MIT mode？ - Motors and Sensors https://theopenexo.nau.edu/community/motors-and-sensors/mit-mode%ef%bc%9f/ Discussion Board en-US Sun, 16 Aug 2026 13:42:15 +0000 wpForo 60 RE: MIT mode？ https://theopenexo.nau.edu/community/motors-and-sensors/mit-mode%ef%bc%9f/#post-200 Sun, 01 Feb 2026 16:08:59 +0000 Motors and Sensors Zachary Lerner https://theopenexo.nau.edu/community/motors-and-sensors/mit-mode%ef%bc%9f/#post-200 MIT mode？ https://theopenexo.nau.edu/community/motors-and-sensors/mit-mode%ef%bc%9f/#post-199 Sun, 01 Feb 2026 14:06:46 +0000
Hello, I’d like to confirm whether the motor is operating in MIT mode when the exoskeleton is running.
 
Per the user manual for the AK60v1.1 motor, a motor configured to MIT mode via the host computer requires a specific CAN command to be sent to it before it can be activated. The relevant excerpt from the AK60v1.1 motor’s user manual is as follows:


Special CAN Commands
 
  • Enter motor control mode: {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0XFC}
  • Exit motor control mode: {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0XFD}
  • Set the motor’s current position as the zero point: {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0XFE}
 
Note: When controlling the motor via CAN communication, you must enter the motor control mode first!



However, I don’t seem to have found this specific CAN command in the OpenExo code. When I was replicating this project, the motor failed to rotate. Do you think this might be the underlying issue? I look forward to your response. Thank you!
 
 
]]> Motors and Sensors wuyang https://theopenexo.nau.edu/community/motors-and-sensors/mit-mode%ef%bc%9f/#post-199