WR BEAR - Page 19

The actual maximum torque of BEAR is limited by the maximum current the power
supply can provide as well as the limit iq max setting.
CAUTION
1 - Velocity Mode
The output speed of BEAR is directly controlled by user input via status register goal velocity.
The unit of the input is rad/s. BEAR tracks goal velocity using PID gains for velocity loop, and
the PID output feeds into Iq.
When the speed command goal velocity is higher than the limit velocity max setting,
the BEAR module will not execute the command.
CAUTION
The actual maximum speed of BEAR is limited by the supply voltage and the maximum
speed it can achieve under the given load conditions; The actual maximum torque of
BEAR is limited by the maximum current the power supply can provide as well as the
limit iq max setting.
CAUTION
2 - Position Mode
The output position of BEAR is directly controlled by user input via status register goal position.
The unit of the input is rad. BEAR tracks goal position using PID gains for position loop, and
the PID output feeds into velocity.
When the position command goal position is out of the range defined by the settings in
limit position max and limit position min, the BEAR module will not execute the com-
mand.
CAUTION
The actual output speed of BEAR is limited by the supply voltage and the maximum
speed it can achieve under the given load conditions as well as the limit velocity max
setting; The actual maximum torque of BEAR is limited by the maximum current the
power supply can provide and the limit iq max setting.
CAUTION
19