[Al Skierkiewicz]

Michael,
We haven't asked yet, but you do not have any jumpers in place on the PWM output do you?
I would attack this by getting a voltmeter and measuring the input voltage at the DSC connector. It should read about 12 volts with a good battery in place and the correct polarity. Place the robot on blocks so that the drive wheels are not touching the floor. Run the drive while you are measuring the input voltage. If it falls to anything less than eight volts, then move your meter to the PD output and try again. If the voltage at the PD remains at 12 volts then you have a high resistance connection between the PD and the DSC. Usually this is a badly made connection in the DSC connector. Use new wire and remake the connection. If the voltage at the PD is low and the Crio is not rebooting, then the connection to the WAGO on the PD is bad. Often this is due to incorrect stripping of the wire. Wires for insertion into the PD should be stripped 1/2 to 5/8 inch. If the voltage at the PD input terminals is low (Usually the Crio would be rebooting), then check for bad terminations at the 120 amp circuit breaker or the PD terminals and wiring and try replacing the breaker that is feeding the DSC. On rare occasions, the main circuit breaker is bad. Try substituting a new one and see if things improve. The final possibility is you have two bad DSCs.