R625
*Dont modify critical power
paths. CUSTOM CIRCUITS shall not directly alter the power pathways
between the ROBOT battery, PDP/PDH, motor controllers, relays (per R504-B), motors and actuators (per R501),
pneumatic solenoid valves, or other elements of the ROBOT control system (items
explicitly mentioned in R710). Custom high impedance
voltage monitoring or low impedance current monitoring circuitry connected to
the ROBOTS electrical system is acceptable, if the effect on the ROBOT outputs
is inconsequential.
A noise filter may be wired across motor leads or PWM
leads. Such filters will not be considered CUSTOM CIRCUITS and violate neither
this rule nor R712.
Acceptable signal filters must be fully insulated and must
be 1 of the following:
-
1 microfarad (1 µF) or less,
non-polarized, capacitor may be applied across the power leads of any motor on
your ROBOT (as close to the actual motor leads as reasonably possible) or
-
a resistor may be used as a shunt load
for the PWM control signal feeding a servo.
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