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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Contents:
Purpose of this user manual 7
UART and USB Access points on SOLO UNO: 8
UART and USB Access points on SOLO MINI: 9
UART or USB Hardware Settings: 10
UART/USB Packets formation _ Commanding and Feedbacks: 11
Memory Assignment for Write Commands: 13
DATA Types: 14
UINT32: 14
INT32: 14
Sfxt(32-17): 14
DATA Types Conversions: 15
Converting Sfxt(32-17) data type to floating point data type: 15
Converting float data type to Sfxt(32-17) data type : 16
Converting 32 bits Hex data to signed INT32 format: 17
Converting signed INT32 to 32bits Hex format: 18
WRITE Commands: 19
0x01 : Set Device Address 19
0x02 : Commanding Mode 20
0x03 : Current Limit 21
0x04 : Torque Reference (Iq/IM) 21
0x05 : Speed Reference 22
0x06 : Power Reference 23
0x07 : Motor’s Parameters Identification 23
0x08 : Emergency Stop 23
0x09 : Output PWM Frequency (switching frequency) 24
0x0A : Speed Controller Kp Gain 24
0x0B : Speed Controller Ki Gain 25
0x0C : Motor’s Direction of Rotation 25
0x0D : Motor’s Phase or Armature Resistance 26
0x0E :Motor’s Phase or Armature Inductance 26
0x0F : Motor’s Number of Poles 26
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