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

Failures are handled the way the vendor tool handles them: a rejected block aborts the flash rather than being resent, and the bootloader’s own failure replies stop it with the vendor tool’s explanation — a firmware version mismatch (the image isn’t for this motor), the first packet not received, a frame header error, or a flash write failure. The firmware file name may be at most 120 bytes, the vendor tool’s limit.

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

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.