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Step 4: Motor Configuration

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Prerequisites: Before proceeding, ensure you have:

  • ✅ Motor IDs configured (Step 1)
  • ✅ CAN interface configured (Step 2)
  • ✅ Basic communication tested (Step 3)

Overview​

We now need to complete the motor setup sprocess. This involves three key tasks:

  1. Set Motor Baudrate
  2. Set Zero Position
  3. Verify Motor Communication

Step 1: Set Motor Baudrate​

warning
  • Be sure to use the CAN interface on 2.0 during the baudrate setup regardless of your target baudrate. Configure it back to your target baudrate after this step is finished.
  • Motor parameters has a 10000 time write limits, it should not be run frequently in scripts.

Set the baudrate for each motor (replace 1 with your motor CAN ID and 5000000 with desired baudrate):

Set temporarily:

openarm-can-change-baudrate --baudrate 5000000 --canid 1 --socketcan can0

Save permanently:

openarm-can-change-baudrate --baudrate 5000000 --canid 1 --socketcan can0 --flash

Important: After completing the baudrate configuration, reconfigure your CAN interface to match the motor's new baudrate setting for proper communication if necessary.

Supported Baudrates:

OptionBaudrateDescription
0125000125 kbps
1200000200 kbps
2250000250 kbps
3500000500 kbps
410000001 mbps
520000002 mbps
625000002.5 mbps
732000003.2 mbps
840000004 mbps
950000005 mbps

Step 2: Zero Position Calibration​

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Physically position the arms to roughly match the zero position shown below before running calibration.
For grippers, the closed position is used as zero by default.

zeropos
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When setting up in a Leader-Follower configuration, please run the zero position calibration for the Leader and the Follower separately, while they are in their independent states.

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Safety First! The robot will move automatically when calibration starts. Wear safety gear, clear the workspace, and be ready to emergency stop.

The zero position calibration runs one arm at a time.
Run the zero position calibration (this defaults to can 0, right arm):

openarm-can-zero-position-calibration

For specific arms, run:

# Leader-side Left
openarm-can-zero-position-calibration --canport can1 --arm_side left_arm
# Follower-side Right
openarm-can-zero-position-calibration --canport can2 --arm_side right_arm
# Follower-side Left
openarm-can-zero-position-calibration --canport can3 --arm_side left_arm

Step 3: Verify Motor Communication​

Run the motor check executable, replace 1 and 17 with your motor's send and receive CAN IDs. Note: CAN ID 17 is the decimal representation of 0x11

For CAN 2.0

openarm-can-motor-check 1 17 can0

For CAN FD mode:

openarm-can-motor-check 1 17 can0 -fd

The output should display the motor's receiver ID, baudrate, and status information.

Verification steps:

  1. Check baudrate: Verify the displayed baudrate matches what you configured earlier
  2. Test permanent settings: If you used --flash, power cycle the motor and run the check again to confirm the settings persisted
  3. Troubleshoot: If the baudrate doesn't match, switch your CAN interface to 2.0 and re-run the baudrate change script
warning

It is important to get the openarm-can-motor-check working before running the demo.

Troubleshooting​

  • Check CAN interface is UP
  • Verify motor is physically connected and powered, set with the correct ID
  • Verify can connection is stable (important!)
  • Use candump to monitor the traffic
  • Check CAN interface baudrate matches motor's current baudrate
  • Verify send/receive CAN IDs are correct. Common pairs: 1→17, 2→18, 3→19, etc.
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