R717       *Don’t alter the CAN bus. No device that interferes with, alters, or blocks communications among the roboRIO and the PDP/PDH, PCMs/PHs, and/or CAN motor controllers on the bus will be permitted.

R715       *Control PCM/PH(S) from roboRIO. Each PCM/PH must be controlled with signal inputs sourced from the roboRIO and passed via a CAN bus connection from the built-in CAN on the roboRIO (either directly or daisy-chained via another CAN bus device).

R714       *Control CAN motor controllers from the roboRIO. Each CAN motor controller must be controlled with signal inputs sourced from the roboRIO and passed via either a PWM (wired per R713) or CAN bus (either directly or daisy-chained via another CAN bus device) signal, but both shall not be wired simultaneously on the same device.

R718       *USB to CAN adapter permitted. Additional CAN bus connections may be added to the roboRIO using the CTR Electronics CANivoreTM P/N 21-678682 USB-to-CAN adapter.