Reference: CAN ID and Model Cheatsheet

Why This Matters

Correct motor configuration requires matching:

Model string - Motor type identifier
Motor ID - CAN command ID
Feedback ID - CAN response ID

Wrong values = no communication or wrong motor controlled.

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

Damiao Configuration

Model Strings

Model	Description	Peak Torque	Use Case
`4310`	Small	~1 Nm	Grippers, small joints
`4340`	Medium	~4 Nm	Arms, medium joints
`4340P`	Medium (pos)	~4 Nm	General purpose
`6001`	Large	~10 Nm	Legs, heavy loads

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

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)

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

RobStride Configuration

Model Strings

Model	Description
`rs-00`	RobStride RS00
`rs-01`	RobStride RS01
`rs-02`	RobStride RS02
`rs-03`	RobStride RS03
`rs-04`	RobStride RS04
`rs-05`	RobStride RS05
`rs-06`	RobStride RS06

RobStride uses one upper-level command shape across RS models. Parameter read/write in MotorBridge v0.5.0 uses the common protocol section 4 runtime table (0x7005..0x702E). For the complete text tables used by the runtime encoder/decoder, see RobStride Parameter Tables.

Protocol ID roles: RobStride has three protocol paths — the private extended-frame path (default), the CANopen/CiA402 path (F_CMD=1, robstride_cia402, experimental), and the MIT path (F_CMD=2, robstride_mit, experimental). The feedback_id is the host/responder ID, not the motor/device ID. On Windows PCAN, scans probe one host/feedback ID at a time to avoid competing receive workers on the same CAN channel.

CAN ID Convention

motor_id:    127 (device ID, configurable 1-127)
feedback_id: 0xFD recommended (runtime may fallback 0xFF/0xFE)

Default:
  motor_id = 127
  feedback_id = 0xFD

Example Code

from motorbridge import Controller, Mode

with Controller("can0") as ctrl:
    motor = ctrl.add_robstride_motor(
        motor_id=127,       # Device ID
        feedback_id=0xFD,   # host_id, not the motor/device ID
        model="rs-06"       # Replace with the RS model you use for limits/logging
    )

    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)

MyActuator Configuration

Model Strings

Model	Description
`X8`	Standard MyActuator motor

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

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)

HighTorque Configuration

Model Strings

Model	Description
`hightorque`	Generic HighTorque motor

CAN ID Convention

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

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)

Hexfellow Configuration

Model Strings

Model	Description
`hexfellow`	Generic Hexfellow motor

CAN ID Convention

motor_id:    0x01 - 0xFF
feedback_id: 0x00 (fixed)

Hexfellow motors require CAN-FD transport. Standard SocketCAN will not work.

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)

Common ID Combinations

Single Damiao Motor

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

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")

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"),
}

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, 0xFD, "rs-06")

ID Configuration Tools

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

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)

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

Change ID (RobStride)

from motorbridge import Controller

with Controller("can0") as ctrl:
    motor = ctrl.add_robstride_motor(127, 0xFD, "rs-06")

    # Set new device ID
    motor.robstride_set_device_id(42)

Troubleshooting ID Issues

No Response from Motor

Check:

Motor powered on
CAN wiring correct
Correct motor_id
Correct feedback_id
Correct model string

# Try scanning with wider range
motorbridge-cli scan --vendor all --start-id 0 --end-id 255

Wrong Motor Moves

Cause: Multiple motors with same ID or wrong ID in config. Solution:

Power on one motor at a time
Scan and record IDs
Use id-set to change conflicting IDs

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

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": 0xFD,
        "model": "rs-06",
    },
}
# =======================================

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()

​Reference: CAN ID and Model Cheatsheet

​Why This Matters

​Quick Discovery Workflow

​Damiao Configuration

​Model Strings

​CAN ID Convention

​Example Code

​Serial Bridge Setup

​RobStride Configuration

​Model Strings

​CAN ID Convention

​Example Code

​MyActuator Configuration

​Model Strings

​CAN ID Convention

​Example Code

​HighTorque Configuration

​Model Strings

​CAN ID Convention

​Example Code

​Hexfellow Configuration

​Model Strings

​CAN ID Convention

​Example Code

​Common ID Combinations

​Single Damiao Motor

​Multi-Motor Damiao Leg

​4-Motor Quadruped Leg

​Mixed Vendor System

​ID Configuration Tools

​Scan for IDs

​Dump Register IDs

​Change IDs (Damiao)

​Change ID (RobStride)

​Troubleshooting ID Issues

​No Response from Motor

​Wrong Motor Moves

​Intermittent Response

​Configuration Template

​See Also

Reference: CAN ID and Model Cheatsheet

Why This Matters

Quick Discovery Workflow

Damiao Configuration

Model Strings

CAN ID Convention

Example Code

Serial Bridge Setup

RobStride Configuration

Model Strings

CAN ID Convention

Example Code

MyActuator Configuration

Model Strings

CAN ID Convention

Example Code

HighTorque Configuration

Model Strings

CAN ID Convention

Example Code

Hexfellow Configuration

Model Strings

CAN ID Convention

Example Code

Common ID Combinations

Single Damiao Motor

Multi-Motor Damiao Leg

4-Motor Quadruped Leg

Mixed Vendor System

ID Configuration Tools

Scan for IDs

Dump Register IDs

Change IDs (Damiao)

Change ID (RobStride)

Troubleshooting ID Issues

No Response from Motor

Wrong Motor Moves

Intermittent Response

Configuration Template

See Also