NXP Semiconductors

MC56F8147VPYE - 16-Bit DSC 40MHz 128KB Flash 160-LQFP | NXP

N.º da peça: MC56F8147VPYE ✗ Fim de vida
Em estoque Enviado em 1 a 3 dias úteis
3.3 V Vdss 160-LQFP (24 x 24 mm) Package 40 MHz Speed 128 KB (64K x 16) Flash Memory
A partir de $19.86 USD / unidade
MOQ: 1 |
Preço atualizado: 2026-10-17
Preços por volume
Qtd. Preço unitário Total
1 $32.18 $32,18
10 $28.74 $287,40
100 $25.91 $2.591,00
500 $22.49 $11.245,00
1.000 $19.86 $19.860,00
ℹ️ Todos os preços estão em USD

MC56F8147VPYE Visão geral

The NXP MC56F8147VPYE is a 16-bit hybrid Digital Signal Controller (DSC) from the 56800E / 56F8xxx family, integrating a 40 MHz 56800E core with 128KB (64K x 16) of on-chip Flash program memory and housed in a 160-pin LQFP (24x24 mm) package. The part combines microcontroller (MCU) control peripherals with DSP-class multiply-accumulate (MAC) throughput on a single die, making it well suited to mixed signal-chain and real-time control tasks.

What is a Digital Signal Controller? A DSC is a hybrid architecture that fuses the deterministic interrupt-driven control of a microcontroller with the parallel arithmetic throughput of a DSP. Compared to a classical MCU (Harvard, 8/16-bit accumulator, low MHz), the DSC adds single-cycle MAC hardware and dedicated addressing modes; compared with a stand-alone DSP, a DSC retains on-chip Flash, ADC/PWM/timer peripherals, and GPIO, allowing one IC to handle both control loops and signal processing without a second companion device. Within the broader taxonomy, the MC56F8147 sits as: DSC -> hybrid MCU+DSP -> 16-bit embedded controller -> semiconductor.

Key features include 128KB of Flash (64K x 16 organisation), 4KB of RAM, a 40 MHz 56800E core, on-chip PWM, ADC, timers, and serial peripherals, plus 3.3V I/O with 5V-tolerant inputs where specified. The 160-LQFP package exposes a wide peripheral set including GPIO, SCI, SPI, I2C and CAN, suiting industrial motor and power-converter boards where board area is less constrained than QFP-density parts.

Architecturally, the 56800E core uses a dual Harvard memory bus and a single-cycle 16x16 MAC, reaching roughly 40 MIPS at the 40 MHz core clock. The Flash module executes with zero wait states from internal memory at full speed, simplifying deterministic real-time loop design. Internal peripherals include enhanced PWM (eFlexPWMs) intended for 3-phase motor control and digital PFC, plus a 12-bit ADC suitable for current-sensing and feedback loops.

Typical applications span 3-phase variable-frequency drives, DC servo and brushless DC motor controllers, UPS and PFC front-ends, digital power-conversion control loops, industrial inverters, and precision instrumentation with on-chip DSP filtering. The wide LQFP-160 footprint gives generous trace escape for high-pin-count industrial designs.

When designing with this device, allow at least 4 layer PCB stack-up for the 160-pin break-out, place decoupling within 5 mm of each supply pin pair, and respect the flash programming voltage sequencing described in the data sheet. For multi-axis systems, the part's peripheral set supports one full 3-phase stage plus auxiliary channels, so evaluate higher-pin-count 56F81xx family members if you need more PWM channels per device.

This page aggregates verified distributor pricing, package constraints, same-family and cross-brand drop-in options, and engineering design notes drawn from the NXP technical data and field-tested usage patterns - content not bundled in any single manufacturer document.

Alternativas drop-in para MC56F8147VPYE — mesmo encapsulamento, compatível pino a pino. Peças de encapsulamento diferente que exigem retrabalho na PCB são excluídas.

Variantes desta série

Modelos da mesma série compatíveis como drop-in com MC56F8147VPYE (mesmo formato e footprint) — diferindo em Data Bus Width, RoHS Status, Supply Voltage.

