Solo MINI User Manual

SOLO Communication Manual - UART and USB
www.solomotorcontrollers.com
September 2021 - Revision V_1.0.1 Copyright © 2021, All right Reversed. SOLO motor controllers.
20
0x02 : Commanding Mode
Code: 0x02
Commanding Mode
Data Type
Data Range
Units
Memory Storage
Default Value
Uint32
0 or 1
N/A
V
0
Description:
This command sets the mode of the operation of SOLO in terms of operating in Analogue
mode or Digital Mode based on the value of DATA in the packet with command code of 0x02
as below:
DATA
Actions
0 (0x00000000)
Puts SOLO in Analogue Mode
1 (0x00000001)
Puts SOLO in Digital Mode
Once in Analogue Mode some configuration can be done only at hardware level, as the table below suggests, everything else
outside of the below table can be set only through sending data packets to SOLO through UART, USB or CAN bus.
Action
In Analogue Mode
In Digital Mode
Open-Loop or Closed-Loop Operation
Through PIN 5 of Piano Switch in SOLO
UNO
Through Control Mode Switch on SOLO
MINI
Through PIN 5 of Piano Switch in SOLO UNO
Through Control Mode Switch on SOLO MINI
Motor Type selection
Through PIN 1 and 2 of Piano Switch in
SOLO UNO
Through M1 and M2 Pins on SOLO MINI
Set with command code 0x15
Control Mode selection (Torque, Speed,
Position)
Through PIN 4 of Piano Switch (only
Torque and Speed) in SOLO UNO
Through FN Pin on SOLO MINI
Set with command code 0x16 (Torque, Speed,
Position)
DFU mode
Through PIN 3 of Piano Switch in SOLO
UNO
Through DF Pin on SOLO MINI
Through PIN3 of Piano Switchin SOLO UNO
Through DF Pin on SOLO MINI
Current (Torque) controller Kp and Ki
Gains in closed-loop mode
Auto-tuned after Motor Identification
Set with Command codes of 0x17 and 0x18
(Auto-tuned after Motor Identification)
Speed controller Kp and Ki Gains in
closed-loop Speed mode
Through two physical potentiometers of
Kp and Ki on the board
Set with command codes of 0x0A and 0x0B
respectively
Speed Reference
Sent by PWM or Analogue voltages
through S/T input on Analogue Input port
Set with command code of 0x05
Torque Reference
Sent by PWM or Analogue voltages
through S/T input on Analogue Input port
Set with command code of 0x04
Power/ Current Limit / Magnetizing
Current
Sent by PWM or Analogue voltages
through P/F input on Analogue Input port
Set with command codes of 0x06, 0x03 and
0x1A respectively

Solo MINI Specifications

General

Connectivity	USB
Manufacturer	Akai Professional
Keys	25
Velocity Sensitivity	Yes
Transport Controls	Yes
Pitch Bend	Yes
USB	Yes
Power Source	USB
Battery Life	Not applicable
Charging Time	Not applicable
Type	Keyboard Controller
Pads	8
MIDI I/O	USB
Compatibility	Windows, macOS