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.

​

MyActuator API and Mode Reference (Complete)

​

Channel Compatibility (PCAN + slcan + Damiao Serial Bridge)

• Linux SocketCAN uses interface names directly: can0, can1, slcan0.
• For USB-serial CAN adapters, bring up slcan0 first: sudo slcand -o -c -s8 /dev/ttyUSB0 slcan0 && sudo ip link set slcan0 up.
• Damiao-only serial bridge transport is also available in CLI (--transport dm-serial --serial-port /dev/ttyACM0 --serial-baud 921600).
• On Linux SocketCAN, do not append bitrate in --channel (for example can0@1000000 is invalid).
• On Windows (PCAN backend), can0/can1 map to PCAN_USBBUS1/2; optional @bitrate suffix is supported.

​

1) Basics

• Vendor name: myactuator (backward-compatible )
• CAN IDs:
  • Tx command: 0x140 + motor_id
  • Rx feedback: 0x240 + motor_id
• Typical ID range: motor_id in [1, 32]
• Common default for ID=1:
  • --motor-id 1
  • --feedback-id 0x241

​

2) Supported motor_cli Modes

• scan: probe IDs in 1..32
• enable: release brake (0x77)
• disable: shutdown motor (0x80)
• stop: stop closed loop (0x81)
• set-zero: set current position as encoder zero (0x64, persistent after power-cycle)
• status: request status-2 (0x9C)
• current: current closed loop (0xA1)
• vel: speed closed loop (0xA2)
• pos: absolute position closed loop (0xA4)
• version: query version date (0xB2)
• mode-query: query system operating mode (0x70)

​

3) Arguments and Units

​

4) Encoding Details (Current CLI)

• A1 current mode:
  • payload [4..5] = int16(current / 0.01)
• A2 velocity mode:
  • payload [4..7] = int32((vel_rad_s.to_degrees()) * 100)
• A4 absolute position mode:
  • payload [2..3] = uint16(max_speed_rad_s.to_degrees())
  • payload [4..7] = int32(pos_rad.to_degrees() * 100)

​

5) Feedback Decoding (status/command reply)

• data[1]: temperature (int8, °C)
• data[2..3]: current (int16 * 0.01 A)
• data[4..5]: speed (int16, deg/s)
• data[6..7]: shaft angle (int16 * 0.01 deg, near-turn angle)

• data[4..7]: multi-turn angle (int32 * 0.01 deg)

• angle=... from status-2 (0x9C)
• mt_angle=... from multi-turn angle (0x92) for absolute-position judgement

​

6) Common Command Examples

# Scan MyActuator IDs
motor_cli --vendor myactuator --channel can0 --mode scan --start-id 1 --end-id 32

# Read status continuously
motor_cli --vendor myactuator --channel can0 --model X8 --motor-id 1 --feedback-id 0x241 \
  --mode status --loop 40 --dt-ms 50

# Velocity control (+0.5236 rad/s ~= +30 deg/s)
motor_cli --vendor myactuator --channel can0 --model X8 --motor-id 1 --feedback-id 0x241 \
  --mode vel --vel 0.5236 --loop 100 --dt-ms 20

# Absolute position control (pi rad = 180 deg, max 5.236 rad/s ~= 300 deg/s)
motor_cli --vendor myactuator --channel can0 --model X8 --motor-id 1 --feedback-id 0x241 \
  --mode pos --pos 3.1416 --max-speed 5.236 --loop 1

# Set current position as zero (requires power-cycle to apply persistently)
motor_cli --vendor myactuator --channel can0 --model X8 --motor-id 1 --feedback-id 0x241 \
  --mode set-zero --loop 1

​

7) Troubleshooting

1. Query status-1 (0x9A) externally and check error code.
2. If error code is 0x0004, this means low voltage protection.
3. Recover supply voltage, then reset (0x76) and release brake (0x77).

• data[3]: brake released flag
• data[4..5]: bus voltage (uint16 * 0.1 V)
• data[6..7]: error code