[duane]

Team 701 made the decision to use Jaguars and CAN when it was first released. We had continuous problems with PWM controls. PWM cables are unreliable, constantly coming loose or falling out completely. PWM cables are not positive locking or keyed.

CAN connections are keyed and positive locking. The connections are reliable and seldom come loose or fall out.

Most of the wiring problems with CAN (and we had many as well) are related to incorrectly manufactured cables. We made our own early on because there were no manufactured cables available. We now have the knowledge and ability to create cables properly.

The additional capability of CAN is hard to pass up. Each Jaguar contains a ARM processor with an enormous amount of functionality. A Jaguar can return the current being used by the motor. This can be used for advanced capabilities like automatic shifting or stall detection. CAN also includes built-in limit switch capability, that can also be queried from the CAN bus. We have used the limit switch interface successfully for several years.

We are sold on CAN and plan to continue using CAN as long as it is available.