WR BEAR - Page 29

After updating Configuration Registers, the values can be saved with “save config(motor id)”
function. An example of how to set the ID of a new BEAR module:
# Set the ID of motor (1) (default) to (4)
bear.set_id((1,4))
# Save the configuration using the new motor ID
bear.save_config(4)
“save config” currently only works for a single ID. The following command with NOT
work:
bear.save_config(1,2,3)
CAUTION
Do not save configurations when the motor is enabled. The motor may not respond
when it is writing flash memory.
WARNING
Configuration Registers include:
• Motor ID
• Operation Mode
• Baud Rate
• Home offset
• Limits (position, velocity, current, voltage, temperature)
• PID gains
Status Registers include:
• Torque enable/disable
• Goal position/velocity/current
• Present position/velocity/current/voltage/temperature
Refer to Table.4 for a full list of supported registers.
6) Error Code All read functions will return with error codes, with the requested data and
error code of each BEAR form a <tuple>.
Example:
# Get present position of BEAR 1
bear.get_present_position(1)
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