S12 MagniV S12ZVM Family in Practice: Set up Your Three-Phase ...

August 2012
TM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire,
ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PowerQUICC,
Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of
Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack,
CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and
Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service
names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.
.
Allen Li
Automotive MCU product manager
Mike Cao
Automotive Field Applications Engineer

• S12 MagniV Concept and Roadmap
• S12ZVM Family: Integrated Motor Control System-on-Chip
− Family Overview and Device Feature Set
• Motor Control Feature Highlights
− New S12Z core, New Digital Modules to improve Motor Control
Loop, 12V Analog modules
• Available Tools & Automotive Motor Control Library Set
• BLDC Sensorless Motor Control Implementation Concept
− Control and Position Sensing Concept, Module Involvement,
Application States
• Position Sensing with Zero Cross Detection/Approximation
• Speed Control
• Dynamic Current Limitation
• Summary
TM
2
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

• S12 MagniV Concept and Roadmap
• S12ZVM Family: Integrated Motor Control System-on-Chip
− Family Overview and Device Feature Set
• Motor Control Feature Highlights
− New S12Z core, New Digital Modules to improve Motor Control
Loop, 12V Analog modules
• Available Tools & Automotive Motor Control Library Set
• BLDC Sensorless Motor Control Implementation Concept
− Control and Position Sensing Concept, Module Involvement,
Application States
• Position Sensing with Zero Cross Detection/Approximation
• Speed Control
• Dynamic Current Limitation
• Summary
TM
3
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

New
Streamlining automotive engineering
with smart analog integration
S12 MagniV portfolio simplifies system
design with easy-to-use, expertly integrated
mixed-signal MCUs for automotive
applications
Two Solutions – Offers single- and dual-die
options for body electronics, motor control
and driver information applications
TM
Fast Prototyping – Speeds time-to-market with proven S12
16-bit MCUs, enabling software compatibility and tool reuse
Optimized Integration – Right blend of digital programmability
and high-precision analog, plus a portfolio of scalable memory
options
Simplified System Design – MCU with high-voltage analog
components helps streamline design and reduce system and
development costs
4
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Traditional MCU with
Discrete Analog and Power
• Many external components
• Additional assembly steps
• Higher total system cost
TM
S12 MagniV
Mixed-Signal MCUs
System-in-package (SiP) and
single-die solutions integrate:
• 12V direct supply regulator
• High-side/low-side drivers
• LIN or CAN physical interface
• High-voltage inputs
• Voltage level shifter
• LED driver
• Simple, low-cost package
5
Target Applications
• Instrument cluster
• Window lift
• HVAC control
• LED lighting
• etc
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

TM
Non-Volatile
Memory
Flash,
EEPROM
Existing Low-Leakage
180 nm CMOS+NVM
Digital Logic
S12, PWMs, Timers,
SRAM, SPI, SCI, GPIO,
Watchdogs, etc.
6
High-Voltage
Analog
Low- and
High-Side Drivers,
Voltage Regulator
LIN/CAN
Phy. etc.
40V UHV Devices
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Standard MCU
Analog ASIC
TM
IDC (LL18 + SmartMOS)
- Two die in a single package
%
100 BOM Cost
90
70
100
60
40
ppm
1
0
Physical Footprint
7
S12 MagniV
Failure rate at module level
Fortress Family (LL18UHV)
- Single die
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

ASSPs
General
Purpose
Motor Control
S12VRxx
2 LS for relay based DC
motor control
Instrument
Cluster
LIN Enabled
2Q 3Q 4Q
With LIN-PHY
With CAN-PHY
TM
1Q
S12ZVHxx
LCD + gauge drivers
8
In planning
2012 2013 2014
No comms (PWM-control)
S12ZVML/Cxx
6ch-MOSFET pre-driver for
BLDC/PMSM motor control
2Q 3Q 4Q
S12ZVMxx
No PHY (PWM-control) +
6ch-MOSFET pre-driver
1Q
2Q 3Q 4Q
1Q
2Q 3Q 4Q
Production Execution Planning
First Sample Date (left edge)
Product Qualification (right edge)
1Q
2015
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

• S12 MagniV Concept and Roadmap
• S12ZVM Family: Integrated Motor Control System-on-Chip
− Family Overview and Device Feature Set
• Motor Control Feature Highlights
− New S12Z core, New Digital Modules to Improve Motor Control
Loop, 12V Analog modules
• Available Tools & Automotive Motor Control Library Set
• BLDC Sensorless Motor Control Implementation Concept
− Control and Position Sensing Concept, Module Involvement,
Application States
• Position Sensing with Zero Cross Detection/Approximation
• Speed Control
• Dynamic Current limitation
• Summary
TM
9
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

• Reduction of power
consumption is critical for creating
“greener” vehicles
• BLDC motors replacing DC
motors because of higher
reliability and power efficiency
• Reduce cable weight through
connected actuators on LIN or
CAN networks
• Automotive convenience features
demand higher integration and
lower cost solutions
TM
10
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

S12VR
Mixed-Signal MCU
• S12VR for anti-pinch
window lift is the first of
the MagniV single-die
products
• Combines S12 digital
technology with 40V
analog built on CMOS
process
• Features LIN physical
layer and relay drivers
ideal for window lift
application
TM
11
S12ZVM
Motor Control MCU
• S12ZVM for BLDC motor
control in a single-die
package
• Combines latest S12Z
core with sophisticated
gate drive unit (GDU)
• Ideal for 3-phase BLDC
motor control, such as
HVAC blowers, wipers,
fuel/oil/water pumps and
fans
NEW
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

