Microchip Technology

DSPIC33EP128MU504-E/ML - 16-bit DSC 128KB USB CAN | Microchip

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QFN-44 (8x8x0.9 mm) Package 128 KB Memory
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Price updated: 2026-09-23
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10 $5.78 $57.80
100 $5.12 $512.00
500 $4.66 $2,330.00
1,000 $4.25 $4,250.00
ℹ️ All prices are in USD

DSPIC33EP128MU504-E/ML Overview

The Microchip Technology DSPIC33EP128MU504-E/ML is a 16-bit digital signal controller (DSC) featuring 128 KB of Flash program memory, 16 KB of SRAM, and a 70 MIPS dsPIC DSC core, housed in a 44-pin QFN (8x8 mm) package rated for -40C to +125C operation.

A digital signal controller combines the computational throughput of a DSP with the deterministic control structure and peripheral set of a microcontroller. In the power management hierarchy of embedded systems, a DSC sits between general-purpose MCUs and dedicated DSPs, making it the preferred device class for closed-loop control loops that need both fast multiply-accumulate arithmetic and rich on-chip peripherals such as PWM, QEI, and CAN.

Key features of this MU-series variant include an integrated full-speed USB 2.0 device peripheral, a CAN 2.0B module, a 12-bit ADC with up to 1.1 Msps throughput, three on-chip operational amplifiers, motor-control PWM, quadrature encoder interface (QEI), and a Charge Time Measurement Unit (CTMU). These peripherals let a single chip implement complete digital power, motion, or sensing systems without external analog front-end ICs.

Architecturally, the dsPIC33E family uses a modified Harvard pipeline with DSP engine (single-cycle MAC, 40-bit accumulator), hardware division support, and two address generation units. The E-temperature suffix guarantees extended industrial operation to +125C, supporting designs inside sealed enclosures and under-hood or high-power-inverter environments where ambient and self-heating combine.

Typical applications include digital power supplies and PFC stages, brushless DC and PMSM motor drives, USB-connected industrial instruments, CAN-networked automotive accessory nodes, and sensor interfaces that exploit the CTMU and on-chip op-amps.

For design, plan the 3.3V supply with separate regulated or filtered VUSB for the USB PHY, decouple all VDD/VSS pairs, and budget flash carefully - 128 KB suits mid-complexity control firmware with USB and CAN stacks resident.

This page synthesizes distributor pricing, pin-compatible family alternatives, and practical design notes not consolidated in the manufacturer datasheet.

Drop-in alternatives for DSPIC33EP128MU504-E/ML — same package, pin-to-pin compatible. Different-package parts requiring PCB rework are excluded.

Variants in this series

Same-series models that are drop-in compatible with DSPIC33EP128MU504-E/ML (same form factor and footprint) — differing in Operating Temperature, Package, Connectivity.

Microchip Technology
Operating Temperature: -40C to +125C (E grade)
Package: 44-QFN (8x8 mm) exposed pad
Connectivity: I2C, IrDA, LINbus, QEI, SPI, UART/USART
Microchip Technology
Operating Temperature: -40C to +85C (Industrial, I suffix)
Package: 44-pin QFN (ML), 8x8 mm

Quick Comparison Tool — Select alternative parts for side-by-side comparison:

DSPIC33EP128MC504-I/ML

✅ Drop-In
📦 QFN-44 (8x8)
same 44-QFN footprint and 128KB Flash, no USB peripheral; I-grade temp -40C to +85C vs E-grade +125C

📋 Reference alternative (not in catalog)

DSPIC33EP128MC204T-E/ML

✅ Drop-In ⚠️ Specs Unverified
Microchip Technology
📦 QFN-44 (8x8)
dsPIC33E 16-bit DSC core · 60 MIPS · 128KB (43K x 24) FLASH · 16KB · 3.3 V · I2C, IrDA, LINbus, QEI, SPI, UART/USART · 3 · 4

✓ In Stock

$3.8 / Unit

View Datasheet →

DSPIC33EP256MU504-E/ML

✅ Drop-In ⚠️ Specs Unverified
📦 QFN-44 (8x8)
identical pinout and peripherals, Flash doubled to 256 KB and RAM to 32 KB

📋 Reference alternative (not in catalog)

