diff --git a/lerobot/common/motors/dynamixel/dynamixel.py b/lerobot/common/motors/dynamixel/dynamixel.py
index 21f2524c..4bcbf6b0 100644
--- a/lerobot/common/motors/dynamixel/dynamixel.py
+++ b/lerobot/common/motors/dynamixel/dynamixel.py
@@ -136,6 +136,9 @@ class DynamixelMotorsBus(MotorsBus):
     def _assert_protocol_is_compatible(self, instruction_name: str) -> None:
         pass
 
+    def _handshake(self) -> None:
+        self._assert_motors_exist()
+
     def configure_motors(self) -> None:
         # By default, Dynamixel motors have a 500µs delay response time (corresponding to a value of 250 on
         # the 'Return_Delay_Time' address). We ensure this is reduced to the minimum of 2µs (value of 0).
diff --git a/lerobot/common/motors/feetech/feetech.py b/lerobot/common/motors/feetech/feetech.py
index 193f1b4a..8c31401b 100644
--- a/lerobot/common/motors/feetech/feetech.py
+++ b/lerobot/common/motors/feetech/feetech.py
@@ -22,6 +22,7 @@ from lerobot.common.utils.encoding_utils import decode_sign_magnitude, encode_si
 from ..motors_bus import Motor, MotorCalibration, MotorsBus, NameOrID, Value
 from .tables import (
     FIRMWARE_MAJOR_VERSION,
+    FIRMWARE_MINOR_VERSION,
     MODEL_BAUDRATE_TABLE,
     MODEL_CONTROL_TABLE,
     MODEL_ENCODING_TABLE,
@@ -150,6 +151,18 @@ class FeetechMotorsBus(MotorsBus):
                 "'Broadcast Ping' is not available with Feetech motors using Protocol 1. Use 'Ping' sequentially instead."
             )
 
+    def _assert_same_firmware(self) -> None:
+        firmware_versions = self._read_firmware_version(self.ids)
+        if len(set(firmware_versions.values())) != 1:
+            raise RuntimeError(
+                "Some Motors use different firmware versions. Update their firmware first using Feetech's software. "
+                "Visit https://www.feetechrc.com/software."
+            )
+
+    def _handshake(self) -> None:
+        self._assert_motors_exist()
+        self._assert_same_firmware()
+
     def configure_motors(self) -> None:
         # By default, Feetech motors have a 500µs delay response time (corresponding to a value of 250 on the
         # 'Return_Delay' address). We ensure this is reduced to the minimum of 2µs (value of 0).
@@ -317,9 +330,9 @@ class FeetechMotorsBus(MotorsBus):
             display_dict = {id_: self.packet_handler.getRxPacketError(err) for id_, err in ids_errors.items()}
             logger.error(f"Some motors found returned an error status:\n{pformat(display_dict, indent=4)}")
 
-        return self._get_model_number(list(ids_status), raise_on_error)
+        return self._read_model_number(list(ids_status), raise_on_error)
 
-    def _get_firmware_version(self, motor_ids: list[int], raise_on_error: bool = False) -> dict[int, str]:
+    def _read_firmware_version(self, motor_ids: list[int], raise_on_error: bool = False) -> dict[int, str]:
         firmware_versions = {}
         for id_ in motor_ids:
             firm_ver_major, comm, error = self._read(
@@ -329,7 +342,7 @@ class FeetechMotorsBus(MotorsBus):
                 return
 
             firm_ver_minor, comm, error = self._read(
-                *FIRMWARE_MAJOR_VERSION, id_, raise_on_error=raise_on_error
+                *FIRMWARE_MINOR_VERSION, id_, raise_on_error=raise_on_error
             )
             if not self._is_comm_success(comm) or self._is_error(error):
                 return
@@ -338,7 +351,7 @@ class FeetechMotorsBus(MotorsBus):
 
         return firmware_versions
 
-    def _get_model_number(self, motor_ids: list[int], raise_on_error: bool = False) -> dict[int, int]:
+    def _read_model_number(self, motor_ids: list[int], raise_on_error: bool = False) -> dict[int, int]:
         model_numbers = {}
         for id_ in motor_ids:
             model_nb, comm, error = self._read(*MODEL_NUMBER, id_, raise_on_error=raise_on_error)
diff --git a/lerobot/common/motors/motors_bus.py b/lerobot/common/motors/motors_bus.py
index d0f8ff3e..1ec4a201 100644
--- a/lerobot/common/motors/motors_bus.py
+++ b/lerobot/common/motors/motors_bus.py
@@ -377,9 +377,13 @@ class MotorsBus(abc.ABC):
 
