[Ether]

Originally Posted by Al Skierkiewicz

Phil,
Under CAN the state of the limit switch must be read by the Crio and then a motor command is issued if the FMS is still allowing active motion. The limit switch in PWM mode controls the Jaguar directly, independent of the the Crio, and therefore, will continue to run the motor without interaction with FMS. Motion must stop under control of the FMS for either match play or safety disablement.

The limit switch in PWM mode controls the Jaguar directly only in the sense that it can override a cRIO command and STOP the motor. The limit switch has authority only to stop the motor. It can't cause a motor to be powered if the cRIO isn't commanding power. If FMS shuts down the cRIO PWM outputs, the motor will stop regardless of the limit switch position.