diff --git a/setup/configure_socketcan_4_arms.sh b/setup/configure_socketcan_4_arms.sh
new file mode 100755
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+++ b/setup/configure_socketcan_4_arms.sh
@@ -0,0 +1,113 @@
+#!/bin/bash
+#
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http:#www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -eu
+
+# Simple CAN Interface Setup Script
+# Usage: script/configure_socketcan.sh <interface> [options]
+
+# Default values
+BITRATE=1000000
+DBITRATE=5000000
+FD_MODE=false
+
+# Show usage
+usage() {
+    echo "Usage: $0 <can_interface> [options]"
+    echo ""
+    echo "Options:"
+    echo "  -fd                    Enable CAN FD mode (default: CAN 2.0)"
+    echo "  -b <bitrate>           Set bitrate (default: 1000000)"
+    echo "  -d <dbitrate>          Set CAN FD data bitrate (default: 5000000)"
+    echo "  -h                     Show help"
+    echo ""
+    echo "Examples:"
+    echo "  $0 can0                     # CAN 2.0 at 1Mbps"
+    echo "  $0 can0 -fd                # CAN FD at 1Mbps/5Mbps"
+    echo "  $0 can0 -b 500000          # CAN 2.0 at 500kbps"
+    echo "  $0 can0 -fd -d 8000000     # CAN FD with 8Mbps data rate"
+}
+
+# Parse options
+while [[ $# -gt 0 ]]; do
+    case $1 in
+    -fd)
+        FD_MODE=true
+        shift
+        ;;
+    -b)
+        BITRATE="$2"
+        shift 2
+        ;;
+    -d)
+        DBITRATE="$2"
+        shift 2
+        ;;
+    -h)
+        usage
+        exit 0
+        ;;
+    *)
+        echo "Error: Unknown option '$1'"
+        usage
+        exit 1
+        ;;
+    esac
+done
+
+CAN_DEVICES=("can0" "can1" "can2" "can3")
+# for each device, check if it exists and configure it
+for CAN_IF in "${CAN_DEVICES[@]}"; do
+    echo "Configuring $CAN_IF..."
+
+    # Check if interface exists
+    if ! ip link show "$CAN_IF" &>/dev/null; then
+        echo "Error: CAN interface '$CAN_IF' not found"
+        echo "Available interfaces:"
+        ip link show | grep -E "can[0-9]" | cut -d: -f2 | tr -d ' ' || echo "  No CAN interfaces found"
+        exit 1
+    fi
+
+    # Configure CAN interface
+    echo "Configuring $CAN_IF..."
+
+    if ! sudo ip link set "$CAN_IF" down; then
+        echo "Error: Failed to bring down $CAN_IF"
+        exit 1
+    fi
+
+    if [ "$FD_MODE" = true ]; then
+        if ! sudo ip link set "$CAN_IF" type can bitrate "$BITRATE" dbitrate "$DBITRATE" fd on; then
+            echo "Error: Failed to configure CAN FD mode"
+            exit 1
+        fi
+        echo "$CAN_IF is now set to CAN FD mode (${BITRATE} bps / ${DBITRATE} bps)"
+    else
+        if ! sudo ip link set "$CAN_IF" type can bitrate "$BITRATE"; then
+            echo "Error: Failed to configure CAN 2.0 mode"
+            exit 1
+        fi
+        echo "$CAN_IF is now set to CAN 2.0 mode (${BITRATE} bps)"
+    fi
+
+    if ! sudo ip link set "$CAN_IF" up; then
+        echo "Error: Failed to bring up $CAN_IF"
+        exit 1
+    fi
+
+    echo "✓ $CAN_IF is active"
+
+done