CAN port in OpenCR

[wsung1]

Hi, ROBOTIS,
Among several communication ports that serve in OpenCR, only CAN has no information except its connector is 20010WS-04 (4-pin male connector).
http://emanual.robotis.com/docs/en/parts/controller/opencr10/
I'm also wondering why there are 4 pins for the one single CAN channel.
Please let me know at least the pin map for this in that which one is CAN high/low and so on.
Thanks in advance!

[OpusK]

Hi, @wsung1 ,

Sorry for late reply you.
Please refer to the figure below. (This is also shown on the OpenCR board)

The CAN pin map will be updated later in e-manual.

[wsung1]

Thanks for replying, @OpusK, but I'm still wondering what G and V pins do.
As far as I know, CAN generally consists of H and L.

[OpusK]

@wsung1,
As you say, CAN can communicate using High / Low only.
It seems to have been added at the hardware design stage because it may require G / V depending on the user.

[KurtE]

@wsung1, obviously someone from Robotis can answer this better than I can...

But for issues like, this, I usually find it helps to look at the schematic and other design files.
You can find the Schematic through the E-Manual or directly from github: https://github.com/ROBOTIS-GIT/OpenCR-Hardware/blob/master/Schematic/OpenCR_REVF_Schematic.pdf

So if you look at Sheet 8 at the CAN section you will see that:
G - Ground
V - Is voltage of what looks like 5 Volts.

So these two pins allow you to apply power and ground, which may be needed by a Can device. Note: You almost always require a ground...

[wsung1]

@KurtE, I'd appreciate for your pieces of advice. It helps me a lot! :)

[robotpilot]

This issue will be closed since there were no actions for a while. You can reopen this issue to show this issue to the users whenever. Thanks.

[kaif-46]

@OpusK @KurtE @wsung1 Will, you be able to provide some information about how to access these pins in the code and how can we send/receive data over it?

[KurtE]

Sorry I have not played with OpenCR for a couple of years now... So not much help on this one. anymore.

[ROBOTIS-Will]

@kaif-46

Please create a new issue thread since this thread had been closed long ago.

You may refer to the CAN example provided in the OpenCR Arduino board manager.

Please checkout our eManual to find out how to install the required library for OpenCR.
https://emanual.robotis.com/docs/en/parts/controller/opencr10/#arduino-ide

Thanks!

[kaif-46]

@ROBOTIS-Will How can i change the frequency to 8MHz for CAN communication.

[ROBOTIS-Will]

Please refer to the thread #296.