Protocol#
58-10 uses ActuatorFD v1.0, shared with the other actuator and Model A. Read the generated wire reference for message identifiers, offsets, DLCs, and units.
Units and feedback#
Command and state positions use output-axis radians; velocity uses radians per second; commanded torque uses N·m. estimated_torque_nm is an estimate, not a torque-sensor measurement. Motor-side and output-side encoder positions are reported separately.
Network integration#
The reference uses 1 Mbit/s arbitration and a provisional 5 Mbit/s data phase. These are protocol assumptions, not qualified board timing. Identifiers and session numbers do not provide authentication.
The application must enforce source/destination checks, sessions, sequence freshness, state gates, and physical limits. See the offline example and management troubleshooting.