diff --git a/lerobot/common/motors/dynamixel/dynamixel.py b/lerobot/common/motors/dynamixel/dynamixel.py
index 5992ae56..3a3f5016 100644
--- a/lerobot/common/motors/dynamixel/dynamixel.py
+++ b/lerobot/common/motors/dynamixel/dynamixel.py
@@ -57,7 +57,8 @@ class DynamixelMotorsBus(MotorsBus):
         self.packet_handler = dxl.PacketHandler(PROTOCOL_VERSION)
         self.sync_reader = dxl.GroupSyncRead(self.port_handler, self.packet_handler, 0, 0)
         self.sync_writer = dxl.GroupSyncWrite(self.port_handler, self.packet_handler, 0, 0)
-        self.__comm_success = dxl.COMM_SUCCESS
+        self._comm_success = dxl.COMM_SUCCESS
+        self._error = 0x00
 
     def broadcast_ping(
         self, num_retry: int = 0, raise_on_error: bool = False
@@ -78,12 +79,6 @@ class DynamixelMotorsBus(MotorsBus):
         # TODO
         return ids_values
 
-    def _is_comm_success(self, comm: int) -> bool:
-        return comm == self.__comm_success
-
-    def _is_error(self, error: int) -> bool:
-        return error != 0x00
-
     @staticmethod
     def split_int_bytes(value: int, n_bytes: int) -> list[int]:
         # Validate input
diff --git a/lerobot/common/motors/feetech/feetech.py b/lerobot/common/motors/feetech/feetech.py
index 4c8dd4ed..74c114b3 100644
--- a/lerobot/common/motors/feetech/feetech.py
+++ b/lerobot/common/motors/feetech/feetech.py
@@ -53,7 +53,8 @@ class FeetechMotorsBus(MotorsBus):
         self.packet_handler = scs.PacketHandler(PROTOCOL_VERSION)
         self.sync_reader = scs.GroupSyncRead(self.port_handler, self.packet_handler, 0, 0)
         self.sync_writer = scs.GroupSyncWrite(self.port_handler, self.packet_handler, 0, 0)
-        self.__comm_success = scs.COMM_SUCCESS
+        self._comm_success = scs.COMM_SUCCESS
+        self._error = 0x00
 
     def broadcast_ping(self, num_retry: int | None = None):
         raise NotImplementedError  # TODO
@@ -66,12 +67,6 @@ class FeetechMotorsBus(MotorsBus):
         # TODO
         return ids_values
 
-    def _is_comm_success(self, comm: int) -> bool:
-        return comm == self.__comm_success
-
-    def _is_error(self, error: int) -> bool:
-        return error != 0x00
-
     @staticmethod
     def split_int_bytes(value: int, n_bytes: int) -> list[int]:
         # Validate input
diff --git a/lerobot/common/motors/motors_bus.py b/lerobot/common/motors/motors_bus.py
index 4558d56c..249c66a8 100644
--- a/lerobot/common/motors/motors_bus.py
+++ b/lerobot/common/motors/motors_bus.py
@@ -258,6 +258,8 @@ class MotorsBus(abc.ABC):
         self.packet_handler: PacketHandler
         self.sync_reader: GroupSyncRead
         self.sync_writer: GroupSyncWrite
+        self._comm_success: int
+        self._error: int
 
         self.calibration = None
 
@@ -391,13 +393,11 @@ class MotorsBus(abc.ABC):
     def uncalibrate_values(self, ids_values: dict[int, float]) -> dict[int, int]:
         pass
 
-    @abc.abstractmethod
     def _is_comm_success(self, comm: int) -> bool:
-        pass
+        return comm == self._comm_success
 
-    @abc.abstractmethod
     def _is_error(self, error: int) -> bool:
-        pass
+        return error != self._error
 
     @staticmethod
     @abc.abstractmethod