Code:
R55
CUSTOM CIRCUITS shall not directly alter the power pathways between the ROBOT battery,
PDP, motor controllers, relays, motors and actuators (per R28), pneumatic solenoid valves, or
other elements of the ROBOT control system (items explicitly mentioned in
R66
).
Using a limit switch in the power path between the PDP and Motor Controller, or in between the motor controller and the motor, would be a custom circuit. Not allowed in the power path.
Limit could be wired to DIO as inputs, or to the motor controller directly as overtravel limits, and be OK.