[Mike Copioli]

Originally Posted by Wendy Holladay

We have been using CAN with the RS232 port successfully all summer and fall. I have been reading about 2-CAN but other than wiring can't see the difference. Is there one? Is one of them better than the other?

CAN is the communication protocol used to communicate with the Jaguars. The 2CAN is a gateway device used to bridge Ethernet to CAN. The Jaguars may also be used as a gateway between serial (rs232) and CAN. Below is a list of benefits to using the 2CAN gateway instead of the serial gateway.

- Bandwidth
- Integrated Web dash
- Diagnostics
- Simpler wiring
- Not driving a motor (Gateway is a much lower risk of failure when not driving a motor)
- Ability to view motor status via wireless while driving the robot.

Originally Posted by Wendy Holladay

If we went to 2-CAN with the 4 port cRIO, would we plug the 2-CAN into one of the radio ports? The 1 Enet port on the cRIO is used by the radio.

2CAN is two port Ethernet switch, (effectively a passthrough) This prevents a port on the cRIO from being tied up. However R53 requires:

[R53]
Connections to the cRIO Ethernet ports must be compliant with the following parameters:

A.The DAP-1522 wireless bridge is connected to the cRIO Ethernet port 1 (either directly or via a CAT5 Ethernet pigtail).
B.Ethernet-connected COTS devices or custom circuits may connect to any remaining Ethernet ports; however, these devices may not transmit or receive UDP packets using ports 1100-1200 except for ports 1130 and 1140.
So to comply with the rules the 2CAN would need to be connected to the wireless bridge. Either port on the 2CAN will work fine.