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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.

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.

Similar Rules

Rule R621
R621       *Protect circuits with appropriate circuit breakers. Each branch circuit must be protected by 1 and only 1 circuit breaker or fuse on the PDP/PDP2.0/PDH per Table 8‑3. No other electrical load can be connected to the breaker or fuse supplying this circuit with the exception of devices downstream of a Kraken X60 Powerpole adapter board (WCP-1380, RF-4003).
Rule R622
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):
Rule R614
R614       *No high voltage allowed. Any active electrical item that is not an actuator (specified in R501) or core control system item (specified in R710) is considered a CUSTOM CIRCUIT. CUSTOM CIRCUITS shall not produce measurable voltages exceeding 24V with the exception of COTS Power-over-Ethernet (PoE) injector devices used with COTS Ethernet cables and COTS receiving devices (i.e. not a breakout or adapter).
Rule R611
R611       *The ROBOT frame is not a wire. All wiring and electrical devices shall be electrically isolated from the ROBOT frame. The ROBOT frame must not be used to carry electrical current.