICE):The Freescale Semiconductor In-Circuit Emulator (FSICE) is a high-performance emulator system

for HC08 MCUs. In addition to incorporating the debug features of traditional emulators, the FSICE

system adds advanced features such as USBMULTILINK08E cable for in-circuit flash programming,

Ethernet interface for remote debugging and a real-time bus analyzer. The kit consists of the

FSICE base station, the corresponding MCU emulator module (EM), all of the cables and adapters

needed, and CodeWarrior Development Studio for HC(S)08/RS08, Special Edition.

Cyclone Pro (M68CYCLONEPROE):Cyclone Pro provides all the capabilities of the USBMULITLINKBDME and USBMULTILINK08E plus USB/Ethernet serial interfaces. In addition, the Cyclone Pro has the ability to function as a stand-alone programmer with push buttons and LEDs to control operations. Cyclone Pro is the universal debugging and real-time emulation tool for all RS08, HC(S)08 and HC(S)12 MCUs. CodeWarrior Development Studio for RS08, HC(S)08 and HC(S)12, Special Edition is included along with Cyclone Pro.

CodeWarrior Development Studio for HC(S)08/RS08 Special Edition:CodeWarrior Development Studio is a comprehensive special edition toolset for fast and easy MCU development. This tool suite provides the capabilities required by every engineer in the development cycle to exploit the capabilities of the RS08 and HC(S)08 architecture. Some of the features include: project manager for up to 32 files, full-chip simulation, flash programming and Processor Expert technology, which provides automatic C-code generation for most HC(S)08 on-chip peripherals.


8-bit Microcontroller Motor Control Products HCS08, RS08 and HC08 Development Tools

HCS08 and RS08 Development Tool Summary

Family Part NumbersQuick Start Advanced Development

Demo/Evaluation Board Debug Interface Cable Software Evaluation Board Debug Interface Cable Software

AW MC9S08AW16/32/60 DEMO9S08AW60E

USBMULTILINKBDME CWX-HC08-SE* M68CYCLONEPROE CWS-HC08-STDED-CX**

GB and GTMC9S08GB32/60

M68DEMO908GB60E M68EVB908GB60EMC9S08GT8/16/32

KA MC9RS08KA1/2 DEMO9RS08KA2

QD MC9S08QD2/4 DEMO9S08QD4

QG MC9S08QG4/8 DEMO9S08QG8E

*CodeWarrior Development Studio for Freescale HC(S)08/RS08 Special Edition is available at no additional cost and is supplied with all Freescale HC(S)08 and RS08 development tools. Upgrade available to support for 32k or 64k memory with part numbers CWS-HC08-C32K-CX or CWS-HC08-C64K-CX. **CodeWarrior Development Studio for HC(S)08/RS08 Professional Edition also available, part number CWS-HC08-PROED-CX.

HC08 Development Tool Summary

Family Part NumbersQuick Start Advanced Development

Demo/Evaluation Board Debug Interface Cable Software Evaluation Board Debug Interface Cable Software

JL and JKMC908JK1/3/8 DEMO908JK16

USBMULTILINK08E CWX-HC08-SE*

FSICEKITJLJKE

M68CYCLONEPROE CWS-HC08-STDED-CX**

MC908JL3/8/16

GP MC908GP32 M68EVB908GP32E FSICEKITGPGTE

GR and GZMC9080GR4/8/16/

32/48/60 DEMO908GZ60E FSICEKITGRGZEMC908GZ8/16/48/60

MRMC908MR8 FSICEKITMR8E

MC908MR16/32 FSICEKITMR32E

QB MC908QB4/8 DEMO908QB8E FSICEKITQBLTYE

QC MC908QC8/16 DEMO908QC16 FSICEKITQC16E

QT and QYMC908QT1/2/4

DEMO908QB8E FSICEKITQBLTYEMC908QY1/2/4

*CodeWarrior Development Studio for Freescale HC(S)08/RS08 Special Edition is available at no additional cost and is supplied with all Freescale HC(S)08 and RS08 development tools. Upgrade available to support for 32k or 64k memory with part numbers CWS-HC08-C32K-CX or CWS-HC08-C64K-CX. **CodeWarrior Development Studio for HC(S)08/RS08 Professional Edition also available, part number CWS-HC08-PROED-CX.


�6-bit Digital Signal Controller Motor Control Products 56800 Core-Based Family Combines DSP Processing with MCU Functionality16-bit Digital Signal Controller (DSC) Products—The 56800 core-based family of DSCs combines the processing power of a DSP and the

functionality of a microcontroller, with a flexible set of peripherals on a single chip. This creates an extremely cost-effective motor control solution.

