motor.set-config

Reads or writes one configuration parameter on a MyActuator or Damiao motor. With --value, it writes the parameter and saves it to the motor’s flash. Without --value, it prints the current value. The motor type comes from the CAN ID. To list every parameter name, run motor.dump-config.

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`	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
`--type {myactuator,damiao}`	Motor type. Inferred from the ID if omitted
`--force-protected`	Allow writing a protected parameter: factory calibration, identity, CAN ID or baud rate
`--yes`	Skip the confirmation prompt

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

Read-only parameters, such as firmware versions and measured winding constants, can’t be written.
Damiao’s TIMEOUT (loss of communication) is given in milliseconds.
MAX_TORQUE, VOLTAGE_SAMPLE_RES, LPF_CF_FOR_CURRENT, LPF_CF_FOR_SPEED and ERROR_DETECTION_LPF_CF exist only on MyActuator firmware 2026042402 and later. On older firmware the command reports them as unsupported.
On that firmware, MAX_TORQUE must be the motor’s rated torque: 60 on an RMD-X6-P20-60, 50 on an RMD-X6-P20-50 and 129 on an RMD-X8. Axol sets it when it enables the arms, so you don’t need to change it. If the setting can’t be changed, Axol won’t start the motor, and the error shows the command to run.
CURRENT_SAMPLE_RES (Current sample resistor) must match the motor: 2 on an RMD-X8-P20-120, 1 on an RMD-X8-P20-150 and 3 on an RMD-X6. With the wrong value the motor delivers the wrong torque but still reports the torque it was asked for. Axol won’t start a motor whose value doesn’t match, and the error shows the command to run.
CHANGE_DIRECTION (Change Motor Direction) is 0 or 1. A motor whose EXCHANGE_PHASE is 0 needs it set to 1 to turn the same way as the rest of Axol. Changing it moves the joint’s zero, so don’t set it here. Guided zeroing sets it and then zeroes the joint.
Don’t change EXCHANGE_PHASE. It describes how the motor is built, and a wrong value stops the motor from turning.
Writing ENABLE_2ND_ENCODER as mode 2 or 3 also writes the matching SECOND_ENCODER_RESOLUTION. On firmware 2026052501 and later, the resolution stays as the motor reports it.

The MyActuator parameters match the panels of the vendor’s V4.0 setup software. You can also edit them in the Parameters tab of the diagnostics dashboard.

A wrong protected value can leave a motor unable to run or unreachable on the bus. Use --force-protected only for recovery, such as reassigning a baud rate, never for routine tuning.

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motor.set-config