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Reference: CAN ID and Model Cheatsheet

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Why This Matters

Correct motor configuration requires matching:
  1. Model string - Motor type identifier
  2. Motor ID - CAN command ID
  3. Feedback ID - CAN response ID
Wrong values = no communication or wrong motor controlled.

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Quick Discovery Workflow

# 1. Scan for motors
motorbridge-cli scan --vendor all --channel can0 --start-id 1 --end-id 255

# 2. Record discovered IDs

# 3. Use in Python config

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Damiao Configuration

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Model Strings

ModelDescriptionPeak TorqueUse Case
4310Small~1 NmGrippers, small joints
4340Medium~4 NmArms, medium joints
4340PMedium (pos)~4 NmGeneral purpose
6001Large~10 NmLegs, heavy loads

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CAN ID Convention

motor_id:    0x01 - 0x20 (1-32)
feedback_id: motor_id + 0x10

Example:
  motor_id = 0x01
  feedback_id = 0x11

  motor_id = 0x0A
  feedback_id = 0x1A

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Example Code

from motorbridge import Controller, Mode

with Controller("can0") as ctrl:
    # Standard setup
    motor = ctrl.add_damiao_motor(
        motor_id=0x01,      # Command ID
        feedback_id=0x11,   # Feedback ID (motor_id + 0x10)
        model="4340P"       # Model string
    )

    ctrl.enable_all()
    motor.ensure_mode(Mode.MIT, 1000)
    motor.send_mit(0.5, 0.0, 30.0, 1.0, 0.0)

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Serial Bridge Setup

from motorbridge import Controller, Mode

with Controller.from_dm_serial("/dev/ttyACM0", 921600) as ctrl:
    motor = ctrl.add_damiao_motor(0x01, 0x11, "4340P")
    # ... rest same as above

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RobStride Configuration

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Model Strings

ModelDescription
rs-00Standard RobStride motor

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CAN ID Convention

motor_id:    127 (device ID, configurable 1-127)
feedback_id: 0xFE or 0xFF (responder ID)

Default:
  motor_id = 127
  feedback_id = 0xFE

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Example Code

from motorbridge import Controller, Mode

with Controller("can0") as ctrl:
    motor = ctrl.add_robstride_motor(
        motor_id=127,       # Device ID
        feedback_id=0xFE,   # Responder ID
        model="rs-00"       # Model string
    )

    ctrl.enable_all()

    # Optional: Ping to verify
    device_id, responder_id = motor.robstride_ping()
    print(f"Found: device={device_id}, responder={responder_id}")

    motor.ensure_mode(Mode.MIT, 1000)
    motor.send_mit(0.5, 0.0, 2.0, 0.1, 0.0)

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MyActuator Configuration

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Model Strings

ModelDescription
X8Standard MyActuator motor

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CAN ID Convention

motor_id:    1 - 32
feedback_id: 0x240 + motor_id

Example:
  motor_id = 1
  feedback_id = 0x241

  motor_id = 8
  feedback_id = 0x248

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Example Code

from motorbridge import Controller, Mode

with Controller("can0") as ctrl:
    motor = ctrl.add_myactuator_motor(
        motor_id=1,         # Motor ID
        feedback_id=0x241,  # 0x240 + motor_id
        model="X8"          # Model string
    )

    ctrl.enable_all()
    motor.ensure_mode(Mode.POS_VEL, 1000)  # No MIT mode
    motor.send_pos_vel(0.5, vlim=1.5)

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HighTorque Configuration

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Model Strings

ModelDescription
hightorqueGeneric HighTorque motor

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CAN ID Convention

motor_id:    1 - 127
feedback_id: 0x01 (fixed)

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Example Code

from motorbridge import Controller, Mode

with Controller("can0") as ctrl:
    motor = ctrl.add_hightorque_motor(
        motor_id=1,         # Motor ID
        feedback_id=0x01,   # Fixed feedback ID
        model="hightorque"  # Model string
    )

    ctrl.enable_all()
    motor.ensure_mode(Mode.MIT, 1000)
    motor.send_mit(0.5, 0.0, 30.0, 1.0, 0.0)

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Hexfellow Configuration

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Model Strings

ModelDescription
hexfellowGeneric Hexfellow motor

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CAN ID Convention

motor_id:    0x01 - 0xFF
feedback_id: 0x00 (fixed)
Hexfellow motors require CAN-FD transport. Standard SocketCAN will not work.

