When any kind of digital data transmission is used to transmit the brake system encoder signal, the FMEA study must contain a detailed description of all the potential failure modes that can occur, the strategy that is used to detect these failures and the tests that have been conducted to prove that the detection strategy works. The failures to be considered must include but are not limited to the failure of the sensor, sensor signals being out of range, corruption of the message and loss of messages and the associated time outs. In all cases a sensor failure must result in power to the motor(s) being immediately shutdown.