Solo MINI_v2 User manual

SOLO MINI_v2 User Manual
Part Number: SLM0322_4020
www.solomotorcontrollers.com
May 2022 - Revision V_1.0.1 Copyright © 2022, All right Reversed. SOLO motor controllers.
1
Product Description
Power Range
SOLO MINI_v2 with part number of
SLM0322_4020 is a member of the SOLO
motor controllers family of devices capable of
driving and controlling various types of
electrical motors like DC brushed, BLDC,
PMSM, AC Induction and EC coreless motors
in a single platform. They are made to be easy
to use with state of art technologies and Dual
Core parallel processing architecture on top of
FOC control methods. They offer both
sensor-based and sensor-less options for
Speed, Torque and Position controlling of
motors supported plus numerous types of
other options like full digital and Analogue
controls and active safety measures to keep
the applications safe from unforeseen
behaviors.
Supply Voltage Range : 6- 40 VDC
Peak Current: 80A
Continuous Current: 20A
Features
●Easy to use
●Drives and Controls DC, BLDC, PMSM EC
coreless and ACIM motors
●Closed-loop and Open-loop controls
●Speed, Torque and Position control
●Sensor-based and sensorless control
●Four Quadrant Regenerative operation
●Automatic parameter Identification and self-
tuning
●Field Oriented Based Controls with Nested
Position-Speed-Torque loops
●Dual Core with Parallel Processing Architecture
●Reverse Polarity, Bus over-voltage, Bus under-
voltage , over-current and over temperature
protections
●Active temperature control
●Full Digital and Analogue Control
Modes of Operation
Commands and feedbacks Source
●Analogue or Digital commanding
●Speed Control
●Torque Control
●Position Control
●0-5V Analogue/ PWM inputs for Speed or
Torque control
●Quadrature Encoder input (RS422)
●Hall sensors input
●UART, USB, CANopen
Applications
●Industrial Automations
●Robotics and Traction Units
●Drones

SOLO MINI_v2 User Manual
Part Number: SLM0322_4020
www.solomotorcontrollers.com
May 2022 - Revision V_1.0.1 Copyright © 2022, All right Reversed. SOLO motor controllers.
2
Revision History:
Revision
Date
Changes
Firmware version
V1.0.0
30/09/2021
-First Release
0x001B009
V1.0.1
12/05/2022
-SOLO MINI_v2 updated
0x00BB00A

SOLO MINI_v2 User Manual
Part Number: SLM0322_4020
www.solomotorcontrollers.com
May 2022 - Revision V_1.0.1 Copyright © 2022, All right Reversed. SOLO motor controllers.
3
Table of Contents
Power Specifications: 5
Control and Timings specifications: 6
Thermal Specifications: 7
Mechanical Specifications: 7
Mechanical Dimensions: 8
Absolute Maximum Voltage Ratings: 9
Overview of the product 10
Functional Block Diagram: 11
Theory of Operation: 12
FOC Control Architecture in SOLO MINI_v2 for 3-phase Motors: 13
Cascade Control Architecture in SOLO MINI_v2 for DC Motors: 14
SOLO’s Interactional Sections: 15
Connectors and Sections: 16
Section 1 - Motor Output 16
Section 2 - Power Up LED 16
Section 3 - Supply Input 17
Section 4 and 5 - Speed Controller Gains 18
Section 6 - Control Mode Switch 19
Section 7 - I/O Port 21
Section 8 - USB Connection 31
Section 9 - Communication Port 32
Section 10 and 11 - Functionality LEDs 34
Analogue versus Digital Control in SOLO MINI_v2 35
Minimum Required Wirings in Analogue Mode: 36
Wiring Legend: 36
BLDC, PMSM Motors _ Sensorless Closed-loop Mode: 37
BLDC, PMSM or ACIM Motors _ Sensorless Open-loop Mode: 38
AC Induction Motors_ Closed_loop Sensorless Mode: 39

SOLO MINI_v2 User Manual
Part Number: SLM0322_4020
www.solomotorcontrollers.com
May 2022 - Revision V_1.0.1 Copyright © 2022, All right Reversed. SOLO motor controllers.
4
DC brushed Motors_ Closed-loop Sensorless Mode: 40
DC brushed Motors_ Open-loop Sensorless Mode: 41
Standalone Wiring Example (No External Modules): 42
Essential Wiring Example (SOLO MINI_v2 + Arduino UNO) 43
Minimum Required Wirings in Digital Mode: 44
USB Interface Wiring 44
UART Interface Wiring 45
CANopen Interface Wiring 46
Wiring with Incremental Encoders: 47
Wiring with HALL Sensors: 48

SOLO MINI_v2 User Manual
Part Number: SLM0322_4020
www.solomotorcontrollers.com
May 2022 - Revision V_1.0.1 Copyright © 2022, All right Reversed. SOLO motor controllers.
5
Power Specifications:
Description
Units
Values
DC Supply Voltage Range (continuous)
VDC
8 to 37
DC Bus Overvoltage Limit
VDC
40
DC Bus Undervoltage Limit
VDC
6*
Maximum Peak Output Current
A
80
Maximum Continuous Output Current
A
20
Maximum Continuous Output Power
W
500
Maximum Peak Output Power
W
800
Internal Bus Capacitance
µF
880
Switching Frequency (output PWM frequency)
kHz
8 to 80
*The minimum recommended voltage for high-current applications is 8V.