• Enhanced S12Z core architecture with
50 MHz bus
− Enables sophisticated motor control algorithms
• Range of memory options address multiple
applications and allow platform design
− 32 to 128 KB flash with ECC
• Up to 512 Bytes of easy-to-use and reliable
4-Byte erasable EEPROM with ECC
• Voltage regulator operates between 3.5
and 40V
− Handles very low cranking voltage and load dump
situations with limited external components
• Integrated LIN physical layer saves space and
simplifies design
− Meets automotive OEM specifications for LIN
conformance and EMC requirements
• Gate drive unit (GDU) with charge pump offers
protected low- and high-side gate drivers
− Capable of driving six external MOSFET up to 100%
duty cycle
TM
12
64LQFP-EP
S12ZVML128 Block Diagram
Ext. Osc
G
P
I
O
IRC
KWU
RTI
BDM
PLL
Watchdog
SPI
SCI
SCI
Timer 4 channel
MSCAN
Dual 12-bit ADC
5 + 4 channel
Core and
Memories
S12Z Core
128 KB Flash
8 KB RAM
512B EEPROM
PTU
Digital
Peripherals
6
channel
PWM
Voltage Regulators
Temp Sense Charge Pump
LIN Physical
Interface
HV Analog 5V Analog
Gate
Drive
Unit
Current Sense
(2x Op-Amp)
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Full Discrete
Semi Integrated
VREG
(8-pin)
CAN or
LIN
phy
(8-pin)
MCU
or
DSC
(48-pin)
2+
2+
TM
MCU
or
DSC
(48-pin)
Opamps
24+
20+
Gate
Drive
(48-pin)
ASIC
(GDU+
VREG+
LIN+
Op-amps)
(64-pin)
13
S12ZVM
64-pin
10 x 10 mm
6 to 8 cm2
PCB space
savings
3 to 5 cm2
PCB space
savings
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Improved Performance for
Motor Control
• 100 MHz CPU
@ 50 MHz bus
speed
• Harvard
architecture
accelerates
data handling
• Fractional math instructions added
TM
3x
14
Improved Software
Friendliness
• 24-bit linear address map to ease
software development and porting
• Added 8- and 32-bit registers to
allow further compiler code size
optimization
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

BLDC
CAN
PWM
DC
32K
Connectivity
64K
TM
128K
One family supports multiple
connectivity options
Meets the needs for both DC
and BLDC motor control
applications
Range of memory options
address multiple applications
and allow for platform design
True platform solutions through hardware and software reuse
15
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

• Multiple variants to support different interfacing and motor
types
LIN bus
based applications
TM
CAN bus
based applications
BLDC / PMSM Motors DC Motors
3-phase pre-driver 2-phase pre-driver
16
PWM input
based applications
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

LIN bus based
• Integrated LIN
physical layer
• 48-pin (2-phase)
or 64-pin (3phase)
package
• 64KB or 128KB
FLASH
TM
Ext Osc BDM
IRC
G
P
I
O
PLL
KWU
RTI
Wdog
SPI
SCI
SCI
TIM 4ch/16b
MSCAN
Dual 12-bit ADC
5 + 4ch. Ext.
(Mux‘d with Op-Amps)
+ 8ch. Int.
17
S12Z
core
128 KB
Flash
8 KB RAM
512Bytes
EEPROM
PTU
PMF
6-ch
PWM
VREG (5V VDDX, VLS, VDD sensor)
Temp Sense
LIN
Physical
Interface
S12ZVML128
Charge Pump
GDU
3-phase
H-Bridge
Predriver
Current Sense
(2 x Op-Amp)
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

CAN bus based
• 5V regulator
controller to
support an
external CAN
transceiver
• 48-pin (2-phase)
or 64-pin (3phase)
package
• 64KB or 128KB
FLASH
TM
Ext Osc BDM
IRC
G
P
I
O
PLL
KWU
RTI
Wdog
SPI
SCI
SCI
TIM 4ch/16b
MSCAN
Dual 12-bit ADC
5 + 4ch. Ext.
(Mux‘d with Op-Amps)
+ 8ch. Int.
18
S12Z
core
128 KB
Flash
8 KB RAM
512Bytes
EEPROM
PTU
PMF
6-ch
PWM
VREG (5V VDDX, VLS, VDD sensor)
Temp Sense
Separate 5V
VREG
controller
(VDDC)
S12ZVMC128
Charge Pump
GDU
3-phase
H-Bridge
Predriver
Current Sense
(2 x Op-Amp)
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

PWM input based
• No MSCAN
controller / no LIN
physical layer
• 48-pin (2-phase)
or 64-pin (3phase)
package
• 32KB FLASH
TM
Ext Osc BDM
IRC
G
P
I
O
PLL
KWU
RTI
Wdog
SPI
SCI
TIM 4ch/16b
Dual 12-bit ADC
5 + 4ch. Ext.
(Mux‘d with Op-Amps)
+ 8ch. Int.
19
S12Z
core
32 KB
Flash
2 KB RAM
PTU
PMF
6-ch
PWM
VREG (5V VDDX, VLS, VDD sensor)
Temp Sense
S12ZVM32
Charge Pump
GDU
3-phase
H-Bridge
Predriver
Current Sense
(2 x Op-Amp)
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

TM
20
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

TM
Ext Osc BDM
IRC
G
P
I
O
PLL
KWU
RTI
Wdog
SPI
SCI
SCI
TIM 4ch/16b
MSCAN
Dual 12-bit ADC
5 + 4ch. Ext.
(Mux‘d with Op-Amps)
+ 8ch. Int.
S12Z
core
128 KB
Flash
8 KB RAM
512Bytes
EEPROM
PTU
PMF
6-ch
PWM
21
VREG (5V VDDX, VLS, VDD sensor)
Temp
Sense
LIN
Physical
Interface
Separate 5V
VREG (VDDC)
Charge Pump
GDU
3-phase /
H-Bridge
Predriver
Current Sense
(2 x Op-Amp)
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

TM
New S12Z CPU
• Up to 100MHz
• 32-bit ALU & 32-bit MAC unit,
• Optimized 32-bit math. operations
S12Z
core
128 KB
Flash
8 KB RAM
512Bytes
EEPROM
Safe RAM
• ECC
22
Flash& EEPROM
• ECC
• Memory Protection
• Margin Read
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Sensor Supply
• 20mA I/O for sensor
Window Watchdog
• Independent RC osc
2 UARTs
• one linked to LIN Phy
• 2nd as test interface
Multiple timers
• IOC/periodic wakeup
CAN Option
• CAN controller
Programmable Trigger
Unit
• Synchronize ADC to PWM
• Trigger Command list with
up to 32 triggers per cycle
TM
G
P
I
O
BDM
KWU
RTI
Wdog
SPI
SCI
SCI
TIM 4ch/16b
MSCAN
S12Z
core
128 KB
Flash
8 KB RAM
512Bytes
EEPROM
PTU
PWM Module
• Complementary mode
with deadtime ctrl.
• Fault protection
• Double-Switching
PMF
6-ch,
15b
PWM
23
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Internal RC osc.
• +/-1.3% over tmp
Two 12-bit ADC
• List Based
Architecture allows
flexible definition of
order and number of
conversions
• 2.5µs conv. time
TM
Ext Osc BDM
IRC
G
P
I
O
PLL
KWU
RTI
Wdog
SPI
SCI
SCI
TIM 4ch/16b
MSCAN
Dual 12-bit ADC
5 + 4ch. Ext.
(Mux‘d with Op-Amps)
+ 8ch. Int.
S12Z
core
128 KB
Flash
8 KB RAM
512Bytes
EEPROM
PTU
PMF
6-ch
PWM
24
Temp
Sense
Separate 5V
VREG (VDDC)
Current Sense
(2 x Op-Amp)
CAN Support
• 5V Vreg
controller for
external
transceiver
Current Sense Amplifiers
• 2-shunt system supported
with additional selectable
over-current protection
comparator
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

