SOLO Communication Manual - UART and USB
www.solomotorcontrollers.com
September 2021 - Revision V_1.0.1 Copyright © 2021, All right Reversed. SOLO motor controllers.
5
0x89 : Speed Controller Kp Gain 45
0x8A : Speed Controller Ki Gain 46
0x8B : Output PWM Frequency ( Switching Frequency) 46
0x8C : Current Limit 46
0x8D : Quadrature Current (Iq) 47
0x8E : Direct Current / Magnetizing Current (Id) 47
0x8F : Motor’s Number of Poles 47
0x90 : Incremental Encoder’s Lines 48
0x91 : Current Controller Kp Gain 48
0x92 : Current Controller Ki Gain 48
0x93 : Board Temperature 49
0x94 : Motor’s Resistance value 49
0x95 : Motor’s Inductance value 49
0x96 : Speed Feedback 50
0x97 : Motor Type 50
0x99: Feedback Control Mode 51
0x9A : Commanding Mode 51
0x9B : Control Mode Type 52
0x9C : Speed Limit 52
0x9D : PositionController Kp Gain 52
0x9E: Position Controller Ki Gain 53
0xA0 : Position Feedback (Incremental Encoder) 53
0xA1 : Error Register 54
0xA2 : Firmware Version 55
0xA3 : Hardware Version 55
0xA4: Torque Reference (Iq/IM) 55
0xA5 : Speed Reference 56
0xA6 : Magnetizing Current / Id Reference 56
0xA7 : Position Reference 56
0xA8 : Power Reference 57
0xA9 : Desired Direction of Rotation 57
0xAA : Sensorless Observer Gain for Normal BLDC-PMSM Motors 57
0xAB : Sensorless Observer Gain for Ultra-fast BLDC-PMSM Motors 58
0xAC : Sensorless Observer Gain for DC Motor 58
0xAD : Sensorless Observer Filter Gain for Normal BLDC-PMSM Motors 58
0xAE : Sensorless Observer Filter Gain for Ultra Fast BLDC-PMSM Motors 59
0xB0 : Motor’s Angle 59
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