R712      *Control PWM controllers from the roboRIO. Every relay module (per R504-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.

R505      *Don’t overload controllers. Each power regulating device may control electrical loads per Table 8‑2. Unless otherwise noted, each power regulating device shall control 1 and only 1 electrical load.