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.

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

R714       *Control CAN motor controllers from the roboRIO. Each CAN motor controller must be controlled with enable/disable 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.

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: