[PhilBot]

Can anyone explain the logic of <R55>- J to me?

If CAN-bus functionality is used, limit switch jumpers may be removed from a Jaguar speed controller and a custom limit switch circuit may be substituted (so that the cRIO-FRC may read the status of the limit switches).

I know that when using PWM to control the Victors, the Limit Switche inputs automatically stop the motors in either direction when the a switch is tripped (discovered by accident). This seems like a GREAT safety feature.

But these jaguar -connected switches are only permitted when using CAN.

The rule "looks" like it's permitting the use of limit switches with CAN ONLY to enable the cRIO to read them. Does this mean that when using CAN, the switches don't actually stop the motors automatically?

If they do stop the motors, it seems like permitting their use with PWM would also make sense.

Phil.