TM
Ext Osc BDM
IRC
G
P
I
O
PLL
KWU
RTI
Wdog
SPI
SCI
SCI
TIM 4ch/16b
MSCAN
Dual 12-bit ADC
5 + 4ch. Ext.
(Mux‘d with Op-Amps)
+ 8ch. Int.
S12Z
core
128 KB
Flash
8 KB RAM
512Bytes
EEPROM
PTU
PMF
6-ch
PWM
25
VREG (5V VDDX, VLS, VDD sensor)
Temp Sense
LIN
Physical
Interface
Separate 5V
VREG (VDDC)
LIN Physical
Interface
• 250kb/s fast
mode
• +/-6kV
Charge Pump
GDU
3-phase /
H-Bridge
Predriver
Current Sense
(2 x Op-Amp)
Voltage Regulator
• Boost Option
• Support for external
ballast transistor
• Vbat sense
Charge Pump
• Optional to support
100% duty cycle
Gate Drive Unit
• Operational from
3.5V to 26V
• Bootstrap circuit
based
• 11V Vreg
• Phase comparators
• Desaturation comp.
for HS/LS
protection
• Under-/Overvoltage
detection
• DC-link and phase
voltage internally
accessible on ADC
• Selectable HS/LS
slew rate
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Internal RC osc.
• +/-1.3% over tmp
Sensor Supply
• 20mA I/O for sensor
Window Watchdog
• independent RC osc
2 UARTs
• ne linked to LIN Phy
• 2nd as test interface
Multiple timers
• IOC/periodic wakeup
CAN Option
• CAN controller
Two 12bit ADC
• List Based
Architecture allows
flexible definition of
order and number
of conversions
• 2.5µs conv. time
Programmable Trigger
Unit
• Synchronize ADC to PWM
• Trigger Command list with
up to 32 triggers per cycle
TM
New S12Z CPU
• Up to 100MHz
• 32-bit ALU & 32-bit MAC unit,
• Optimized 32-bit math. operations
Ext Osc BDM
IRC
G
P
I
O
PLL
KWU
RTI
Wdog
SPI
SCI
SCI
TIM 4ch/16b
MSCAN
Dual 12-bit ADC
5 + 4ch. Ext.
(Mux‘d with Op-Amps)
+ 8ch. Int.
S12Z
core
128 KB
Flash
8 KB RAM
512Bytes
EEPROM
PTU
PWM Module
• Complementary mode
with deadtime ctrl.
• Fault protection
• Double-Switching
PMF
6-ch
PWM
Safe RAM
ECC
26
VREG (5V VDDX, VLS, VDD sensor)
Temp
Sense
LIN
Physical
Interface
Separate 5V
VREG (VDDC)
LIN Physical
Interface
• 250kb/s fast
mode
• +/-6kV
Flash& EEPROM
• ECC
• Memory Protection
• Margin Read
Charge Pump
GDU
3-phase /
H-Bridge
Predriver
Current Sense
(2 x Op-Amp)
CAN Support
• 5V Vreg
controller for
external
transceiver
Voltage Regulator
• Boost Option
• Support for external
ballast transistor
• Vbat sense
Charge Pump
• Optional to support
100% duty cycle
Gate Drive Unit
• Operational from
3.5V to 26V
• Bootstrap circuit
based
• 11V Vreg
• Phase comparators
• Desaturation comp.
for HS/LS protection
• Under-/Overvoltage
detection
• DC-link and phase
voltage internally
accessible on ADC
• Selectable HS/LS
slew rate
Current Sense Amplifiers
• 2-shunt system supported
with additional selectable
over-current protection
comparator
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

XTAL
EXTAL
IO/ MISO
IO/ MOSI
IO/ SCLK
IO/ SS
IO/ RXD0
IO/ TXD0
IO/ KWP0
IO/ KWP1
IO/IOC0
IO/IOC1
Hallout
IO/IOC2
IO/IOC3
AN0_3
AN0_4
AN1_3
AMRcos
AMRsin
Reset
G
P
I
O
VSS1
IRC
VSS2
VSSX1
Ext Osc BDM
Wdog
SPI
SCI
SCI
PLL
KWU
RTI
TIM 4ch/16b
Dual 12bit ADC
5+4ch. Ext.
(Mux‘d with Op-Amps)
+ 8ch. Int.
VSSA
MSCAN
BKGD
TM
VDDF
S12Z
core
128 kB
Flash
8 kB RAM
512Bytes
EEPROM
PTU
optional
VDD
VDDA
PMF
6-ch
PWM
VDDX2
VDDX1
BCTL
Vregs (5V VDD, VLS, VDD sensor)
Temp
Sense
LIN
Physical
Interface
LIN
LINGND
VSUP
VSSB
AMP0
BST
Charge Pump
GDU
3 phase
H-Bridge
Predriver
Current Sense
(2 x Op-Amp)
AMPM0
AMPP0
VLS2
27
VLS0
VLS1
AMP1
AMPM1
VLSOUT
AMPP1
+11V
EVDD
VCP
CP
VBS0
VBS1
VBS2
HD
HG0
HG1
HG2
HS0
HS1
HS2
LG0
LG1
LG2
LS0
LS1
LS2
+11V
0V
Shunt0
VHD
VBAT
AMRsin
AMRcos
Hallout
AMR/
GMR/
Hall
Sensor
M
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.
D
S
Shunt1

