WR BEAR - Page 28

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[PyBEAR | WARNING] :: BULK_COMM return packet timed out. Retrying BULK_COMM...

Either way, bulk communication will retry for up to 3 times. If the communication fails after all

retrial attempts, the function will return None. If there has been no reply at all, the following

message will be displayed:

[PyBEAR | ERROR] :: BULK_COMM no return.

Otherwise, the following message will be displayed:

[PyBEAR | ERROR] :: BULK_COMM only get partial return.

If any of the target BEAR returned corrupted data, the returned data of such BEAR will be

None and the corresponding error code will be -99. Note that this error is only associated

with this particular communication attempt, rather than error code of BEAR as described in

item. 6).

b) Write only

bear.bulk_write([ID1, ID2 ...], [reg1, reg2 ...],

[[ID1-data1, ID1-data2 ...], [ID2-data1, ID2-data2 ...]])

Use this function to write to the same cluster of status registers with different values to mul-

tiple BEARs. The function returns True.

a) Read then write

bear.bulk_read_write([ID1, ID2 ...], [registers to read],

[registers to write],

[[ID1-data1, ID1-data2 ...], [ID2-data1, ID2-data2 ...]])

This function will read data from the speciﬁed registers then write to the speciﬁed registers

with given data. It’s return behavior is the same as bulk read().

Examples:

# Set goal_position of BEAR 1, 2, 3 respectively to 0, 1, 2

bear.bulk_write([1, 2, 3], ['goal_position'], [[0], [1], [2]])

# Get goal_position and goal velocity of BEAR 1, 2

bear.bulk_read([1, 2], ['goal_position', 'goal_velocity'])

# Get winding_temperature of BEAR 1, 2, 3

# and write new values to their goal_iq and goal_id

bear.bulk_read_write([1, 2, 3], ['winding_temperature'],

['goal_iq', 'goal_id'], [[1, 0], [2.5, 0], [-0.3, 0]])

5) Conﬁguration vs Status Registers Certain registers are Conﬁguration Registers which

are persistent after shutdown, and need to be saved once they are changed, otherwise re-

stored to last saved value after power-cycle. Whereas Status Registers are non-persistent

(volatile) and will be restored to default values when the BEAR is powered on and get popu-

lated with corresponding real time status of BEAR.