DSPIC33EP64MU504-E/ML

✅ Drop-In ⚠️ Specs Unverified
📦 QFN-44 (8x8)
identical pinout and peripherals, Flash halved to 64 KB (8K RAM)

📋 Reference alternative (not in catalog)

DSPIC33EP128MU504-I/ML

✅ Drop-In ⚠️ Specs Unverified
Microchip Technology
📦 QFN-44 (8x8)
16-bit dsPIC33E DSC core · 70 MIPS · 128 KB · 16 KB · 3.0 V to 3.6 V · 12-bit · -40C to +85C (Industrial, I suffix) · 44-pin QFN (ML), 8x8 mm

✓ In Stock

$3.58 / Unit

View Datasheet →

DSPIC33EP128MU504-E/ML Maximum Ratings & Electrical Characteristics

Core dsPIC33E 16-bit DSC core
Core Performance 70 MIPS
Program Memory (Flash) 128 KB
RAM 16 KB
Data Flash (EEPROM emulation) 1 KB
ADC Resolution 12-bit
Connectivity USB, CAN, UART, SPI, I2C
Analog Peripherals 3x on-chip op-amps, CTMU
Motor Control Peripherals MC PWM, QEI, PTG
Operating Temperature -40C to +125C (E suffix)
Package QFN-44 (8x8x0.9 mm)
Mounting Type Surface Mount
Packaging Tube
RoHS Status Compliant

DSPIC33EP128MU504-E/ML qfn-44 (8x8x0.9 mm) Pin Configuration Guide

Pin configuration for DSPIC33EP128MU504-E/ML (qfn-44 (8x8x0.9 mm) package). This digital IC includes GPIO, communication interfaces (UART, SPI, I2C), and power pins. Refer to the manufacturer datasheet for alternate pin functions and configuration options. Essential for embedded system design and PCB layout.

qfn-44 (8x8x0.9 mm) package pinout diagram for DSPIC33EP128MU504-E/ML

No detailed pinout data available for DSPIC33EP128MU504-E/ML.

Refer to the datasheet for full pin configuration.

Typical Applications

DSPIC33EP128MU504-E/ML is suitable for 6 applications: Digital Power Supplies and PFC, Brushless DC and PMSM Motor Drives, USB-Connected Industrial Instruments, CAN-Networked Automotive Accessory Nodes, Capacitive Touch and CTMU-Based Sensing, Portable and USB-Powered Measurement Devices.

⚡

Digital Power Supplies and PFC

The DSPIC33EP128MU504-E/ML fits digital power conversion because its 70 MIPS core executes the control loop, compensation math, and protection logic within sub-microsecond deadlines, while the 12-bit ADC samples voltage and current feedback at up to 1.1 Msps. The motor-control PWM module produces complementary outputs with dead-time insertion and fault shutdown, exactly what a phase-shifted full-bridge or LLC converter needs. Using the on-chip 3x op-amps as current-sense amplifiers eliminates an external analog front-end and shortens the feedback path, improving loop accuracy. Compared with analog-control designs, firmware control enables adaptive mode switching and digital telemetry over USB or CAN without extra chips. Typical usage places the ADC in simultaneous mode sampling both output voltage and inductor current each PWM cycle, with the control law computed in the ADC interrupt - achieving bandwidth in the tens of kilohertz that meets most server and telecom PSU requirements.

🏭

Brushless DC and PMSM Motor Drives

This DSC is well suited to field-oriented control (FOC) of PMSM and BLDC motors because the DSP engine performs the Park/Clarke transforms and PI loops with single-cycle multiply-accumulate at 70 MIPS, leaving ample cycle budget for protection and communication. The quadrature encoder interface decodes position feedback in hardware with no CPU loading, and the complementary PWM generator supports center-aligned, dead-time-controlled three-phase drive. The 12-bit ADC, triggered directly by the PWM module, samples phase currents at the PWM midpoint for lowest switching noise. On-chip op-amps can condition low-side shunt currents, cutting BOM cost versus external amplifier ICs. In a typical 48V e-bike controller, the MU504 runs the FOC loop at 16 kHz while simultaneously servicing CAN messages, and the E-grade +125C rating allows mounting near power stages in sealed housings where ambient and self-heating combine.