Hardware
• S12ZVML12EVB-LIN/CAN
− $149 (USD) MSRP
− Extra motor drive jacks
− Direct USB connection
with built-in OSBDM circuit
• MULTILINK
debug interface
• Cyclone Pro programming tool
TM
28
• Compiler/Debugger
− CodeWarrior Development Suite V10.2
− Cosmic Software
Software
• LIN drivers reference software
• Motor control libraries
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

• S12 MagniV Concept and Roadmap
• S12ZVM Family: Integrated Motor Control System-on-Chip
− Family Overview and Device Feature Set
• Motor Control Feature Highlights
− New S12Z core, New Digital Modules to Improve Motor Control
Loop, 12V Analog modules
• Available Tools & Automotive Motor Control Library Set
• BLDC Sensorless Motor Control Implementation Concept
− Control and Position Sensing Concept, Module Involvement,
Application States
• Position Sensing with Zero Cross Detection/Approximation
• Speed Control
• Dynamic Current limitation
• Summary
TM
29
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Ext Osc BDM
IRC
G
P
I
O
TM
PLL
KWU
RTI
Wdog
SPI
SCI
SCI
TIM 4ch/16b
MSCAN
Dual 12-bit ADC
5 + 4ch. Ext.
(Mux‘d with Op-Amps)
+ 8ch. Int.
S12Z
Core
128 KB
Flash
8 KB RAM
PTU
512Bytes
EEPROM
PMF
6-ch
PWM
30
VREG (5V VDDX, VLS, VDD sensor)
Temp
Sense
LIN
Physical
Interface
Separate 5V
VREG (VDDC)
Charge Pump
GDU
3-phase /
H-Bridge
Predriver
Current Sense
(2 x Op-Amp)
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

• 24-bit = 16MByte linear address space (no paging)
• 32-bit wide instruction and data bus
• 32-bit ALU
− Single-cycle 16x16 multiply (2.5 cycles 32x32)
− MAC unit 32-bit += 32-bit*32-bit (3.5 cycles)
− Hardware divider 32-bit = 32-bit/32-bit (18.5 cycles)
− Single cycle multi-bit shifts (Barrel shifter)
− Fractional Math support
• CPU operates at 100MHz
− Optimized bus architecture with 100MHz load and store to RAM
− NVM works with 1 Wait-state => effective 20ns accesses
• Harvard Architecture => parallel data and code access
• Instructions and addressing modes optimized for C-Programming &
Compiler
TM
31
Programmer’s Model
31
23
15
D6
D7
D0
D1
D2
D3
D4
D5
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.
X
Y
7
SP
PC
CCR
0

• S12Z typically saves 20% code size versus S12X
• S12Z typically uses 30% less memory accesses than S12X, which saves power
Large Application Code Example:
bytes
250000
200000
150000
100000
50000
0
# loads/stores
25000
20000
15000
10000
5000
0
loads
TM
Code Size
-23%
S12X S12Z
Memory Access
stores
-42%
-57%
S12X S12Z
loads
st.
32
Digital Filter Example:
600
400
200
0
2000
1500
1000
500
0
S12X CW5i
size
S12X CW5i
size
Bytes
S12X CW5i
speed
Cycles
S12X CW5i
speed
S12Z
Cosmic
S12Z
Cosmic
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Ext Osc BDM
IRC
G
P
I
O
TM
PLL
KWU
RTI
Wdog
SPI
SCI
SCI
TIM 4ch/16b
MSCAN
Dual 12-bit ADC
5 + 4ch. Ext.
(Mux‘d with Op-Amps)
+ 8ch. Int.
S12Z
core
128 KB
Flash
8 KB RAM
PTU
512Bytes
EEPROM
PMF
6-ch
PWM
33
VREG (5V VDDX, VLS, VDD sensor)
Temp
Sense
LIN
Physical
Interface
Separate 5V
VREG (VDDC)
Charge Pump
GDU
3-phase /
H-Bridge
Predriver
Current Sense
(2 x Op-Amp)
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

One control cycle can be a PWM cycle or a number of PWM cycles
TIM
Timer
PMF
Pulse Width
Modulation
With Fault
Commutation
Event
TM
PWM reload
Abort
Fault Inputs
PWM signals
Trigger
List(s)
(

• 2 independent converters:
− ADC0 (5 ext ch. + 5 int. ch.)
− ADC1 (4 ext ch. + 4 int. ch.)
• List Based Architecture
− Double buffered lists -> CPU can
load new values in the background
− Flexible conversion sequence
definition and oversampling.
• Can be triggered by PTU, for
accurate synch with PWM
• DMA taking commands from
SRAM /NVM and storing results
back into SRAM
TM
From PTU
Next
Restart
Sys
Clock
ANx_8
.
ANx_2
ANx_1
ANx_0
PRSCLR
35
ADC
clock
Trigger Control Unit
Analog
Mux
.
.
.
Internal ADC channels
RAM / NVM
Command
Sequence
List (CSL)
Command 1
Command 2
...
...
Command 64
Sample & Hold
DMA
RAM
Result Value
List (RVL)
RVL
Result 1
Result 2
...
...
SAR & C-
DAC +
Result 64
Interrupt
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.
-
Abort

• Internal Channels give access to following internal signals
ADC0
ADC1
Channel Select ADC Channel Signal
0 0 1 0 0 0 Internal_0 ADC0 temperature sensor
0 0 1 0 0 1 Internal_1 VREG temperature sensor or
Bandgap voltage
0 0 1 0 1 0 Internal_2 GDU phase multiplexer voltage
0 0 1 0 1 1 Internal_3 GDU DC link voltage monitor
0 0 1 1 0 0 Internal_4 BATS VSUP sense voltage
Channel Select ADC Channel Signal
0 0 1 0 0 0 Internal_0 ADC1 temperature sensor
0 0 1 0 0 1 Internal_1 VREG temperature sensor or
Bandgap voltage
0 0 1 0 1 0 Internal_2 GDU phase multiplexer voltage
0 0 1 0 1 1 Internal_3 GDU DC link voltage monitor
TM
36
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Completely avoids CPU involvement to trigger ADC during the control cycle
• One 16-bit counter as time base for all trigger events
• Two independent trigger generators (TG)
• Up to 32 trigger events per trigger generator
• Trigger Value List stored in system memory
• Double buffered list, so that CPU can load new values in the
background
• Software generated “Reload” event
• Software generated trigger event
• Global Load OK support, to guarantee coherent update of all
control loop modules
TM
37
RAM
Trigger Value Lists
Trigger1
Trigger 2
...
...
Trigger 32
Trigger Generator
(TG) 0
Trigger Generator
(TG) 1
Time base
Counter
Bus Clock
Trigger1
Trigger 2
...
...
Trigger 32
PTU
Control
ADC0
ADC1
PWM Reload
Event
X PTUT0
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.
X
PTURE
X PTUT1
Async Commutation
Event

