diff --git a/can/interfaces/socketcan/constants.py b/can/interfaces/socketcan/constants.py
index ba5100403..98bbc39d1 100644
--- a/can/interfaces/socketcan/constants.py
+++ b/can/interfaces/socketcan/constants.py
@@ -11,6 +11,7 @@
 # BCM opcodes
 CAN_BCM_TX_SETUP = 1
 CAN_BCM_TX_DELETE = 2
+CAN_BCM_TX_READ = 3
 
 # BCM flags
 SETTIMER = 0x0001
diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py
index f504d1cfc..b99124719 100644
--- a/can/interfaces/socketcan/socketcan.py
+++ b/can/interfaces/socketcan/socketcan.py
@@ -330,6 +330,32 @@ def _tx_setup(self, messages):
             ival1 = 0
             ival2 = self.period
 
+        # First do a TX_READ before creating a new task, and check if we get
+        # EINVAL. If so, then we are referring to a CAN message with the same
+        # ID
+        check_header = build_bcm_header(
+            opcode=CAN_BCM_TX_READ,
+            flags=0,
+            count=0,
+            ival1_seconds=0,
+            ival1_usec=0,
+            ival2_seconds=0,
+            ival2_usec=0,
+            can_id=self.can_id_with_flags,
+            nframes=0,
+        )
+        try:
+            self.bcm_socket.send(check_header)
+        except OSError as e:
+            if e.errno != errno.EINVAL:
+                raise e
+        else:
+            raise ValueError(
+                "A periodic Task for Arbitration ID {} has already been created".format(
+                    messages[0].arbitration_id
+                )
+            )
+
         header = build_bcm_transmit_header(
             self.can_id_with_flags,
             count,
diff --git a/test/test_socketcan_cyclic_multiple.py b/test/test_cyclic_socketcan.py
similarity index 95%
rename from test/test_socketcan_cyclic_multiple.py
rename to test/test_cyclic_socketcan.py
index ee2f0adaf..bd3042b38 100644
--- a/test/test_socketcan_cyclic_multiple.py
+++ b/test/test_cyclic_socketcan.py
@@ -10,7 +10,7 @@
 
 
 @unittest.skipUnless(TEST_INTERFACE_SOCKETCAN, "skip testing of socketcan")
-class SocketCanCyclicMultiple(unittest.TestCase):
+class CyclicSocketCan(unittest.TestCase):
     BITRATE = 500000
     TIMEOUT = 0.1
 
@@ -244,6 +244,27 @@ def test_cyclic_initializer_different_arbitration_ids(self):
         with self.assertRaises(ValueError):
             task = self._send_bus.send_periodic(messages, self.PERIOD)
 
+    def test_create_same_id_raises_exception(self):
+        messages_a = can.Message(
+            arbitration_id=0x401,
+            data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],
+            is_extended_id=False,
+        )
+
+        messages_b = can.Message(
+            arbitration_id=0x401,
+            data=[0x22, 0x22, 0x22, 0x22, 0x22, 0x22],
+            is_extended_id=False,
+        )
+
+        task_a = self._send_bus.send_periodic(messages_a, 1)
+        self.assertIsInstance(task_a, can.broadcastmanager.CyclicSendTaskABC)
+
+        # The second one raises a ValueError when we attempt to create a new
+        # Task, since it has the same arbitration ID.
+        with self.assertRaises(ValueError):
+            task_b = self._send_bus.send_periodic(messages_b, 1)
+
     def test_modify_data_list(self):
         messages_odd = []
         messages_odd.append(