�6-bit DSC Devices Performance Flash/RAM (KB) PWM ADC

(bits) Packaging Additional Features

DSP56F801FA80E (-40°C to +85°C)

80 MHz 40 MIPS

Prog 16/2 Data 4/2 6 12 48-pin LQFP SCI, SPI, quad timer, COP, PLL, up to 11 GPIO,

on-chip emulation, on-chip oscillator

DSP56F801FA60E (-40°C to +85°C)

60 MHz 30 MIPS

Prog 16/2 Data 4/2 6 8 48-pin LQFP SCI, SPI, quad timer, COP, PLL, up to 11 GPIO,


DSP56F802TA80E (-40°C to +85°C)

80 MHz 40 MIPS

Prog 16/2 Data 4/2 6 8 32-pin LQFP SCI, quad timer, COP, PLL, up to 4 GPIO,


DSP56F802TA60E (-40°C to +85°C)

60 MHz 30 MIPS

Prog 16/2 Data 4/2 6 5 32-pin LQFP SCI, quad timer, COP, PLL, up to 4 GPIO,


DSP56F803BU80E (-40°C to +85°C)

80 MHz 40 MIPS

Prog 67/1 Data 8/4 6 5 100-pin LQFP

SCI, SPI, CAN, quadrature decoder, quad timer, COP, PLL, up to 16 GPIO, on-chip emulation,

external memory interface

DSP56F805FV80E (-40°C to +85°C)

80 MHz 40 MIPS


SCIs, SPI, CAN, quadrature decoders, quad timer, COP, PLL, up to 32 GPIO, on-chip emulation,


DSP56F807PY80E 80 MHz 40 MIPS


SCIs, SPI, CAN, quadrature decoders, quad timer, COP, PLL, up to 32 GPIO, on-chip emulation,


DSP56F807VF80E (-40°C to +85°C) 160-ball MAPBGA

MC56F8322VFAE (-40°C to +105°C)

60 MHz 60 MIPS 48/12 6 16 48-pin LQFP

Two SPI, two SCI, COP, PLL, decoder, two quad timers, FlexCAN, enhanced on-chip emulation, on-chip

oscillator, temperature sensor and up to 21 GPIOs

MC56F8322MFAE (-40°C to +125°C)

MC56F8323VFBE (-40°C to +105°C)

60 MHz 60 MIPS 48/12 6 6 64-pin LQFP

Two SPI, two SCI, COP, PLL, decoder, two quad timers, FlexCAN enhanced on-chip emulation, on-chip

oscillator, temperature sensor and up to 27 GPIOs

MC56F8323MFBE (-40°C to +125°C)

MC56F8335VFGE (-40°C to +105°C)

60 MHz 60 MIPS 80/12 12 8 128-pin LQFP

Two SPI, two SCI, COP, PLL, two decoders, four quad timers, FlexCAN, enhanced on-chip emulation,

temperature sensor and up to 49 GPIOs

MC56F8335MFGE (-40°C to +125°C)

MC56F8345VFGE (-40°C to +105°C)

60 MHz 60 MIPS 144/12 12 16 128-pin LQFP

Two SPI, two SCI, COP, PLL, two decoders, four quad timers, FlexCAN, enhanced on-chip emulation,

temperature sensor and up to 49 GPIOs

MC56F8345MFGE (-40°C to +125°C)


�6-bit Digital Signal Controller Motor Control Products 56800 Core-Based Family Combines DSP Processing with MCU Functionality�6-bit Digital Signal Controller Devices Performance Flash/RAM

(KB) PWM ADC Packaging Additional Features

MC56F8346VFVE (-40°C to +105°C)

60 MHz 60 MIPS 144/12 12 16 144-pin

LQFP

Two SPI, two SCI, COP, PLL, two decoders, four quad timers, FlexCAN, enhanced on-chip emulation, temperature sensor,

external memory expansion and up to 62 GPIOs

MC56F8346MFVE (-40°C to +125°C)

MC56F8347VPYE 60 MHz 60 MIPS 280/20 12 16 160-pin

LQFP



MC56F8347VVFE (-40°C to +105°C)

160-ball MAPBGA

MC56F8347MPYE (-40°C to +125°C)

160-pin LQFP

MC56F8355VFGE (-40°C to +105°C)

60 MHz 60 MIPS 280/20 12 16 128-pin

LQFP

Two SPI, two SCI, COP, PLL, two decoders, four quad timers, FlexCAN, enhanced on-chip emulation, temperature sensor and

up to 49 GPIOs

MC56F8355MFGE (-40°C to +125°C)

MC56F8356VFVE (-40°C to +105°C)

60 MHz 60 MIPS 280/20 12 16 144-pin

LQFP



MC56F8356MFVE (-40°C to +125°C)


LQFP



MC56F8357VVFE (-40°C to +105°C)

160-ball MAPBGA

MC56F8357MPYE (-40°C to +125°C)

160-pin LQFP

MC56F8365VFGE (-40°C to +105°C)

60 MHz 60 MIPS 576/36 12 16 128-pin

LQFP

Two SPI, two SCI, COP, PLL, two decoders, four quad timers, two FlexCAN, enhanced on-chip emulation, temperature sensor

and up to 49 GPIOs

MC56F8365MFGE (-40°C to +125°C)

MC56F8366VFVE (-40°C to +105°C)

60 MHz 60 MIPS 576/36 12 16 144-pin

LQFP

Two SPI, two SCI, COP, PLL, two decoders, four quad timers, two FlexCAN, enhanced on-chip emulation, temperature sensor,


MC56F8366MFVE (-40°C to +125°C)


LQFP

Two SPI, two SCI, COP, PLL, two decoders, four quad timers, two FlexCAN, enhanced on-chip emulation, temperature sensor,


MC56F8367VVFE (-40°C to +105°C)

