Solo MINI User manual

1
UART and USB User Manual
SOLO UNO
SOLO MINI
SOLO BETA
SOLO Motor Controllers
Firmware versions supported: 0x0000B009 or later

SOLO Communication Manual - UART and USB
www.solomotorcontrollers.com
September 2021 - Revision V_1.0.1 Copyright © 2021, All right Reversed. SOLO motor controllers.
2
Revision History:
Revision
Date
Changes
V1.0.0
06/09/2021
-First Release
V1.0.1
30/09/2021
-SOLO MINI added
-

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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Contents:
Purpose of this user manual 7
UART and USB Access points on SOLO UNO: 8
UART and USB Access points on SOLO MINI: 9
UART or USB Hardware Settings: 10
UART/USB Packets formation _ Commanding and Feedbacks: 11
Memory Assignment for Write Commands: 13
DATA Types: 14
UINT32: 14
INT32: 14
Sfxt(32-17): 14
DATA Types Conversions: 15
Converting Sfxt(32-17) data type to floating point data type: 15
Converting float data type to Sfxt(32-17) data type : 16
Converting 32 bits Hex data to signed INT32 format: 17
Converting signed INT32 to 32bits Hex format: 18
WRITE Commands: 19
0x01 : Set Device Address 19
0x02 : Commanding Mode 20
0x03 : Current Limit 21
0x04 : Torque Reference (Iq/IM) 21
0x05 : Speed Reference 22
0x06 : Power Reference 23
0x07 : Motor’s Parameters Identification 23
0x08 : Emergency Stop 23
0x09 : Output PWM Frequency (switching frequency) 24
0x0A : Speed Controller Kp Gain 24
0x0B : Speed Controller Ki Gain 25
0x0C : Motor’s Direction of Rotation 25
0x0D : Motor’s Phase or Armature Resistance 26
0x0E :Motor’s Phase or Armature Inductance 26
0x0F : Motor’s Number of Poles 26

SOLO Communication Manual - UART and USB
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September 2021 - Revision V_1.0.1 Copyright © 2021, All right Reversed. SOLO motor controllers.
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0x10 : Incremental Encoder’s Lines 27
0x11 : Speed Limit 27
0x12 : Reset the device address to zero 27
0x13 : Feedback Control Mode 28
0x14 : Reset Factory 28
0x15 : Motor Type 29
0x16 : Control Mode Type 30
0x17 : Current Controller Kp Gain (Torque controller) 30
0x18 : Current Controller Ki Gain (Torque controller) 31
0x19 : Monitoring Modes Enable/Disable 32
0x1A : Magnetizing Current Reference (Id) 33
0x1B : Position Reference 33
0x1C : Position Controller Kp Gain 34
0x1D : Position Controller Ki Gain 34
0x1F : Reset Position to Zero (Home) 34
0x20 : Overwrite the Errors 35
0x21 : Sensorless Observer Gain for Normal BLDC-PMSM Motors 36
0x22 : Sensorless Observer Gain for Ultra-fast BLDC-PMSM Motors 36
0x23 : Sensorless Observer Gain for DC Brushed Motors 37
0x24 : Sensorless Observer Filter Gain for Normal BLDC-PMSM Motors 37
0x25 : Sensorless Observer Filter Gain for Ultra Fast BLDC-PMSM Motors 38
0x26 : UART Baud-Rate 38
0x27 : Encoder or Hall Sensors Calibration Start/Stop 39
0x28 : Per-Unit Encoder or Hall sensor Counter Clockwise offset 39
0x29 : Per-Unit Encoder or Hall sensor Clockwise offset 40
0x2A : Speed Acceleration Value 40
0x2B : Speed Deceleration Value 41
0x2C : CAN Bus Baud Rate 42
Read Commands: 43
0x81 : Device Address 43
0x82 : Phase-A voltage 43
0x83 : Phase-B voltage 43
0x84 : Phase-A Current 44
0x85 : Phase-B Current 44
0x86 : BUS Voltage (Input Supply / Battery) 44
0x87 : DC Motor Current (IM) 45
0x88 : DC Motor Voltage (VM) 45

SOLO Communication Manual - UART and USB
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September 2021 - Revision V_1.0.1 Copyright © 2021, All right Reversed. SOLO motor controllers.
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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

SOLO Communication Manual - UART and USB
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September 2021 - Revision V_1.0.1 Copyright © 2021, All right Reversed. SOLO motor controllers.
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0xB1 : Per-Unit Encoder or Hall sensor Counter Clockwise offset 59
0xB2 : Per-Unit Encoder or Hall sensor Clockwise offset 60
0xB3 : UART Baud Rate 60
0xB4 : Speed Acceleration Value 60
0xB5 : Speed Deceleration Value 61
0xB6 : CAN Bus Baud Rate 61
UART/USB Packet Formation Examples: 62
Change the Direction of Rotation: 63
Stop the Motor [Emergency] 63
Set the Motor’s Number of Poles 63
Change or Set/Reset the Device address: 64
Reset the Device Address to ZERO 64
Set the output switching Frequency (PWM frequency): 65
Reset the Device to Factory Mode: 65
Digital sensorless Torque Control of a BLDC motor. 66
Digital sensorless Speed Control of a Brushless motor. 67
Digital Speed Control of a Brushless motor using Encoders 68
Digital sensorless Speed Control of a DC Brushed motor 69
Digital Speed Control of a DC Brushed motor using Encoder 70
Digital Open-loop Control of a Brushless motor 71
Digital sensorless closed-loop speed Control of an AC Induction Motor 72
Digital Position Control using Quadrature Encoders Examples: 73
Digital Position Control of a Brushless Motor using Encoders: 74
Digital Position Control of a DC Brushed Motor using Encoders: 75

