It is not really a “balanced” signal but it is a transmission line. You will need CAN enabled if you wish to use the pneumatics PCM module and turn on your compressor. As always, CAN implementation requires a terminating resistor at each end of the buss. One is provided in the RoboRio (The start of the buss) and another is provided in the PDP (possible end of the buss). If you wish to configure your CAN wiring differently or not use the PDP CAN, then be sure to provide the required termination resistor at the last device in your chain. The majority of CAN problems in the past have centered around the termination resistor.
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.
Yeah, the green/yellow is helpful for other reasons.
-Makes robot inspection and troubleshooting easier.
-The colors are labeled on the roboRIO CAN connector
-The colors are present on the PDP/PCM Weidmuller connectors.
-The colors match the Talon SRX cable harness
It all adds up to a better CAN bus experience.