160-ball MAPBGA

MC56F8367MPYE (-40°C to +125°C)

160-pin LQFP


�6-bit Digital Signal Controller Motor Control Products 56800 Core-Based Family Combines DSP Processing with MCU Functionality�6-bit Digital Signal Controller Devices Performance Flash/

RAM (KB) PWM ADC Packaging Additional Features

MC56F8122VFAE (-40°C to 105°C)

40 MHz 40 MIPS 40/8 n/a 6 48-pin LQFP Two SPI, two SCI, COP, PLL, quad timer, enhanced on-chip

emulation, on-chip oscillator and up to 21 GPIOs

MC56F8123VFBE (-40°C to +105°C)

40 MHz 40 MIPS 40/8 n/a 8 64-pin LQFP Two SPI, two SCI, COP, PLL, quad timer, enhanced on-chip

emulation, on-chip oscillator and up to 27 GPIOs

MC56F8135VFGE (-40°C to +105°C)

40 MHz 40 MIPS 72/8 12 16 128-pin LQFP Two SPI, two SCI, COP, PLL, decoder, two quad timers,

enhanced on-chip emulation and up to 49 GPIOs

MC56F8145VFGE (-40°C to 105°C)



MC56F8146VFVE (-40°C to +105°C)

40 MHz 40 MIPS 136/8 6 16 144-pin LQFP

Two SPI, two SCI, COP, PLL, decoder, two quad timers, enhanced on-chip emulation, external memory expansion and

up to 62 GPIOs

MC56F8147VPYE 40 MHz 40 MIPS 136/8 6 16 160-pin LQFP


up to 76 GPIOs

MC56F8147VVFE (-40°C to +105°C)

160-ball MAPBGA

MC56F8155VFGE (-40°C to +105°C)



MC56F8156VFVE (-40°C to +105°C)

40 MHz 40 MIPS 272/16 6 16 144-pin LQFP


up to 62 GPIOs



up to 76 GPIOs

MC56F8157VVFE (-40°C to +105°C)

160-ball MAPBGA

MC56F8165VFGE (-40°C to +105°C)


enhanced on-chip emulation, debug and up to 49 GPIOs

MC56F8166VFVE (-40°C to +105°C)

40 MHz 40 MIPS 544/32 6 16 144-pin LQFP


up to 62 GPIOs


Two SPI, two SCI, COP, PLL, decoder, two quad timers, enhanced on-chip emulation, external memory expansion,

debug and up to 76 GPIOs

MC56F8167VVFE (-40°C to +105°C)

160-ball MAPBGA


�6-bit Digital Signal Controller Motor Control Products 56800 Core-Based Family Combines DSP Processing with MCU Functionality�6-bit Digital Signal Controller Devices Performance Flash/RAM

(KB) PWM ADC Packaging Additional Features

MC56F8011VFAE (-40°C to +105°C)

32 MHz 32 MIPS 12/2 6 6 32-pin

LQFPQuad timer, SPI, SCI with LIN slave, PLL, COP, I2C, on-chip oscillator, enhanced on-chip emulation and up to 26 GPIOs

MC56F8013VFAE(-40°C to +105°C)

32 MHz 32 MIPS 16/4 6 6 32-pin


MC56F8014VFAE (-40°C to +105°C)

32 MHz 32 MIPS 16/4 5 8 32-pin


MC56F8023VLC(-40°C to +105°C)

32 MHz 32 MIPS 32/4 6 6 32-pin

LQFP

QSCI, QSPI, COP, PLL, 4x16-bit timers, 2x12-bit DACs, PWM fault inputs,1xprog. interval timer, JTAG/EOnCE and up

to 26 GPIOs

MC56F8023MLC(-40°C to +125°C)

32 MHz 32 MIPS 32/4 6 6 32-pin

LQFP

MC56F8025VLD(-40°C to +105°C)

32 MHz 32 MIPS 32/4 6 8 44-pin

LQFP

QSCI, QSPI, COP, PLL, 4x16-bit timers, 2x12-bit DACs, PWM fault inputs, 3xprog. interval timer, JTAG/EOnCE and

up to 35 GPIOs

MC56F8025MLD(-40°C to +125°C)

32 MHz 32 MIPS 32/4 6 8 44-pin

LQFP

MC56F8036VLF(-40°C to +105°C)

32 MHz 32 MIPS 64/8 6 8 48-pin

LQFP

QSCI, QSPI, CAN, COP, PLL, 4x16-bit timers, 2x12-bit DACs, PWM fault inputs, 3xprog. interval timer, JTAG/EOnCE and up

to 39 GPIOs

MC56F8036MLF(-40°C to +125°C)

32 MHz 32 MIPS 64/8 6 8 48-pin

LQFP

MC56F8037VLH(-40°C to +105°C)

32 MHz 32 MIPS 64/8 6 16 64-pin

LQFP

QSCI, QSPI, CAN, COP, PLL, 8x16-bit timers, 2x12-bit DACs, PWM fault inputs, 3xprog. interval timer, JTAG/EOnCE

and up to 53 GPIOs

MC56F8037MLH(-40°C to +125°C)

32 MHz 32 MIPS 64/8 6 16 64-pin

LQFP


�6-bit Digital Signal Controller Motor Control Products Hardware Development Tools

