SWYFT CANnect
Last updated
Last updated
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.
Be cautious of what gauge wire you use when wiring your CANnect system in order to be FRC legal.
We recommend using high-quality 22AWG wire & ethernet cabling (such as these Monoprice cables on Amazon).
Your minimum wire gauge (smallest wire physically, largest AWG) will define how you are allowed to power the CANnect system, below is a guide using the FRC game manual to help you decide how to power your setup.
Using 22AWG (or physically larger) wiring:
Power can come from the PDP/PDH with a 10A fuse, or either of the methods below.
Using 24AWG (or physically larger) wiring:
Power can come from the VRM 2A slots, or the method below.
Using 28AWG (or physically larger) wiring:
Power can come from the VRM 500mA slots.
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.
Supported Wire Gauge (Bare Solid/Stranded)
26
-
16
AWG
Bare Wire Strip Length
0.31
0.33
0.35
in
Supported Wire Gauge (Stranded, with ferrule)
24
-
18
AWG