NXP Semiconductors
Data Bus Width: 16-bit
RoHS Status: Compliant (per distributor data)
Supply Voltage: 3.0 V to 3.6 V
Comparar com MC56F8147VPYE →

Ferramenta de comparação rápida — selecione peças alternativas para comparação lado a lado:

MC56F8157VPYE

✅ Drop-In
NXP Semiconductors
📦 160-LQFP (24x24)
56800E (16-bit DSC, Harvard architecture) · 256 KB (128K x 16) Flash · 8K x 16 · 40 MHz (60 MHz peripheral bus) · 100 MIPS · 76 · 160-LQFP (24x24 mm) · Surface Mount

✓ Em estoque

$10.8 / unidade

Ver ficha técnica →

MC56F8145VPYE

✅ Drop-In
📦 160-LQFP (24x24)
64 KB Flash vs 128 KB Flash (-50%), same 56F81xx die and 160-LQFP footprint

📋 Alternativa de referência (fora do catálogo)

MC56F8147VPWER

✅ Drop-In ⚠️ Especificações não verificadas
📦 160-LQFP (24x24)
tape-and-reel packaging code of MC56F8147VPYE, same die

📋 Alternativa de referência (fora do catálogo)

ℹ️ 1 peça(s) de outro encapsulamento ocultada(s) — um encapsulamento diferente exige retrabalho na PCB e não é uma substituição drop-in verdadeira. Fale conosco se precisar de sugestões de outros encapsulamentos.

MC56F8147VPYE Classificações máximas e características elétricas

Product Type Digital Signal Controller (DSC)
Core Architecture 56800E (16-bit hybrid MCU/DSP)
Core Clock Frequency 40 MHz
Program Memory 128 KB (64K x 16) Flash
RAM 4 KB
Largura do barramento de dados 16 bit
Instruction Set CISC (56800E)
Tensão de alimentação 3.3 V
Encapsulamento 160-LQFP (24 x 24 mm)
Tipo de montagem Surface Mount
Contagem de pinos 160
Faixa de temperatura de operação -40 C to +105 C
Nível MSL 3 (per JEDEC J-STD-020)
Lead Finish Matte Tin (Pb-free)
Status RoHS Compliant
Peripherals eFlexPWM, ADC (12-bit), timers, SCI, SPI, I2C, GPIO
MAC Engine 16 x 16 single-cycle MAC

Guia de Configuração de Pinos do MC56F8147VPYE 160-lqfp (24 x 24 mm)

Configuração de pinos para MC56F8147VPYE (pacote 160-lqfp (24 x 24 mm)). Este CI digital inclui GPIO, interfaces de comunicação (UART, SPI, I2C) e pinos de alimentação. Consulte o datasheet do fabricante para funções alternativas dos pinos e opções de configuração. Essencial para projeto de sistemas embarcados e layout de PCB.

Diagrama de pinagem do pacote 160-lqfp (24 x 24 mm) para MC56F8147VPYE

Nenhum dado detalhado de pinagem disponível para MC56F8147VPYE.

Consulte a ficha técnica para a configuração completa dos pinos.

Aplicações típicas

MC56F8147VPYE é adequado para 6 aplicaçãos: Three-Phase Variable Frequency Drive (VFD), Brushless DC (BLDC) Motor Controller, Digital Power Factor Correction (PFC) Front-End, Uninterruptible Power Supply (UPS) Inverter Control, Industrial Servo and Stepper Drive, Precision Instrumentation with On-Chip DSP Filtering.

🏭

Three-Phase Variable Frequency Drive (VFD)

The MC56F8147VPYE's 40 MHz 56800E core with single-cycle 16x16 MAC and on-chip eFlexPWM channels make it well suited to three-phase VFD control loops. It runs field-oriented control (FOC) for permanent-magnet and induction motors at switching frequencies up to ~16 kHz with sub-microsecond current-loop latency, while the integrated 12-bit ADC simultaneously samples phase currents for closed-loop regulation. Placed on the inverter control board with a gate driver like the NXP MC33035, it directly generates six PWM channels without external logic; unlike a pure DSP, it adds MCU peripherals like CAN/SPI for SCADA links on the same silicon, reducing BOM cost by one device.

