Thank you Paul. That would suggest that the rule may need perhaps some re-wording, as it is not too difficult to take a seperate channel of the TX/RX which should bring the robots failsafe devices to the pre-set off or zero position via a switch on the TX. as meaning that making the controllers failsafe as they normally would is acceptable. As you have described above, that seems to frequently be insufficient. Perhaps in the next revision of the rules (whenever that may be- I seem to remeber Andy Kane mentioning that due to insurance they are either fixed now, or soon to be fixed, for a set period) a note be added on what is deemed acceptable- i.e. that relying on a uProcessor of FET driver is not really suffiecient, or at least not the prefered method? I have no problem with conforming to either of these, but will from now one favour the relay approach.

Thanks,

Eddy