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SOLO BETA User Manual 
 
 
Product Description 
SOLO is a member of the SOLO motor
 
 
 
controllers family which are capable of driving
 
 
and controlling various types of electrical
 
 
motors like DC brushed, BLDC, PMSM and AC
 
 
 
Induction motors in a single platform.They are
 
     
made to be easy to use with state of art
 
 
 
 
technologies. 
They offer both sensor-based and sensor-less
 
 
 
options for Speed, Torque and Position control
 
 
 
of motors supported plus numerous types of
 
 
other options like full digital and analogue
 
 
 
controls plus active safety measures to keep
 
 
the
 
applications
 
behaviours. 
 
● Easy to use 
● Drives and Controls DC, BLDC, PMSM
 
 
and ACIM motors 
● Closed-loop and Open-loop controls 
● Speed, Torque and Position control 
● Sensor-based and sensorless control 
● Four
 
Quadrant
operation 
● Automatic parameter Identification
 
and self-tuning 
Modes of Operation 
Analogue or Digital commanding 
Speed Control  
Torque Control 
Position Control 
Industrial Automations 
Robotics and Traction Units 
Drones 
 
www.solomotorcontrollers.com  
January 2021 - Revision V_1.0.5
 
 
 
 
 
 
 
   
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
safe
 
from
 
unforeseen
 
 
 
 
Regenerative
 
Copyright © 2020, All right Reversed. SOLO motor controllers. 
 
Supply Voltage Range : 8- 58 VDC 
 
 
Peak Current: 100A 
 
 
 
 
Continuous Current: 32A 
 
 
 
 
 
   
 
 
 
Features 
● Field Oriented Based Controls with
 
 
Nested Position-Speed-Torque loops 
● Fast and high performance reference
 
tracking 
● Reverse Polarity, Bus over-voltage,
Bus under-voltage , over-current and
 
 
over temperature protections 
● Active temperature control 
 
● Full Digital and Analogue Control 
Commands and feedbacks Source 
0-5V Analogue/ PWM inputs for Speed or
 
Torque control 
Quadrature Encoder input 
Three position Hall sensors input 
UART, USB, CAN bus 
Applications 
Power Range 
 
 
 
 
 
 
 
 
   
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
   

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Summary of Contents for Solo BETA

  • Page 1 Three position Hall sensors input  ● ● UART, USB, CAN bus  ● Applications  Industrial Automations  ● Robotics and Traction Units  ● Drones  ●     www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    1 ...
  • Page 2: Table Of Contents

    Section 4 and 5_ Speed Controller Kp and Ki : 20  Kp Potentiometer : 20  Ki Potentiometer : 20  Section 6 _Piano Switch: 21      www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    2 ...
  • Page 3 50  Convert Fixed-point Sfxt(32-17) data into real world floating point data type: 51  Convert float data toFixed-point Sfxt(32-17) data for SOLO to be sent in a data packet: 52  Convert Hex data read from SOLO to signed Int32: 53  Convert signed Int32 to Hex for sending to SOLO: 54 ...
  • Page 4 Digital Position Control of a Brushless Motor using Encoders: 72  Digital Position Control of a DC Brushed Motor using Encoders: 74            www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    4 ...
  • Page 5: Power Specifications

    Speed controller Loop sample time  ms  1 or 0.5(selectable)  Position controller Loop sample time  ms  1 or 0.5(selectable)  Maximum Encoder Frequency  MHz  18 (Pre-Quad)      www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    5 ...
  • Page 6: Thermal Specifications

    Size (H x W x D)   mm  33.40 x 87.15 x 67.10  Weight  gr  99  Form Factor  -  Wall Mount          www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    6 ...
  • Page 7: Mechanical Dimensions

      All the measurements are in millimeters.  The 3D model can be downloaded from ​ h ere​ .           www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    7 ...
  • Page 8: Solo's Interactional Sections

    SOLO BETA User Manual      SOLO’s Interactional Sections:    The most important parts of SOLO for users to interact with are as below divided into 12 main                          ...
  • Page 9: Absolute Maximum Voltage Ratings

    0  +3.3  +3.6  9  CAN_TX  Output  VDC  0  +3.3  +3.6  9  +3.3V​   Output  VDC  +3.25  +3.3  +3.38  ( External supply)     www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    9 ...
  • Page 10: Connectors And Sections

    4  S/T  Speed or Torque reference  I  5  +5V  Supply output for external modules ( fused at 1A)  O          www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    10 ...
  • Page 11             I  position Sensors  5  Encoder Strobe  Encoder Strobe (not needed)  I  6  GND  SOLO’s Ground  -      www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    11 ...
  • Page 12 Section 10 and 11 - Functionality LEDs  section  Name  Descriptions / Notes  I/O  10  E2  Normal Activity LED  -  11  E1  Error Indicator LED  -          www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    12 ...
  • Page 13: Sections Description

