CAN Network

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CAN supplies signal through motors and other components in a Daisy chain type manner. Organization is extremely important for this, as any misconnection will cause failure for programming. To make this process easier, a student from the 2023-2025 school year, made this “Control System” diagram, to help locate the network and have easier access. It’s recommended that the CAN network is performed by 2 individuals. One person will be connecting the wires, one component at a time, while the other will document where it’s being plugged into.

TOOLS NEEDED:

• CAN Wires

• Wire strippers

• Writing utensil/whiteboard

• 2 people

• Wire Loom

• Labels for each motor

• PWM Cable Clip (REV Robotics)

STEPS

1. On a whiteboard/paper, draw a 3 column diagram with one section being labelled as “Motor #”, another PDH (represents which PDH port it’s into), and CAN. On top of this, create another table with components instead of motors (EX: Mitocandria, PDH, Robo-rio).

2. Once all motor controllers/motors are plugged into the PDH, start from the PDH and plug in the beginning of your CAN daisy chain. While doing this, another person should be labelling that the PDH is the starting point of the CAN network. 

3. From there, decide the best routing of the majority of your wires. Think of it as a highway, on your robot you’ll want to keep a main runway of wires for not only organization but it’ll be easier to protect them when they’re all together and easily bundled.

4. Continue your daisy chain, making sure that you communicate which components you’re plugging in together. In the CAN column, the writer should write the number motor OR component the CAN wire is going to.

5. Label the END of your CAN network onto the table.

6. After every component is connected, place a PWM clip onto the connection point. 

7. Do one more pass through, making sure every component goes to the next with a clear step-by-step pathway. Once complete, make sure any CAN wires running through the frame or metal parts are covered with wire-loom or protection, and test your CAN network with your programming team.