Quote:
Originally Posted by dmcguire3006
As far as CAN being a liability because of single point failure (as opposed to independent PWM line), I'm sure that no one has built in redundant motors so the net result on a cable failure would be the same between CAN and PWM.
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This depends on what motor is connected to the controller with the failed cable. If a drive motor PWM fails, odds are it's the same, but if a manipulator PWM fails then the robot could still drive with PWM, but with CAN you're dead in the water.