Mastering BEAR Actuators 04: Parameters & Data Control GUI Walkthrough

In this talk

1. 0:06

   Configuration and safety limits

   The control table separates persistent setup values from live operating data. Configuration includes each actuator’s ID, an 8 Mbps baud rate, PID gains, and bounds for torque, speed, acceleration, and position. Changes persist after power-off only when saved; voltage and temperature thresholds help protect hardware, including by reducing power at the low temperature limit.

2. 1:46

   Live status and motion commands

   Status values reset at startup and support real-time control. Torque Enable governs whether the motor can run, while goal fields accept commands for current, velocity, or position. Read-only present fields report measured current, speed, position, voltage, and temperatures at the winding, power stage, and IC.

3. 2:42

   A practical operating sequence

   The recommended process is to set operating limits and PID gains, then save the configuration. During motion, send commands through the relevant goal fields and read measured values continuously to track performance and safety.

4. 3:06

   Using the BEAR Data Control GUI

   The LabBEAR-based GUI is available through the project’s GitHub Releases, where users can download and install the utility. It plots live status data and lets users read or change configuration, select actuators by ID, and control torque with Enable, Disable, and E-Stop buttons.

5. 4:20

   Tuning with PID and signal tools

   The interface provides live adjustment of current, velocity, and position PID loops. Its chirp panel can also send chirp, sine, and square-wave references to examine joint response and dynamic behavior. The presenter points to a future video on PID tuning and the SDK manual at store.westwoodrobotics.io.