    B and C pins are required to be connected to the motor.    Section 2 - Supply Input  This is the Power Supply input of SOLO and you can power it up with any input voltages from 8 to      ...
  • Page 14: Gnd" Pin

          Figure 2 - Analogue Inputs and +5V External Supply  “GND” PIN:  This is the Ground or in another word the 0V reference of SOLO, so if you want to send an            ...
  • Page 15: Dir" Pin

                                giving each of these values, the connected Motor to SOLO, will either rotate in C.W. direction or                    ...
  • Page 16: In Closed-Loop Mode Of Ac Induction Motors

    In case of using Analogue Voltages:    The Magnetizing current value = ((5.0 - the voltage at P/F input)/5.0) * 10.0          www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    16 ...
  • Page 17: S/T" Pin In Closed_Loop Mode

                          having a current limit, SOLO will try to inject 32A of current inside your motor , given this, the                      ...
  • Page 18: In Speed Mode

                        SOLO is set at 8. If you don’t change this value SOLO will still function but you might need                      ...
  • Page 19: S/T" And "P/F" Pins In Open_Loop Mode

                        SOLO to the motor ​ l inearly from 0V to Vbus/sqrt(3) or equivalently to Vbus*0.577 at maximum,                          ...
  • Page 20: Section 4 And 5_ Speed Controller Kp And Ki

                      “harshly” the controller ( here SOLO ) should react to the variation of the load on the shaft of the                      ...
  • Page 21: Section 6 _Piano Switch

    SOLO BETA User Manual      Section 6 _Piano Switch:    The piano switch in SOLO is used for the manual mode settings and for the convenience of those                      ...
  • Page 22: Pin Number 4,Defining The Type Of The Control- Speed Or Torque

    Pin number 4,Defining The Type of the control- Speed or Torque:    This pin once it’s UP it means we want SOLO to operate in Torque mode, and once it’s DOWN it    ...
  • Page 23: Pin Number 1 And 2 ,Defining The Motor Type

                            frequency at the output of SOLO, default 20kHz can be low for some types of motors                        ...
  • Page 24: Section 7 _ Micro Usb 2

    SOLO BETA User Manual      Section 7 _ Micro USB 2:   This is the micro_USB 2 connector of SOLO which is used for upgrading the firmware as well as                    ...
  • Page 25: Section 8 _ Encoder/Hall Connector

    SOLO BETA User Manual      Section 8 _ Encoder/Hall Connector:   This is the input of SOLO for connection of Quadrature Encoders or Hall sensors, as can be seen                        ...
  • Page 26: Connection Of Quadrature Encoders To Solo

    Motors and you can go as following:    1. Connect the +5V output from SOLO to supply your encoder (if needed)  2. Make sure the Ground of pin of SOLO (pin number 6) is at least connected to your encoder    ...
  • Page 27: Encoder Connection For Bldc, Pmsm And Acim Motors (3-Phase Motors)

                            specific direction, so in our case it should be connected to the output ​ “ A” of SOLO, and                    ...
  • Page 28: Hall Sensor Connection For Bldc, Pmsm And Acim Motors (3-Phase Motors)

                      the Hall sensing circuitry. SOLO provides you a +5V and a Ground for this purpose. ​ I f you don’t                      ...
  • Page 29   Motor’s Connection :  ● Wire ​ “ V”​ of the motor to ​ “ Motor Output 1”​ of SOLO  ● Wire ​ “ W”​ of the motor to ​ “ Motor Output 2”​ of SOLO  ● Wire ​ “ U”​ of the motor to ​ “ Motor Output 3”​ of SOLO ...
  • Page 30: Encoder Connection For Brushed Dc Motors

                      “B” and “C” of SOLO plus the Encoder connected to “​ E ncoder_CHA​ ” and “​ E ncoder_CHB​ ” inputs of                    ...
  • Page 31: Section 9 _ Communication Port

                        reference) of SOLO, so you can use them to feed external modules with mentioned current limit.            www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers. ...
  • Page 32: Section 10, 11 _ Status / Error Leds

    SOLO BETA User Manual      Section 10, 11 _ Status / Error LEDs:  There are two LEDs on the bottom right side of SOLO, which are named as ​ “ E1” and ​ “ E2”        ...
  • Page 33: Minimum Required Wirings In Analogue Control

    SOLO BETA User Manual      Minimum Required Wirings in Analogue Control:  The minimum required wirings to run SOLO in analogue control mode, by applying Analogue or                          ...
  • Page 34: Bldc, Pmsm Motors _ Closed-Loop Mode

