Quote:
Originally Posted by Shinigami2057
1350 has some questions pertaining to CAN operation and R63:
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?
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It says each Jaguar, meaning you treat each one individually. You can have one jaguar controlled by PWM and one jaguar controlled by CAN. You can't have the same Jaguar controlled with both.
Quote:
Originally Posted by Shinigami2057
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. |
That's the way I read it. If your team would like to use the limit switches with PSM, your team should ask if that is what is intended in the official Q/A.