motor.flash

Installs a firmware image on one MyActuator motor over CAN. The motor restarts into its bootloader and receives the image. You don’t need the vendor’s Windows software. Power the arm but leave it idle. Nothing else may talk to the motor while the flash runs.

Flag	Description
`--l` / `--r`	Select the left or right arm. Required unless you pass `--channel`
`--channel IFACE`	Use this SocketCAN interface, such as `can0`. On its own, it reaches a motor outside the arms, such as on a test stand
`firmware`	Path to the firmware image (`.bin`, positional, required). The file name can be at most 120 bytes
`--id ID`	CAN ID of the motor to flash, hex or decimal (required)
`--frame-delay SECONDS`	Pause between CAN frames. Raise it if the adapter’s TX queue overruns (default: `0`)
`--yes`	Skip the confirmation prompt

axol motor.flash --l --id 0x01 ./RMD-X6-V4.4.bin
axol motor.flash --r --id 0x03 ./firmware.bin --yes

The flash stops if the motor rejects a block or the bootloader reports an error. The error says what went wrong:

the image isn’t for this motor (firmware version mismatch)
the first packet wasn’t received
a frame header error
a flash write failure

This overwrites the motor’s firmware. If a flash is interrupted, the motor stays in its bootloader and won’t answer normal commands. Run this command again to recover it. The motor is not lost, so don’t give up on it after a power cycle.

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motor.flash