Solo MINI - 0 X09: Output PWM Frequency (Switching Frequency); 0 X0 A: Speed Controller Kp Gain

SOLO Communication Manual - UART and USB
www.solomotorcontrollers.com
September 2021 - Revision V_1.0.1 Copyright © 2021, All right Reversed. SOLO motor controllers.
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0x09 : Output PWM Frequency (switching frequency)
Code: 0x09
Output PWM Frequency (switching frequency)
Data Type
Data Range
Units
Memory Storage
Default Value
Uint32
[8 - 80]
kHz
M
20 / 80
Description:
This command sets the output switching frequency of the whole power unit on the Motor,
SOLO supports switching frequencies from 8 to 80kHz and the user can set their desired
frequency with steps of 1kHz.
As a rule of thumb, Higher switching frequencies are necessary for Motors with Low
inductance ( below 200uH), but the increase or decrease of this value should be done carefully,
as increasing the switching frequency is not always good and it can cause saturation and
excessive loss for both the magnetic cores of the Motor and the SOLO unit itself if the Motor
under control can not support such high frequencies.
The whole internal algorithms including samplings in SOLO are synchronized to the switching
frequency.
0x0A : Speed Controller Kp Gain
Code: 0x0A
Speed Controller Kp gain
Data Type
Data Range
Units
Memory Storage
Default Value
Sfxt(32-17)
[0 - 300.0]
N/A
M
0
Description:
This command sets the Speed controller Kp Gain, and it will be functional only in Digital
Closed-loop mode, since in Analogue mode this gain is set using the Potentiometer named
with “Kp” locally on the board.
This is the proportional gain of the PI controller that SOLO uses to control to stabilize the
speed of a motor on a given reference point in close-loop mode, This gain is normally for most
motors takes a value in between 0.001 to 0.5 but there might be some cases that you need to
go even higher, the user has to increase/decrease these gains with care as they can cause
instability for the device under test if not selected properly.