[JDNovak]

We have had some interesting debates about this while trying to define the best practice for controller locations. It probably warrants it's own thread but I'm too lazy to start one. We currently have defined 8 subsystems here we might use closed loop control with Talon SRXs. The side debate is whether to distribute them close to the motor / feedback location with a longer and more vulnerable CAN bus or place them in a group with a short CAN bus and longer motor and feedback leads. I leaned toward the former but lost the debate and the 8 Talons are in a small group which my be best as a CAN wire problem takes down the whole bus where a feedback sensor wire affects one device. As a side note we have been distributing the CAN bus around our robots every year since 2010 with minimal problems after debug.

To the point of the thread, since the SRXs are close to each other, we pulled out the terminal blocks from past KITS of PARTS (I think they were donated by AutomationDirect) and used them to daisy chain through. It works well for the layout.

As for the feedback sensor wiring, I had already ordered the latching plugs from Hansen Hobbies that Peter mentioned above. I have been using them for months on my 3D printer without problems. I'm passing the hot end temperature thermistor through one that is constantly being jogged at high speed and it has caused no problem. I wouldn't be afraid to use them on the CAN bus but I use grey wire nuts on small wires all the time too.