R-63 - wiring limit switches to Jaguars

[viper110110]

According to R-63, we can only connect things to the coast/brake and pwm ports. Does this mean we can not connect anything to the forwards/backwards limits? If so, does that mean the jumpers have to go?

<R63-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 with the exception of connection to the coast/brake port.

[Vikesrock]

One would assume that they were not including jumpers in the definition of "devices" given that the Jaguars will not function without them.

[Daniel_LaFleur]

Originally Posted by viper110110

According to R-63, we can only connect things to the coast/brake and pwm ports. Does this mean we can not connect anything to the forwards/backwards limits? If so, does that mean the jumpers have to go?

<R63-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 with the exception of connection to the coast/brake port.

I would Q&A this if I were you.

[Vikesrock]

Originally Posted by Daniel_LaFleur

I would Q&A this if I were you.

Ruling the jumpers illegal is exactly the same as ruling PWM control illegal. Without the jumpers the Jaguar will assume the limit has been reached and will not output anything.

[viper110110]

Originally Posted by Vikesrock

Ruling the jumpers illegal is exactly the same as ruling PWM control illegal. Without the jumpers the Jaguar will assume the limit has been reached and will not output anything.

Yes but the next question is can we still wire limit switches to the jaguars in the places where those jumpers would go?

[Vikesrock]

Originally Posted by viper110110

Yes but the next question is can we still wire limit switches to the jaguars in the places where those jumpers would go?

You could Q&A that if you want. but I am fairly certain (like 99%) that the answer will be no. Common sense says that a jumper is not a device and a limit switch is.

[Daniel_LaFleur]

Originally Posted by Vikesrock

You could Q&A that if you want. but I am fairly certain (like 99%) that the answer will be no. Common sense says that a jumper is not a device and a limit switch is.

Common sense =/= rules.

Just Q&A it

[Vikesrock]

While I agree that the Q&A would be the only way to get an official answer, what I am suggesting is that you not waste both your time and the GDC's time asking this question.

When reading these rules, please use technical common sense (engineering thinking) rather than “lawyering” the interpretation and splitting hairs over the precise wording in an attempt to find loopholes.

My technical common sense says that a limit switch is a device. If you think there is any chance of it being ruled otherwise and you have the time to wait and see what the GDC says, definitely go to the Q&A with it.

[Al Skierkiewicz]

Starting with R60...
L. If CAN-bus functionality is used, limit switch jumpers may be removed from a Jaguar speed controller and a custom limit switch circuit may be substituted (so that the cRIO-FRC may read the status of the limit switches).

The Jaguars come with jumpers in place. If using the PWM input the jumpers musts be in place for correct operation.