     def _assert_motors_exist(self) -> None:
         # TODO(aliberts): collect all wrong ids/models and display them at once
-        found_models = self.broadcast_ping()
+        found_models = {}
+        for id_ in self.ids:
+            model_nb = self.ping(id_)
+            if model_nb is not None:
+                found_models[id_] = model_nb
         expected_models = {m.id: self.model_number_table[m.model] for m in self.motors.values()}
-        if not found_models or set(found_models) != set(self.ids):
+        if set(found_models) != set(self.ids):
             raise RuntimeError(
                 f"{self.__class__.__name__} is supposed to have these motors: ({{id: model_nb}})"
                 f"\n{pformat(expected_models, indent=4, sort_dicts=False)}\n"
@@ -403,7 +407,7 @@ class MotorsBus(abc.ABC):
     def is_connected(self) -> bool:
         return self.port_handler.is_open
 
-    def connect(self, assert_motors_exist: bool = True) -> None:
+    def connect(self, handshake: bool = True) -> None:
         if self.is_connected:
             raise DeviceAlreadyConnectedError(
                 f"{self.__class__.__name__}('{self.port}') is already connected. Do not call `{self.__class__.__name__}.connect()` twice."
@@ -412,8 +416,8 @@ class MotorsBus(abc.ABC):
         try:
             if not self.port_handler.openPort():
                 raise OSError(f"Failed to open port '{self.port}'.")
-            elif assert_motors_exist:
-                self._assert_motors_exist()
+            elif handshake:
+                self._handshake()
         except (FileNotFoundError, OSError, serial.SerialException) as e:
             raise ConnectionError(
                 f"\nCould not connect on port '{self.port}'. Make sure you are using the correct port."
@@ -423,6 +427,10 @@ class MotorsBus(abc.ABC):
         self.set_timeout()
         logger.debug(f"{self.__class__.__name__} connected.")
 
+    @abc.abstractmethod
+    def _handshake(self) -> None:
+        pass
+
     @classmethod
     def scan_port(cls, port: str, *args, **kwargs) -> dict[int, list[int]]:
         bus = cls(port, {}, *args, **kwargs)
@@ -690,7 +698,7 @@ class MotorsBus(abc.ABC):
                 return
         if self._is_error(error):
             if raise_on_error:
-                raise RuntimeError(self.packet_handler.getTxRxResult(comm))
+                raise RuntimeError(self.packet_handler.getRxPacketError(error))
             else:
                 return
 
diff --git a/tests/motors/test_dynamixel.py b/tests/motors/test_dynamixel.py
index cb2c11e6..822fd049 100644
--- a/tests/motors/test_dynamixel.py
+++ b/tests/motors/test_dynamixel.py
@@ -91,7 +91,7 @@ def test_ping(id_, mock_motors, dummy_motors):
     expected_model_nb = MODEL_NUMBER_TABLE[dummy_motors[f"dummy_{id_}"].model]
     stub = mock_motors.build_ping_stub(id_, expected_model_nb)
     bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     ping_model_nb = bus.ping(id_)
 
@@ -104,7 +104,7 @@ def test_broadcast_ping(mock_motors, dummy_motors):
     expected_model_nbs = {id_: MODEL_NUMBER_TABLE[model] for id_, model in models.items()}
     stub = mock_motors.build_broadcast_ping_stub(expected_model_nbs)
     bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     ping_model_nbs = bus.broadcast_ping()
 
@@ -123,7 +123,7 @@ def test_broadcast_ping(mock_motors, dummy_motors):
 def test__read(addr, length, id_, value, mock_motors, dummy_motors):
     stub = mock_motors.build_read_stub(addr, length, id_, value)
     bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     read_value, _, _ = bus._read(addr, length, id_)
 
@@ -136,7 +136,7 @@ def test__read_error(raise_on_error, mock_motors, dummy_motors):
     addr, length, id_, value, error = (10, 4, 1, 1337, dxl.ERRNUM_DATA_LIMIT)
     stub = mock_motors.build_read_stub(addr, length, id_, value, error=error)
     bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     if raise_on_error:
         with pytest.raises(
@@ -155,7 +155,7 @@ def test__read_comm(raise_on_error, mock_motors, dummy_motors):
     addr, length, id_, value = (10, 4, 1, 1337)
     stub = mock_motors.build_read_stub(addr, length, id_, value, reply=False)
     bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     if raise_on_error:
         with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@@ -178,7 +178,7 @@ def test__read_comm(raise_on_error, mock_motors, dummy_motors):
 def test__write(addr, length, id_, value, mock_motors, dummy_motors):
     stub = mock_motors.build_write_stub(addr, length, id_, value)
     bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     comm, error = bus._write(addr, length, id_, value)
 
