SOLO Communication Manual - UART and USB
www.solomotorcontrollers.com
September 2021 - Revision V_1.0.1 Copyright Β© 2021, All right Reversed. SOLO motor controllers.
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Digital Position Control using Quadrature Encoders Examples:
In this section we will show two different examples of controlling position of two different types
of motors, the users before proceeding must make sure they have correctly connected their
Quadrature Encoder wires to SOLO (check out this Article to learn more).
Note_ The pulses coming to SOLO are counted in quadrature mode, meaning that for each
mechanical encoder line, there will be 4 counts.
Note_ The resolution of the position controlling highly depends on the number of the Encoder
lines / slots and can be derived as:
Position Control Resolution [deg] =
360
πΈππππππ ππ’ππππ ππ πβπ¦π ππππ πΏππππ β 4
The position references sent to SOLO are from the signed Int32 data type and they can be
anything from -2,147,483,647 to +2,147,483,647 in decimal form which are indicating the
desired position to be reached in terms of quadrature pulses. The sign of the position reference
will define the direction of the rotation for SOLO.
Note: To use Position Control feature, first you need to tune the speed controller, and make sure
the Kp and Ki gains for speed controller are well defined, when the motor started to work well in
speed control mode, you need to set the Kp and Ki gains for the position controller and find the
best combination for your purpose. You can also define a βSpeed Limitβ value, which will limit the
position tracking speed to that value at maximum.
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