                                        using “DIR” input.     www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    34 ...
  • Page 35: Ac Induction Motors_ Closed_Loop Mode

                                          using “DIR” input.     www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    35 ...
  • Page 36: Dc Brushed Motors_ Closed-Loop Mode

                                        using “DIR” input.     www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    36 ...
  • Page 37: Dc Brushed Motors_ Open-Loop Mode

                                using “DIR” input.             www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    37 ...
  • Page 38: Standalone Wiring Example (No External Modules)

    SOLO BETA User Manual      Standalone Wiring Example (No External Modules):  Here you can see an example of how to wire SOLO without having any external modules or special                    ...
  • Page 39: Essential Wiring Example (Solo + Arduino Uno)

                voltage level is between 0 to 5V, but “DIR” pin on SOLO is a 3.3V input and it’s not 5V tolerant​ , so to use 5V                ...
  • Page 40: Digital Control Using Usb Or Uart Protocol

    “ ​ C ommunication Port   ​ ”     of SOLO   as can be seen below, by using any of these two an in digital mode, you can fully control SOLO in a            ...
  • Page 41: Packets Formation _ Commanding And Feedbacks

                      when you want to put lots of SOLO’s in a network, so each of them can be assigned to a                      ...
  • Page 42                         there is an issue with it, SOLO will send back the following packet which is an indication of                    ...
  • Page 43: Write Commands Table In Digital Control (Usb And Uart)

    Device address  26[0x1A]  Sfxt(32-17)  [0-32A]  Id reference setting for AC induction             V  0  (Id)  Motors      www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    43 ...
  • Page 44: Write Commands Table In Digital Control - Continue

    Set UART line baud-rate  Device address  38[0x26]  Uint32  0 / 1  937500 / 115200 [ bits/s]   M  937500                  www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    44 ...
  • Page 45: Read Commands Table In Digital Control (Usb And Uart)

    Read Position Controller Kp Gain  Device address  157[0x9D]  0x00000000  Sfxt(32-17)    30  Read Position Controller Ki Gain  Device address  158[0x9E]  0x00000000  Sfxt(32-17)        www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    45 ...
  • Page 46: Read Commands Table In Digital Control _Continue

    Read UART line baud-rate  Device address  179 [0xB3]  0x00000000  Uint32  0 / 1 ( 937500 / 115200 [bits/s] )          www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    46 ...
  • Page 47               their value has not been changed with respect to the past.             www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    47 ...
  • Page 48 8. Iq: ​ T he quadrature Current in 3 phase motors ( current acting in torque generation)  9. Id: ​ T he direct Current in 3 phase motors  10. Speed: ​ T he speed measured or estimated by SOLO both in Sensorless and in  ...
  • Page 49: Error Reporting And Handling

              300ms through USB or UART to the users.   2. Now the user can decide to stop and find out the cause of the error or they can ask SOLO            ...
  • Page 50: Digital Data Types And Their Conversions

              one of the three main different data types that SOLO offers as below:    1. Uint32​ which stands for standard ​ u nsigned integer​ with 32 bits    2. Sfxt(32-17) ​ w hich stands for signed fixed point data type with 32 bits combined as : ...
  • Page 51: Convert Fixed-Point Sfxt(32-17) Data Into Real World Floating Point Data Type

                  type:    As mentioned before, the data that comes as a feedback or sent to SOLO as a command can have                          ...
  • Page 52: Convert Float Data Tofixed-Point Sfxt(32-17) Data For Solo To Be Sent In A Data Packet

    SOLO BETA User Manual      Convert float data toFixed-point Sfxt(32-17) data for SOLO to be sent in a                           data packet:    If the float number is Positive:  ...
  • Page 53: Convert Hex Data Read From Solo To Signed Int32

    SOLO BETA User Manual      Convert Hex data read from SOLO to signed Int32:    – If the data read from SOLO is less than or equal to 0x7FFFFFFF(Hex) or 2147483647                ...
  • Page 54: Convert Signed Int32 To Hex For Sending To Solo

    SOLO BETA User Manual      Convert signed Int32 to Hex for sending to SOLO:  If you want to send signed Int32 values in form of Hex numbers to SOLO which are normally used            ...
  • Page 55: Digital Control And Data Packeting Examples

                            you shouldn’t send the ASCII code of SPACE​ , all the bytes should be sent to SOLO one after                  ...
  • Page 56: Set The Motor's Number Of Poles

    SOLO BETA User Manual      Set the Motor’s Number of Poles  Note: in SOLO you set the Number of Poles of the motor, and this is a parameter useful for                    ...
  • Page 57: Reset The Device Address To Zero

