[Al Skierkiewicz]

Tony and Kevin,
Our posts seems to raise more questions. I however read Sec. 8 as the only allowed inputs to a Jag are the limit switches. Other sensors that have a CAN bus interface are allowed to live on the bus to be used by the Crio to interpret and provide command to the bus. It would appear in the way the rules are written, that the Crio is to be the only command device for motor control. A quick glance through the Jag documents does not suggest that sensor inputs to the Jag are echoed out onto the bus. They are simply used by the internal controller to affect the output to the motor.