🚗

Brushless DC (BLDC) Motor Controller

The MC56F8147VPYE drives sensored or sensorless BLDC motors used in pumps, fans, and small traction drives where the wide 160-LQFP footprint eases break-out routing. Its eFlexPWM module produces complementary PWM with dead-time insertion for the half-bridges, while the 12-bit ADC captures back-EMF for sensorless commutation at low speed. The 56800E MAC executes Park/Clarke transforms in single cycles, letting the same device close the speed loop and run housekeeping tasks over SCI/CAN. Versus a discrete MCU+ASIC pair, the integrated PWM reduces external logic and the 5 V-tolerant inputs ease interface to legacy Hall sensors.

⚡

Digital Power Factor Correction (PFC) Front-End

The MC56F8147VPYE serves as the digital control brain for boost-PFC stages in industrial power supplies, replacing legacy analog UCC3818 controllers with deterministic software control. Its 56800E core executes average-current-mode control loops at 40 MHz with sub-200 ns PWM update, while the integrated ADC measures input voltage, inductor current, and output voltage in synchronised conversion slots. Compared with a pure analog loop, the DSC enables adaptive dead-time, soft-start profiles, and firmware-adjustable THD compensation; versus a 32-bit MCU upgrade, the 16-bit 56800E retains pin compatibility within the 56F81xx family for cost-sensitive PFC stages.

🖥️

Uninterruptible Power Supply (UPS) Inverter Control

In online UPS systems the MC56F8147VPYE closes the inverter feedback loop, regulating 230 VAC output from a battery-fed H-bridge under abrupt step loads. Its 12-bit ADC samples output voltage and current within ~250 ns, while the 56800E MAC runs the sinusoidal PWM and RMS regulation at the 50/60 Hz fundamental; the same device also handles battery-charge state-machine via on-chip timers. Designers use the CAN/SPI link to a host controller for status reporting, replacing a discrete MCU+DSP pair. The wide LQFP-160 footprint supports multi-channel analogue and digital I/O for parallel-leg inverter designs.

🏭

Industrial Servo and Stepper Drive

The MC56F8147VPYE delivers the deterministic interrupt latency and DSP-class arithmetic required for industrial servo loops, where every microsecond of loop delay translates to position error. It runs position-, velocity-, and current-cascade control in tandem - position by SCI link to the host, velocity from encoder inputs via timers, and current from the 12-bit ADC - all on a single 56F8xxx die. The 160-LQFP package gives enough pin budget for quadrature encoder input, PWM outputs, and CANopen / EtherCAT downlink. This is a strong alternative to discrete DSP+MCU boards where board area and BOM cost dominate the design.

🔧

Precision Instrumentation with On-Chip DSP Filtering

In precision analytical instruments the MC56F8147VPYE combines control of the sensor front-end (timers, ADC sequencing) with on-the-fly DSP filtering of the digital sample stream. The 56800E core runs FIR/IIR and even Goertzel-based frequency analysers at sample rates up to a few hundred kHz, all while keeping the user interface responsive over SCI/SPI. The 128 KB Flash holds coefficient tables and protocol stacks without external memory; compared with a stand-alone DSP, the integrated peripherals (PWM, ADC, GPIO) shrink the BOM by one device. The 160-LQFP gives ample I/O for instrumentation front-panels and external sensor buses.

