Solo PICO User manual

SOLO PICO User Manual
Part Number: SLP0123_5816
Product Description
Power Range
SOLO PICO with part number of
SLP0123_5816 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 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.
SOLO PICO supports sensor-based Torque,
Speed and Position controlling plus other
options like full digital and analog controls and
active safety measures to keep the
applications safe from unforeseen behaviors.
Supply Voltage Range : 8- 58 VDC
Peak Current: 32A peak to peak
Continuous Current: 16A
Features
●Easy to use
●Drives and Controls DC brushed,
BLDC, PMSM and EC coreless motors
●Torque, Speed and Position controlling
●Four Quadrant Regenerative operation
●Automatic parameter Identification
and self-tuning
●Safe Torque off (STO) input
●USB, UART and CANopen
●Supports PT1000 temperature sensors
●Sleep mode with current consumption
of 200µA
●Field Oriented Control with Nested
Position-Speed-Torque loops
●Dual Core with Parallel Processing
Architecture
●Bus over-voltage, Bus under-voltage ,
over-current and over temperature
protections
●Full Digital and Analogue Control
●Space Vector Modulation (SVPWM)
●Embedded Motion Profile (St-Curve)
for Position and Speed
Modes of Operation
Commands and feedbacks Source
●Analogue or Digital commanding
●Torque Control
●Speed Control
●Position Control
●0-5V Analogue/ PWM inputs for Speed
or Torque control
●Analogue torque and speed feedbacks
●Quadrature Encoder and Hall sensor
inputs
●Isolated UART, USB and CAN bus
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July 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
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SOLO PICO User Manual
Part Number: SLP0123_5816
Applications
●Industrial Automations
●Robotics and Traction Units
●Drones
●Automotive Industries
●Household Appliances
●Medical Devices
●Aerospace
●Textile Industry
●Automated Guided Vehicles (AGVs)
●Heating, Ventilation and Air-Conditioning (HVAC)
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July 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
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SOLO PICO User Manual
Part Number: SLP0123_5816
Identification of hazards and instructions on how to prevent them
Danger
Immediate dangers which can lead to death or serious injuries.
Warning
Hazards that can cause serious damages or injuries.
Caution
Hazards that can cause minor injuries or material damage.
Recommendations, tips, references to other documentation.
Essential or useful accessories.
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July 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
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SOLO PICO User Manual
Part Number: SLP0123_5816
Revision History:
Revision
Date
Changes
Firmware version
V1.0.0
11/06/2023
- First Release
0x0000B00F
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July 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
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SOLO PICO User Manual
Part Number: SLP0123_5816
Table of Contents
Power Specifications: 7
Control and Timings specifications: 8
Thermal Specifications: 9
Mechanical Specifications: 9
Mechanical Dimensions ( No Heatsink ): 10
Mechanical Dimensions ( With Heatsink ): 11
Absolute Maximum Voltage Ratings: 12
Overview of the product 13
Functional Block Diagram: 14
Theory of Operation: 15
FOC control Architecture in SOLO PICO for 3-phase Motors: 16
Cascade control Architecture in SOLO PICO for DC Motors: 17
SOLO PICO’s Interactional Sections: 18
Connectors and Sections: 19
Sections [4, 5, 6] - Motor Outputs 19
Sections [2, 3] - Supply Inputs 20
Section [10] - Control I/O Port 21
Section [9] - USB Connection 27
Sections [7,8] - Functionality LEDs 28
Section [1] - Power Up LED 29
Connectors and their Matings Part Number: 30
Analogue versus Digital Control in SOLO PICO 31
SOLO PICO Wirrings 32
Wiring Legend: 32
Safe Torque Off (STO) Wiring: 33
1- Wire STO to a safety relay using external +5V DC supply voltage: 33
2- Wire STO to a safety relay using internal +5V supply voltage: 34
3- By Passing STO without external commanding devices: 35
Analogue wiring in SOLO PICO: 36
1- Analogue wiring in case of controller with NPN outputs: 36
2- Analogue wiring in case of controller with PNP outputs: 37
3- Analogue wiring in case of Embedded MCU Boards: 38
Wiring with HALL Sensors: 39
Wiring with Incremental Encoders: 40
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July 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
5

SOLO PICO User Manual
Part Number: SLP0123_5816
1- Wiring in case of Single Ended Incremental Encoders: 40
2- Wiring in case of Differential Incremental Encoders: 41
Wiring of Sleep Mode input: 42
Wiring of DFU Mode input: 42
Steps to put SOLO on DFU mode: 43
PT1000 temperature sensor wiring: 44
Analogue Torque and Speed Feedbacks and Wiring: 46
Digital Mode Wirings: 48
USB Interface Wiring 48
UART Interface Wiring 49
CAN bus Interface Wiring 50
Full Wirings of SOLO PICO: 51
Standalone Wiring (No External Modules): 51
Embedded MCU Boards using Analogue/PWM: 53
Embedded MCU Boards Using UART: 54
Embedded MCU Boards Using CANopen: 55
General Wiring Considerations in SOLO PICO: 56
1- Avoid running feedbacks and power wires together 56
2- Avoid making ground loops 56
Temperature and Max Current Behaviour: 58
www.solomotorcontrollers.com
July 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
6

SOLO PICO User Manual
Part Number: SLP0123_5816
Power Specifications:
Description
Units
Values
DC Supply Voltage Range (continuous)
VDC
8 to 58
Software Overvoltage Activation Voltage
VDC
59.5V
DC Bus Undervoltage Limit
VDC
7
Maximum Peak Output Current
A
32 peak to peak
Maximum Continuous Output Current
A
16
Maximum Continuous Output Power
W
300
Internal Bus Capacitance
µF
440
Switching Frequency (Output PWM Frequency)
kHz
8 to 80
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July 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
7

SOLO PICO User Manual
Part Number: SLP0123_5816
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 - 3.3/5
Modes of Operation
-
Torque - Speed- Position
Motors supported
-
DC brushed - BLDC - PMSM - EC Coreless
Hardware Protections
-
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 (Pre-Quad)
MHz
18
Current Measurement Resolution
mA
16
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July 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
8

SOLO PICO User Manual
Part Number: SLP0123_5816
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 D)
mm
19.2 x 67.73 x 56.82
Weight (without heatsink)
gr
28
Form Factor
-
Wall Mount
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July 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
9

SOLO PICO User Manual
Part Number: SLP0123_5816
Mechanical Dimensions ( No Heatsink ):
- All the measurements are in millimeters.
www.solomotorcontrollers.com
July 2023 - Revision V_1.0.1 Copyright © 2023, All right Reversed. SOLO motor controllers.
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