R504       *Power (most) actuators off of approved devices. With the exception of servos, fans, or motors integral to sensors of COTS computing devices permitted in R501, each actuator must be controlled by a power regulating device. The only power regulating devices for actuators permitted on the ROBOT include:

R501       *Allowable motors. The only motors and actuators permitted include the following (in any quantity):

R503       *Don’t modify motors (mostly). The integral mechanical and electrical system of any motor must not be modified. Motors, servos, and electric solenoids used on the ROBOT shall not be modified in any way, except as follows:

R621       *Protect circuits with appropriate circuit breakers. Each branch circuit must be protected by 1 and only 1 circuit breaker or fuse on the PD 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 permitted motor power adapter board placed between the PD and a motor controller (WCP-1380, WCP-1903, WCP-1904, RF-4003, RF-4004, RF-4005).