I'm going to point you to the manuals for all the control system hardware here:
https://wpilib.screenstepslive.com/s...dware-overview The wiring instructions on this site have some help for wiring CAN.
The CAN bus is designed for you to daisy chain all of your CAN related hardware together, and requires a terminating resistor at the end of the chain. The PDP has a terminating resistor built in and can be used to end the chain if that's convenient, or you can move the jumper to the other position and use something else at the end.