When any kind of digital data transmission is used to transmit the torque 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 in a two sensor setup must result in power to the motor(s) being immediately shutdown as per the implausibility requirements of EV2.3.5.