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Example Code

from motorbridge import Controller, Mode

# MUST use CAN-FD
with Controller.from_socketcanfd("can0") as ctrl:
    motor = ctrl.add_hexfellow_motor(
        motor_id=0x01,      # Motor ID
        feedback_id=0x00,   # Fixed feedback ID
        model="hexfellow"   # Model string
    )

    ctrl.enable_all()
    motor.ensure_mode(Mode.POS_VEL, 1000)  # No VEL mode
    motor.send_pos_vel(0.5, vlim=1.5)

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Common ID Combinations

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Single Damiao Motor

# Typical single motor setup
motor = ctrl.add_damiao_motor(0x01, 0x11, "4340P")

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Multi-Motor Damiao Leg

# 2-motor leg (hip + knee)
hip = ctrl.add_damiao_motor(0x01, 0x11, "4340P")
knee = ctrl.add_damiao_motor(0x02, 0x12, "4340P")

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4-Motor Quadruped Leg

# 4-motor quadruped configuration
motors = {
    "front_left_hip": ctrl.add_damiao_motor(0x01, 0x11, "4340P"),
    "front_left_knee": ctrl.add_damiao_motor(0x02, 0x12, "4340P"),
    "front_right_hip": ctrl.add_damiao_motor(0x03, 0x13, "4340P"),
    "front_right_knee": ctrl.add_damiao_motor(0x04, 0x14, "4340P"),
}

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Mixed Vendor System

# Damiao + RobStride on same bus
with Controller("can0") as dm_ctrl:
    dm = dm_ctrl.add_damiao_motor(0x01, 0x11, "4340P")

    with Controller("can0") as rs_ctrl:
        rs = rs_ctrl.add_robstride_motor(127, 0xFE, "rs-00")

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ID Configuration Tools

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Scan for IDs

# Scan all vendors
motorbridge-cli scan --vendor all --channel can0 --start-id 1 --end-id 255

# Scan specific vendor
motorbridge-cli scan --vendor damiao --channel can0 --start-id 1 --end-id 32

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Dump Register IDs

# Read Damiao ID registers
motorbridge-cli id-dump --motor-id 0x01 --feedback-id 0x11 --rids 7,8

# RID 7 = MST_ID (feedback ID)
# RID 8 = ESC_ID (motor ID)

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Change IDs (Damiao)

# Change motor ID from 0x01 to 0x05
motorbridge-cli id-set \
    --motor-id 0x01 \
    --feedback-id 0x11 \
    --new-motor-id 0x05 \
    --new-feedback-id 0x15 \
    --store 1 \
    --verify 1

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Change ID (RobStride)

from motorbridge import Controller

with Controller("can0") as ctrl:
    motor = ctrl.add_robstride_motor(127, 0xFE, "rs-00")

    # Set new device ID
    motor.robstride_set_device_id(42)

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Troubleshooting ID Issues

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No Response from Motor

Check:
  1. Motor powered on
  2. CAN wiring correct
  3. Correct motor_id
  4. Correct feedback_id
  5. Correct model string
# Try scanning with wider range
motorbridge-cli scan --vendor all --start-id 0 --end-id 255

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Wrong Motor Moves

Cause: Multiple motors with same ID or wrong ID in config. Solution:
  1. Power on one motor at a time
  2. Scan and record IDs
  3. Use id-set to change conflicting IDs

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Intermittent Response

Causes:
  • Loose CAN wiring
  • Missing termination resistors
  • CAN bitrate mismatch
Solutions: 
# Check CAN status
ip -details link show can0

# Verify bitrate matches motor config
sudo ip link set can0 type can bitrate 1000000

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Configuration Template

#!/usr/bin/env python3
"""Motor configuration template."""

from motorbridge import Controller, Mode

# ============ CONFIGURATION ============
CHANNEL = "can0"

# Motor configurations
MOTORS = {
    # Damiao motors
    "left_hip": {
        "vendor": "damiao",
        "motor_id": 0x01,
        "feedback_id": 0x11,
        "model": "4340P",
    },
    "left_knee": {
        "vendor": "damiao",
        "motor_id": 0x02,
        "feedback_id": 0x12,
        "model": "4340P",
    },

    # RobStride motor
    "gripper": {
        "vendor": "robstride",
        "motor_id": 127,
        "feedback_id": 0xFE,
        "model": "rs-00",
    },
}
# =======================================

def create_motor(ctrl, config):
    """Create motor based on config."""
    vendor = config["vendor"]

    if vendor == "damiao":
        return ctrl.add_damiao_motor(
            config["motor_id"],
            config["feedback_id"],
            config["model"]
        )
    elif vendor == "robstride":
        return ctrl.add_robstride_motor(
            config["motor_id"],
            config["feedback_id"],
            config["model"]
        )
    elif vendor == "myactuator":
        return ctrl.add_myactuator_motor(
            config["motor_id"],
            config["feedback_id"],
            config["model"]
        )
    elif vendor == "hightorque":
        return ctrl.add_hightorque_motor(
            config["motor_id"],
            config["feedback_id"],
            config["model"]
        )
    elif vendor == "hexfellow":
        return ctrl.add_hexfellow_motor(
            config["motor_id"],
            config["feedback_id"],
            config["model"]
        )
    else:
        raise ValueError(f"Unknown vendor: {vendor}")

def main():
    with Controller(CHANNEL) as ctrl:
        motors = {
            name: create_motor(ctrl, cfg)
            for name, cfg in MOTORS.items()
        }

        ctrl.enable_all()

        for name, motor in motors.items():
            print(f"Initialized: {name}")

        # ... your control code ...

if __name__ == "__main__":
    main()

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See Also