🖥️

USB-Connected Industrial Instruments

The integrated full-speed USB 2.0 device peripheral distinguishes the MU-series within the dsPIC33E family, making this part ideal for bench instruments, data loggers, and sensors that stream measurements to a PC without an external USB-interface chip. The 12-bit ADC with up to 1.1 Msps throughput digitizes sensor channels while the 16 KB RAM buffers sample blocks for USB bulk transfers, and the 1 KB data Flash stores calibration constants through power cycles. Because the USB PHY requires a dedicated 3.3V VUSB rail and internal voltage regulator control, designers gain USB certification-friendly signaling without external transceivers. A typical configuration implements USB CDC (virtual COM port) firmware so host software sees the instrument as a serial device, simplifying driver development. Compared with MCU-plus-FTDI two-chip solutions, this single-chip approach reduces BOM, board area, and latency between sampling and host delivery.

🚗

CAN-Networked Automotive Accessory Nodes

With a CAN 2.0B controller on chip and the E-grade -40C to +125C operating range, the DSPIC33EP128MU504-E/ML serves automotive and heavy-equipment accessory nodes such as lighting controllers, pump drivers, and sensor gateways. The hardware CAN module with up to 1 Mbps operation provides message filtering and multiple buffers in silicon, offloading the 70 MIPS CPU for the application. Combined with the 12-bit ADC for analog diagnostics (current, voltage, thermistor inputs) and the CTMU for capacitive touch or precise time measurement, one chip can implement a complete smart actuator. Firmware typically runs the control loop at kilohertz rates while the CAN stack operates interrupt-driven, using the 128 KB Flash to hold both application logic and the driver layer. Note that the part is not AEC-Q100 qualified per current data, so position it in non-safety-critical subsystems or verify qualification status with Microchip for your specific program.

🧩

Capacitive Touch and CTMU-Based Sensing

The Charge Time Measurement Unit (CTMU) makes this DSC a strong fit for capacitive touch interfaces and precision time-of-flight or current measurements without a dedicated touch controller. In touch applications, the CTMU injects a controlled charge into each sensing pad while a timer measures the charge time; firmware applies oversampling and drift compensation to deliver reliable detection through 3 mm glass or plastic overlays at -40C to +125C, where consumer-grade touch ICs often drift. The 12-bit ADC and on-chip op-amps complement the CTMU for ratiometric temperature sensing and mV-level signal conditioning in the same node. A typical appliance panel uses 8 to 16 CTMU channels scanned in a round-robin at 100 Hz with LED feedback driven from GPIO, all within the single 44-QFN chip. The 128 KB Flash accommodates the touch library, application logic, and communication (UART or I2C to the main board) with room to spare for OTA-style field updates.

🔧

Portable and USB-Powered Measurement Devices

For handheld meters, portable analyzers, and USB-powered probes, the DSPIC33EP128MU504-E/ML offers a compelling single-chip architecture: USB for both data and charging communication, a 12-bit ADC for the measurement channel, and DSP capability for real-time filtering such as RMS computation and FFT-based analysis. The 70 MIPS core executes a 64-point real FFT in well under a millisecond, enabling spectrum display refresh at interactive rates, while 16 KB RAM holds sample windows and display buffers. The E-grade temperature range suits devices left in vehicles or industrial settings. Power design centers on a single-cell Li-ion battery regulated to 3.3V, with the internal USB regulator handling the VUSB rail; firmware should implement the USB suspend/resume states to meet the 2.5 mA-class suspend budgets. Typical products include acoustic analyzers, impedance meters, and environmental monitors that pair with smartphone or PC hosts over USB CDC.

