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.
www.freescale.com/motorcontrol4
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.
www.freescale.com/motorcontrol 5
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.
www.freescale.com/motorcontrol6
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
www.freescale.com/motorcontrol 7
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.
www.freescale.com/motorcontrol8
• 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
• 3-Phase Induction Motor (ACIM)—
V/Hz Closed Loop Control with
Slip Compensation
• 3-Phase AC Induction Motor (ACIM)—
Vector Control Systems
• 3-Phase Induction Motor (ACIM)—
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.
www.freescale.com/motorcontrol 9
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
• Cost-effective control topology
• High-precision speed, torque control,
position loop can be added
Applications
• Robots
• Traction control
• Servo systems
• Automotive
• Office equipment
• Toys
• Industrial machines
Recommended Devices
8-bit MCU: 908MR, 9S08AW, 9S08GB
�6-bit DSC: MC56F80x, MC56F80xx, MC56F83xx
�6-bit MCU: S12XD, S12XA
32-bit MCU: MCF521x, MCF523x, MPC56x, MPC55xx
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
*Contact local Freescale distributor for demos listed
www.freescale.com/motorcontrol�2
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
• Cost-effective control topology
• Precise control without speed sensor
Applications
• Industrial machines
• Office equipment
• Toys
• Instrumentation
• AC power tools
Recommended Devices
8-bit MCU: 908MR, 9S08AW, 9S08GB
�6-bit DSC: MC56F80x, MC56F80xx, MC56F83xx
�6-bit MCU: S12XD, S12XA
32-bit MCU: MCF521x, MCF523x, MPC56x, MPC55xx
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
*Contact local Freescale distributor for demos listed
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
• Office equipment
• Sewing machines
• Fitness machines/treadmills
• Toys
• Industrial machines
Recommended Devices
8-bit MCU: 908MR, 9S08AW, 9S08GB
�6-bit DSC: MC56F80x, MC56F80xx, MC56F83xx
�6-bit MCU: S12XD, S12XA
32-bit MCU: MCF521x, MCF523x, MPC56x, MPC55xx
Analog/Mixed-Signal Power ICs: MPC17510, MPC17529, MPC17531, MPC17533, MPC17550, MPC17559, MC34920, MC34921, MC34922, MC33926, MC34710, MC34703
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
*Contact local Freescale distributor for demos listed
www.freescale.com/motorcontrol�4
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
• Enables bi-directional operation with
fast torque response
• Low noise, high efficiency
• Removes the position sensor
• Cost-effective control topology
• 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
�6-bit DSC: MC56F80x, MC56F80xx, MC56F83xx
�6-bit MCU: S12XD, S12XA
32-bit MCU: MCF521x, MCF523x, MPC56x, MPC55xx
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
www.freescale.com/motorcontrol �5
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
• Enables bi-directional operation with
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
• Large appliances
• HVAC
• Blowers, fans
• Pumps
• Industrial controls
• Treadmills
• Industrial compressors
• Universal inverters
Recommended Devices
8-bit MCU: 908MR, 9S08AW, 9S08GB, 9S08QD
�6-bit DSC: MC56F80x, MC56F80xx, MC56F83xx
�6-bit MCU: S12XD, S12XA
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)
*Contact local Freescale distributor for demos listed
www.freescale.com/motorcontrol�6
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
GPIO and Serial Interface
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
• Large appliances
• HVAC
• Blowers
• Fan, pumps
• Industrial control
• Lifts, cranes, elevators
• Frequency inverters
• Conveyors
• Treadmills
• Industrial compressors
• Universal inverters
Recommended Devices
8-bit MCU: MC3PHAC, 908MR, 9S08AW, 9S08GB, 9S08QD
�6-bit DSC: MC56F80x, MC56F80xx, MC56F83xx
�6-bit MCU: S12XD, S12XA
32-bit MCU: MCF521x, MCF523x, MPC56x, MPC55xx
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—3-phase AC induction motor control V/Hz application, open loop (56F801)
*Contact local Freescale distributor for demos listed
www.freescale.com/motorcontrol �7
Power Stage Driver
GPIO and Serial Interface
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
• Large appliances
• HVAC
• Blowers
• Fan, pumps
• Industrial controls
• Lifts, cranes, elevators
• Universal inverters
• Conveyors
Recommended Devices
�6-bit DSC: MC56F80x, MC56F80xx, MC56F83xx
32-bit MCU: MCF521x, MCF523x, MPC56x, MPC55xx
Reference Designs/Demos*
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)
*Contact local Freescale distributor for demos listed
www.freescale.com/motorcontrol�8
Power Stage Driver
Motor
GPIO and Serial Interface
+
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
• Large appliances
• Industrial compressors
• Water pumps
• Construction machinery
• Universal inverters
• HVAC
Reference Designs/Demos*
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)
*Contact local Freescale distributor for demos listed
Recommended Devices
�6-bit DSC: MC56F80x, MC56F80xx, MC56F83xx
32-bit MCU: MCF521x, MCF523x, MPC56x, MPC55xx
www.freescale.com/motorcontrol �9
AC
DCLine
AC
LOADPMSM
SpeedReference
ActualSpeed
GPIO and Serial Interface
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
�6-bit DSC: MC56F80x, MC56F80xx, MC56F83xx
32-bit MCU: MCF521x, MCF523x, MPC56x, MPC55xx
Reference Designs/Demos*
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
*Contact local Freescale distributor for demos listed
www.freescale.com/motorcontrol20
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
