[wireties]

Al's advice is first rate. And one should tie everything down (note my handle ;o)). The robot is a high vibration environment and you do not want the wires moving near their attachment points (or at all). When I deliver racks of equipment to the Navy, they check for wire bundles to be tied down every 6" and at every point a wire enters or exits the bundle. Plus a clean wiring effort reduces the chance that a wire gets caught in a moving mechanism.

Labels are a big help! It makes diagnosing/repair/replacing things in the pits much easier. Label the wires, the motor controllers, the spikes and other actuators.

It is a good idea to minimize the length of power wires to/from motor controllers but note that this is really an effort to minimize the total length from PD to jag/victor plus jag/victor to the motor. The jag/victor can go anywhere along that length with little penalty (length of PWM or CAN cables).

Work hard to minimize the 6 AWG wire lengths!

HTH