7. CAN bus¶
| CAN 1 | Transceiver fitted; terminals CAN H and CAN L; the gripper bus in PAROL6 |
| CAN 2 | Controller on the microcontroller, transceiver not populated |
| Bit rate | 1 Mbit/s, set by the firmware |
| Termination | One jumper per bus, CAN1 JUMPER and CAN2 JUMPER: with the jumper on, a 120 Ω resistor is connected between CAN H and CAN L; with it off, the bus is not terminated on the board |
In PAROL6, CAN 1 runs with 24 V and GND to the M8 socket at the forearm. The firmware addresses one gripper at the CAN ID the PC's packet names (0 as the grippers ship), sends it a move, a calibrate, a clear-error or an empty status frame every cycle, and relays its answer to the PC: CAN bus in the Robot Manual, and the gripper manuals for the messages themselves.
A CAN bus is terminated at both of its ends, 120 Ω at each. In PAROL6 the ends are the board, with its CAN1 jumper, and the gripper, with its own termination switch. Nodes in the middle of a longer bus stay unterminated. The jumpers are on the board figure in Connectors and pinout.
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