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Solo MINI User Manual
Motor controllers
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Contents
Table of Contents
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Table of Contents
Table of Contents
Purpose of this User Manual
UART and USB Access Points on solo uno
UART and USB Access Points on solo MINI
UART or USB Hardware Settings
UART/USB Packets Formation _ Commanding and Feedbacks
Memory Assignment for Write Commands
DATA Types
Uint32
Int32
Sfxt(32-17)
DATA Types Conversions
Converting Sfxt(32-17) Data Type to Floating Point Data Type
Converting Float Data Type to Sfxt(32-17) Data Type
Converting 32 Bits Hex Data to Signed INT32 Format
Converting Signed INT32 to 32Bits Hex Format
WRITE Commands
0X01 : Set Device Address
0X02 : Commanding Mode
0X03 : Current Limit
0X04 : Torque Reference (Iq/IM)
0X05 : Speed Reference
0X06 : Power Reference
0X07 : Motor's Parameters Identification
0X08 : Emergency Stop
0X09 : Output PWM Frequency (Switching Frequency)
0X0A : Speed Controller Kp Gain
0X0B : Speed Controller Ki Gain
0X0C : Motor's Direction of Rotation
0X0D : Motor's Phase or Armature Resistance
0X0E :Motor's Phase or Armature Inductance
0X0F : Motor's Number of Poles
0X10 : Incremental Encoder's Lines
0X11 : Speed Limit
0X12 : Reset the Device Address to Zero
0X13 : Feedback Control Mode
0X14 : Reset Factory
0X15 : Motor Type
0X16 : Control Mode Type
0X17 : Current Controller Kp Gain (Torque Controller)
0X18 : Current Controller Ki Gain (Torque Controller)
0X19 : Monitoring Modes Enable/Disable
0X1A : Magnetizing Current Reference (ID)
0X1B : Position Reference
0X1C : Position Controller Kp Gain
0X1D : Position Controller Ki Gain
0X1F : Reset Position to Zero (Home)
0X20 : Overwrite the Errors
0X21 : Sensorless Observer Gain for Normal BLDC-PMSM Motors
0X22 : Sensorless Observer Gain for Ultra-Fast BLDC-PMSM Motors
0X23 : Sensorless Observer Gain for DC Brushed Motors
0X24 : Sensorless Observer Filter Gain for Normal BLDC-PMSM Motors
0X25 : Sensorless Observer Filter Gain for Ultra Fast BLDC-PMSM Motors
0X26 : UART Baud-Rate
0X27 : Encoder or Hall Sensors Calibration Start/Stop
0X28 : Per-Unit Encoder or Hall Sensor Counter Clockwise Offset
0X29 : Per-Unit Encoder or Hall Sensor Clockwise Offset
0X2A : Speed Acceleration Value
0X2B : Speed Deceleration Value
0X2C : CAN Bus Baud Rate
Read Commands
0X81 : Device Address
0X82 : Phase-A Voltage
0X83 : Phase-B Voltage
0X84 : Phase-A Current
0X85 : Phase-B Current
0X86 : BUS Voltage (Input Supply / Battery)
0X87 : DC Motor Current (IM)
0X88 : DC Motor Voltage (VM)
0X89 : Speed Controller Kp Gain
0X8A : Speed Controller Ki Gain
0X8B : Output PWM Frequency ( Switching Frequency)
0X8C : Current Limit
0X8D : Quadrature Current (Iq)
0X8E : Direct Current / Magnetizing Current (ID)
0X8F : Motor's Number of Poles
0X90 : Incremental Encoder's Lines
0X91 : Current Controller Kp Gain
0X92 : Current Controller Ki Gain
0X93 : Board Temperature
0X94 : Motor's Resistance Value
0X95 : Motor's Inductance Value
0X96 : Speed Feedback
0X97 : Motor Type
0X99: Feedback Control Mode
0X9A : Commanding Mode
0X9B : Control Mode Type
0X9C : Speed Limit
0X9D : Positioncontroller Kp Gain
0X9E: Position Controller Ki Gain
0Xa0 : Position Feedback (Incremental Encoder)
0Xa1 : Error Register
0Xa2 : Firmware Version
0Xa3 : Hardware Version
0Xa4: Torque Reference (Iq/IM)
0Xa5 : Speed Reference
0Xa6 : Magnetizing Current / ID Reference
0Xa7 : Position Reference
0Xa8 : Power Reference
0Xa9 : Desired Direction of Rotation
0Xaa : Sensorless Observer Gain for Normal BLDC-PMSM Motors
0Xab : Sensorless Observer Gain for Ultra-Fast BLDC-PMSM Motors
0Xac : Sensorless Observer Gain for DC Motor
0Xad : Sensorless Observer Filter Gain for Normal BLDC-PMSM Motors
0Xae : Sensorless Observer Filter Gain for Ultra Fast BLDC-PMSM Motors
0Xb0 : Motor's Angle
0Xb1 : Per-Unit Encoder or Hall Sensor Counter Clockwise Offset
0Xb2 : Per-Unit Encoder or Hall Sensor Clockwise Offset
0Xb3 : UART Baud Rate
0Xb4 : Speed Acceleration Value
0Xb5 : Speed Deceleration Value
0Xb6 : CAN Bus Baud Rate
UART/USB Packet Formation Examples
Change the Direction of Rotation
Stop the Motor [Emergency]
Set the Motor's Number of Poles
Change or Set/Reset the Device Address
Reset the Device Address to ZERO
Set the Output Switching Frequency (PWM Frequency)
Reset the Device to Factory Mode
Digital Sensorless Torque Control of a BLDC Motor
Digital Sensorless Speed Control of a Brushless Motor
Digital Speed Control of a Brushless Motor Using Encoders
Digital Sensorless Speed Control of a DC Brushed Motor
Digital Speed Control of a DC Brushed Motor Using Encoder
Digital Open-Loop Control of a Brushless Motor
Digital Sensorless Closed-Loop Speed Control of an AC Induction Motor
Digital Position Control Using Quadrature Encoders Examples
Digital Position Control of a Brushless Motor Using Encoders
Digital Position Control of a DC Brushed Motor Using Encoders
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UART and USB User Manual
SOLO UNO
SOLO MINI
SOLO BETA
SOLO Motor Controllers
Firmware versions supported: 0x0000B009 or later
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