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<R91> Each motor, actuator, and compressor must be connected to one, and only one, speed controller or relay module.
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The way I read this is how it's written. If you have a motor, it can only be connected to one speed controller. What is not allowed is connecting a motor to multiple speed controller.
This implies nothing about connecting multiple motors to a single speed controller. I don't see how this case breaks the rule. Each motor is connected to one and only one speed controller.