[Al Skierkiewicz]

Jessica,
Now that the label issue has been broached I will discuss our method. 3M makes a tape marking product that is ten different colors (EIA color code, look it up) and we mark everything in the path. The motor, the controller, the wires, the PWM and the breaker and it's position in the PD. We even mark the position on the side car where the PWM goes. If we are searching out a problem on the Blue motor, we check to see if the Blue speed controller is powered and lit. If not we check to see if the Blue breaker is in place. If all looks good there we check the blue PWM cable is connected at both ends to the Blue locations. When we have more than ten objects that have to be marked, we simply use a black tape with a colored tape. The tape dispenser is a little pricey at $30 from Digikey but it is worth it. We need no schematics, troubleshooting is as fast as looking into the robot, and it easy enough for everyone to understand.
If you search color marking or color labels you will find several references. If you search on the First website, I think my electrical presentation is still available and it has pictures and other helpful hints.