In Direct Force Mode, the output speed of BEAR is not limited by the limit velocity max
setting.
WARNING
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
Do not save configurations when the motor is enabled. The motor may not respond when it
is writing flash memory.
WARNING
1.3 Know Your BEAR
a) Koala BEAR
TM
V2 (KB02)
Koala BEAR V2(KB02) is a small actuator designed for highly dynamic applications with rel-
atively low loads, such as all kinds of small mobile robots, robot hands or robot manipulators.
The mechanical and electrical as well as the thermal management features are introduced
as following, with the help of figure 1.
Weight Speed Constant K
V
Torque Constant K
T
Supply Voltage
250 g 22 RPM/V 0.35Nm/A 9 ∼ 33.6V (3 ∼ 8S)
Stall Torque 15sec Stall Torque 15sec(LC) Stall Torque 1.5sec Reflected Inertia
3.5 Nm 4.2 Nm 14 Nm 1.82 × 10
−3
kg/m
2
Table 1: Koala BEAR V2 Specification
1
• Mechanical Features The dimensions and locations of mounting features are anno-
tated as in figure 1. There are six M3 screw holes and six 3mm pin holes on the output
shaft for locating and connecting the payload. The eight M2.5 screw holes, four 2.5mm
pin holes located on the front side as well as the four M3 screw holes and four 2mm
pin holes on three sides can all be used to locate and mount KB02 to its application.
Besides, there are also four M3 screw holes on the back that are axisymmetric about
the output shaft, and these four M3 screw holes can also be used as mounting points
or to mount additional bearings under certain application.
1
Stall Torque is the maximum torque BEAR can deliver for more than 10 seconds under given thermal condition; LC
stands for Liquid Cooled.
4
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