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Motors and Sensors
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01/02/2026 7:06 am
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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!
Zachary Lerner 01/02/2026 9:08 am
the AK enable CAN message is built and sent in _CANMotor::enable(bool) in Motor.cpp (line 394). That function fills an 8‑byte message with 0xFF in bytes 0–6 and 0xFC (enable) or 0xFD (disable) in byte 7, then calls can->send(msg) at Motor.cpp (line 441).
It’s triggered from the joint code when motors are enabled, e.g. _motor->enable() in Joint.cpp (line 676).
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