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.

R717       *USB to CAN adapter permitted. Additional CAN bus connections may be added to the roboRIO using the CTR Electronics CANivoreTM (P/N 21-678682, WCP-1522) USB-to-CAN adapter.

R715       *Control PCM, PH, and Servo Hub from roboRIO. Each Pneumatic Control Module (PCM), Pneumatic Hub (PH), and Servo Hub 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).

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.