SOLO Communication Manual - UART and USB
www.solomotorcontrollers.com
September 2021 - Revision V_1.0.1 Copyright © 2021, All right Reversed. SOLO motor controllers.
69
Digital sensorless Speed Control of a DC Brushed motor
Before sending the following commands you must do the following steps at least once:
1. Turn ON SOLO
2. Put SOLO in closed-loop (using Piano switch on SOLO UNO or Control Mode Switch on SOLO
MINI)
3. Make sure the motor Identification is done.
As long as the piano switch number 5 is DOWN in SOLO UNO or the Control Mode Switch on
SOLO MINI is on C.L, you can send the following commands in order to control the torque of
your brushless Motor. Also after power recycling you don’t need to repeat this part again, just
leave the configurations as mentioned in closed-loop mode as long as your motor and the system
are the same.
1- Set Motor Type (Brushed DC)
FF FF 00 15 00 00 00 00 00 FE
2- Set control Mode on SPEED
FF FF 00 16 00 00 00 00 00 FE
3- Set the speed Kp gain on 0.01 [Sfxt(32-17)]
FF FF 00 0A 00 00 05 1E 00 FE
4- Set the speed ki gain on 0.04 [Sfxt(32-17)]
FF FF 00 0B 00 00 14 7A 00 FE
5- Set the Speed Control Mode on sensor-less
FF FF 00 13 00 00 00 00 00 FE
6- Go to digital Mode
FF FF 00 02 00 00 00 01 00 FE
7- Set the speed ref at 200 * (read below)
FF FF 00 05 00 00 00 C8 00 FE
Notes:
- * The speed reference in Sensorless DC control here is not in RPM, but it’s a quantitative
value depending on the BEMF constant of your DC motor, you need to send different
values and find out the best numbers for you specific motor, in future we will publish
more information on how to exactly calculate the speed of your brushed DC motor using
this method. In General values from 0 to 500 for most of the motors are the range from 0
speed to max speed.
- Using the command set in step 7, you can define any arbitrary speed for your motor to
reach and follow in real-time.
- The commands stored in Memory will be remembered after power recycle, and there is
no need to set them every time.
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