CAN control weirdness

[nathanww]

I was looking at the Jaguar CAN documentation, and I noticed a couple of things about the CAN setup:

1. The documentation talks about a "voltage control mode", where the voltage is varied according to the CAN command. Does this mean that the Jaguar in this mode is just sending an analog voltage instead of a PWM wave?
2. As I understand it, CAN will be run by daisy-chaining Jaguars together, with an additional safety verification provided in the form of a "heartbeat" PWM from the digital sidecar. However, if a point on the daisy chain fails, will the "downstream" Jaguars continue executing the last recieved command?(since there are no further commands coming through the CANbus and the heartbeat is telling it that everything is fine). Or is there some sort of additional safety system that will detect the loss of connection and shut down?