WR BEAR - Detailed Description

2.2.2 Detailed Description
Config Registers
• id The ID of a BEAR. This should be unique for every BEAR in the same chain.
• mode Operating mode. Refer to Section. 2.3 for detailed explanation.
• baudrate Baud-rate for the RS-485 communication. Unless needed by system setup, it is
recommended to leave it at default 8Mbps.
• homing offset present position = raw position + homing offset. When setting up new hom-
ing offset, always take the existing homing offset into account.
• PID Gains Refer to Section. 2.4 for more details.
• limit acc max Absolute maximum limit for acceleration (unit: rad/s
2
). Effective in mode 2
(position mode) for trajectory generation.
• limit i max Absolute maximum limit for torque current Iq and excitation current Id (unit: A).
Effective in all modes. Since Iq is proportional to torque, this is effectively the torque limit.
• limit velocity max Absolute maximum limit for velocity (unit: rad/s). Effective in modes
1(Velocity) and 2(Position).
• limit position min/max Lower/upper position limit for BEAR (unit: rad). Going out of bounds
triggers internal damping mode and generates an error. Disable, then bring motor within limit
physically or by limit adjustment clears the error. Effective in modes 2(Position) and 3(Direct
Force).
• min/max voltage When voltage goes below min voltage or above max voltage , hardware
fault triggers with an error generated. Disable, then regulate the supply voltage within limits
clears the error.
• watchdog timeout Safety watchdog timeout value in micro seconds(µs). When communi-
cation times out, BEAR goes into internal damping mode and generates an error. Disable
clears the error. This ONLY applys to modes 0(torque).
• temp limit low From this temperature(
◦
C) to temp limit high, the Iq limit will start to decrease
linearly from limit iq max, and an error will be generated.
• temp limit high From this temperature(
◦
C) above, the Iq limit will be reduced to 0. The tem-
perature limit functionality uses the maximum between Winding temperature and Powerstage
temperature.
Status Registers
• torque enable Enable status and control of BEAR.
When write:
0 - Disable BEAR, also clear latching errors;
1 - Enable BEAR torque output;
3 - EStop protection triggered. If motor was enabled, motor goes into safe damping mode.
When read:
16