RobStride Runtime Parameter Table

MotorBridge keeps the upper-level RobStride API shape shared across RS models. The active runtime parameter table is the protocol section 4 “read/write single parameter” list in the 0x7005..0x702E range. Older/manual 0x2000 and 0x3000 function-code fields are not split into per-model high-level tables in v0.5.0.

Runtime Rules

Runtime parameter read/write uses communication type 17/18 plus the parameter index below.
Parameter index is little-endian in byte[0..2]; the typed value is little-endian in byte[4..8].
Parameters that must survive power-cycle require type 22 save after writing. In v0.5.0, robstride-write-param --store 1 performs write, optional verify, then save.
Type 18 write ACK timing: communication type 18 parameter writes do not block by default. Set MOTORBRIDGE_ROBSTRIDE_WRITE_ACK_TIMEOUT_MS to enable a conservative synchronous wait when a firmware ACK is required.
RobStride set_zero_position() keeps the same upper-level API and writes zero_sta(0x7029)=1 so zeroed motors use -pi..pi on startup. Use store_parameters / --store 1 to persist it.
Type 22 save uses payload 01 02 03 04 05 06 07 08 and waits for a RobStride status ACK.

Communication Types Used

Type	Name	Purpose
6	`SET_ZERO_POSITION`	Set current mechanical position as zero
17	`READ_PARAMETER`	Read one parameter by index
18	`WRITE_PARAMETER`	Write one parameter by index
22	`SAVE_PARAMETERS`	Persist parameter changes

Section 4 Parameter List

Index	Name	Type	Bytes	Unit	Range / Default	R/W	Notes
`0x7005`	`run_mode`	`u8`	1	enum	`0` MIT, `1` PP, `2` velocity, `3` current, `5` CSP	W/R	Selects the active RobStride control mode before mode-specific command parameters are used.
`0x7006`	`iq_ref`	`f32`	4	A	`-43..43`, current-mode target	W/R	Effective when `run_mode=3` current mode. Positive/negative direction follows motor firmware convention.
`0x700A`	`spd_ref`	`f32`	4	rad/s	`-20..20`, velocity-mode target	W/R	Effective when `run_mode=2` velocity mode.
`0x700B`	`limit_torque`	`f32`	4	Nm	`0..60`	W/R	Torque clamp used by firmware. Keep within the motor/manual limit.
`0x7010`	`cur_kp`	`f32`	4	gain	default `0.17`	W/R	Current-loop proportional gain. Tune carefully; bad values can destabilize current control.
`0x7011`	`cur_ki`	`f32`	4	gain	default `0.012`	W/R	Current-loop integral gain. Tune carefully.
`0x7014`	`cur_filter_gain`	`f32`	4	ratio	`0..1`, default `0.1`	W/R	Current filter coefficient.
`0x7016`	`loc_ref`	`f32`	4	rad	position target	W/R	Position command used by PP/CSP-style position modes.
`0x7017`	`limit_spd`	`f32`	4	rad/s	`0..20`	W/R	Position/CSP speed limit. MotorBridge POS_VEL path writes this before `loc_ref`.
`0x7018`	`limit_cur`	`f32`	4	A	`0..43`	W/R	Current limit for velocity/position modes.
`0x7019`	`mechPos`	`f32`	4	rad	read-only	R	Load-side counted mechanical position. After MotorBridge RobStride zero + store, startup range is intended to be `-pi..pi` via `zero_sta=1`.
`0x701A`	`iqf`	`f32`	4	A	read-only	R	Filtered q-axis current feedback.
`0x701B`	`mechVel`	`f32`	4	rad/s	read-only	R	Load-side velocity feedback.
`0x701C`	`VBUS`	`f32`	4	V	read-only	R	DC bus voltage.
`0x701E`	`loc_kp`	`f32`	4	gain	default `60`	W/R	Position-loop proportional gain.
`0x701F`	`spd_kp`	`f32`	4	gain	default `6`	W/R	Speed-loop proportional gain.
`0x7020`	`spd_ki`	`f32`	4	gain	default `0.02`	W/R	Speed-loop integral gain.
`0x7021`	`spd_filter_gain`	`f32`	4	ratio	default `0.1`	W/R	Speed filter coefficient.
`0x7022`	`acc_rad`	`f32`	4	rad/s^2	default `20`	W/R	Velocity-mode acceleration limit.
`0x7024`	`vel_max`	`f32`	4	rad/s	default `10`	W/R	PP mode maximum velocity.
`0x7025`	`acc_set`	`f32`	4	rad/s^2	default `10`	W/R	PP mode acceleration. If deceleration split is enabled in firmware, `dcc_set(0x702E)` may control deceleration separately.
`0x7026`	`EPScan_time`	`u16`	2	ms step	default `1`; `1=10 ms`, each +1 adds `5 ms`	W	Active-report interval setting. Only matters when active report is enabled by communication type 24.
`0x7028`	`canTimeout`	`u32`	4	firmware ticks	default `0`; `20000=1 s`	W	CAN timeout threshold. `0` disables/uses default firmware behavior depending on firmware. Save if persistence is required.
`0x7029`	`zero_sta`	`u8`	1	enum	default `0`; `0=0..2pi`, `1=-pi..pi`	W	MotorBridge RobStride `set_zero_position()` writes `1` automatically. Use type 22 save / `--store 1` for power-cycle persistence.
`0x702A`	`damper`	`u8`	1	switch	default `0`; `1` cancels power-off back-drive damping	W/R	Controls the shutdown/back-drive damping behavior described by the RobStride manual. Save if persistence is required.
`0x702B`	`add_offset`	`f32`	4	rad	default `0`	W/R	Adds an offset to the current zero. Example: after zeroing at physical `1 rad`, setting `add_offset=1` makes that physical position report as `1 rad` after reboot while zero is shifted by `1 rad`.
`0x702C`	`alveolous_open`	`u8`	1	switch	default `0`; `1` enables cogging compensation	W/R	Enable after cogging calibration has succeeded. The manual says calibration should be done unloaded and typically with `iq_test=1`.
`0x702D`	`iq_test`	`u8`	1	switch	default `0`; `1` enables extended initialization/calibration behavior	W/R	Used for motor initialization calibration and as a preparation step for cogging calibration. Save/reboot behavior depends on firmware workflow.
`0x702E`	`dcc_set`	`f32`	4	rad/s^2	default `10`	W/R	PP-mode deceleration. The manual notes this is used when PP acceleration/deceleration are separated by firmware configuration.

