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

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.


NI USB-8473s CAN

NI USB-8473s

1-Port, High-Speed CAN, USB Interface with Synchronization -NI

File:NI USB-8473s Data Sheet.pdf
  • USB-8473s Software Manual:
File:NI CAN Software Manual.pdf

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


NI-CAN 2.7.4 (Windows 7)

Softing CAN-AC2-PCI

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

File:Softing CAN-AC2-PCI Data Sheet.pdf
  • CAN-ACx-PCI Hardware Notes:
File:CAN-ACx-PCI Hardware Notes.pdf
  • D-PDU API Data Sheet:
File:Softing D-PDU API Data Sheet.pdf

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


Softing CAN Drivers (Windows 7)

Click "Downloads"

Kvaser PCIcan 4xHS

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

File:Kvaser PCIcan 4xHS Data Sheet.pdf
  • PCIcan 4xHS Hardware Reference Manual:
File:Kvaser PCIcan Hardware Reference Manual.pdf

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


Kavaser CAN Drivers

Click "Downloads"



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:
File:ESD CAN-PCI266 Data Sheet.pdf
File:ESD CAN-PCI266 Data Sheet 2.pdf
  • CAN-PCI/266 Hardware Installation and Technical Data:
File:ESD CAN-PCI266 Hardware Installation and Tech Data.pdf
  • ESD CAN API Guide:
File:ESD CAN API 1.pdf
File:ESD CAN API 2.pdf

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!


ESD CAN Driver



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:
File:PEAK PCAN Data Sheet.pdf

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





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:
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




Anonymous user #1

163 days ago
Score 0+
เกมสล็อต ค่าย Pg วันนี้จะมาแนะนำเกมสล็อตยอดฮิตทั้งหมด 7 เกมที่กำลังได้รับความนิยมเป็นอย่างมาก ด้วย ภาพ เนื้อหาของเกม และที่สำคัญแตกง่ายมากๆ อีกด้วย กับ สล็อต 2022

Anonymous user #2

139 days ago
Score 0+
Hi there, I am here to find new friends who love playing online games. We can make friends and play idle mining empire in our free time. It's so funny, let's try it!

Anonymous user #5

27 days ago
Score 0+

<a href="">Uphold Login</a> <a href="">Gemini Login</a> <a href="">MetaMask Login</a> <a href="">Coinbase Pro Login/</a> <a href="">MetaMask Login</a> <a href="">Coinbase Pro Login</a> <a href="">Uphold Login</a> <a href="">Gemini Login</a> <a href="">MetaMask Login/</a> <a href="">Coinbase Pro Login</a> <a href="">Coinbase Pro Login</a> <a href="">Uphold Login</a> <a href="">Gemini Login</a> <a href="">MetaMask Login</a>

<a href="">Coinbase Pro Login</a>

Anonymous user #13

12 days ago
Score 0+

<a href="">Uphold Login</a> <a href="">Metamask Login</a>

<a href="">Uphold Login</a>
Add your comment
Allegro Hand welcomes all comments. If you do not want to be anonymous, register or log in. It is free.

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

Wiki maintained by Sean Yi <>

KitechLogo.jpg Wonikrobotics logo.png

Whos here now:   Members 0   Guests 1   Bots & Crawlers 0