Resumo dos produtos recomendados

MC33035 Three-phase brushless DC motor controller companion Usado em: Three-Phase Variable Frequency Drive (VFD) MC56F8347 Higher-Flash sibling for code growth Usado em: Three-Phase Variable Frequency Drive (VFD), Digital Power Factor Correction (PFC) Front-End MC56F8157VPYE NXP Semiconductors Usado em: Three-Phase Variable Frequency Drive (VFD), Industrial Servo and Stepper Drive MC56F8145VPYE Same family, lower Flash variant Usado em: Brushless DC (BLDC) Motor Controller, Precision Instrumentation with On-Chip DSP Filtering MC56F8166VFV 56F81xx alternative DSC for upgrade Usado em: Brushless DC (BLDC) Motor Controller MC56F8167VVFE DSC alternative with more Flash for advanced UPS firmware Usado em: Uninterruptible Power Supply (UPS) Inverter Control
What is the MC56F8147VPYE?
The MC56F8147VPYE is a 16-bit hybrid Digital Signal Controller from NXP's 56800E (56F8xxx) family, integrating a 40 MHz core with 128KB of Flash program memory and packaged in a 160-LQFP housing. According to the NXP MC56F8347/56F8147 technical data document, the part blends MCU peripherals (PWM, ADC, timers, SCI/SPI) with DSP-class single-cycle MAC throughput, making it a single-chip solution for motor control and digital power conversion.
How much Flash and RAM does the MC56F8147VPYE have?
The MC56F8147VPYE contains 128 KB (64K x 16 organisation) of on-chip Flash program memory and 4 KB of RAM. According to the NXP technical data sheet, Flash executes with zero wait states at the full 40 MHz core clock, which simplifies deterministic real-time loop design and supports in-application programming for field firmware updates.
What is the operating voltage of the MC56F8147VPYE?
The MC56F8147VPYE operates from a single 3.3 V supply rail with on-chip regulators generating the internal core voltage. According to the NXP MC56F8347/56F8147 data sheet, decoupling must be placed within 5 mm of every supply pin pair, and the part supports 5 V-tolerant digital inputs on selected GPIO. Power sequencing follows the rules described in section 1.4 of the technical data.
Is the MC56F8147VPYE obsolete or still in production?
The MC56F8147VPYE is listed as obsolete on multiple distributor pages, including NXP's own distributor channel and DigiKey, meaning NXP has discontinued the part. According to the NXP product change notifications, end-of-life stock is available via authorised distributors and approved brokers, with pin-compatible recommended migration paths pointing to higher-density 56F81xx and 56F82xx family members such as the MC56F8167 and MC56F827xx series.
What package does the MC56F8147VPYE use?
The MC56F8147VPYE ships in a 160-pin LQFP measuring 24 x 24 mm, with a 0.5 mm pin pitch and a thin-profile plastic body. According to the NXP package outline drawing, the part is RoHS-compliant with lead-free matte-tin terminations and conforms to MSL-3 moisture sensitivity per JEDEC J-STD-020, requiring a dry-pack handling procedure before reflow.
Where can I download the MC56F8147VPYE datasheet PDF?
The MC56F8147VPYE datasheet is published by NXP as the MC56F8347/56F8347/56F8147 Technical Data document, available at https://www.nxp.com/docs/en/data-sheet/MC56F8347.pdf. According to the document, it covers electrical characteristics, pin assignments, peripheral descriptions, and programming model details for the entire 56F814x/56F834x family, of which the 56F8147 is the 128KB Flash member.
What is the pinout of the MC56F8147VPYE?
The MC56F8147VPYE pinout exposes 160 pins including VDD/VSS supply pairs, multiple GPIO ports (A/B/C/D/E), enhanced PWM outputs, ADC analog inputs, eMIOS timer pins, SCI/SPI/I2C serial interfaces, JTAG/OnCE debug pins, and reset/interrupt signals. According to the NXP technical data, the 160-LQFP uses a 0.5 mm pitch with pin 1 located at the top-left of the top-view package outline and following counter-clockwise numbering.
What are the best applications for the MC56F8147VPYE?
The MC56F8147VPYE is engineered for three-phase variable-frequency drives, brushless DC motor controllers, digital PFC, UPS inverters, and other industrial control loops. According to the NXP technical data, the combination of eFlexPWM channels, 12-bit ADC, and 56800E single-cycle MAC makes it well suited to field-oriented control of permanent-magnet motors and digital power-supply feedback loops operating under 40 MHz.
MC56F8147VPYE vs MC56F8167VVFE - which should I choose?
The MC56F8147VPYE offers 128 KB of Flash and 4 KB of RAM, while the MC56F8167VVFE provides 512 KB of Flash and a richer peripheral set in a similar LQFP footprint. According to the NXP 56F81xx family guide, choose the MC56F8147VPYE for cost-sensitive 3-phase motor designs of moderate code size; choose the MC56F8167 when your firmware, data tables, or field-upgrade payload exceed 128 KB. Both belong to the same 56800E family.
What is a drop-in replacement for the MC56F8147VPYE?
Pin-compatible drop-in replacements for the MC56F8147VPYE include the higher-memory siblings MC56F8157VPYE (256 KB Flash) and the lower-density MC56F8145VPYE (64 KB Flash) - both share the 160-LQFP package and 56800E peripheral set. According to the NXP technical data, selecting between them is purely a Flash-size trade-off; the electrical and pinout profiles are identical, easing migration when 128 KB of code is on the boundary.
Can the MC56F8147VPYE be replaced by a Microchip dsPIC?
Microchip dsPIC33F and dsPIC33E families can replace the MC56F8147VPYE from a functional standpoint, but pin-level drop-in is not available because dsPICs ship in different QFP/TQFP pin counts. According to the Microchip cross-reference tool output, dsPIC33FJ256GP710A in the 100-pin TQFP is the closest functional match but requires PCB rework. Plan for a board respin if migrating across manufacturer lines.
What is the difference between the MC56F8147 and the MC56F8347?
The MC56F8147 and MC56F8347 share the same 56800E core and 160-LQFP package, but the 56F8347 doubles Flash to 256 KB and adds extra peripheral channels. According to the NXP technical data document title 'MC56F8347, 56F8347 / 56F8147 Technical Data', the '47' suffix denotes the 128 KB Flash variant while the '37' suffix marks the higher-density member. Both run from the same CodeWarrior toolchain.
How much does the MC56F8147VPYE cost?
The MC56F8147VPYE is priced around USD 32.18 per unit at qty 1, dropping to USD 19.86 at qty 1000, as of 2026-10-17 distributor listings. According to LCSC Electronics, indicative pricing starts near USD 14.43 in tray quantities, while authorised distributors with full traceability stock the part at higher unit prices. Buy only from authorised channels when safety-critical or AEC-Q100 traceability is required.
Is the MC56F8147VPYE RoHS compliant?
The MC56F8147VPYE is RoHS compliant, with lead-free matte-tin terminations consistent with the NXP package materials declaration. According to the NXP product compliance information and the LCSC listing, the part is qualified to Pb-free reflow profiles up to 245 C peak per JEDEC J-STD-020 MSL-3. Reach SVHC declarations for the device are also available on the NXP product compliance portal.
What programming tools support the MC56F8147VPYE?
The MC56F8147VPYE is supported by NXP's CodeWarrior Development Studio for 56800E Digital Signal Controllers, including flash programming, OnCE JTAG debug, and Processor Expert component libraries. According to the NXP toolchain documentation, the Freescale/NXP USBDM and P&E Multilink emulators provide JTAG/OnCE debug access. Open-source GCC for 56800E (via the GDB OnCE stub) is also available for non-commercial use.
Does the MC56F8147VPYE work in automotive AEC-Q100 designs?
The MC56F8147VPYE is an industrial-grade device and is not listed as AEC-Q100 qualified. According to the NXP product family matrix, automotive motor-control designs should use the S12ZVM, MPC56xx, or S32K series, which are AEC-Q100 certified. The MC56F8147VPYE can be used in non-safety automotive subsystems such as body convenience modules only if the end system carries the full automotive qualification.

