> ## Documentation Index > Fetch the complete documentation index at: https://motorbridge.seeedstudio.com/llms.txt > Use this file to discover all available pages before exploring further. # Robstride parameter tables # RobStride Runtime Parameter Table MotorBridge v0.4.1 uses one unified RobStride runtime parameter table from protocol section 4. 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 v0.4.1. ## 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 v0.4.1, `robstride-write-param --store 1` performs write, optional verify, then save. * RobStride `set_zero_position()` keeps the same upper-level API but now writes `zero_sta(0x7029)=1` behind the scenes so zeroed motors use `-pi..pi`. 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. Internally 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`: ```bash theme={null} 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: ```bash theme={null} 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: ```bash theme={null} motorbridge-cli scan \ --vendor robstride --channel can0 \ --start-id 1 --end-id 127 \ --feedback-ids 0xFD,0xFF,0xFE,0x00,0xAA ``` Read state once: ```bash theme={null} 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. ```bash theme={null} 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: ```bash theme={null} 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: ```bash theme={null} 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` internally 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`.