I want to wire a CAN bus for multiple motors(BLDC) in robotic arm. I am building out my motor such that they have a controller and a CAN transciever built in. There will be upto 6 motors with the total length of the bus bieng around 1 to 1.5 meter.
What kind of physical architecture is best suited for this kind of application?
Should I daisy chain them or should I use a T connector and drop off a connection for every motor or is there an option better than both? Considering I will have around 6 drop off points.
My main requirements are reliability of data, atleast 256kbps of speed on the CAN Bus, and also, the whole system with the motors will be moving and could be exposed to noise from the motor power line.