[EricH]

Which rule was that? <R54> is the no modifying motors rule.

<R60-L> reads:

L. If CAN-bus functionality is used, limit switch jumpers may be removed from a Jaguar speed controller and a custom limit switch circuit may be substituted (so that the cRIO-FRC may read the status of the limit switches).

Also see:

<R68> All outputs from sensors, custom circuits and additional electronics shall connect to only
[...]
G. the CAN-bus if and only if all Jaguar speed controllers on the CAN-bus are wired in full compliance with Rule <R63> and Rule <R64>, or
H. the sensor inputs on the Jaguar speed controller.