SOLO Communication Manual - UART and USB
www.solomotorcontrollers.com
September 2021 - Revision V_1.0.1 Copyright © 2021, All right Reversed. SOLO motor controllers.
22
0x05 : Speed Reference
Description:
This command defines the speed reference for SOLO once it’s in Digital Speed Mode, as in
analogue mode the reference is set through the “S/T” input pin with analogue voltages or
PWM pulses once SOLO is in Speed Mode.
*The Speed Unit depends on the type of the Motor as well as the type of operation, and if
SOLO is in Open-loop or Closed-loop it can take different meanings as shown below:
Basically the major consideration will be for DC brushed motors while they are in Sensor-less
or Open-loop Mode with the following conditions:
*Speed Unit for DC brushed motor in Closed-loop Sensor-less mode: This is a qualitative value
based on the observer gain defined for the sensorless speed estimator for DC brushed motors,
the value can be ranged from 0 to 30,000 and the final speed of the motor for each value
depends on the characteristics of the Motor itself like BEMF constant, the increase in the
Motor’s Speed with respect to the reference will be linear up until the nominal speed of the
motor.
***Speed Unit for DC brushed motor in Open-loop mode: in This case the speed reference
will act as the duty cycle percentage at the output on the Motor, the value can be between 0
to 30,000 which will be mapped into 0% duty cycle to 100% duty cycle, going from no speed
to max speed.
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