    To check the correct reset:    Read the Device Address     FF FF 00 81 00 00 00 00 00 FE        www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    57 ...
  • Page 58: Enable/Disable Monitoring Mode

    8. Iq: ​ T he quadrature Current in 3 phase motors ( current acting in torque generation)  9. Id: ​ T he direct Current in 3 phase motors  10. Speed: ​ T he speed measured or estimated by SOLO both in Sensorless and in Sensor-based  ...
  • Page 59: Set The Output Switching Frequency (Pwm Frequency)

    SOLO BETA User Manual      Set the output switching Frequency (PWM frequency):  On SOLO you can have any switching frequency from 8kHz to 80kHz at the output depending on                      ...
  • Page 60: Digital Sensorless Torque Control Of A Bldc Motor

    Before sending the following commands you must do the following steps at least once:  1. Turn ON SOLO  2. Put SOLO in closed-loop by pushing Pian switch number 5 Down and wait 1 sec.  3. Make sure the motor Identification is done. ...
  • Page 61: Digital Sensorless Speed Control Of A Brushless Motor

    Digital sensorless Speed Control of a Brushless motor.  Before sending the following commands you must do the following steps at least once:  1. Turn ON SOLO  2. Put SOLO in closed-loop by pushing Pian switch number 5 Down  3. Make sure the motor Identification is done.   ...
  • Page 62: Digital Speed Control Of A Brushless Motor Using Encoders

    Digital Speed Control of a Brushless motor using Encoders  Before sending the following commands you must do the following steps at least once:  1. Turn ON SOLO  2. Put SOLO in closed-loop by pushing Pian switch number 5 Down  3. Make sure the motor Identification is done.   ...
  • Page 63                               need to set them everytime.        www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    63 ...
  • Page 64: Digital Sensorless Speed Control Of A Dc Brushed Motor

    Digital sensorless Speed Control of a DC Brushed motor  Before sending the following commands you must do the following steps at least once:  1. Turn ON SOLO  2. Put SOLO in closed-loop by pushing Pian switch number 5 Down  3. Make sure the motor Identification is done.   ...
  • Page 65                       need to set them everytime.                 www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    65 ...
  • Page 66: Digital Speed Control Of A Dc Brushed Motor Using Encoder

    Digital Speed Control of a DC Brushed motor using Encoder  Before sending the following commands you must do the following steps at least once:  1. Turn ON SOLO  2. Put SOLO in closed-loop by pushing Pian switch number 5 Down  3. Make sure the motor Identification is done.   ...
  • Page 67                       need to set them everytime.                  www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    67 ...
  • Page 68: Digital Open-Loop Control Of A Brushless Motor

    Before sending the following commands you must do the following steps at least once:  1. Turn ON SOLO  2. Put SOLO in open-loop by pushing or leaving Piano switch number 5 in UP position    As long as the piano switch number 5 is UP, you can send the following commands in order to  ...
  • Page 69: Digital Sensorless Closed-Loop Speed Control Of An Ac Induction Motor

    Digital sensorless closed-loop speed Control of an AC Induction Motor  Before sending the following commands you must do the following steps at least once:  1. Turn ON SOLO  2. Put SOLO in closed-loop by pushing Pian switch number 5 Down  3. Make sure the motor Identification is done.   ...
  • Page 70                   proper balance based on your Motor.                   www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    70 ...
  • Page 71: Digital Position Control Using Quadrature Encoders Examples

                            the direction of the rotation for SOLO. to learn how to convert Int32 values to Hex numbers or                      ...
  • Page 72: Digital Position Control Of A Brushless Motor Using Encoders

    Digital Position Control of a Brushless Motor using Encoders:  Before sending the following commands you must do the following steps at least once:  1. Turn ON SOLO  2. Put SOLO in closed-loop by pushing Pian switch number 5 Down  3. Make sure the motor Identification is done.   ...
  • Page 73 14- set the desired position to go at -45000 pulses (Quad pulses) ​   (Int32)    FF FF 00 1B FF FF 50 38 00 FE              www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    73 ...
  • Page 74: Digital Position Control Of A Dc Brushed Motor Using Encoders

    Digital Position Control of a DC Brushed Motor using Encoders:  Before sending the following commands you must do the following steps at least once:  1. Turn ON SOLO  2. Put SOLO in closed-loop by pushing Pian switch number 5 Down  3. Make sure the motor Identification is done.   ...
  • Page 75 13- set the desired position to go at -45000 pulses (Quad pulses) ​   (Int32)    FF FF 00 1B FF FF 50 38 00 FE        www.solomotorcontrollers.com   January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.    75 ...

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