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.
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0x16 : Control Mode Type
Code: 0x16
Control Mode Type
Data Type
Data Range
Units
Memory Storage
Default Value
Uint32
[0-2]
N/A
M
1
Description:
This command sets the Control Mode in terms of Torque, Speed or Position only in Digital
Mode based on the following table, in Analogue Mode this functionality is selected by using
Piano switch PIN 4 in SOLO UNO and using FN pin on SOLO MINI for only Torque and Speed
controlling functionalities. (refer to respective SOLO user manual to know more)
DATA
Control Mode Type
0 (0x00000000)
Operates in Speed Mode
1 (0x00000001)
Operates in Torque Mode
2 (0x00000002)
Operates in Position Mode
0x17 : Current Controller Kp Gain (Torque controller)
Code: 0x17
Current Controller Kp (Torque controller)
Data Type
Data Range
Units
Memory Storage
Default Value
Sfxt(32-17)
[0 - 16000.0]
N/A
M
0
Description:
This command sets the value for Current Controller Kp or proportional gain, which will be used
in the PI controller that controls the current (torque) inside of the motor both in Analogue or
Digital Mode, this value is automatically identified by SOLO after Motor Identification but in
any case it’s possible for the user to alter this value as they like. After changing this value
manually, for them to take effect a power recycle is required.

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