R626       *VH-109 PoE passthrough. The VH-109 PoE output may be used only under the following conditions:

R622       *Use appropriately sized wire. All circuits shall be wired with appropriately sized insulated copper wire (SIGNAL LEVEL cables don’t have to be copper):

R623       *Use only appropriate connectors. Branch circuits may include intermediate elements such as COTS connectors, splices, COTS flexible/rolling/sliding contacts, and COTS slip rings, as long as the entire electrical pathway is via appropriately gauged/rated elements.

R625       *Don’t modify critical power paths. CUSTOM CIRCUITS shall not directly alter the power pathways between the ROBOT battery, PDP/PDP2.0/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 ROBOT’S electrical system is acceptable, if the effect on the ROBOT outputs is inconsequential.