SOLO Communication Manual - UART and USB
www.solomotorcontrollers.com
September 2021 - Revision V_1.0.1 Copyright © 2021, All right Reversed. SOLO motor controllers.
74
Digital Position Control of a Brushless Motor using Encoders:
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.
Now you can proceed to send the commands with following orders, notice that commands that are saved
in memory will be remembered after power recycle, and you don’t need to send them every time.
1- Set Motor Type (fast Brushless)
FF FF 00 15 00 00 00 03 00 FE
2- Set control Mode on Position
FF FF 00 16 00 00 00 02 00 FE
3- set the speed Kp gain on 0.0001 [Sfxt(32-17)]
FF FF 00 0A 00 00 00 0D 00 FE
4- Set the speed ki gain on 0.0005 [Sfxt(32-17)]
FF FF 00 0B 00 00 00 41 00 FE
5- Set the Motor No of Poles at 8 (Uint32)
FF FF 00 0F 00 00 00 08 00 FE
6- Set the Number of Encoder Lines on 1000 lines (Uint32)
FF FF 00 10 00 00 03 E8 00 FE
7- Set the position controller Kp gain at 0.15 [Sfxt(32-17)]
FF FF 00 1C 00 00 4C CC 00 FE
8- Set the position controller Ki gain at 0.16 [Sfxt(32-17)]
FF FF 00 1D 00 00 51 EB 00 FE
9- Reset the position to zero
FF FF 00 1F 00 00 00 01 00 FE
10- set the motor current Limit at 7.8 A [Sfxt(32-17)]
FF FF 00 03 00 0F 99 99 00 FE
11- set the speed limit at 6000 RPM (Uint32)
FF FF 00 11 00 00 17 70 00 FE
12- Go to digital Mode
FF FF 00 02 00 00 00 01 00 FE
Now after this step you can start sending Position commands like below:
13- set the desired position to go at +2560 pulses (Quad pulses) (Int32)
FF FF 00 1B 00 00 0A 00 00 FE
After a while when the Motor reached to the goal:
14- set the desired position to go at -45000 pulses (Quad pulses) (Int32)
FF FF 00 1B FF FF 50 38 00 FE
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