CAN Options
To use your new Allegro Hand, a controller area network (CAN) interface must be used. While any CAN interface may be used, Wonik Robotics supports the following five interfaces:
- National Instruments (NI) USB-8473s High-Speed CAN
- Softing CAN-AC2-PCI
- Kvaser PCIcan 4xHS
- ESD CAN-PCI/266
- PEAK PCAN-USB
Your CAN interface, either PCI (Softing, ESD, Kvaser) or USB (NI), should be installed or plugged in to you computer before installing the proper drivers.
CAN Hardware drivers, if not included with the hardware, can be downloaded from the respective manufacturer's website. For the four CAN interfaces available through Wonik Robotics, product drivers and documentation are available at the following websites.
Note: Check in Start Menu > Control Panel > Device Manager to make sure that a driver has installed successfully.
Product, driver and API information for each of these four interfaces can be found below.
Note:
Other CAN interfaces may also be used but communication must be configured by the user.
Contents |
NI USB-8473s CAN
1-Port, High-Speed CAN, USB Interface with Synchronization -NI
- NI Product Website
- USB-8473s Data Sheet:
- USB-8473s Software Manual:
Product Description
From NI's website
- Hi-Speed USB-compliant, bus-powered
- CAN 2.0A (11-bit) and extended CAN 2.0B (29-bit) arbitration ID
- Philips SJA1000 CAN controller and ISO 11898 physical layer
- Philips TJA1041 high-speed CAN transceiver
- Hardware timestamping: 1 µs reading resolution
- Log 100% bus loads at 1 Mbits/s with no dropped frames
Driver
NI-CAN 2.7.4 (Windows 7)
Softing CAN-AC2-PCI
Active, two-channel CAN bus PCI interface card to connect a PC to two independent CAN networks. The card is suited both to control and visualization tasks and to parameterization and analysis applications. For instance, this enables the PC to be integrated into hierarchical network structures. -Softing
- Softing Product Page
- CAN-AC2-PCI Data Sheet:
- CAN-ACx-PCI Hardware Notes:
- D-PDU API Data Sheet:
Product Description
From Softing's website
- Active card with its own microcontroller
- CAN API, optional CANopen API
- Optional D-PDU API according to ISO 22900-2
- Local buffering and preprocessing
- High performance, takes over time-critical tasks from the PC
- Transfer rate of up to 1 Mbps
- 2 independent channels
- Onboard switchable bus terminator
- Same API for all form factors
- Windows drivers for Vista, XP, 2000, NT, 9x; Linux drivers for Kernel 2.4 and 2.6
- The following realtime environments are supported:
- Ardence RTX for Windows XP/2000
- Windows CE.NET 4.0, 4.1, 4.2 and 5.0
Driver
Softing CAN Drivers (Windows 7)
- Click "Downloads"
Kvaser PCIcan 4xHS
The Kvaser PCIcan product family is a family of CAN/PCI interface boards and comprises three members: Kvaser PCIcan 4xHS, PCIcan HS/HS and PCIcan HS. -Kvaser
- Kvaser Product Page
- PCIcan 4xHS Data Sheet:
- PCIcan 4xHS Hardware Reference Manual:
Product Description
From Kavaser's website
- Compliant with PCI 2.2
- I/O mapped
- CAN Controllers: SJA1000 from Philips, with 64-byte receive FIFO
- Supports CAN 2.0 A and 2.0 B (active)
- High-speed ISO 11898 compliant driver circuits
- Interfaces the CAN bus with DSUB CAN connector
- CAN oscillator frequency: 16 MHz
- Galvanic isolation between the CAN-controller and the CAN-driver
- The CAN controllers can individually be connected to a common CAN bus on the card
- The common CAN bus has a built-in optional termination
Driver
Kavaser CAN Drivers
- Click "Downloads"
ESD CAN-PCI/266
The module CAN-PCI/266 is a low cost PC board designed for 66 MHz PCI bus systems that uses a PCI bus width of 32 bits or in 33 MHz PCI bus systems at a bus speed of 33 MHz. -ESD
- CAN-PCI/266 Data Sheet:
- CAN-PCI/266 Hardware Installation and Technical Data:
- ESD CAN API Guide:
Product Description
From ESD's website
- PCI-CAN interface with 1 OR 2 CAN channel
- PCI 2.2 interface, 32 bit, 66 MHz at 3.3 V signal voltage or 33 MHz at 5.0 V
- CAN controller SJA1000 (CAN 2.0 A/B)
- CAN interfaces electrically isolated, designed acc. to ISO 11898, bit rate up to 1 Mbit/s
- Suitable for CANOpen and J1939
- Attention: Passive CAN module without a microcontroller on board - the performance may be limited by the host system!
Driver
ESD CAN Driver
PEAK PCAN-USB
The PCAN-USB adapter enables simple connection to CAN networks. Its compact plastic casing makes it suitable for mobile applications -PEAK
- PCAN-USB Data Sheet:
- PEAK PCAN API:
Product Description
From PEAK's website
- Adapter for USB connection (USB 1.1, compatible with USB 2.0)
- USB voltage supply
- Bit rates up to 1 Mbit/s
- Time stamp resolution approx. 42 µs
- Compliant with CAN specifications 2.0A (11-bit ID) and 2.0B (29-bit ID)
- CAN bus connection via D-Sub, 9-pin (in accordance with CiA® 102)
- NXP SJA1000 CAN controller, 16 MHz clock frequency
- NXP PCA82C251 CAN transceiver
- 5-Volts supply to the CAN connection can be connected through a solder jumper, e.g. for external bus converter
- Extended operating temperature range from -40 to 85 °C (-40 to 185 °F)
- Optionally available: Galvanic isolation on the CAN connection up to 500 V
Driver
PCAN-USB Driver
IXXAT USB-to-CAN
With up to two CAN High Speed channels, one CAN Low Speed channel, and a LIN channel, depending on the device variant, a wide variety of applications can be addressed by the USB-to-CAN V2 – in both the industrial and the automotive sectors. -IXXAT
- IXXAT USB-to-CAN Hardware Manual:
Product Description
From IXXAT's website
- Cost-effective and extremely versatile
- Common driver interface for easy exchange of the PC interface type
- For industrial and automotive applications
- Galvanic isolation optional
Driver
IXXAT USB-to-CAN Driver
Copyright & Trademark Notice
Allegro, the Allegro logo, RoboticsLab, the RoboticsLab logo, and all related files and documentation are Copyright ⓒ 2008-2020 Wonik Robotics Co., Ltd. All rights reserved. RoboticsLab and Allegro are trademarks of Wonik Robotics. All other trademarks or registered trademarks mentioned are the properties of their respective owners.
Wonik Robotics's Allegro Hand is based on licensed technology developed by the Humanoid Robot Hand research group at the Korea Institute of Industrial Technology (KITECH).
Any references to the BHand Library or the Allegro Hand Motion and/or Grasping Library refer to a library of humanoid robotic hand grasping algorithms and motions developed and published by KITECH researchers.
J.-H. Bae, S.-W. Park, D. Kim, M.-H. Baeg, and S.-R. Oh, "A Grasp Strategy with the Geometric Centroid of a Groped Object Shape Derived from Contact Spots," Proc. of the 2012 IEEE Int. Conf. on Robotics and Automation (ICRA2012), pp. 3798-3804
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