Recommended Products Summary

DSPIC33EP128GS202 Smaller dual-core DSC for auxiliary digital power stages Used in: Digital Power Supplies and PFC MCP16301 Buck regulator for 3.3V controller supply Used in: Digital Power Supplies and PFC MCP8024 3-phase gate driver companion for BLDC drive Used in: Brushless DC and PMSM Motor Drives MCP9808 Temperature sensor for motor/inverter thermal protection Used in: Brushless DC and PMSM Motor Drives MCP79410 RTCC with EEPROM for data-logger timestamping Used in: USB-Connected Industrial Instruments MCP3421 18-bit delta-sigma ADC for precision low-speed channels Used in: USB-Connected Industrial Instruments MCP2551 CAN transceiver between controller and bus Used in: CAN-Networked Automotive Accessory Nodes MCP1700 3.3V LDO for controller supply from 12V battery rail Used in: CAN-Networked Automotive Accessory Nodes PIC16LF1769-I/ML Microchip Technology Used in: Capacitive Touch and CTMU-Based Sensing MCP9701 Analog temperature sensor for CTMU ratiometric compensation Used in: Capacitive Touch and CTMU-Based Sensing MCP73831 Li-ion charge controller for battery-powered instruments Used in: Portable and USB-Powered Measurement Devices MCP3202 Auxiliary 12-bit ADC for isolated measurement channels Used in: Portable and USB-Powered Measurement Devices
What is the DSPIC33EP128MU504-E/ML and what are its key specifications?
The DSPIC33EP128MU504-E/ML is a Microchip 16-bit digital signal controller with a 70 MIPS dsPIC33E core, 128 KB Flash, 16 KB RAM, 12-bit ADC, and integrated USB and CAN peripherals in a 44-pin QFN (8x8 mm) package. The E suffix guarantees -40C to +125C operation. According to Microchip, the dsPIC33E family adds a DSP engine with single-cycle MAC for high-performance control applications.
What is the price of DSPIC33EP128MU504-E/ML?
Pricing for the DSPIC33EP128MU504-E/ML is in the mid-single-digit USD range at single-unit quantities, with typical volume breaks at 10, 100, 500, and 1000 pieces bringing the unit cost lower (as of 2026-09-24). Exact distributor pricing varies by stock position; check the tier table on this page and request quotes from Mouser, DigiKey, or XAIPART for current volume pricing.
Where to buy DSPIC33EP128MU504-E/ML online?
You can buy the DSPIC33EP128MU504-E/ML from XAIPART, Mouser, DigiKey, and authorized Microchip distributors. Mouser lists it as a '16B DSC 128KB Flash 16K RAM, 12-Bit ADC' part, and DigiKey stocks it under part number DSPIC33EP128MU504-E-ML-ND. Third-party brokers such as Heisener report stock in the thousands of pieces, but purchase through authorized channels to guarantee traceability.
Is DSPIC33EP128MU504-E/ML in stock and what is the lead time?
Stock varies by distributor: Heisener reported 5,344 pieces in stock and mcu-supplier.com reported about 4,405 pieces, while DigiKey and Mouser inventory fluctuates with demand (as of 2026-09-24). For production volumes, request a quote for confirmed lead time, as some brokers list lead time as 'to be confirmed'. XAIPART can provide current stock and lead-time confirmation for your quantity.
What is the difference between DSPIC33EP128MU504 and DSPIC33EP128MC504?
The MU variant integrates a full-speed USB 2.0 device peripheral, while the MC variant omits USB but is otherwise a same-family dsPIC33E part with CAN, 12-bit ADC, and motor-control peripherals. Both come in the same 44-QFN (8x8) footprint and share the 70 MIPS core with 128 KB Flash. Choose the MU504 for USB-connected applications and the MC504 for pure motor-control or CAN designs.
DSPIC33EP128MU504 vs DSPIC33EP128MU804 - which is better for a USB motor-control application?
The DSPIC33EP128MU504 is better when 128 KB Flash and 16 KB RAM fit your firmware; the MU804 (not the MU604) doubles Flash/RAM in the same USB-equipped family for larger stacks or data logging. Both run the 70 MIPS core with identical peripherals, so the decision is purely memory headroom and cost. If your code plus USB and CAN stacks fit under 128 KB, the MU504 delivers the same performance at lower cost.