�6-bit DSC Hardware Development Tools Description

DSP56F800DEMOE 56F800 Demonstration Kit

MC56F8300DSK 56F8300 Demonstration Kit

MC56F8323EVM Evaluation Kit for the 56F8322 and 56F8323 Processor

MC56F8367EVM Evaluation Kit for the 56F8345-56F8367 and 56F8145-56F8167 Processor

APMOTRO56F8000 56F8000 Motor Control Kit

CPA56F8013 CPA56F8013 Socket Board for 56F8013 Flash Programming

CPA56F8014 CPA56F8014 Socket Board for 56F8014 Flash Programming

DEMO56F8013-EE Demonstration Board for 56F8013 and 8011

DEMO56F8014-EE Demonstration Board for 56F8014

MC56F8037EVM Evaluation Board for MC56F8023, MC56F8025, MC56F8036, MC56F8037


Drivers for On-Chip Peripherals 56F80�� 56F80�3 56F80�4 56F8023 56F8025 56F8036 56F8037

ADC • • • • • • •

DAC • • • •

Quadrature Decoder • • • •

MSCAN • •

Analog Comparator • • • •

PIT • • • •

Flash • • • • • • •

GPIO • • • • • • •

Interrupt Controller • • • • • • •

PLL • • • • • • •

PWM • • • • • • •

Quad Timer • • • • • • •

Serial/SCI with LIN • • • • • • •

SPI • • • • • • •

Drivers for Off-Chip Peripherals on EVMs

I2C • • • • • • •

Terminal • • • • • • •

Button • • • • • • •

PC Master • • • • • • •

LED • • • • • • •

Tools

PC Master • • • • • • •

Miscellaneous

Serial Bootloader • • • • • • •

Data Structures (FIFO) • • • • • • •

Cycle Count • • • • • • •

Stack Check • • • • • • •

Test Motor Control Applications

Brushless DC Motors w/Hall Sensor • •

Motor Control Algorithms

3-Phase Sine Waveform Generation • • • • • • •

Clarke/Park Transformation • • • • • • •

Space Vector Modulation • • • • • • •

Ramp • • • • • • •

D-Q System (2-Phase) • • • • • • •

FOC Decoupling • • • • • • •

BLDC Commutation Handler w/Sensors • • • • • • •

BLDC Commutation Handler Sensorless-Zero Cross • • • • • • •

SR Commutation Handler • • • • • • •

PI/PID Controllers • • • • • • •

Velocity Calculation and Estimation • • • • • • •

Look-Up Table • • • • • • •

Brake Control • • • • • • •

Switch Control • • • • • • •

�6-bit Digital Signal Controller Motor Control Products 56F8000 Software Modules

• = Available in Processor Expert


Drivers for On-Chip Peripherals 56F80� 56F802 56F803 56F805 56F807 56F800 Demo

ADC • • • • • •

Quadrature Decoder • • •

Flash • • • • • •

GPIO • • • • • •

Interrupt Controller • • • • • •

MSCAN (1) • • •

PLL • • • • • •

Posix Timer • • • • • •

PWM • • • • • •

Quad Timer • • • • • •

Serial/SCI • • • • • •

SIM • • • • • •

SPI • • • •

SSI

TOD


I2C • • • • • •

Terminal • • • • • •

BLDC • • • • • •

Brake • • • • • •

Button • • • • • •

Codec

EEPROM/Flash (SPI Bus Serial)

LED • • • • • •

Switch • • • • • •

Tools

PC Master • • • • • •

File I/O • • • • • •

JTAG Flash Loader • • • • • •

RTOS Support

MicroC/OS-II • • •

Miscellaneous

Serial Bootloader • • • • • •

Data Structures (FIFO) • • • • • •

Cycle Count • •

Stack Check • • • • • •

Test • • • • • •

Motor Control Applications

AC Induction Motors (ACIM) V/Hz Closed Loop •

Brushless DC Motors w/Encoder •

Digital Power Factor Correction •

(1) Component is priced separately, contact your local Freescale Semiconductor sales office or authorized Freescale Semiconductor distributor for more information.




56F800 Software Modules 56F80� 56F802 56F803 56F805 56F807 56F800 Demo


3-Phase Sine Waveform Generation • • • • • •

Clarke/Park Transformation • • • • • •

Space Vector Modulation • • • • • •

Ramp • • • • • •

D-Q System (2-Phase) • • • • • •

FOC Decoupling • • • • • •

BLDC Commutation Handler w/Sensors • • • • • •

BLDC Commutation Handler Sensorless—Zero Cross • • • • • •

SR Commutation Handler • • • • • •

PI/PID Controllers • • • • • •

Velocity Calculation and Estimation • • • • • •

Look-Up Table • • • • • •

Brake Control • • • • • •

Switch Control • • • • • •

Example/Test Applications

Brake Control •

Clarke/Park •

Decoupling •

Dqestabl •

Flux Model •

Wave Generate •

Phase Flux Estimation •

Space Vector Modulation •



�6-bit Digital Signal Controller Motor Control Products 56F8300/8100 Software Modules

