CAN Rules

[NabilHanke]

The connectors form Hansen Hobbies are at a price premium. They are just Molex connectors - try digikey http://www.digikey.com/product-detai...2573-ND/134131

Also, electricity is color blind to insulation color. Twisting your pairs isn't absolutely critical on CAN, but not doing so will turn 2 minutes of laziness into two hours of hair pulling. CAN uses a differential signal: both will rest to the same voltage, then when signaling, CAN High gets pulled up a volt or two and CAN low gets pulled down a volt or two and they are compared against each other. If there is noise it'll effect them the same and that differential will remain intact. Good stuff.

Where you can find another opportunity to pull your hair out is loose connections on the CAN bus. It is a bus, all CAN High connections should be congruent with each other and all CAN Low connections likewise. If you have a bad connection in the middle, you'll lose not just the other half of devices, but the terminating resistor as well and the whole bus itself... well, in an ideal world. But fortunately theory and reality don't agree and sometimes you'll still have an intact bus.

BTW, I'd use WAGO lever locks for the motor controllers.