The piano switch in SOLO is used for the manual mode settings and for the convenience of those who want to use SOLO with minimum possible external modules and wirings.
The main roles of the Piano switch are as following:
1. Defining the Control Mode using pin number 5, if this pin is in UP position we are in open-loop mode, and if this pin is in Down position we are in closed-loop mode. Remember to move from open-loop to closed-loop mode, when SOLO is powered ON, so it will identify your motor parameters right after this transition which is necessary for closed-loop control.
2. Defining The Type of the control- Speed or Torque using pin number 4, this pin once it’s UP it means we want SOLO to operate in Torque mode, and once it’s DOWN it means SOLO should go to Speed control mode.
3. Defining the DFU mode for upgrading the firmware using pin number 3
This pin should never be in DOWN position except the moments you want to upgrade the firmware of SOLO, in case of the need to upgrade the device firmware, you need to do the followings:
– Turn OFF SOLO
– Put the pin number 3 in DOWN position
– Turn ON SOLO
– Upgrade the Firmware
– Put back the pin number 3 in UP position
– Turn OFF / Turn ON SOLO ( recycle the Power with 5 seconds of delay in between)
4. Defining the Motor type using pins 1 and 2 , using these two pins you can define the type of the electrical motor you are using as the following table
By selecting each motor type, the switching frequency of SOLO at the output will be adapted to what has been mentioned in the table below. These are default values and you can overwrite them using UART or CAN by setting them digitally to any value from 8kHz to 80kHz with steps of 1kHz.