> ## Documentation Index
> Fetch the complete documentation index at: https://docs.almond.bot/llms.txt
> Use this file to discover all available pages before exploring further.

# motor.flash

> Flash a firmware image to a MyActuator motor over CAN.

Flashes a firmware image to a single MyActuator motor over CAN. The motor reboots into its bootloader and the image is streamed to it as a YMODEM-1K transfer — the same transfer the vendor setup software performs — so no Windows tooling is needed to update a motor in the field. Nothing else may talk to the motor while this runs, so power the arm but leave it idle.

| Flag                    | Description                                                                                                                            |
| ----------------------- | -------------------------------------------------------------------------------------------------------------------------------------- |
| `--l` / `--r`           | Select the left or right arm (mutually exclusive, required)                                                                            |
| `--channel IFACE`       | SocketCAN interface to use instead of the selected arm's Axol hub interface, for setups without the Axol hub CAN adapter (e.g. `can0`) |
| `firmware`              | Path to the firmware image (`.bin`, positional, required)                                                                              |
| `--id ID`               | CAN ID of the motor to flash, hex or decimal (required)                                                                                |
| `--frame-delay SECONDS` | Pause between CAN frames; raise if the adapter's TX queue overruns (default: `0`, matching the vendor tool)                            |
| `--yes`                 | Skip the confirmation prompt                                                                                                           |

```bash theme={null}
axol motor.flash --l --id 0x01 ./RMD-X6-V4.4.bin
axol motor.flash --r --id 0x03 ./firmware.bin --yes
```

<Warning>
  This overwrites the motor's firmware. Interrupting a flash leaves the motor sitting in its bootloader with a partially written image — it will not answer normal commands, but re-running this command recovers it. Do **not** power-cycle and assume the motor is lost.
</Warning>