If there are multiple modules connected with CAN IDs in the reserved range then it's up to the user to ensure there are no conflicts. E.g., two CANUSB adapters would need different connection settings in JMRI.
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Are you sure the CANCMD uses an ID of 127? Exactly what issue are you seeing when using the CANCMD and CANUSB4?
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I wrote the original firmware for the CANCMD and it had a fixed ID of 114, as per the developer guide. If that has been changed then you need to ping Pete Brownlow who is now the developer of the CANCMD.
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The USB adapters have never had "fixed" IDs. They always simply pass through the ID from the gridconnect packet on the host side. This can be set in the connection preference in JMRI.
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I would consider making the documentation clearer, rather than change something that hasn't been an issue for many years.
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Andrew