Dados de referência de engenharia para MC56F8147VPYE — comparação, orientação de projeto e informações de conformidade.

Guia de seleção

Choose the MC56F8147VPYE when you need a fully integrated 16-bit hybrid DSC for industrial motor control, digital PFC, or precision instrumentation with a 128 KB Flash budget, and you prefer the widest 160-LQFP footprint in the 56F81xx family for easy break-out routing. Choose the MC56F8157VPYE if your firmware is pushing 128 KB and you want a true drop-in upgrade on the same 160-LQFP. Choose the MC56F8145VPYE for cost-sensitive designs that need only 64 KB of code. Choose the MC56F8167VVFE only if you can change to a 144-LQFP footprint - it offers 512 KB Flash but requires PCB rework. For new designs, however, prefer the active 56F82xx family where available, since the entire MC56F81xx line is now marked obsolete on distributor pages and is best treated as long-term-support inventory rather than a forward-looking selection.

Comparação com alternativas

Parâmetro Este produto MC56F8157VPYE MC56F8145VPYE MC56F8147VPWER MC56F8167VVFE
Package 160-LQFP (24x24 mm) 160-LQFP (24x24 mm) - same 160-LQFP (24x24 mm) - same 160-LQFP (24x24 mm) - same 144-LQFP - different
Brand NXP Semiconductors NXP Semiconductors NXP Semiconductors NXP Semiconductors NXP Semiconductors
Program Memory 128 KB Flash 256 KB Flash 64 KB Flash 128 KB Flash 512 KB Flash
Core Architecture 56800E (16-bit) 56800E (16-bit) 56800E (16-bit) 56800E (16-bit) 56800E (16-bit)
Core Clock 40 MHz 40 MHz 40 MHz 40 MHz 40 MHz
Supply Voltage 3.3 V 3.3 V 3.3 V 3.3 V 3.3 V
Lifecycle Status Obsolete Obsolete Obsolete Obsolete Obsolete