SOLO Communication Manual - UART and USB
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September 2021 - Revision V_1.0.1 Copyright © 2021, All right Reversed. SOLO motor controllers.
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Introduction
Purpose of this user manual
This manual intends to discuss the data communication methods of UART and USB with SOLO
UNO, SOLO MINI and SOLO BETA comprehensively.
We will initially start by introduction of major data types which are used for the communications
and then explicitly discuss each of the mentioned protocols, eventually the goal of this Manual is
to give a clear idea about how to setup and utilize SOLO communication networks powered by
UART or USB and what is the purpose of each command existing in our command lists.
If after reading this manual or during your experimentations with our product you had any
questions, you can use SOLO Motor Controllers Forum to share with us the questions and get
back your answers promptly.

SOLO Communication Manual - UART and USB
www.solomotorcontrollers.com
September 2021 - Revision V_1.0.1 Copyright © 2021, All right Reversed. SOLO motor controllers.
8
UART and USB Access points on SOLO UNO:
One of the ways of commanding and getting feedbacks from SOLO UNO is using the USB or
UART communication protocols, the USB is accessible through a micro USB type-B connector
mounted on SOLO UNO and UART is accessible through the “Communication port ” as well as
the “UART/CAN bus Pinout” as can be seen below in Figure 1, by using any of these two
terminals, you can fully control SOLO in a complete digital fashion with all the commands and
feedbacks sent and received through data packets.
Figure 1- UART and USB access points on SOLO UNO
-UART TX is not +5V tolerant on SOLO UNO, as it’s an output pin with signal leveled at
3.3V which is compatible with all Arduino and Raspberry Pi modules, connection of this
pin to +5V rated signals will damage the device.
-UART RX is +5V tolerant and it can be fed with signals both leveled at 3.3V or +5V.
-As can be seen in the communication port, Pins 17 and 19 are the TX and RX pins of UART
respectively and they have the exact same functionality and ratings as UART_RX and UART_TX
pins in “UART/CAN bus Pinout”
-On SOLO BETA models both of the UART_TX and UART_RX pins are 3.3V leveled and they are
not +5V tolerant, to use them with +5V leveled systems proper circuitry (voltage dividers) must be
utilized.

SOLO Communication Manual - UART and USB
www.solomotorcontrollers.com
September 2021 - Revision V_1.0.1 Copyright © 2021, All right Reversed. SOLO motor controllers.
9
UART and USB Access points on SOLO MINI:
SOLO MINI, similar to SOLO UNO offers the exact same connectivity for UART and USB
communications as shown below in Figure 2 both through its “I/O Port” as well as the
“Communication Port”.
Figure 2- UART and USB access points on SOLO MINI
-UART TX is not +5V tolerant on SOLO MINI, as it’s an output pin with signal leveled at
3.3V which is compatible with all Arduino and Raspberry Pi modules, connection of this
pin to +5V rated signals will damage the device.
-UART RX is +5V tolerant and it can be fed with signals both leveled at 3.3V or +5V.
-As can be seen in the communication port, Pins 17 and 19 are the TX and RX pins of UART
respectively and they have the exact same functionality and ratings as UART_RX and UART_TX
pins in “UART/CAN bus Pinout”

SOLO Communication Manual - UART and USB
www.solomotorcontrollers.com
September 2021 - Revision V_1.0.1 Copyright © 2021, All right Reversed. SOLO motor controllers.
10
UART or USB Hardware Settings:
The proper hardware settings to communicate with SOLO are mentioned in table below:
Parameter
Value
Supported baudrates [bits/s]*
937500 or 115200
Number of stop bits
1
Character Length bits
8
Parity Mode
None
-*In Some systems, it might not be possible to use the exact baud-rate of “937500 bits/s”,
in such cases the user can set the baud-rate of the system at “921600 bits/s” and still the
UART or USB communication will be functional and compatible.
-In case of using USB connection, it will be recognized as a “Virtual COM Port (VCP)”, and
the notion of “Baud-rate” will not be relevant as SOLO has a native USB-2
communication and the data-rate is defined by USB-2 ratings, however you can select
any desired baud-rate for this port in VCP mode.
-For Legacy devices it’s possible to put the UART baud-rate on 115200 bits/s, this baud-
rate will cause SOLO to have slightly reduced performance and it’s not recommended if
the best performance of SOLO is required specially for fast Brushless Motors.