Limit switches connectable directly to Jaguar limit switch breakers?

[2010FRC3341]

Hi, we are a rookie team and we have a question about connecting limit switches to the forward and reverse limit switch headers on the Jaguar speed controller. We want to use them to limit the travel of our lifter arm. There seems to be some question as to whether using limit switches directly on the jaguar is allowed. we are using a CIM motor with the Jaguar.

<63> states
PWMconfiguration: 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.

this would seem to indicate that the use of limit switches directly connected to the jaguar is invalid. please let us know whether the rules prohibit the direct connection of limit switches to the jaguar.

thanks

[GDC]

Please see Rule <R60-L>. You may use the limit switch inputs to the Jaguar speed controllers IF you are controlling the Jaguar via a CAN-bus connection. You can not use external limit switch inputs to the Jaguars if you are controlling them via PWM inputs.