motor.set-config

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 arm (mutually exclusive, required)
`--channel IFACE`	SocketCAN interface to use instead of the selected arm’s Axol hub interface, for setups without the Axol hub CAN adapter (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, 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.

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

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.

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motor.set-config