WR BEAR - Page 27

Example:
# set goal_position on BEAR 1 to 0, goal_velocity on BEAR 4 to 2
bear.set_status((1, 'goal_position', 0),
(4, 'goal_velocity', 2))
# set BEAR 1 p_gain_position to 0.8 and d_gain_position to 0
bear.set_config((1, 'p_gain_position', 0.8, 'd_gain_position', 0))
4) Bulk Communication Writing to/reading from multiple status registers of one or more BEAR
actuators within single communication frame can be done with bulk communication. It is
highly recommended to use bulk communication functions when communicating with multiple
BEARs or/and visiting multiple registers, especially the application is preferring very fast
communication.
Bulk communication functions only support status registers and does NOT support
Torque Enable.
CAUTION
Bulk communication functions can respectively read from and write to no more than 16
registers each time.
CAUTION
There are three functions for bulk communication:
Use LIST instead of TUPLE to construct commands when using bulk communication
functions.
CAUTION
a) Read only
bear.bulk_read([ID1, ID2 ...], [reg1, reg2 ...])
Use this function to read the same cluster of status registers from multiple BEARs. The
return has a format as:
[[[data_of_motor1], error_code_of_motor1],
[[data_of_motor2], error_code_of_motor2] ...]
If BULK COMM timed out before getting any reply, the following message will be displayed:
[PyBEAR | WARNING] :: BULK_COMM response timed out. Re-sending the same packet.
If BULK COMM timed out before getting all requested data, the following message will be
displayed:
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