Drivers for On-Chip Peripherals F8322/ F8�22

F8323/ F8�23

F8335/ F8�35

F8345/ F8�45

F8346/ F8�46

F8347/ F�47

F8355/ F8�55

F8356/ F8�56

F8357/ F8�57

F8365/ F8�65

F8366/ F8�66

F8367/ F8�67

ADC • • • • • • • • • • • •

Quadrature Decoder • • • • • • • • • • • •

Flash • • • • • • • • • • • •

GPIO • • • • • • • • • • • •

Interrupt Controller • • • • • • • • • • • •

FlexCAN (1) • • • • • • • • • • • •

PLL • • • • • • • • • • • •

Timer • • • • • • • • • • • •

PWM • • • • • • • • • • • •

Quad Timer • • • • • • • • • • • •

Serial/SCI • • • • • • • • • • • •

SPI • • • • • • • • • • •


I2C • • • • • • • • • • • •

Terminal • • • • • • • • • • • •

Button • • • • • • • • • • • •

PC Master • • • • • • • • • • • •

File I/O • • • • • • • • • • • •

LED • • • • • • • • • • • •

Switch • • • • • • • • • • • •

Tools

FreeMaster • • • • • • • • • • • •

File I/O • • • • • • • • • • • •

JTAG Flash Loader • • • • • • • • • • • •

RTOS Support

MicroC/OS-II • • • • • • • • • • • •

Miscellaneous

Serial Bootloader • • • • • • • • • • • •

Data Structures (FIFO) • • • • • • • • • • • •

Cycle Count • • • • • • • • • • • •

Stack Check • • • • • • • • • • • •

Test • • • • • • • • • • • •

Motor Control Applications

Brushless DC Motors w/Encoder • • •

AC Induction Motors (ACIM) V/Hz Closed Loop •

Digital Power Factor Correction •


3-Phase Sine Waveform Generation • • • • • • • • • • • •

Clarke/Park Transformation • • • • • • • • • • • •

Space Vector Modulation • • • • • • • • • • • •

(1) Component is priced separately, contact your local Freescale Semiconductor sales office or authorized Freescale Semiconductor distributor for more information.


�6-bit Digital Signal Controller Motor Control Products 56F8300/8100 Software Modules

56F8300/8�00 Software Modules

F8322/ F8�22

F8323/ F8�23

F8335/ F8�35

F8345/ F8�45

F8346/ F8�46

F8347/ F�47

F8355/ F8�55

F8356/ F8�56

F8357/ F8�57

F8365/ F8�65

F8366/ F8�66

F8367/ F8�67

Ramp • • • • • • • • • • • •

D-Q System (2-Phase) • • • • • • • • • • • •

FOC Decoupling • • • • • • • • • • • •

BLDC Commutation Handler w/Sensors

• • • • • • • • • • • •

BLDC Commutation Handler Sensorless—Zero Cross

• • • • • • • • • • •

SR Commutation Handler • • • • • • • • • • • •

PI/PID Controllers • • • • • • • • • • • •

Velocity Calculation and Estimation

• • • • • • • • • • • •

Look-Up Table • • • • • • • • • • • •

Brake Control • • • • • • • • • • • •

Switch Control • • • • • • • • • • • •



�6-bit Digital Signal Controller Motor Control Products Application Notes

Number Title

AN1912 3-Phase Switched Reluctance (SR) Motor Control with Hall Sensors

AN1913 3-Phase BLDC Motor Control with Sensorless Back-EMF ADC Zero Crossing Detection Using DSP56F80x

AN1914 3-Phase BLDC Motor Control with Sensorless Back EMF Zero Crossing Detection Using DSP56F80x

AN1918 Indirect Power Factor Correction for 3-Phase AC Motor Control with V/Hz Speed Open Loop Application

AN1920 DSP56800 Hardware Interface Techniques

AN1926 Production Flash Programming 56F80x, 56F826 and 56F827

AN1930 3-Phase AC Induction Motor Vector Control

AN1931 3-Phase PM Synchronous Motor Vector Control

AN1932 3-Phase Switched Reluctance (SR) Sensorless Motor Control

AN1933 Synchronization of On-Chip Analog to Digital Converter

AN1935 Programming On-Chip Flash Memories of DSP56F80x DSPs Using the JTAG/OnCE Interface

AN1942 DSP56F80x Resolver Driver and Hardware Interface

AN1947 DSP56800 ADC

AN1948 Real-Time Development of MC Applications PC Master Software Visualization Tool

AN1952 Using Program Memory as Data Memory

AN1958 3-Phase AC Motor Control with V/Hz Speed Closed Loop Using the 56F800/E

AN1961 3-Phase BLDC Motor Control with Quadrature Encoder Using 56F800/E

AN1965 Design of Indirect Power Factor Correction

AN1973 Production Flash Programming

AN1974 56F8300 and 56F8100 ADC

AN1975 Multiple Target Features Using Processor Expert and CodeWarrior

AN1976 Migrating from SDK to Processor Expert

AN1980 Using the 56F83xx Temperature Sensor

AN1983 Software Compatibility Considerations for HCS12, HC16 and 56800/E Devices

AN1991 Controlling Power Consumption in 56F8300 and 56F8100 Family Devices

AN1994 Start-Up Considerations for 56F8300 and 56F8100 Family Devices

AN1999 56F8300 Hybrid Controller Used in Control of Electro-Mechanical Brake

AN2095 Porting and Optimizing DSP56800 Applications to DSP56800E

AN2263 PC Master Software: Creation of Advanced Control Pages

AN2395 PC Master Software Usage

AN3102 Unique Features of the 56F801x Family of Devices

AN3103 56F8000 Clock Generation Guidelines to Ensure Correct Functionality

AN3118 Production Flash Programming for the 56F8000 Family


�6-bit HCS�2 Microcontroller Motor Control Products Power boosted with integrated high-performance XGATE coprocessor

