R712       *Control PWM controllers from the roboRIO. Every relay module (per R503-B), servo controller, and PWM motor controller shall be connected to a corresponding port (relays to Relay ports, servo controllers and PWM controllers to PWM ports) on the roboRIO (either directly or through a WCP Spartan Sensor Board) or via a legal MXP connection (per R713). They shall not be controlled by signals from any other source, with the exception of the Nidec Dynamo motor controller which must also be connected to the roboRIO Digital I/O.

R713       *Only approved MXP devices can control actuators. If a motor is controlled via the MXP, its power regulating device must be connected by 1 of the following methods:

R711       *Don’t connect motor outputs to roboRIO. Neither 12VDC power nor relay module or motor controller outputs shall be directly connected to the roboRIO, with the exception of the designated 12VDC input.

R503       *Power (most) actuators off of approved devices. With the exception of servos, fans, or motors integral to sensors of COTS computing devices permitted in R501, each actuator must be controlled by a power regulating device. The only power regulating devices for actuators permitted on the Robot include: