I have run robots on FM PPM, PCM, and Spektrum 2,4GHz. The only problem i ever had with PCM was setting up the failsafes for the very first time. After getting the hang of setting these up with my Robbe FX-18, Ive never looked back. The extended range i got over regular PPM was reason enough for me. The only reason I switched to Spektrum really was: no more crystals.