Persistence and Zeroing Notes

W/R or W only means the parameter can be written over CAN; it does not guarantee persistence by itself. Use motorbridge-cli robstride-write-param ... --store 1 when a parameter value must survive power cycling. motorbridge-cli run --vendor robstride ... --mode save remains available as a direct save operation.
For RobStride zeroing, MotorBridge keeps the same upper-level command as other vendors. It sends type 6 and then writes zero_sta(0x7029)=1; with --store 1, type 22 saves the -pi..pi startup behavior.
Use radians for all position quantities and radians per second / radians per second squared for velocity and acceleration.

Examples

Read mechPos:

motorbridge-cli robstride-read-param \
  --channel can0 --model rs-06 --motor-id 2 --feedback-id 0xFD \
  --param-id 0x7019 --type f32

Write damper=1 and save:

motorbridge-cli robstride-write-param \
  --channel can0 --model rs-06 --motor-id 2 --feedback-id 0xFD \
  --param-id 0x702A --type u8 --value 1 --verify 1 --store 1

RobStride Zero Calibration

Use the unified Python package CLI. The current CLI uses subcommands, so RobStride control commands must start with motorbridge-cli run. Before writing zero:

Use a verified adapter path, preferably PCAN or a tested CANable/candleLight SocketCAN interface.
Scan first and confirm the target motor-id and feedback-id.
Move the joint by hand to the real mechanical zero pose.
Do not run this command while the mechanism can collide or fall.

Scan and confirm the motor is online:

motorbridge-cli scan \
  --vendor robstride --channel can0 \
  --start-id 1 --end-id 127 \
  --feedback-ids 0xFD,0xFF,0xFE,0x00,0xAA

Read state once:

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 \
  --motor-id 1 --feedback-id 0xFD \
  --mode enable --loop 1 --dt-ms 100

Set the current mechanical pose as zero. --zero-exp 1 is required for RobStride; without it, MotorBridge prints a warning and does not send the zeroing CAN frame. --store 1 saves the result when the firmware accepts it.

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 \
  --motor-id 1 --feedback-id 0xFD \
  --mode set-zero --zero-exp 1 --store 1 \
  --loop 1 --dt-ms 100

Verify by reading state again:

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 \
  --motor-id 1 --feedback-id 0xFD \
  --mode enable --loop 3 --dt-ms 100

Then test a small move and return to zero:

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 \
  --motor-id 1 --feedback-id 0xFD \
  --mode pos-vel --pos 1.5 --vlim 1.0 --loc-kp 5.0 \
  --loop 1 --dt-ms 20

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 \
  --motor-id 1 --feedback-id 0xFD \
  --mode pos-vel --pos -1.5 --vlim 1.0 --loc-kp 5.0 \
  --loop 1 --dt-ms 20

For RobStride, MotorBridge also writes zero_sta=1 so the startup range is intended to be -pi..pi. Use the model that matches your motor for limits and logging; the examples above use rs-00.

PP / CSP Position Modes

RobStride-specific pos-vel-pp and pos-vel-csp control paths follow the vendor manual sequences for PP (Profile Position) and CSP (Cyclic Synchronous Position) modes. They are exposed through the C ABI (robstride_send_pos_vel_pp(), robstride_send_pos_vel_csp()), the Python binding, and the Rust/Python CLI.

# PP writes vel_max(0x7024) + acc_set(0x7025) + loc_ref(0x7016), run_mode=1.
motor.robstride_send_pos_vel_pp(pos=1.0, vel_max=2.0, acc_set=10.0)
# CSP writes limit_spd(0x7017) + loc_ref(0x7016), run_mode=5.
motor.robstride_send_pos_vel_csp(pos=1.0, vlim=2.0)

PP and CSP both write the position target to loc_ref (0x7016), but their velocity/acceleration registers differ — see API: Motor. PP/CSP full manual sequences include an enable ACK wait every control cycle; for high-rate loops use a prepared profile and write loc_ref directly each cycle. The example script robstride_posvel_timing_demo.py compares legacy pos-vel, full-sequence PP/CSP, and prepared high-rate profiles.

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Robstride parameter tables

RobStride Runtime Parameter Table

Runtime Rules

Communication Types Used

Section 4 Parameter List

Persistence and Zeroing Notes

Examples

RobStride Zero Calibration

PP / CSP Position Modes

​RobStride Runtime Parameter Table

​Runtime Rules

​Communication Types Used

​Section 4 Parameter List

​Persistence and Zeroing Notes

​Examples

​RobStride Zero Calibration

​PP / CSP Position Modes

RobStride Runtime Parameter Table

Runtime Rules

Communication Types Used

Section 4 Parameter List

Persistence and Zeroing Notes

Examples

RobStride Zero Calibration

PP / CSP Position Modes