diff --git a/lerobot/common/robot_devices/motors/dynamixel.py b/lerobot/common/robot_devices/motors/dynamixel.py
index e6bc4d44..e3f64685 100644
--- a/lerobot/common/robot_devices/motors/dynamixel.py
+++ b/lerobot/common/robot_devices/motors/dynamixel.py
@@ -377,8 +377,10 @@ class DynamixelMotorsBus:
 
         self.port_handler.setPacketTimeoutMillis(TIMEOUT_MS)
 
-        # Set expected baudrate for the bus
-        self.set_bus_baudrate(BAUDRATE)
+        if not self.are_motors_configured():
+            raise OSError(
+                "Motors are not configured. Please use configure_motors.py to configure motors before continuing."
+            )
 
     def reconnect(self):
         self.port_handler = PortHandler(self.port)
diff --git a/lerobot/common/robot_devices/motors/feetech.py b/lerobot/common/robot_devices/motors/feetech.py
index e2134add..53c92950 100644
--- a/lerobot/common/robot_devices/motors/feetech.py
+++ b/lerobot/common/robot_devices/motors/feetech.py
@@ -350,8 +350,10 @@ class FeetechMotorsBus:
 
         self.port_handler.setPacketTimeoutMillis(TIMEOUT_MS)
 
-        # Set expected baudrate for the bus
-        self.set_bus_baudrate(BAUDRATE)
+        if not self.are_motors_configured():
+            raise OSError(
+                "Motors are not configured. Please use configure_motors.py to configure motors before continuing."
+            )
 
     def reconnect(self):
         self.port_handler = PortHandler(self.port)
diff --git a/lerobot/scripts/find_motors_bus_port.py b/lerobot/scripts/find_motors_bus_port.py
new file mode 100644
index 00000000..3e547b25
--- /dev/null
+++ b/lerobot/scripts/find_motors_bus_port.py
@@ -0,0 +1,36 @@
+import time
+from pathlib import Path
+
+
+def find_available_ports():
+    ports = []
+    for path in Path("/dev").glob("tty*"):
+        ports.append(str(path))
+    return ports
+
+
+def find_port():
+    print("Finding all available ports for the DynamixelMotorsBus.")
+    ports_before = find_available_ports()
+    print(ports_before)
+
+    print("Remove the usb cable from your DynamixelMotorsBus and press Enter when done.")
+    input()
+
+    time.sleep(0.5)
+    ports_after = find_available_ports()
+    ports_diff = list(set(ports_before) - set(ports_after))
+
+    if len(ports_diff) == 1:
+        port = ports_diff[0]
+        print(f"The port of this DynamixelMotorsBus is '{port}'")
+        print("Reconnect the usb cable.")
+    elif len(ports_diff) == 0:
+        raise OSError(f"Could not detect the port. No difference was found ({ports_diff}).")
+    else:
+        raise OSError(f"Could not detect the port. More than one port was found ({ports_diff}).")
+
+
+if __name__ == "__main__":
+    # Helper to find the usb port associated to all your DynamixelMotorsBus.
+    find_port()