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.

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.

R506      *Control servos safely. Servos must be connected to, and only to, 1 of the following:

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).