�6-bit DSC: MC56F80x, MC56F80xx, MC56F83xx
32-bit MCU: MCF521x, MCF523x, MPC56x, MPC55xx
Demos*
16-bit DSC DEMO*—Cost-effective, high-performance, sensorless digital motor control for BLDC/ACIM/PMSM (56F8000)
*Contact local Freescale distributor for demos listed
www.freescale.com/motorcontrol 2�
Sensorless Switch Reluctance Motor Drive
Advantages
• Reliable electronics
• High starting torque
• Removal of position sensor
Applications
• Industrial machines
• Medical scanners
• Computers, office equipment
• Toys
• Food processors
• Vacuum cleaners
• Machine tools
• Large appliances
Recommended Devices
�6-bit DSC: MC56F80x, MC56F80xx, MC56F83xx
�6-bit MCU: S12XD, S12XA
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
--
www.freescale.com/motorcontrol22
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
undervoltage detect Parallel Shutdown undervolage
20-pin VMFP Production
MPC175330.7W dual 6.8V with external charge pump
Dual 6.8V with external charge
pump2 700 1.4 Note <200 mA Shoot through
undervoltage detect Parallel Shutdown undervolage
16-pin VMFP Production
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
www.freescale.com/motorcontrol 23
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
www.freescale.com/motorcontrol24
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
www.freescale.com/motorcontrol 25
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
www.freescale.com/motorcontrol26
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
www.freescale.com/motorcontrol 27
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.
www.freescale.com/motorcontrol28
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.
www.freescale.com/motorcontrol 29
�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,
on-chip emulation, on-chip oscillator
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,
on-chip emulation, on-chip oscillator
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,
on-chip emulation, on-chip oscillator
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
Prog 67/1 Data 8/4 12 8 144-pin LQFP
SCIs, SPI, CAN, quadrature decoders, quad timer, COP, PLL, up to 32 GPIO, on-chip emulation,
external memory interface
DSP56F807PY80E 80 MHz 40 MIPS
Prog 124/4 Data 16/8 12 8 160-pin LQFP
SCIs, SPI, CAN, quadrature decoders, quad timer, COP, PLL, up to 32 GPIO, on-chip emulation,
external memory interface
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)
www.freescale.com/motorcontrol30
�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
Two SPI, two SCI, COP, PLL, two decoders, four quad timers, FlexCAN, enhanced on-chip emulation, temperature sensor,
external memory expansion and up to 76 GPIOs
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
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
MC56F8356MFVE (-40°C to +125°C)
MC56F8357VPYE 60 MHz 60 MIPS 280/20 12 16 160-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 76 GPIOs
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,
external memory expansion and up to 62 GPIOs
MC56F8366MFVE (-40°C to +125°C)
MC56F8367VPYE 60 MHz 60 MIPS 576/36 12 16 160-pin
LQFP
Two SPI, two SCI, COP, PLL, two decoders, four quad timers, two FlexCAN, enhanced on-chip emulation, temperature sensor,
external memory expansion and up to 76 GPIOs
MC56F8367VVFE (-40°C to +105°C)
160-ball MAPBGA
MC56F8367MPYE (-40°C to +125°C)
160-pin LQFP
www.freescale.com/motorcontrol 3�
�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)
40 MHz 40 MIPS 136/8 6 16 128-pin LQFP Two SPI, two SCI, COP, PLL, decoder, two quad timers,
enhanced on-chip emulation and up to 49 GPIOs
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
Two SPI, two SCI, COP, PLL, decoder, two quad timers, enhanced on-chip emulation, external memory expansion and
up to 76 GPIOs
MC56F8147VVFE (-40°C to +105°C)
160-ball MAPBGA
MC56F8155VFGE (-40°C to +105°C)
40 MHz 40 MIPS 272/16 6 16 128-pin LQFP Two SPI, two SCI, COP, PLL, decoder, two quad timers,
enhanced on-chip emulation and up to 49 GPIOs
MC56F8156VFVE (-40°C to +105°C)
40 MHz 40 MIPS 272/16 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
MC56F8157VPYE 40 MHz 40 MIPS 272/16 6 16 160-pin LQFP
Two SPI, two SCI, COP, PLL, decoder, two quad timers, enhanced on-chip emulation, external memory expansion and
up to 76 GPIOs
MC56F8157VVFE (-40°C to +105°C)
160-ball MAPBGA
MC56F8165VFGE (-40°C to +105°C)
40 MHz 40 MIPS 544/32 6 16 128-pin LQFP Two SPI, two SCI, COP, PLL, decoder, two quad timers,
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
Two SPI, two SCI, COP, PLL, decoder, two quad timers, enhanced on-chip emulation, external memory expansion and
up to 62 GPIOs
MC56F8167VPYE 40 MHz 40 MIPS 544/32 6 16 160-pin LQFP
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
www.freescale.com/motorcontrol32
�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
LQFPQuad timer, SPI, SCI with LIN slave, PLL, COP, I2C, on-chip oscillator, enhanced on-chip emulation and up to 26 GPIOs
MC56F8014VFAE (-40°C to +105°C)
32 MHz 32 MIPS 16/4 5 8 32-pin
LQFPQuad timer, SPI, SCI with LIN slave, PLL, COP, I2C, on-chip oscillator, enhanced on-chip emulation and up to 26 GPIOs
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
www.freescale.com/motorcontrol 33
�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
www.freescale.com/motorcontrol34
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
www.freescale.com/motorcontrol 35
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
Drivers for Off-Chip Peripherals on EVMs
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.
