motor.set-config

Read or write a single motor configuration parameter.

Reads or writes a single configuration parameter on either motor family — MyActuator’s 0xC0 parameters or Damiao’s 0x7FF registers. The type is inferred from the CAN ID, and parameter names are unique across families. With --value the parameter is written and persisted to flash; without it the current value is read back. Use motor.dump-config to list every parameter name at once.

Flag	Description
--l / --r	Select the left or right side (mutually exclusive, required)
--target {axol,mantis}	Use that side’s Axol arm or Mantis gripper bus (default: axol)
--channel IFACE	Override the selected hardware’s default SocketCAN interface (e.g. can0)
--id ID	CAN ID of the motor, hex or decimal (required)
--param NAME	Parameter to read or write (required)
--value V	New value; omit to read the current value without writing
--type {myactuator,damiao}	Motor type (inferred from the ID if omitted)
--force-protected	Allow writing a protected parameter (factory calibration and identity, CAN ID, baud rate)
--yes	Skip the confirmation prompt

Read-only parameters (firmware versions, measured winding constants) are always refused. Protected ones — factory calibration, CAN IDs, baud rate — need --force-protected, since getting one wrong can leave a motor unable to commutate or unreachable on the bus. Damiao’s CAN loss-of-comms timeout is handled in milliseconds here; the underlying register counts 50 µs ticks and the conversion is applied for you.

The MyActuator table follows the V4.0 setup software’s Protect / Plan / Motor / Motor-information panels on the fleet firmware (VersionDate 2025070202 and 2026042402). A few parameters — MAX_TORQUE, VOLTAGE_SAMPLE_RES, LPF_CF_FOR_CURRENT, LPF_CF_FOR_SPEED, and ERROR_DETECTION_LPF_CF — only exist on 2026042402; on older firmware the command reports the parameter as unsupported instead of reading junk. Writing ENABLE_2ND_ENCODER as mode 2 or 3 also writes the matching SECOND_ENCODER_RESOLUTION, as the setup software does. The same table is editable from the diagnostics dashboard’s Parameters tab.

axol motor.set-config --l --id 0x01 --param LOW_VOLTAGE               # read the threshold
axol motor.set-config --l --id 0x01 --param LOW_VOLTAGE --value -2.0  # write and persist it
axol motor.set-config --r --id 0x07 --param TIMEOUT --value 1000      # Damiao CAN timeout, ms
axol motor.set-config --target mantis --l --id 0x08 --param TIMEOUT   # Mantis gripper

Writing a protected parameter can brick a motor on the bus. --force-protected exists for deliberate recovery (e.g. reassigning a baud rate), not routine tuning.