Suggestion on wiring multiple M23CLs CAN-FD bus
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Hello,
I am exploring using multiple closed-loop motors M23CL for my project and trying to figure out how to connect the CAN-FD connections. Planning to use 3 M23CLsCurrent setup: Duet 3 Mainboard 6HC --> Tool Distribution Board 1 --> Tool Distribution Board 2
Tool Distribution board 1 has four T1LCs and Tool Distribution board 2 has one T1LC board.Looking at the pin-out of M23CL, I see two pairs of CAN_L and CAN_H (one each for incoming and outgoing I think). I can daisy chain the outgoing pair to the incoming pair of another motor.
Should the motors be wired in-between the other boards on the CAN bus or be used as the last device on the bus? Is there a termination resistor built in?The documentation says "Multiple M23CLs can be connected to the bus, either via an M8 Y splitter or a distribution board/box". Is this available as a product? Any wiring diagrams would be appreciated
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Looking at the pin-out of M23CL, I see two pairs of CAN_L and CAN_H (one each for incoming and outgoing I think). I can daisy chain the outgoing pair to the incoming pair of another motor.
Yes, that's correct.
Should the motors be wired in-between the other boards on the CAN bus or be used as the last device on the bus? Is there a termination resistor built in?
The 23CL is supplied without CAN termination, so is easiest to use between other boards. If a 23CL needs to be the last device on the bus, there is a solder jumper on the PCB inside the motor to enable termination, but you would have to take the rear cover off the motor to access it. We recommend using external termination if the 23CL is the last device on the CAN bus. Connect a 120 ohm resistor between the pins on the 'outgoing' wire pair, between CAN_H and CAN_L.
The documentation says "Multiple M23CLs can be connected to the bus, either via an M8 Y splitter or a distribution board/box". Is this available as a product? Any wiring diagrams would be appreciated
M8 cables are pretty widely available. Generally, you can use 4-wire M8 cables. What kind you need will depend largely on your application.
T splitters (not Y splitters, they tend to have the wrong connections) with 4 positions on all connectors such as https://www.te.com/usa-en/product-T4082102004-000.html (widely available from Mouser/Digikey/RS/Farnell etc) should work. Plugging in with the middle connector of the T will obstruct the 23CL power connector, so either use the other female connector of the T, or have a short jumper cable between the T and the 23CL.
For 'distribution board/box', you can use the Duet 3 Tool Distribution board, and wire each 23CL in the same way as a Toolboard 1LC. Bus termination can then be done on the Tool Distribution board.
I'll add the above to the 23CL documentation.
Ian
