拓展阅读：CAN总线配置

CAN总线原理CAN Bus Principles

如果您没有购买IMU，距离传感器等独立于If 底盘/机器人you 设备的产品，您无需阅读本节。have not purchased products like IMUs or distance sensors that are independent of the chassis/robot, you do not need to read this section.

读前知识点Prerequisites

CAN总线的物理限制要求，CAN总线的末端必须配备两个120欧姆的终端电阻。The physical limitations of the CAN bus require that the ends of the CAN bus must be equipped with two 120-ohm termination resistors.

HEXMOVE CAN 配置Configuration

HexMove的CAN设备均为CAN2.0B，500K。一般的使用场景如下图所示：All CAN devices in HexMove are CAN 2.0B, 500K. A typical usage scenario is shown in the following image:

上图中的In Endthe Deviceimage 一般是above, the end device is typically an 工控机industrial computer/ or 工控机的USB转USB-to-CAN 设备device of an industrial computer。结合以上使用场景，HEXMove只有两类设备默认接入了120欧姆：. Based on the above usage scenario, HEXMove has two types of devices that are by default fitted with 120 ohms:

1. 底盘/导航塔Chassis/Navigation Tower (如上图左边的产品所示)as shown on the left side of the image above)
2. CAN-HUB

HEXMove 提供的所有All CAN 转接器都默认开启adapters provided by HEXMove are set to default with 120 欧，这意味着您使用时，只需要保证最后一个插着的设备是ohms on, which means that when using them, you only need to ensure that the last device connected is a CAN-HUB即可。如果您使用自己的CAN转接设备，需要保证转接设备上的120欧正确接入。HUB. If you are using your own CAN adapter, you need to ensure that the 120 ohms on the adapter are correctly connected.

但如果您没有结合我们的However, if you are not using our 底盘/导航塔chassis/navigation tower, 使用，这意味着上图左边的CAN终端电阻缺失。您需要通过焊线或其他方式（如在接一个it means that the CAN termination resistor shown on the left side of the image is missing. You will need to ensure that the other end also has a 120-ohm termination resistor, either by soldering or other means (such as hanging another CAN-HUB挂在那里纯充当120用）确保另一头也具有120欧姆的终端电阻。HUB there purely for the purpose of providing 120 ohms).