@@ -192,7 +192,7 @@ def test__write_error(raise_on_error, mock_motors, dummy_motors):
     addr, length, id_, value, error = (10, 4, 1, 1337, dxl.ERRNUM_DATA_LIMIT)
     stub = mock_motors.build_write_stub(addr, length, id_, value, error=error)
     bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     if raise_on_error:
         with pytest.raises(
@@ -211,7 +211,7 @@ def test__write_comm(raise_on_error, mock_motors, dummy_motors):
     addr, length, id_, value = (10, 4, 1, 1337)
     stub = mock_motors.build_write_stub(addr, length, id_, value, reply=False)
     bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     if raise_on_error:
         with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@@ -235,7 +235,7 @@ def test__write_comm(raise_on_error, mock_motors, dummy_motors):
 def test__sync_read(addr, length, ids_values, mock_motors, dummy_motors):
     stub = mock_motors.build_sync_read_stub(addr, length, ids_values)
     bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     read_values, _ = bus._sync_read(addr, length, list(ids_values))
 
@@ -248,7 +248,7 @@ def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
     addr, length, ids_values = (10, 4, {1: 1337})
     stub = mock_motors.build_sync_read_stub(addr, length, ids_values, reply=False)
     bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     if raise_on_error:
         with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@@ -272,7 +272,7 @@ def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
 def test__sync_write(addr, length, ids_values, mock_motors, dummy_motors):
     stub = mock_motors.build_sync_write_stub(addr, length, ids_values)
     bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     comm = bus._sync_write(addr, length, ids_values)
 
@@ -294,7 +294,7 @@ def test_is_calibrated(mock_motors, dummy_motors, dummy_calibration):
         motors=dummy_motors,
         calibration=dummy_calibration,
     )
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     is_calibrated = bus.is_calibrated
 
@@ -321,7 +321,7 @@ def test_reset_calibration(mock_motors, dummy_motors):
         )
 
     bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     bus.reset_calibration()
 
@@ -355,7 +355,7 @@ def test_set_half_turn_homings(mock_motors, dummy_motors):
         write_homing_stubs.append(stub)
 
     bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
     bus.reset_calibration = MagicMock()
 
     bus.set_half_turn_homings()
@@ -386,7 +386,7 @@ def test_record_ranges_of_motion(mock_motors, dummy_motors):
     )
     with patch("lerobot.common.motors.motors_bus.enter_pressed", side_effect=[False, True]):
         bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
-        bus.connect(assert_motors_exist=False)
+        bus.connect(handshake=False)
 
         mins, maxes = bus.record_ranges_of_motion(display_values=False)
 
diff --git a/tests/motors/test_feetech.py b/tests/motors/test_feetech.py
index baf6d340..360c13cb 100644
--- a/tests/motors/test_feetech.py
+++ b/tests/motors/test_feetech.py
@@ -101,7 +101,7 @@ def test_ping(id_, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     ping_model_nb = bus.ping(id_)
 
@@ -125,7 +125,7 @@ def test_broadcast_ping(mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     ping_model_nbs = bus.broadcast_ping()
 
@@ -148,7 +148,7 @@ def test__read(addr, length, id_, value, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     read_value, _, _ = bus._read(addr, length, id_)
 
@@ -164,7 +164,7 @@ def test__read_error(raise_on_error, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     if raise_on_error:
         with pytest.raises(RuntimeError, match=re.escape("[RxPacketError] Input voltage error!")):
@@ -184,7 +184,7 @@ def test__read_comm(raise_on_error, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     if raise_on_error:
         with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@@ -210,7 +210,7 @@ def test__write(addr, length, id_, value, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     comm, error = bus._write(addr, length, id_, value)
 
@@ -224,7 +224,7 @@ def test__write_error(raise_on_error, mock_motors, dummy_motors):
     addr, length, id_, value, error = (10, 4, 1, 1337, scs.ERRBIT_VOLTAGE)
     stub = mock_motors.build_write_stub(addr, length, id_, value, error=error)
     bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     if raise_on_error:
         with pytest.raises(RuntimeError, match=re.escape("[RxPacketError] Input voltage error!")):
@@ -241,7 +241,7 @@ def test__write_comm(raise_on_error, mock_motors, dummy_motors):
     addr, length, id_, value = (10, 4, 1, 1337)
     stub = mock_motors.build_write_stub(addr, length, id_, value, reply=False)
     bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     if raise_on_error:
         with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@@ -265,7 +265,7 @@ def test__write_comm(raise_on_error, mock_motors, dummy_motors):
 def test__sync_read(addr, length, ids_values, mock_motors, dummy_motors):
     stub = mock_motors.build_sync_read_stub(addr, length, ids_values)
     bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     read_values, _ = bus._sync_read(addr, length, list(ids_values))
 