When should I choose DSPIC33EP128MU504 over a general-purpose MCU?
Choose the DSPIC33EP128MU504 when your application needs deterministic, high-rate control loops with DSP arithmetic - for example digital power converters, FOC motor drives, or precision sensing - while also needing USB or CAN connectivity. A general-purpose MCU struggles with single-cycle MAC and motor-control PWM peripherals; a standalone DSP lacks the integrated flash, ADC, and communication peripherals. This DSC combines all three in one chip at -40C to +125C.
What is the best drop-in replacement for DSPIC33EP128MU504-E/ML?
The closest drop-in replacement is the same-family DSPIC33EP256MU504 (256 KB Flash, same 44-QFN footprint and pinout) if you need more memory, or the DSPIC33EP64MU504 (64 KB Flash) if you can tolerate less. Within the same memory tier, the DSPIC33EP128MC504-I/ML is pin-compatible but removes USB. Always confirm pinout and memory-map compatibility in the Microchip datasheet before qualifying a substitution.
Can DSPIC33EP128MC504-I/ML replace DSPIC33EP128MU504-E/ML?
Yes, but only if your design does not use USB. The DSPIC33EP128MC504-I/ML is pin-compatible in the same 44-QFN (8x8) package and matches the 70 MIPS core, 128 KB Flash, 16 KB RAM, CAN, 12-bit ADC, and motor-control peripherals. The functional difference is the missing full-speed USB device module. Also note the MC504 example carries the I (industrial, -40C to +85C) temperature suffix versus E (+125C) on the MU504.
Where to download the DSPIC33EP128MU504-E/ML datasheet PDF?
Download the datasheet PDF from the official Microchip product page at microchip.com/en-us/product/dsPIC33EP128MU504 or via the documentation section of the dsPIC33EP128MU504 family page. The family datasheet covers all MU-series devices, including pinout diagrams for the 44-QFN package, electrical characteristics, and register descriptions. Avoid third-party PDF mirrors, which may host outdated revisions.
Where can I find the DSPIC33EP128MU504 pinout for the 44-QFN package?
The complete pinout for the 44-pin QFN (8x8 mm) package appears in the dsPIC33EP128MU504 family datasheet on the Microchip website, including pin 1 marker orientation, power pin assignments (multiple VDD/VSS pairs plus a dedicated VUSB 3.3V pin), and the peripheral pin multiplexing tables. Consult the 'Pin Diagrams' and 'I/O Multiplexing' sections rather than third-party summaries, since many pins share multiple peripheral functions.
What is the best cross-brand equivalent for DSPIC33EP128MU504-E/ML?
There is no pin-to-pin cross-brand equivalent for the DSPIC33EP128MU504-E/ML in web cross-reference data. Functionally comparable 16-bit DSCs include TI C2000 (TMS320F2803x family) and Renesas RX62T parts, which offer similar 12-bit ADCs and motor-control PWM but in different packages with different toolchains. Any cross-brand migration is a redesign project, not a drop-in swap, so prefer Microchip same-family alternatives first.
Is the DSPIC33EP128MU504-E/ML suitable for automotive applications?
It is suitable for automotive accessory and auxiliary nodes thanks to the E-grade -40C to +125C temperature rating and the CAN 2.0B controller, but it is not AEC-Q100 qualified per current Microchip product data. For safety-critical or body-control applications requiring AEC-Q100 qualification, verify with Microchip whether a Q-variant exists for your program, or use it in non-critical subsystems such as lighting control, pumps, and sensor nodes.
How do I program the DSPIC33EP128MU504-E/ML and which tools are supported?
The DSPIC33EP128MU504-E/ML programs through the ICSP interface (MCLR, PGD, PGC pins) using Microchip MPLAB X IDE with the PICkit 3/4, ICD 3/4, or REAL ICE programmers. Development is in C via the XC16 compiler or assembly; MPLAB Code Configurator can generate peripheral initialization code. In-circuit debugging is supported on the same pins, so reserve access to PGD/PGC pads on your PCB for field programming and diagnostics.

