Assign and Verify Motor IDs
Program all 25 actuators one at a time through the setup dashboard before assembly.
Every DIY Kit and self-source builder completes this procedure before installing actuators. Each actuator's numbered sticker defines its target Motor ID.
Exactly one actuator
Connect exactly one actuator during detection and programming. Two or more actuators can make identification ambiguous and cause programming to fail.
Starting State
- the matched RPU and Raspberry Pi images are installed
- the dashboard account password has been changed
- the dashboard reports the RPU as reachable
- the Motor setup tab displays
Firmware is stopped - the CAN buses are free for motor setup. - the approved single-actuator power and CAN setup is available
- all 25 actuators have unique stickers numbered 1 through 25
TBC: LL setup-port illustration
The supplied guide refers to an image showing the RPU LL setup port, but that image was not included. Confirm the labeled LL port in the released board documentation or dashboard illustration before connecting an actuator.
Program Each Actuator
In Motor setup, panel 1 - Assign motor IDs:
- Connect one actuator to the RPU
LLsetup port using the approved power and CAN cable. - Apply the approved single-actuator setup power.
- Select Detect.
- Confirm that one current ID appears.
- Read the number on the actuator's sticker.
- Enter that number, from 1 through 25, in Target ID (sticker).
- Select Set & verify.
- Confirm that the dashboard programs and reads back the same target ID.
- Remove actuator setup power and confirm the actuator is no longer energized.
- Disconnect and label the verified actuator before connecting the next one.
Repeat until all 25 unique sticker IDs have a successful readback record. Use the current physical Motor ID allocation to record the intended module and joint.
Do not hot-plug actuators
Do not connect or disconnect actuator power or CAN while the setup output is energized. The exact approved switch, disconnect, and zero-energy indication remain part of the setup power TBC.
Record for Every Actuator
- serial number
- actuator model
- sticker ID
- detected starting ID
- programmed Motor ID
- successful readback result
- intended physical module and location
- software-image pair and date
Troubleshooting
| Symptom | Check |
|---|---|
| Detect finds nothing | Confirm exactly one actuator is connected, verify approved power and CAN cabling, wait one second after startup, and retry |
| Set & verify fails | Keep the actuator stationary, confirm it is not reporting an alarm, and retry once |
| Duplicate target sticker | Stop; do not choose a replacement ID or install either actuator until the labeling discrepancy is resolved |
| Setup controls are disabled | Confirm firmware is stopped; do not attempt to stop running firmware on an assembled robot from this preparation page |
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