• 6 PWM channels, 3 independent
counters
− Up to 6 independent channels or 3
complementary pairs
• Based on core clock (max. 100MHz)
• Complementary operation:
− Dead time insertion
− Top and Bottom pulse width correction
− Double switching
− Separate top and bottom polarity control
• Edge- or center-aligned PWM signals
• Integral reload rates from 1 to 16
• 6-step BLDC commutation support, with
optional link to TIM Output Compare
• Individual software-controlled PWM
outputs
• Programmable fault protection
TM
38
Complementary Mode
with / without dead time insertion
Double-Switching Mode
for single shunt system
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Ext Osc BDM
IRC
G
P
I
O
TM
PLL
Ext Osc BDM
KWU
IRC
RTI
Wdog
SPI
G
P
I
O
SCI
SCI
TIM 4ch/16b
MSCAN
Dual 12-bit ADC
5 + 4ch. Ext.
(Mux‘d with Op-Amps)
+ 8ch. Int.
PLL
KWU
RTI
Wdog
SPI
SCI
SCI
TIM 4ch/16b
MSCAN
Dual 12-bit ADC
5 + 4ch. Ext.
(Mux‘d with Op-Amps)
+ 8ch. Int.
S12Z
core
S12Z
core
128 KB
Flash
128 KB
Flash
8 KB RAM
8 KB RAM
512Bytes
EEPROM
512Bytes
EEPROM
PTU
PTU
PMF
6-ch
PWM
PMF
6-ch
PWM
39
VREG (5V VDDX, VLS, VDD sensor)
Temp
Sense
LIN
Physical
Interface
Separate 5V
VREG (VDDC)
VREG (5V VDDX, VLS, VDD sensor)
Temp
Sense
LIN
Physical
Interface
Separate 5V
VREG (VDDC)
Charge Pump
GDU
3-phase /
H-Bridge
Predriver
Current Sense
(2 x Op-Amp)
Charge Pump
GDU
3-phase /
H-Bridge
Predriver
Current Sense
(2 x Op-Amp)
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Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
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other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

FET pre-driver for 6 N-ch power MOSFETs (3 high-side, 3 low-side)
• 11V regulator to drive external FETs VGS
• Bootstrap circuit for high-side drivers
• Optional charge pump to support static
high-side driver operation
• Phase comparators to signal BEMF zero
crossing
• Option to route DC Link (HD) or Phase
voltage measurement to ADC
• Two current sense amplifiers feeding ADC
• Over- /under- voltage monitoring
• Short circuit protection by monitoring VDS
for both LS/ HS
• Step-up (boost) converter option for low
supply voltage operation
TM
40
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
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Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

• 11V LDO supplies the LS drivers,
while it charges the bootstrap cap
for the HS drivers
• Bootstrap circuit for high side drive,
with optional Charge Pump support
• Drives N-channel power MOSFET
transistors, up to ~100nC total gate
charge
• Programmable slew rate for
improved EMC performance
• Under-voltage monitor for 11V
LDO; Over-voltage monitor for DC
link (HD)
TM
41
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
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Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

• 6 de-saturation comparators for HS
and LS protection
• After turning on (any) high-side or
low-side transistor, the HSx voltage
is monitored
• In case of de-saturation error
LS/HS switched off
optional interrupt
• Programmable blanking time =
delay between driver turn-on and
the evaluation of the comparator
(~60ns..5us @ 50MHz)
Saturation Voltage
programmable from
0.3V to 1.35V in 8
steps (150mV steps)
TM
42
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
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other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

1:12
TM
Phase0
status
HS0 HS1 HS2
Phase1
status
Phase2
status
• The phase comparators indicate if phase voltage V HSx is greater than
0.5*V HD
• This can be used for BEMF detection in un-driven phases
• A multiplexer selects if the supply voltage HD or any of the phase
voltages is routed to an ADC internal channel
43
1:6
Select Multiplexer to
read Phase Voltages
and DC Link Voltage on
internal ADC channel
GPHMX[1:0]
ADC INTERNAL_2 channel
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
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Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

This option can be used to guarantee a V GS > 9V at low V BAT conditions
TM
Software selectable
maximum coil
current
44
using an optional external
ballast transistor the core
gets boosted as well or not
BCTL VDDX
In Low voltage condition
(V BAT

Without Boost With Boost
Vsup MCU GDU
26V…40V Full Disabled
7V...26V Full Enabled
Vgs> Vsup –
2*Vbe
(5V min)
6V .. 7V Full Disabled
3.5V .. 6V Full
Iddx = 25mA
max if no
external PNP
TM
Disabled
11V
Vgs = 9.6V
6V…9.5V Full Boost ON
Vgs >9V
3.5V .. 6V Full
Iddx = 25mA
max if no
external PNP
Boost ON
Vgs >9V

• Two linear operational
amplifiers are provided to
amplify voltage across two
separate current sense
shunt resistors
• Each amplifier drives an
ADC channel
• The amplifier closed-loop
gain (A v) can be selected by
choosing resistor values
populated on the PCB
• By applying an offset level (by resistor network), bidirectional current
sense can be accomplished
• The amplifier features offset compensation in 8 steps in order to avoid
low signal “hiding” near to ground level
• It provides an additional over-current comparator with SW selectable
thresholds via a 6-bit ADC
TM
46
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

• S12 MagniV Concept and Roadmap
• S12ZVM Family: Integrated Motor Control System-on-Chip
− Family Overview and Device Feature Set
• Motor Control Feature Highlights
− New S12Z core, New Digital Modules to Improve Motor Control
Loop, 12V Analog modules
• Available Tools & Automotive Motor Control Library Set
• BLDC Sensorless Motor Control Implementation Concept
− Control and Position Sensing Concept, Module Involvement,
Application States
• Position Sensing with Zero Cross Detection/Approximation
• Speed Control
• Dynamic Current limitation
• Summary
TM
47
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

