[techhelpbb]

As I am a CSA: I usually make my recommendations and explain that the default recommended configuration includes ample consideration of system traits, that a star configuration adds risk.

If a team proceeds, has issues, and refuses to change course there is nothing I can do than to keep suggesting that using the branches/star puts additional potential for issues into that system. Sure if all the connections are great the reflection shouldn't be an issue, but then again if those CAN bus wires are moving around...

With the telephone style Jaguar CAN/serial connectors and a Jaguar say 15 feet away on an end-effector are you really sure the connector will not move at all so you can predict the characteristic of that network? Maybe on a bench test this would be okay but what about when that extended end-effector gets smacked by another robot?