�6-bit Digital Signal Controller Motor Control Products 56F800 Software Modules
www.freescale.com/motorcontrol36
�6-bit Digital Signal Controller Motor Control Products 56F800 Software Modules
56F800 Software Modules 56F80� 56F802 56F803 56F805 56F807 56F800 Demo
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 • • • • • •
Example/Test Applications
Brake Control •
Clarke/Park •
Decoupling •
Dqestabl •
Flux Model •
Wave Generate •
Phase Flux Estimation •
Space Vector Modulation •
• = Available in Processor Expert
www.freescale.com/motorcontrol 37
�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 • • • • • • • • • • •
Drivers for Off-Chip Peripherals on EVMs
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 •
Motor Control Algorithms
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.
www.freescale.com/motorcontrol38
�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 • • • • • • • • • • • •
• = Available in Processor Expert
www.freescale.com/motorcontrol 39
�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
www.freescale.com/motorcontrol40
�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
8-ch., 8-bit or 4-ch., 16-bit 144-pin LQFP
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
7-ch., 8-bit or 3-ch., 16-bit 80-pin QFP
3.3 to 5.5 40MC9S12XDT256 914 SCI 3 SPI I2C
2 x 8-ch., 10-bit
8-ch., 8-bit or 4-ch., 16-bit 112-pin LQFP
MC9S12XDT256 1194 SCI 3 SPI I2C
2 x 12-ch., 10-bit
8-ch., 8-bit or 4-ch., 16-bit 144-pin LQFP
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
7-ch., 8-bit or 3-ch., 16-bit 80-pin QFP
3.3 to 5.5 40MC9S12XD256 91 4 SCI 2 SPI I2C
2 x 8-ch., 10-bit
8-ch., 8-bit or 4-ch., 16-bit 112-pin LQFP
MC9S12XD256 1194 SCI 2 SPI I2C
2 x 12-ch., 10-bit
8-ch., 8-bit or 4-ch., 16-bit 144-pin LQFP
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
7-ch., 8-bit or 3-ch., 16-bit 80-pin QFP
3.3 to 5.5 40MC9S12XA512 914 SCI 3 SPI I2C
2 x 8-ch., 10-bit
8-ch., 8-bit or 4-ch., 16-bit 112-pin LQFP
MC9S12XA512 1196 SCI 3 SPI I2C
2 x 12-ch., 10-bit
8-ch., 8-bit or 4-ch., 16-bit 144-pin LQFP
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
7-ch., 8-bit or 3-ch., 16-bit 80-pin QFP
3.3 to 5.5 40MC9S12XA256 914 SCI 3 SPI I2C
2 x 8-ch., 10-bit
8-ch., 8-bit or 4-ch., 16-bit 112-pin LQFP
MC9S12XA256 1194 SCI 3 SPI I2C
2 x 12-ch., 10-bit
8-ch., 8-bit or 4-ch., 16-bit 144-pin LQFP
www.freescale.com/motorcontrol 4�
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.
MCF5233 150 144 • • 8 64 SDR SDRAM • • • • • • 2 • 3 QSPI 32-
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.
MCF5232 150 144 • • 8 64 SDR SDRAM • • • • • • 1 • 3 QSPI 16-
ch.
MCF5233 150 144 • • 8 64 SDR SDRAM • • • • • • 2 • 3 QSPI 32-
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
www.freescale.com/motorcontrol42
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.
www.freescale.com/motorcontrol 43
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.
www.freescale.com/motorcontrol44
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
www.freescale.com/motorcontrol 45
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
BRMOTORCONTROL
REV 1