• IDE
− CodeWarrior 10.2 (eclipse based)
− Cosmic Win IDEA
• Compilers
− CodeWarrior S12Z
− Cosmic
• Programmers
− P&E PROGS12Z
− Cyclone Pro Programmer
• Debugger
− CW & P&E S12Z Debugger
− Cosmic Zap Debugger
• FreeMaster Run time debugger
• Debug Interface
− P&E USB Multilink Debug Interface
− 3rd Party Debug Interfaces (isystem, Lauterbach)
• EVB board available now
TM
48
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

LIN connector
Freemaster
USB-to-SCI
interface
User
LEDs
VDDX
external
ballast
12V
supply
CAN option
TM
Power indicator
LEDs
BDM
interface
I/O Port access
(for example PWM / ECLK)
49
Reset
ATD inputs
Hall/Encoder
interface
GDU / 3phase
bridge access
OSBDM
Resolver
interface
Motor
connectors
Current
Sense
Resistors
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

• A user-friendly real-time debug
monitor and data visualization tool
• Supports completely non-intrusive
monitoring of variables on a running
system
• Display multiple variables changing
over time on an oscilloscope-like
display, or view the data in text form
• Communicates with an on-target
driver via USB, BDM, CAN, UART, for
transmitting data from the target to the
host computer
• The user can provide Active-X based
instrumentation gauges, dials, knobs,
and sliders to create custom visual
dashboards
TM
50
USB
BDM
CAN
UART
JTAG
Ethernet
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Advance
Control Library
General Motor
Control
Library
General
Function
Library
TM
Mathematical
Library
51
Advance
Motor Control
Library
General
Digital
Filters
Library
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

MLIB
• Absolute Value, Negative
Value
• MLIB_Abs, MLIB_AbsSat
• MLIB_Neg, MLIB_NegSat
• Add/Subtract Functions
• MLIB_Add, MLIB_AddSat
• MLIB_Sub, MLIB_SubSat
• Multiply/Divide/Addmultiply
Functions
• MLIB_Mul, MLIB_MulSat
• MLIB_Div, MLIB_DivSat
• MLIB_Mac, MLIB_MacSat
• MLIB_VMac
• Shifting
• MLIB_ShL, MLIB_ShLSat
• MLIB_ShR
• MLIB_ShBi, MLIB_ShBiSat
• Normalisation, Round
Functions
• MLIB_Norm, MLIB_Round
• Conversion Functions
• MLIB_ConvertPU,
MLIB_Convert
TM
GFLIB
• Trigonometric Functions
• GFLIB_Sin, GFLIB_Cos,
GFLIB_Tan
• GFLIB_Asin, GFLIB_Acos,
GFLIB_Atan, GFLIB_AtanYX
• Limitation Functions
• GFLIB_Limit,
GFLIB_VectorLimit
• GFLIB_LowerLimit,
GFLIB_UpperLimit
• PI Controller Functions
• GFLIB_ControllerPIr,
GFLIB_ControllerPIrAW
• GFLIB_ControllerPIp,
GFLIB_ControllerPIpAW
• Interpolation
• GFLIB_Lut1D, GFLIB_Lut2D
• Hysteresis Function
• GFLIB_Hyst
• Signal Integration
Function
• GFLIB_IntegratorTR
• Sign Function
• GFLIB_Sign
• Signal Ramp Function
• GFLIB_Ramp
• Square Root Function
• GFLIB_Sqrt
GDFLIB
• Finite Impulse Filter
• GDFLIB_FilterFIR
• Moving Average Filter
• GDFLIB_FilterMA
• 1st Order Infinite Impulse
Filter
• GDFLIB_FilterIIR1init
• GDFLIB_FilterIIR1
• 2nd Order Infinite Impulse
Filter
• GDFLIB_FilterIIR2init
• GDFLIB_FilterIIR2
52
GMCLIB
• Clark Transformation
• GMCLIB_Clark
• GMCLIB_ClarkInv
• Park Transformation
• GMCLIB_Park
• GMCLIB_ParkInv
• Duty Cycle Calculation
• GMCLIB_SvmStd
• Elimination of DC Ripples
• GMCLIB_ElimDcBusRip
• Decoupling of PMSM
Motors
• GMCLIB_DecouplingPMSM
Delivery Content
ACLIB/AMCLIB
• Angle Tracking Observer
• Tracking Observer
• PMSM BEMF Observer in
Alpha/Beta
• PMSM BEMF Observer in
D/Q
• Content To Be Defined
Matlab/Simulink Bit Accurate Models
User Manuals
Header files
Compiled Library File
License File (to be accepted at install time)
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

• S12 MagniV Concept and Roadmap
• S12ZVM Family: Integrated Motor Control System-on-Chip
− Family Overview and Device Feature Set
• Motor Control Feature Highlights
− New S12Z core, New Digital Modules to Improve Motor Control
Loop, 12V Analog modules
• Available Tools & Automotive Motor Control Library Set
• BLDC Sensorless Motor Control Implementation Concept
− Control and Position Sensing Concept, Module Involvement,
Application States
• Position Sensing with Zero Cross Detection/Approximation
• Speed Control
• Dynamic Current limitation
• Summary
TM
53
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

