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Engineering rules

Rules established on this project — carry them into other subsystems.

  • Power flows top → bottom in enclosures; signal and power in separate ducts; ≥ 20 % spare rail space.
  • Everything on rotating stages is positively retained (spring-lock DIN latches, threadlocker); heavy items low and near the rotation axis.
  • Brake resistors always outside enclosures with manual-specified clearances (200 mm side / 300 mm above for BW5x).
  • Shields: 360° at both ends for motor and brake-resistor cables; signal shields at cabinet end; shield continuity never through a signal channel.
  • Every rotating joint: service loop + strain relief both sides; min dynamic bend radius ~7.5 × OD (power) / 10 × OD (data).
  • PE: star point at cabinet busbar; per-stage PE busbars bonded via dedicated Ch4 rings; acceptance < 0.3 Ω at two positions.
  • Safety wiring: always dual-channel, yellow-sleeved, tested at multiple gimbal positions.
  • TC-001 tests 4–6 & 9 repeat after any slip-ring maintenance.
  • RCD selection: drive (rectifier) branches → Type B; human-accessible SMPS branches → Type A 30 mA minimum. Never share one RCD across both.