@@ -278,7 +278,7 @@ def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
     addr, length, ids_values = (10, 4, {1: 1337})
     stub = mock_motors.build_sync_read_stub(addr, length, ids_values, reply=False)
     bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     if raise_on_error:
         with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@@ -302,7 +302,7 @@ def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
 def test__sync_write(addr, length, ids_values, mock_motors, dummy_motors):
     stub = mock_motors.build_sync_write_stub(addr, length, ids_values)
     bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     comm = bus._sync_write(addr, length, ids_values)
 
@@ -324,7 +324,7 @@ def test_is_calibrated(mock_motors, dummy_motors, dummy_calibration):
         motors=dummy_motors,
         calibration=dummy_calibration,
     )
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     is_calibrated = bus.is_calibrated
 
@@ -350,7 +350,7 @@ def test_reset_calibration(mock_motors, dummy_motors):
         )
 
     bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
 
     bus.reset_calibration()
 
@@ -386,7 +386,7 @@ def test_set_half_turn_homings(mock_motors, dummy_motors):
         write_homing_stubs.append(stub)
 
     bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
     bus.reset_calibration = MagicMock()
 
     bus.set_half_turn_homings()
@@ -417,7 +417,7 @@ def test_record_ranges_of_motion(mock_motors, dummy_motors):
     )
     with patch("lerobot.common.motors.motors_bus.enter_pressed", side_effect=[False, True]):
         bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
-        bus.connect(assert_motors_exist=False)
+        bus.connect(handshake=False)
 
         mins, maxes = bus.record_ranges_of_motion(display_values=False)
 
diff --git a/tests/motors/test_motors_bus.py b/tests/motors/test_motors_bus.py
index c98cda7d..f3af8daf 100644
--- a/tests/motors/test_motors_bus.py
+++ b/tests/motors/test_motors_bus.py
@@ -227,7 +227,7 @@ def test__serialize_data_large_number():
 )
 def test_read(data_name, id_, value, dummy_motors):
     bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
     addr, length = DUMMY_CTRL_TABLE_2[data_name]
 
     with (
@@ -261,7 +261,7 @@ def test_read(data_name, id_, value, dummy_motors):
 )
 def test_write(data_name, id_, value, dummy_motors):
     bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
     addr, length = DUMMY_CTRL_TABLE_2[data_name]
 
     with (
@@ -296,7 +296,7 @@ def test_write(data_name, id_, value, dummy_motors):
 )
 def test_sync_read_by_str(data_name, id_, value, dummy_motors):
     bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
     addr, length = DUMMY_CTRL_TABLE_2[data_name]
     ids = [id_]
     expected_value = {f"dummy_{id_}": value}
@@ -333,7 +333,7 @@ def test_sync_read_by_str(data_name, id_, value, dummy_motors):
 )
 def test_sync_read_by_list(data_name, ids_values, dummy_motors):
     bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
     addr, length = DUMMY_CTRL_TABLE_2[data_name]
     ids = list(ids_values)
     expected_values = {f"dummy_{id_}": val for id_, val in ids_values.items()}
@@ -370,7 +370,7 @@ def test_sync_read_by_list(data_name, ids_values, dummy_motors):
 )
 def test_sync_read_by_none(data_name, ids_values, dummy_motors):
     bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
     addr, length = DUMMY_CTRL_TABLE_2[data_name]
     ids = list(ids_values)
     expected_values = {f"dummy_{id_}": val for id_, val in ids_values.items()}
@@ -406,7 +406,7 @@ def test_sync_read_by_none(data_name, ids_values, dummy_motors):
 )
 def test_sync_write_by_single_value(data_name, value, dummy_motors):
     bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
     addr, length = DUMMY_CTRL_TABLE_2[data_name]
     ids_values = {m.id: value for m in dummy_motors.values()}
 
@@ -441,7 +441,7 @@ def test_sync_write_by_single_value(data_name, value, dummy_motors):
 )
 def test_sync_write_by_value_dict(data_name, ids_values, dummy_motors):
     bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
-    bus.connect(assert_motors_exist=False)
+    bus.connect(handshake=False)
     addr, length = DUMMY_CTRL_TABLE_2[data_name]
     values = {f"dummy_{id_}": val for id_, val in ids_values.items()}