+Vp (PWM)
Motor
Torque
GND (PWM) L a
GND +Vp (PWM)
TM
L b
60°-120°
Stator Flux
Running
Direction
L c
+Vp GND (PWM)
54
• Stator Field is generated
between 60° to 120° to
rotor field to get maximal
torque and energy
efficiency
• Six Flux Vectors defined
to create rotation
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Power line
On-Chip
Debugging
Freemaster
Superior
System
MC9S12ZVM Board 3-phase Inverter
ADC
Triggers
BEMF
Voltage
TM
ADC Module 0
Zero Crossing Period &
Position Recognition
BDM
LIN
Module
ADC Module 1
DC Bus
Voltage
1/T
Required
DC Bus
Current Limit
ActualSpeed
Required Speed +
Phase Voltage
DC Bus Voltage
DC Bus Current
Commutation
Control
+
-
-
Actual
DC Bus Current
Ph.Comp.
Mux
Current Amp.
55
Comm.
Sequence
Current
PI Controller
Limitations
Speed
PI Controller
GDU
PMF
Duty
Cycle
ADC Triggers
Trigger
Points
PTU
S12ZVM
3-phase
BLDC
Motor
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Commutation
events
SAt
SAb
SBt
SBb
SCt
SCb
0 o
C-off
C-off
60 o
B-off
TM
B-off
120 o
A-off
A-off
180 o 240 o 300 o 360 o
C-off
C-off
B-off
B-off
A-off
A-off
56
DC BUS voltage
SAt SBt SCt
SAb SBb SCb
ØA
ØB
ØC
One phase powered by
complementary PWM
signal,
second phase grounded:
• Low MOSFET switching
losses
• Low EMC noise
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

phase voltage
BEMF
evaluation window
Commutation
period
TM
Zero-cross
period
Zero-cross
events
57
Commutations
time
Relationships:
• On constant rotor speed:
commutation period = zero-cross
period
• zero-cross event occurs in the
middle of two commutations (on
ideal motor)
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Both supported by S12ZVM
Using Phase comparators Using SW ADC sensing
+
-
+
-
+
-
• Comparators implemented
internally on S12ZVM
• Little less CPU load
B
HB2
TM
HB3
0
V
HB1
½ U DCB reference
A
C
Udcb
ADC1
ADC2
• More accurate zero cross
approximation
• More flexibility
58
Mux
B
HB2
HB3
0
V
HB1
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.
A
C
Udcb

SAtop
Phase A
SAbot
SBtop
Phase B
SBbot
SCtop
Phase C
DC BUS
current
Phase
current
SCbot
commutation
C-off
C-off
B-off
B-off
TM
SAtop
SAbot
SCtop
SCbot
Phase
A
DC BUS voltage
GND
SAtop
SAbot
ON
OFF
Phase
B
SBtop
SBbot
DC BUS voltage
Back
EMF
voltage
Top MOSFET is ON:
+ Phase current can be measured by
DC BUS shunt resistor
+ Back-EMF voltage can be
measured both positive and
negative
59
A
Phase
C
SCtop
SCbot
B
DC BUS
/ 2
OFF
ON
SAtop
SAbot
OFF
C
C
A
GND GND
GND
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.
ON
Phase
A
DC BUS voltage
GND
Phase
B
SBtop
SBbot
Back
EMF
voltage
Phase
C
SCtop
SCbot
B
GND
Top MOSFET is OFF:
– Phase current can NOT be
measured by DC BUS shunt resistor
– Only positive Back-EMF voltage can
be measured (zero-cross can not be
precisely measured)

TIM
PMF
PTU
ADC1
ADC0
CPU
Async
commutation
event
PWM releoad
PWM Atop
PTU releoad
PTU triggers
Measured
Back/EMF
voltage
Measured
DC Bus
voltage
Measured
DC BUS
current
(average
value)
TM
ADC 0
trigger 1
T1 T2
ADC 0
conversion
time
First
ADC 0
sample
time
60
ADC 1
trigger 1
ADC 0
trigger 2
ADC 0/1
conversion
time
Second
ADC
sample
time
Zero Cross detection
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

speed
AppInit()
AppStop()
Desired
Speed
Start speed
in sensorless
close loop
Alignment
La +Vp
(PWM)
+Vp (PWM)
L Starting
b
Vector
AppAlignment()
AppStopToAlignment() AppAlignmentToStart()
AppStartToRun()
TM
90°
L c
GND
Alignment
Vector
Open Loop Start
Open Loop:
Commutation time
calculated base on
acceleration equation
AppStart()
61
Run
Closed Loop:
Commutation time calculated
base on Back-EMF zero-cross
Required speed
Real speed
AppRun()
time
called in main()
(state machine)
transient functions
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Interrupt calls
Phase voltages
~ 50 us
~ 50 us ADC conversion time
TM
1 ms
Commutation period (> 200us)
62
PTU 1 done ISR
Save time of Back-EMF
voltage measurement
ADC 0 done ISR
Zero-cross detection
Timer channel 0
Commutation event
Timer channel 3
Speed Control Loop
time
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

• S12 MagniV Concept and Roadmap
• S12ZVM Family: Integrated Motor Control System-on-Chip
− Family Overview and Device Feature Set
• Motor Control Feature Highlights
− New S12Z core, New Digital Modules to Improve Motor Control
Loop, 12V Analog modules
• Available Tools & Automotive Motor Control Library Set
• BLDC Sensorless Motor Control Implementation Concept
− Control and Position Sensing Concept, Module Involvement,
Application States
• Position Sensing with Zero Cross Detection/Approximation
• Speed Control
• Dynamic Current limitation
• Summary
TM
63
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Power line
On-Chip
Debugging
Freemaster
Superior
System
MC9S12ZVM Board 3-phase Inverter
ADC
Triggers
BEMF
Voltage
TM
ADC Module 0
Zero Crossing Period &
Position Recognition
BDM
LIN
Module
ADC Module 1
DC Bus
Voltage
1/T
Required
DC Bus
Current Limit
ActualSpeed
Required Speed +
Phase Voltage
DC Bus Voltage
DC Bus Current
Commutation
Control
+
-
-
Actual
DC Bus Current
Ph.Comp.
Mux
Current Amp.
64
Comm.
Sequence
Current
PI Controller
Limitations
Speed
PI Controller
GDU
PMF
Duty
Cycle
ADC Triggers
Trigger
Points
PTU
S12ZVM
3-phase
BLDC
Motor
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Back-EMF voltage can not be measured within all
the active PWM pulse as there is switching noise
and resonance transient at the beginning of the
PWM pulse
SAtop
SAbot
SCtop
SCbot
motor
phase
resonance
switching
noise
spikes
PWM to ADC
TM
ADC
sample
point
delay by PTU
• Back-EMF voltage
measure window
• Time of Back-EMF
voltage sample point
is used to calculate
exact time of the
zero-cross
Measured Back-EMF
voltage
65
Back-EMF
voltage
unpowered
phase
PWM
powered
phase
Resonance transient on
Back-EMF voltage depends
on motor and power stage
parameters
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Back-EMF
zero-cross
BEMF T-1
TM
T PWM
T ZC
T ADC
66
T
ZC
BEMF T
DCBUS / 2
T
ADC
BEMFT
BEMF
T
DCBUS
BEMF
PWM
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.
T
/ 2
1
T