Engineering reference data for DSPIC33EP128MU504-E/ML — comparison, design guidance, and compliance information.

Selection Guide

Choose the DSPIC33EP128MU504-E/ML when your design needs USB connectivity plus DSP-grade control performance and must survive up to +125C - the classic cases are digital power supplies, FOC motor drives, and USB-connected instruments in harsh environments. If your firmware is memory-constrained but USB is still required, choose the DSPIC33EP64MU504-E/ML to save cost; if you are nearing the 128 KB limit, step up to the DSPIC33EP256MU504-E/ML (same footprint, 256 KB Flash). If USB is not needed at all, the pin-compatible DSPIC33EP128MC504-I/ML or MC204 variants deliver the same 70 MIPS control performance at lower cost, provided +85C ambient is acceptable. Avoid this part for safety-critical automotive programs requiring AEC-Q100 qualification without first verifying qualification status with Microchip. Trade-offs versus TI C2000 competitors: this DSC offers better peripheral integration per dollar and a simpler toolchain, but C2000 parts may offer higher-end control bandwidth - any cross-brand move is a redesign, not a drop-in.

Comparison with Alternatives

Parameter This Product DSPIC33EP128MC504-I/ML DSPIC33EP128MC204T-E/ML DSPIC33EP256MU504-E/ML DSPIC33EP64MU504-E/ML DSPIC33EP128MU504-I/ML
Package QFN-44 (8x8 mm) QFN-44 (8x8 mm) - same QFN-44 (8x8 mm) - same QFN-44 (8x8 mm) - same QFN-44 (8x8 mm) - same QFN-44 (8x8 mm) - same
Brand Microchip Technology Microchip Technology Microchip Technology Microchip Technology Microchip Technology Microchip Technology
Flash Memory 128 KB 128 KB 128 KB 256 KB 64 KB 128 KB
RAM 16 KB 16 KB 16 KB 32 KB 8 KB 16 KB
USB Peripheral Full-speed USB 2.0 device No USB No USB Full-speed USB 2.0 device Full-speed USB 2.0 device Full-speed USB 2.0 device
Core Performance 70 MIPS 70 MIPS 70 MIPS 70 MIPS 70 MIPS 70 MIPS
Operating Temperature -40C to +125C (E) -40C to +85C (I) -40C to +125C (E) -40C to +125C (E) -40C to +125C (E) -40C to +85C (I)
CAN Controller CAN 2.0B CAN 2.0B CAN 2.0B CAN 2.0B CAN 2.0B CAN 2.0B

Key Differentiators

  • Integrated full-speed USB device peripheral (vs DSPIC33EP128MC504-I/ML)
  • Extended E-grade temperature rating (vs DSPIC33EP128MU504-I/ML)
  • Balanced 128 KB Flash / 16 KB RAM tier (vs DSPIC33EP256MU504-E/ML)
  • On-chip analog front-end (3x op-amps + CTMU) (vs DSPIC33EP128MC204T-E/ML)

Design Notes

The MU-series USB peripheral requires a dedicated VUSB supply pin at 3.3V with its own low-ESR decoupling (per Microchip datasheet guidance, approximately 220 nF to 470 nF on VUSB and VUSB3V3 as specified in the family datasheet). Do not share the VUSB rail with noisy digital loads. Estimated: a 3.3V rail supplying 70 MIPS operation plus USB traffic draws on the order of 50-80 mA typical, so size your regulator with margin above the datasheet IDD figures before finalizing the power budget.

The 44-QFN 8x8 mm package has a center exposed thermal pad that must be soldered to a grounded copper pour with an array of thermal vias - this is both the primary ground return and the heat removal path for +125C operation. Place 0.1 uF decoupling capacitors at every VDD pin within 2 mm of the pad, and route the MCLR programming trace to a header with PGD/PGC so ICSP debug remains possible after assembly. Keep the USB D+/D- pair as a 90-ohm differential route, length-matched within 1 mm.

Many 44-pin dsPIC33E signals are multiplexed to multiple peripheral functions; before finalizing the schematic, verify each pin assignment against the peripheral-pin-select and pin multiplexing tables in the family datasheet, especially for motor-control PWM outputs and ADC channel mapping, which are NOT fully remappable. A second frequent error is using a debug-tool power setting that conflicts with the target VUSB regulator during USB debugging - configure MPLAB/REAL ICE power correctly to avoid brownouts. Finally, the E-grade +125C rating still requires junction temperature derating: Estimated: at theta_JA around 35-40 C/W for a good thermal-pad layout, keep on-package dissipation under roughly 0.5-0.7 W to maintain margin.

Compliance Information

RoHS
Compliant
REACH
Unknown
AEC-Q100
Not Qualified
Lead Free
Yes
Halogen Free
Unknown
Conflict Minerals
Unknown

RoHS compliance indicated by distributor listings (E/ML suffix denotes lead-free RoHS packaging). Not AEC-Q100 qualified per current Microchip product data - verify with Microchip for automotive programs requiring qualification.

Data verified on: 2026-09-24 — data verified and curated by XAIPART's component engineering team

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Related Components & Terms

Microchip Technology DSPIC33EP128MU504-E/ML dsPIC33E digital signal controller DSC 16-bit microcontroller DSP engine QFN-44 QFN family surface mount USB 2.0 full-speed CAN 2.0B 12-bit ADC 70 MIPS motor-control PWM quadrature encoder interface CTMU RoHS AEC-Q100 MPLAB X IDE XC16 compiler digital power supply FOC motor control field-oriented control
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