motor.dump-config

Reads every configuration parameter from one motor, or from every motor on the bus when you omit --id, and prints them. With --out it also saves a JSON snapshot that motor.restore-config can write back. It works with both MyActuator and Damiao motors and picks the motor type from the CAN ID. Run it first when a motor misbehaves, so you have a record of its configuration.

Flag	Description
`--l` / `--r`	Select the left or right side. Required unless you pass `--channel`
`--target {axol,mantis}`	Use that side’s Axol arm or Mantis gripper bus (default: `axol`)
`--channel IFACE`	Use this SocketCAN interface, such as `can0`. On its own, it reaches a motor outside the arms, such as on a test stand
`--id ID`	Motor CAN ID, hex or decimal. Omit to dump IDs 1 to 8 on Axol, or ID 8 on Mantis
`--type {myactuator,damiao}`	Motor type. Inferred from the ID if omitted
`--out FILE`	Save a JSON snapshot for `motor.restore-config`
`--raw`	Read every raw parameter index, including ones without a name. MyActuator only

Each parameter is printed with its value and unit. Some carry a tag:

(read-only): the motor reports the value but won’t accept a new one, such as firmware versions and measured winding constants.
(protected): factory calibration, identity, CAN IDs and baud rate.

Parameters that the motor’s firmware doesn’t support are left out. A --raw snapshot can’t be restored, because its indices have no known meaning. Use it only to identify parameters.

axol motor.dump-config --l --id 0x01              # one motor
axol motor.dump-config --l                        # every motor on the left bus
axol motor.dump-config --l --out arm-left.json    # save a snapshot to restore later
axol motor.dump-config --l --id 0x01 --raw        # sweep unnamed indices (MyActuator)
axol motor.dump-config --target mantis --l --out mantis-left.json

Attach the printed output or the saved snapshot when you contact support. It shows the motor’s full configuration.

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motor.dump-config