SOLO MINI_v2 User Manual
Part Number: SLM0322_4020
www.solomotorcontrollers.com
May 2022 - Revision V_1.0.1 Copyright © 2022, All right Reversed. SOLO motor controllers.
6
Control and Timings specifications:
Description
Units
Values
Analogue Speed or Torque Commands
VDC
0-5V Analogue voltages or PWM inputs with
frequency above 5kHz
Digital Direction Control
VDC
0 - 3.3/5V
Modes of Operation
-
Torque - Speed- Position
Motors supported
-
DC - BLDC - PMSM - EC Coreless- ACIM
Hardware Protections
-
Reverse Polarity, Bus over-voltage Bus
under-voltage, over-current and over
temperature
Current (Torque) Loop sampling time
µs
Synched to PWM frequency ( Min 7 µs)
Current (Torque) Loop execution time
µs
7
Speed controller Loop sampling time
µs
500
Speed controller Loop execution time
µs
75
Position controller Loop sampling time
µs
500
Position controller Loop execution time
µs
75
Maximum Encoder Frequency
MHz
18 (Pre-Quad)

SOLO MINI_v2 User Manual
Part Number: SLM0322_4020
www.solomotorcontrollers.com
May 2022 - Revision V_1.0.1 Copyright © 2022, All right Reversed. SOLO motor controllers.
7
Thermal Specifications:
Description
Units
Values
Board Temperature Range
°C
-20 to 85
Heatsink (base) Temperature Range
°C
0 - 85
Cooling system
-
Natural Convection
Mechanical Specifications:
Description
Units
Values
Size (H x W x L)
mm
18.64 x 63.62 x 74.03
Weight (with heatsink)
gr
69
Form Factor
-
Wall Mount

SOLO MINI_v2 User Manual
Part Number: SLM0322_4020
www.solomotorcontrollers.com
May 2022 - Revision V_1.0.1 Copyright © 2022, All right Reversed. SOLO motor controllers.
8
Mechanical Dimensions:
-All the measurements are in millimeters.
-Download the 3D step model from here.

SOLO MINI_v2 User Manual
Part Number: SLM0322_4020
www.solomotorcontrollers.com
May 2022 - Revision V_1.0.1 Copyright © 2022, All right Reversed. SOLO motor controllers.
9
Absolute Maximum Voltage Ratings:
-All The sections are referred to Figure 2 below
-The +3.3V parts are NOT +5V tolerant, and in case of applying more than 3.3V, the device might
get permanently Damaged.
-The users should refer to “Typical Max” for the maximum voltage allowed on each pin, the
“Absolute Max” is just for very short times considering the effect of spikes and fast harmonics.
Section
PIN/Connector name
Input / Output
Units
Min
Typical
Max
Absolute
Max
2
Supply Input
Input
VDC
+6
+37
+40
3
S/T (speed/torque)
Input
VDC
0
+5.0
+5.5
3
P/F (current limit/power/flux)
Input
VDC
0
+5.0
+5.5
3
DIR (Direction control)
Input
VDC
0
+5.0
+5.5
3
+5V (External supply)
Output
VDC
+4.95
+5.0
+5.2
8
CHA(Encoder)/HALL_A
Input
VDC
0
+5.0
+5.5
8
CHB(Encoder)/HALL_B
Input
VDC
0
+5.0
+5.5
8
Index(Encoder)/ HALL_C
Input
VDC
0
+5.0
+5.5
9
UART_RX
Input
VDC
0
+5
+5.5
9
UART_TX
Output
VDC
0
+3.3
+3.6
9
CAN_RX
Input
VDC
0
+3.3
+3.6
9
CAN_TX
Output
VDC
0
+3.3
+3.6
9
+3.3V(External supply)
Output
VDC
+3.25
+3.3
+3.38
13
CANH
-
VDC
-2
-
+7
13
CANL
-
VDC
-2
-
+7

SOLO MINI_v2 User Manual
Part Number: SLM0322_4020
www.solomotorcontrollers.com
May 2022 - Revision V_1.0.1 Copyright © 2022, All right Reversed. SOLO motor controllers.
10
Overview of the product
SOLO MINI_v2 is one of the products designed and manufactured by solomotorcontrollers, it
serves the purpose of being universal and easy to use for a wide range of users from different
backgrounds. This product is designed to support various types of electrical motors like DC
brushed, Brushless DC, Brushless AC or Permanent Magnet Synchronous Motors as well as AC
Induction and EC coreless motors up to 37V with the supply voltage and the continuous current
of up to 20 Amps, this will enable SOLO MINI_v2 to be utilized in wide range of products and
projects and eventually speeding up the developments and time to market for its users.
SOLO MINI_v2 can be commanded in two different ways, either by sending Analogue voltages
or PWM pulses which is called Analogue Mode, or totally by sending digital data packets through
UART, USB or the CAN bus with CANopen software layer which is called Digital Mode Control.
This will give a high flexibility in terms of system setup to the users and they can choose the best
way to wire up their systems using SOLO, The main features of SOLO MINI_v2 are listed as
below:
●Wide input voltage supply range from 8V to 40V
●The continuous output current of 20A, Max Current of 80A
●Capable of controlling DC, BLDC, PMSM and ACIM motors, EC coreless
●Dual Core with parallel processing architecture
●CANopen, USB and UART Communications
●Extremely fast F.O.C loop-rate up to 140kHz (7µs complete execution time)
●Over-current, Over-voltage, Over-Temperature, Under-voltage and Reverse Polarity
Protection
●Selectable output PWM switching frequency from 8kHz to 80kHz
●Automatic self-tuning and identification of Motor parameters
●Open-loop or Closed-loop Control modes
●Torque, Speed or Position control
●Advanced Sensor-less and Sensor-based Control
●Advance Field Oriented Control
●PWM and Analogue voltage input for Controlling Speed and Torque
●SVPWM modulation
●Encoder and Hall Sensor Input with +5V supply
●+5V/1A (5W) output to supply external modules
●Updatable Firmware
●Heatsink mounted on the back of the board to enhance the thermal behavior
●880µF onboard BUS capacitance