WR BEAR - Operating Modes

Detailed Description
• Communication A corrupted data packet was received. This warning resets automatically
and is only associated with corresponding round of communication.
• Overheat The temperature of at least one component among IC, powerstage and winding
in this BEAR has exceeded the value written to temperature limit low. This warning resets
automatically when the temperature limit low value is higher than the highest temperature
measured in this BEAR module.
• Absolute Position Absolute position reading error.
• Watchdog Timeout & ESTOP When in mode 0(torque mode), motor enabled and watchdog
timer configured, watchdog timeout triggers this error.
External ESTOP signals also triggers this error. Including physical signal and writing 0x03 to
torque enable.
• Joint Limit Joint limit exceeded.
• Hardware Fault Input voltage out of range or MOSFET driver fault.
• Initialization Error Corrupted save file in flash, calibration needed.
2.3 Operating Modes
BEAR actuator can run in the following four different modes:
Pay extra attention when changing mode while BEAR is enabled. BEAR will remain enabled
and execute the corresponding goal xxx setting in the new mode immediately.
WARNING
0 - Torque Mode
The torque current(iq) in BEAR is directly controlled in this mode. Control commands in-
structing the torque current i
q
is written to status register goal iq, and the unit of the input is
Amps. BEAR tracks goal Iq and goal Id using PID gains for Iq and Id.
The output torque T can be roughly estimated using the torque current i
q
and the torque
constant K
T
of the BEAR module as shown in Eq. 1:
T = i
q
× K
T
(1)
When the current command goal iq is higher than the limit iq max setting, the BEAR
module will not execute the command.
CAUTION
18