• S12 MagniV Concept and Roadmap
• S12ZVM Family: Integrated Motor Control System-on-Chip
− Family Overview and Device Feature Set
• Motor Control Feature Highlights
− New S12Z core, New Digital Modules to Improve Motor Control
Loop, 12V Analog modules
• Available Tools & Automotive Motor Control Library Set
• BLDC Sensorless Motor Control Implementation Concept
− Control and Position Sensing Concept, Module Involvement,
Application States
• Position Sensing with Zero Cross Detection/Approximation
• Speed Control
• Dynamic Current limitation
• Summary
TM
67
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Power line
On-Chip
Debugging
Freemaster
Superior
System
MC9S12ZVM Board 3-phase Inverter
ADC
Triggers
BEMF
Voltage
TM
ADC Module 0
Zero Crossing Period &
Position Recognition
BDM
LIN
Module
ADC Module 1
DC Bus
Voltage
1/T
Required
DC Bus
Current Limit
ActualSpeed
Required Speed +
Phase Voltage
DC Bus Voltage
DC Bus Current
Commutation
Control
+
-
-
Actual
DC Bus Current
Ph.Comp.
Mux
Current Amp.
68
Comm.
Sequence
Current
PI Controller
Limitations
Speed
PI Controller
GDU
PMF
Duty
Cycle
ADC Triggers
Trigger
Points
PTU
S12ZVM
3-phase
BLDC
Motor
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

• S12 MagniV Concept and Roadmap
• S12ZVM Family: Integrated Motor Control System-on-Chip
− Family Overview and Device Feature Set
• Motor Control Feature Highlights
− New S12Z core, New Digital Modules to Improve Motor Control
Loop, 12V Analog modules
• Available Tools & Automotive Motor Control Library Set
• BLDC Sensorless Motor Control Implementation Concept
− Control and Position Sensing Concept, Module Involvement,
Application States
• Position Sensing with Zero Cross Detection/Approximation
• Speed Control
• Dynamic Current limitation
• Summary
TM
69
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Power line
On-Chip
Debugging
Freemaster
Superior
System
MC9S12ZVM Board 3-phase Inverter
ADC
Triggers
BEMF
Voltage
TM
ADC Module 0
Zero Crossing Period &
Position Recognition
BDM
LIN
Module
ADC Module 1
DC Bus
Voltage
1/T
Required
DC Bus
Current Limit
ActualSpeed
Required Speed +
Phase Voltage
DC Bus Voltage
DC Bus Current
Commutation
Control
+
-
-
Actual
DC Bus Current
Ph.Comp.
Mux
Current Amp.
70
Comm.
Sequence
Current
PI Controller
Limitations
Speed
PI Controller
GDU
PMF
Duty
Cycle
ADC Triggers
Trigger
Points
PTU
S12ZVM
3-phase
BLDC
Motor
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

• S12 MagniV Concept and Roadmap
• S12ZVM Family: Integrated Motor Control System-on-Chip
− Family Overview and Device Feature Set
• Motor Control Feature Highlights
− New S12Z core, New Digital Modules to Improve Motor Control
Loop, 12V Analog modules
• Available Tools & Automotive Motor Control Library Set
• BLDC Sensorless Motor Control Implementation Concept
− Control and Position Sensing Concept, Module Involvement,
Application States
• Position Sensing with Zero Cross Detection/Approximation
• Speed Control
• Dynamic Current limitation
• Summary
TM
71
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Board Level Advantages
• Highest level of Integration
• Less components lead to smaller placement cost
• Smaller PCB size lead to smaller PCB cost
• Motor control platform can be covered with one layout due to family concept
• Optional external bypass transistor improves thermal board management
• Boost option can cover different operating range requirements with one layout
• High speed Boost frequency support minimizes size of external components
• Two-Shunt systems supported without the need for external Amplifier
• Selectable slope in gate driver for optimized EMC performance
• More robust against EMC due to integrated connections between GDU and µC
• No external resonator might be required, due to trimmed RC oscillator, +/- 1.3%
TM
72
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Software Level Advantages
• High-performance core with 32bit ALU and MAC unit up to 100MHz fcore
• High code density with ~ 20% improvement versus 16bit S12 core
• Mature tool chain of S12 family
• Supports different sensorless position sensing strategies (integrated zero
crossing comparators & phase voltage multiplexers)
• Fully autonomous motor control loop with very small CPU load due to auto-
triggering of ADC synchronous to PWM
• Double buffered ADC and Trigger command list and ATD result list allows easy
SW handling
• Available Motor control SW library reduces time to market
• Double switching feature of PMF module easily supports Single-Shunt systems
• Easy debugging:: Very fast Single wire debugging interface, flexible watchdog
TM
73
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

System Level Advantages
• Improved Accuracy of Position sensing due to integration level
• Dual ADC concept supports high accuracy of position sensing
• Flexible Operation range down to 3.5V Vsup with selectable boost option
• Integrated charge pump supports 100% duty cycle
• High PMF resolution & speed up to 50kHz covers large range of motor
applications
• High safety level
• Integrated desaturation and overcurrent comparators
• Protection against unintended clock and gate drive unit register access
• Flash/EEPROM margin read for run time cell status check
TM
74
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

System Level Advantages
• High grade of system testability
• High grade of failure status reporting and reset status flagging
• Sophisticated temperature and voltage monitoring capabilities
• High speed SPI or 250kbaud LIN usable as test interface
• Continuous Automotive Quality improvement
• Reduction of BOM and soldering points in system
• Robust 180nm technology with zero defect strategy
• NVM and RAM ECC & protection
TM
75
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

Of your BLDC system:
50mm
50mm
TM
76
40mm Ø
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.

TM
Freescale on Kaixin
Tag yourself in photos
and upload your own!
Session materials will be posted @ www.freescale.com/FTF
77
Weibo?
Please use hashtag
#FTF2012#
Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis,
mobileGT, PowerQUICC, Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc.,
Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine,
Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, TurboLink, Vybrid and Xtrinsic are trademarks of Freescale Semiconductor, Inc. All
other product or service names are the property of their respective owners. © 2012 Freescale Semiconductor, Inc.