Product ROM (KB)

RAM (KB)

Flash (KB)

Serial

EEPROM (KB) Timer I/O XGATE Serial MUX A/D PWM Packaging Oper

Voltage (V)

Oper Freq

(MHz)

MC9S12XDP512

n/a 32 512 4 8-ch., 16-bit ECT

91

Yes

4 SCI 3 SPI I2C

5 CAN

2 x 8-ch., 10-bit

8-ch., 8-bit or 4-ch., 16-bit

112-pin LQFP

3.3 to 5.5 40

MC9S12XDP512 1196 SCI 3 SPI I2C

2 x 12-ch., 10-bit 144-pin LQFP

MC9S12XDT512

n/a 20 512 4 8-ch., 16-bit ECT

59

Yes

2 SCI 2 SPI I2C

3 CAN

1 x 8-ch., 10-bit

7-ch., 8-bit or 3-ch., 16-bit 80-pin QFP

3.3 to 5.5 40MC9S12XDT512 914 SCI 3 SPI I2C

2 x 8-ch., 10-bit

8-ch., 8-bit or 4-ch., 16-bit 112-pin LQFP

MC9S12XDT512 1196 SCI 3 SPI I2C

2 x 12-ch., 10-bit


MC9S12XDT256

n/a 16 256 4 8-ch., 16-bit ECT

59

Yes

2 SCI 2 SPI I2C

3 CAN

1 x 8-ch., 10-bit


3.3 to 5.5 40MC9S12XDT256 914 SCI 3 SPI I2C

2 x 8-ch., 10-bit


MC9S12XDT256 1194 SCI 3 SPI I2C

2 x 12-ch., 10-bit


MC9S12XD256

n/a 14 256 4 8-ch., 16-bit ECT

59

Yes

2 SCI 2 SPI I2C

1 CAN

1 x 8-ch., 10-bit


3.3 to 5.5 40MC9S12XD256 91 4 SCI 2 SPI I2C

2 x 8-ch., 10-bit


MC9S12XD256 1194 SCI 2 SPI I2C

2 x 12-ch., 10-bit


MC9S12XA512

n/a 32 512 4 8-ch., 16-bit IC, OC, PWM

59

Yes

2 SCI 2 SPI I2C

n/a

1 x 8-ch., 10-bit


3.3 to 5.5 40MC9S12XA512 914 SCI 3 SPI I2C

2 x 8-ch., 10-bit


MC9S12XA512 1196 SCI 3 SPI I2C

2 x 12-ch., 10-bit


MC9S12XA256

n/a 16 267 4 8-ch., 16-bit IC, OC, PWM

59

Yes

2 SCI 2 SPI I2C

n/a

1 x 8-ch., 10-bit


3.3 to 5.5 40MC9S12XA256 914 SCI 3 SPI I2C

2 x 8-ch., 10-bit


MC9S12XA256 1194 SCI 3 SPI I2C

2 x 12-ch., 10-bit



32-bit Microcontroller Motor Control Products High performance for complex, real-time motor control applications

These 32-bit embedded microcontrollers

combine higher performance with increased

on-chip functionality to address complex

real-time control applications that require

more system throughput. Both the

68K/ColdFire family and MPC500 and

MPC5500 families built on Power

Architecture technology are capable of

fulfilling the most demanding motor

control requirements in a wide range of

operating environments.

68K/ColdFire® Device Matrix

Part

Num

ber

Performance Core Modules Internal Memory Eternal Interface

DMA

ADC

Inte

rrup

t Co

ntro

ller

Timers Debug

Ethe

rnet

Encr

yptio

n

USB Modules

SVGA

LCD

Flex

CAN

PCI

I2 C UART

USAR

T

PSC

SPI

PLIC

IDE

Audi

o M

odul

es

eTPU

Max

Fre

q

MIP

S @

Max

MM

U

FPU

MAC

EMAC

HW D

ivid

e

D-Ca

che

C-Ca

che

SRAM

(K)

Flas

h (K

)

Mem

ory

Cont

rolle

r

Flex

Bus

GPT

PWM

PIT

JTAG

BDM

USB

Host

USB

Devi

ce

USB

OTG

High

Full

High

Full

High

Full

MCF5207 166 159 • • 8 16 DDR/SDR SDRAM • • • • • • • • 3 QSPI

MCF5208 166 159 • • 8 16 DDR/SDR SDRAM • • • • • • • 1 • 3 QSPI

MCF5211 80 76 • • 16 128 • 12-bit • • • • • • 3 QSPI

MCF5212 80 76 • • 32 256 • 12-bit • • • • • • 3 QSPI

MCF5213 80 76 • • 32 256 • 12-bit • • • • • 1 • 3 QSPI

MCF52221 80 76 • • 16 128 • • • • • • • • 3 QSPI

MCF52223 80 80 • • 32 256 • • • • • • • • 3 QSPI

MCF52230 60 56 • • 32 128 • • • • • • • 1 • 3 QSPI

MCF52231 60 56 • • 32 128 • • • • • • • 1 1 • 3 QSPI

MCF5232 150 144 • • 8 64 SDR SDRAM • • • • • • 1 • 3 QSPI 16-

ch.


ch.

