1350 has some questions pertaining to CAN operation and R63:
Code:
<R63> Each Jaguar speed controller must be controlled with signal inputs
sourced from the cRIO- FRC and passed via either a connected PWM cable
or a CAN-bus connection.
A. The Jaguar must receive signals via either a PWM cable -OR- a
CAN-bus connection. Both cannot be used simultaneously.
C. CAN-bus configuration: If the Jaguar speed controller is controlled via
CAN-bus communications, then each Jaguar speed controller must be
connected to either the cRIO-FRC or another CAN-bus device with a
CAN-bus cable.
I may be reading too far into this, but the wording is a bit confusing here. Are we allowed to use a mixed CAN-PWM design, where some of the Jaguars are controlled via PWM, with a specific subsystem controlled via CAN bus?
Code:
B. PWM configuration: If the Jaguar speed controller is controlled via
PWM communications, the PWM port on the Jaguar speed controller must
be connected directly to a PWM port on the Digital Sidecar with a PWM
cable. No other devices may be connected to these PWM ports. No other
devices may be connected to any other ports on the Jaguar speed controller.
Does this imply that using the limit switch inputs is not allowed when using PWM control? I understand why the closed-loop position control must be used with CAN, but not the limit switch control.