--id is omitted) and prints them, optionally saving a JSON snapshot. Works for both motor families — MyActuator’s 0xC0 parameters and Damiao’s 0x7FF registers — with the type inferred from the CAN ID. This is the first thing to capture when a motor is misbehaving: the saved snapshot is exactly what motor.restore-config consumes to return the motor to a known-good state.
Each parameter is printed with its value, unit, and an access tag:
(read-only) for values the motor reports but won’t accept (firmware versions, measured winding constants) and (protected) for factory calibration, CAN IDs, and baud rate. A --raw snapshot cannot be restored — its keys are bare indices with no known meaning — so it’s for identification only.
Attach the printed output (or the saved snapshot) to a support thread — it’s a complete picture of how a motor is configured, and restoring it later writes back only the parameters that actually differ.