MCF5234 150 144 • • 8 64 SDR SDRAM • • • • • • 1 1 • 3 QSPI 16-

ch.

MCF5235 150 144 • • 8 64 SDR SDRAM • • • • • • 1 HA 2 • 3 QSPI 16-

ch.


ch.


ch.

MCF5234 150 144 • • 8 64 SDR SDRAM • • • • • • 1 1 • 3 QSPI 16-

ch.

MCF5235 150 144 • • 8 64 SDR SDRAM • • • • • • 1 HA 2 • 3 QSPI 16-

ch.

MCF5475 266 410 • • • • 32 32 DDR/SDR SDRAM • • • • • • 2 SEC • • • 4 DSPI

MCF5480 166 256 • • • • 32 32 DDR/SDR SDRAM • • • • • • 2 2 • • 4 DSPI

MCF5481 166 256 • • • • 32 32 DDR/SDR SDRAM • • • • • • 2 SEC 2 • • 4 DSPI

MCF5482 166 256 • • • • 32 32 DDR/SDR SDRAM • • • • • • 1 • 2 • • 4 DSPI

MCF5483 166 256 • • • • 32 32 DDR/SDR SDRAM • • • • • • 1 SEC • 2 • • 4 DSPI

MCF5484 200 308 • • • • 32 32 DDR/SDR SDRAM • • • • • • 2 • 2 • • 4 DSPI

MCF5485 200 308 • • • • 32 32 DDR/SDR SDRAM • • • • • • 2 SEC • 2 • • 4 DSPI

MPC500 and MPC5500 Family Device Matrix

Part

Nu

mbe

r

Core

Max

Fre

q (M

Hz)

MM

U

FPU

SIM

D

HW

Divi

de

I-Cac

he

(K)

D-Ca

che

(K)

U-Ca

che

U-Ca

che

(K)

SRAM

(K)

Flas

h

Mem

ory

Cont

rolle

r

ADC

Inte

rrup

t Co

ntro

ller

EMIO

S

JTAG

Nexu

s

Ethe

rnet

CAN

SCI

SPI

SPI

eTPU

MPC561/2 Power Architecture™ 66 • • 32 0 2 QADC • • • 3 2 1 QSPI QSPI 2x TPU

MPC563/4 Power Architecture 66 • • 32 512KB 2 QADC • • • 3 2 1 QSPI QSPI 2x TPU

MPC565/6 Power Architecture 56 • • 36 1M 2 QADC • • • 3 2 1 QSPI QSPI 2x TPU

MPC5554 e200z6 132 • • • 32 64 2M SDR SDRAM dual 40-ch. 12-bit • • • • 3 2

eSCI 4 DSPI QSPI 2x 32-ch.

MPC5553 e200z6 132 • • • 8 64 1.5M SDR SDRAM 2x 40-ch. 12-bit • • • • • 2 2

eSCI 3 DSPI QSPI 32-ch.

MPC5534 e200z3 + VLE 80 • • • 64 1M SDR SDRAM 2x 40-ch. 12-bit • • • • 2 2

eSCI 3 DSPI QSPI


Host Interface

System Configuration

Channel Control

Developmentand Test

Data Memory(up to 8K)

Code Memory(up to 64K)

Debug Interface

Scheduler

Micro-Engine

Fetch and Decode

Execution Unit

MDU

TCR1 TCR2/

Angle Clock

IPI

Control

Code

Control Service Request

Control and Data Data

Debug

IPI

Timer Channels

Channel 0

Channel 1

Channel 2

Channel 31

The eTPU is software programmable and can be configured to control a series of motors simultaneously.

Freescale provides an entire set of pre-written eTPU functions strictly dedicated to DC and AC motor control.

The following page has the full list of motor control functions/drivers for the eTPU.

32-bit Microcontroller Motor Control Products Enhanced Time Processing Unit (eTPU) on the MCF523x and MPC55xx FamiliesThe eTPU is a programmable I/O and control

module with its own core and memory system

dedicated to performing complex timing,

control and I/O management functions

independently of the main processor.

The eTPU is essentially a microcontroller

itself, used in a variety of applications,

including general timing functions, serial

communications, motor control, custom logic

replacement and engine control.

With some applications requiring more

than 70 percent of the CPU bandwidth,

the eTPU on the MCF523x and MPC55xx

is an ideal solution.


