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Size comparison of different UAVCAN connector types

This page contains the documentation pertaining to manufacturing and stocking of UAVCAN cables and related accessories. For the background information, please refer to the UAVCAN Hardware Design Recommendations.

Contents

UAVCAN Micro patch cable

A twisted-pair cable with standard UAVCAN Micro plugs (JST GH, 4 circuits) on both ends.

The following table documents the pinout of UAVCAN Micro patch cable.

Function

Side A pin number

WiresSide B pin number
Bus power1Flat or twisted with Ground1
CAN High2Twisted with CAN Low2
CAN Low3Twisted with CAN High3
Ground4Flat or twisted with Bus power4

UAVCAN Micro patch cableManufacturing instructions

Parts needed

Part NameManufacturerPart NumberQuantity
JST GH plug housing, 4 circuitsJSTGHR-04V-S2
JST GH crimp terminalJSTSSHL-002T-P0.28
Twisted pair cable (see requirements below)Not specifiedNot specifiedN/A

Cable requirements:

  • Type: two twisted pairs, or one twisted pair plus one straight pair.
  • Twisting pitch: 0.3–1 twists per centimeter.
  • Wire gauge: #26–30 AWG.
  • Wire strands: 7 or more.
  • Wire insulation outer diameter: 0.8 to 1 mm.
  • Conductor material: copper.

Optional tools

Part NameManufacturerPart NumberNotes
JST GH hand crimping toolJSTYRS-1590Can be purchased from DigiKey (and other suppliers as well).

Manual assembly instructions

Wire strip requirements:

  • Outer insulation strip length (if any): 10 to 20 mm.
  • Wire insulation strip length: 1.5 mm.

Perform the following steps:

  1. Cut the cable.
  2. Strip the insulation on both ends of the cable as described above.
  3. Crimp the terminals using the hand crimp tool.
  4. Insert the terminals into plug housings following the pinout specification above.

UAVCAN Micro termination plug

A UAVCAN Micro plug with a 120 Ω resistor between the pins CAN High and CAN Low.

FunctionUAVCAN MicroResistor
(Not used)1
CAN High2Any pin
CAN Low3Any pin
(Not used)4

Manufacturing instructions

UAVCAN Micro termination plug

Parts needed

Part NameManufacturerPart NumberQuantityNotes
JST GH plug housing, 4 circuitsJSTGHR-04V-S1
JST GH crimp terminalJSTSSHL-002T-P0.22
Wire (see requirements below)Not specifiedNot specified2
Termination resistor, 120 Ω (see requirements below)Vishay BC ComponentsMBA02040C1200FCT001Can be replaced with an alternative.
Heat shrink tube (recovered inner diameter: 0.5–0.8 mm)TE ConnectivityPD-CAP-1/8-020–30 mmCan be replaced with an alternative.

Termination resistor requirements:

  • Resistance: 120 Ω.
  • Package: axial, body length less than 7 mm.
  • Power: 0.25 W or higher.
  • Tolerance: ±5% or better.
  • Operating temperature: -40–105 °C or wider.
  • Temperature coefficient: ±100 ppm/°C or lower.
  • Qualifications: AEC-Q200.

Wire requirements:

  • Wire gauge: #26–30 AWG.
  • Wire strands: 7 or more.
  • Wire insulation outer diameter: 0.8 to 1 mm.
  • Conductor material: copper.
  • Length: 25±10 mm each.

Optional tools

Refer to the UAVCAN Micro Patch Cable assembly specification.

Manual assembly instructions

Wire strip requirements:

  • Outer insulation strip length (if any): 10 to 20 mm.
  • Wire insulation strip length: 1.5 mm.

Perform the following steps:

  1. Cut the leads of the resistor so that each lead is approximately 5 mm long.
  2. Solder two short wires directly to the leads of the resistor.
  3. Cover the resistor, its leads with the wire soldering joints, and at least 3 mm of each wire past the end of the lead with a single piece of heat shrink tube.
  4. If necessary, bend both leads of the resistor so that they point in the same direction.
  5. Apply heat to recover (shrink) the insulating heat shrink tube. This step can be performed later if necessary.
  6. Crimp JST GH terminals onto the free ends of both wires.
  7. Insert the crimped terminals (wires) into a JST GH plug according to the specified pinout.
  8. Using an ohmmeter ensure that the resistance between the pins 2 and 3 of the plug is within 120±10 Ω.

UAVCAN Micro to UAVCAN D-Sub adapter cable

A twisted-pair adapter cable with UAVCAN Micro plug (JST GH, 4 circuits) on one end and UAVCAN D-Sub socket (D-Sub DE-9F) on the other end. This cable serves as an adapter between different types of UAVCAN connectors.

FunctionUAVCAN Micro pin numberWireD-Sub DE-9F pin number
Bus power1Flat or twisted with Ground9
CAN High2Twisted with CAN Low7
CAN Low3Twisted with CAN High2
Ground4Flat or twisted with Bus power6

Cable requirements: same as for the UAVCAN Micro patch cable.