[PhilBot]

Allow me to restate my question now that we have a few more facts.

(I am having our team leader post this on the Q&A... but just let me clarify)

We've established that regardless of the control method you are using with the Jaguars (CAN or PWM), the Limit switch inputs perform the same control function... that is: they stop the motor running a specific direction if that limit switch circuit goes open-circuit.

This in no way compromises any safety/watchdog/loss-of-comms/FCS shutdown action. It actually adds a level of safety.

The only difference between the two interfaces is that CAN ALSO lets the cRIO read the state of the switches, in case it wants to take some other action (since the motor is already shut down)

So my question is: Why can we connect limit switches to the Jaguar if we are using CAN bus, but not if we are using PWM. The automatic limit control action is the same. Please let us use it!!!

Just because CAN can read the inputs, there is no requirment to do so, but having the automated limit switch is a COOL feature to provide a faster response AND it frees up DSC I/Os for other uses (my other reason for wanting this).

Phil.