Wiring Guide
SWYFT CANnect products provide the capability to pass two CAN buses and power over traditional ethernet cabling, allowing for reduced robot wiring!
There are currently two CANnect products available: SWYFT Inject and SWYFT Direct. These products were co-designed to simplify Swerve drivetrain wiring, but they can be used anywhere on the robot where you would want both CAN and power.
The following guidelines are very important to ensure your setup is not only FRC legal, but safe to use, we recommend you double check that your setup is both safe and FRC legal yourself as well.
In general, use high-quality twisted pair ethernet cabling. We recommend the following cables based on your application's maximum total current draw:
Total current draw < 0.5A (swerve drive with 4x CAN-based encoders):
Monoprice Micro SlimRun cables or better
Total current draw ≥ 0.5A:
Monoprice Cat6A PoE Patch cables (22AWG) or better
We recommend powering your Inject from a fused circuit, with the value of the fuse depending on your chosen ethernet cabling:
For any ethernet cabling:
Fuse rated no larger than 2A (≤2A)
For ethernet cabling that uses 22AWG (or physically larger) wires:
Fuse rated no larger than 10A (≤10A
CAN Wiring Guidelines
Since CANnect incorporates CAN bus wiring, there are some guidelines that should be followed carefully to ensure bus integrity.
CAN 2.0 and CAN FD buses can both be used with CANnect.
The CAN bus should be terminated with 120 Ohm resistors on the most extreme points of the bus
Branch / Stub lengths should be kept < 12 inches, ideally shorter.
The overall CAN bus length should be kept to a minimum; < 40 / 10 meters (2.0 / FD, respectively)
While these guidelines are important for both CAN 2.0 and CAN FD technologies, CAN FD is much more fickle, due to significantly higher bitrates.
CANnect products support daisy chain topology between themselves, through the ethernet cabling, but any devices connected to the CAN bus through an CANnect device is a stub / branch on the bus.
This means that devices connected via a CANnect device should have CAN wire lengths NO LONGER than 12 inches.
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