32-bit Microcontroller Motor Control Products Function and Supported Controls for ColdFire Power Architecture Technologies

eTPU Functions Library

General Timing and Measurement

General Input-Output

(GPIO)

Pulse Width Modulation Input Capture Output

Compare

Frequency and Period

Measurement

Queued Output Match

Synchronized Pulse Width Modulation

Communications Serial Periperal Interface (SPI) UART UART with

Flow Control

DC Motors Motor Speed DC Bus Break Control

Quadrature Decode

Hall Sensor Decode

Analog Sensing

Motor Control PWM

Current Control

QuadratureDecoder

Hall Sensor Decoder

AC Motors Motor Speed DC Bus Break Control

Quadrature Decode Hall Sensor

DecodeAnalolg Sensing

Motor Control PWM ACIM Vector ACIM V/Hz

ControlPMSM Vector

Control

Electronic Motors and Controls Supported

CD Open Loop

DC Speed Loop with QD

DC Speed Loop with HD

DC Speed Loop and

Current Loop

BLDC with HD Open

Loop

BLDC with HD Speed

Loop

BLDC with HD Speed

and Current Loop

BLDC with QD Open

Loop

BLDC with QD Speed

Loop

BLDC with QD Speed

and Current Loop

ACIM V/Hz Open Loop with Sine

ACIM V/Hz Open Loop with SVM

ACIM V/Hz Speed Loop with Sine

Wave Drive

ACIM V/Hz Speed Loop with SVM

ACIM Torque Vector Control

ACIM Vector Control with Speed Loop

PMSM Torque Vector

Control

PMSM Vector Control with Speed Loop

Freescale provides a free library of eTPU function including C source code, Host C API and detailed application notes.

See it all at www.freescale.com/eTPU.

Users may customize library functions and/or develop custom functions using the Byte Craft C Compiler and ASH WARE Simulator.


Application Note Application Title Software Examples

AN2353 The Essentials of the Enhanced Time Processing Unit

AN2848 Programming the eTPU

AN2869 Using the Stepper Motor (SM) eTPU Function

AN2892 3-Phase BLDC Motor with Speed Closed Loop, Driven by eTPU on MCF523x AN2892SW

AN2948 Three 3-Phase BLDC Motors with Speed Closed Loop, Driven by eTPU on MCF523x AN2948SW

AN2954 BLDC Motor with Speed Closed Loop and DC-Bus Break Controller, Driven by eTPU on MCF523x AN2954SW

AN2955 DC Motor with Speed and Current Closed Loops, Driven by eTPU on MCF523x AN2955SW

AN2957 BLDC Motor with Quadrature Encoder and Speed Closed Loop, Driven by eTPU on MCF523x AN2957SW

AN2958 Using the DC Motor Control eTPU Function Set (Set 3)

AN3005 BLDC Motor with Quadrature Encoder and Speed Closed Loop, Driven by eTPU on MPC5554 AN3005SW

AN3006 BLDC Motor with Hall Sensors and Speed Closed Loop, Driven by eTPU on MPC5554 AN3006SW

AN3007 BLDC Motor with Speed Closed Loop and DC-Bus Break Controller, Driven by eTPU on MPC5554 AN3007SW

AN3008 DC Motor with Speed and Current Closed Loops, Driven by eTPU on MPC5554 AN3008SW

32-bit Microcontroller Motor Control Products Function and Supported Controls for ColdFire Power Architecture Technologies

www.freescale.com/motorcontrol


Design Resources—Quick Start Freescale offers easily accessible products, tools and services to help you speed your product to marketFreescale Fast Track™ The companies that win the race to market

with new product designs often become

market leaders in their industries. Freescale

Fast Track helps you win that race, accelerating

the development cycle by providing immediate

services at every step of the design process.

Fast Track opens the door to assistance

programs that not only will help you be the

first to market but also be the best in market.

Below are just a few of our Fast Track services.

Embedded Learning Center provides

a wealth of online technical training courses

and web casts—24 hours a day, 7 days

a week—that can bring you up to speed

on our latest products, tools and technologies.

DevToolDirect is an easy way to order

Freescale development tools, software

and third-party design tools directly online

for shipment anywhere in the world.

Online Samples Program is simple and

straightforward, starting with an “Order Sample”

button next to a selected product that begins

an easy three-step request process.

Technical Support is available online

by our worldwide team of specialists.

Your personal data is protected by an

e-mail-ID/password combination, and each

service request is assigned a number to

enable easy follow-up communication.

To access Freescale’s Fast Track services,

visit freescale.com/fasttrack.

Web Links

Freescale Motor Control Solutions Homepage

freescale.com/motorcontrol

Freescale 8-bit Microcontrollers Homepage

freescale.com/8bit

Freescale 16-bit DSC Homepage

freescale.com/dsc

Freescale 16-bit Microcontrollers Homepage

freescale.com/�6bit

Freescale 32-bit ColdFire Microcontrollers

Homepage freescale.com/coldfire

Freescale Power Architecture Homepage

Homepage freescale.com/powerarchitecture

Freescale eTPU Homepage

freescale.com/etpu

Freescale Analog Products Homepage

freescale.com/analog

Freescale Sensor Products Homepage

freescale.com/sensors

Freescale Design Tools Search

freescale.com/tools

Freescale CodeWarrior Software Development Tools

freescale.com/codewarrior

Learn More: For more information about Freescale products please visit www.freescale.com

Freescale™ and the Freescale logo are trademaks of Freescale Semiconductor, Inc. All other

product or service names are the property of their respective owners. The Power Architecture

and Power.org word marks and the Power and Power.org logos and related marks are

trademarks and service marks licensed by Power.org. © Freescale Semiconductor, Inc. 2007

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