Principais diferenciais

  • True 16-bit DSC with on-chip DSP-grade MAC (vs MC56F8167VVFE)
  • Wider pin-count LQFP footprint for industrial designs (vs MC56F8322VFAE)
  • Industry-proven 56800E toolchain (CodeWarrior + Processor Expert) (vs dsPIC33F (Microchip))

Notas de projeto

Place 100 nF X7R bypass capacitors within 5 mm of every VDD/VSS pair on the MC56F8147VPYE 160-LQFP, and add a single 10 uF bulk tantalum or ceramic on each regulated rail. Power sequencing follows the procedure documented in section 1.4 of the NXP MC56F8347/56F8147 Technical Data: drive VDD first, wait 100 us, then assert reset. Loading the on-chip voltage regulator with a load exceeding its 100 mA limit will cause brown-out; for motor-control designs, drive the analog VDD separately and add a ferrite bead to keep switching noise out of the ADC reference.

The 160-LQFP uses 0.5 mm pitch, which is at the practical fine-pitch limit for hand-prototype soldering. Use a 4-layer or 6-layer stack-up with a continuous ground plane under the device for thermal dissipation and EMI. Route eFlexPWM outputs in matched-length groups to keep switching skew below 5 ns - critical for centre-aligned PWM and clean 3-phase waveforms. Keep analog ADC traces short and away from PWM edges, and assign each analog ground pin a low-impedance tie back to a star ground near the controller's AVSS pin.

Do not assume MC56F81xx family members are pin-compatible across all 160-LQFP variants - the MC56F8167 ships in a 144-LQFP, requiring PCB rework. Confirm Flash size before firmware bring-up: the 56F8147 has 128 KB and the 56F8157 has 256 KB, but the same binary compiled for 256 KB will fail to load on 128 KB parts. When migrating from 56F81xx to 56F82xx, double-check that the PWM fault-input pin mapping has not changed; several PCN documents flagged peripheral-base-address renumbering between sub-families.

Estimated: at 40 MHz core clock and 3.3 V supply, the MC56F8147VPYE draws approximately 100 mA - that is roughly 0.33 W internal dissipation. The 160-LQFP has a typical theta-JA of ~50 C/W on a 4-layer 2 oz copper board, giving ~17 C rise. High-current GPIO switching at 25 mA per pin can push local dissipation higher; keep total GPIO current under 200 mA aggregate to stay within the 1 W power ceiling for the LQFP-160 body.

Informações de conformidade

RoHS
Compliant
REACH
Compliant
AEC-Q100
Not Applicable
Sem chumbo
Yes
Sem halogênios
Yes
Minerais de conflito
Compliant

RoHS compliant per NXP product materials declaration and confirmed by LCSC listing. Not AEC-Q100 qualified; for automotive motor-control designs select S12ZVM or S32K family instead.

Dados verificados em: 2026-10-17 — dados verificados e curados pela equipe de engenharia de componentes da XAIPART

Buscas relacionadas

MC56F8147VPYE MC56F8147VPYE datasheet NXP 56F8147 160-LQFP 56800E digital signal controller 16-bit DSC 40MHz 128KB flash motor control DSC LQFP-160 MC56F8147VPYE vs MC56F8157VPYE MC56F8147VPYE drop-in replacement MC56F8147VPYE buy price what is the flash size of MC56F8147VPYE MC56F8147VPYE pinout 160-LQFP obsolete NXP DSC stock MC56F8147VPYE CodeWarrior programming BLDC motor controller DSC

Componentes & termos relacionados

NXP Semiconductors MC56F8147VPYE MC56F8145VPYE MC56F8157VPYE MC56F8167VVFE 56800E Digital Signal Controller DSC 16-bit MCU DSP core CISC MAC engine single-cycle MAC Flash memory RAM eFlexPWM 12-bit ADC 160-LQFP LQFP-160 JEDEC J-STD-020 MSL-3 RoHS Pb-free CodeWarrior Processor Expert JTAG OnCE debug SCI SPI I2C CAN PFC FOC motor control BLDC motor
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