You might want to read R40 more carefully:
Quote:
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<R40> Additional electronic components for use on the robot must be either COTS items, or assembled from COTS items. Additional electronic components include any object that conducts electricity other than IFI relays and speed controllers, wires, connectors and solder. [emphasis mine]
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As far as I can tell, custom connectors should be fine. However, be aware that you are required to use the Terminal Supply SLU-70 connectors to attach wire to the battery, breaker panel, and 120A breaker per rule R48.