The parasitic capacitance between motor wires should not exceed 10 nF. If very long cables (> 100 meters)
are used, this condition may not be met. In this case, add series inductors between the Pluto outputs and
the cable. The inductors must be magnetically shielded, and must be rated for the motor surge current.
Typically the necessary values are around 100 μH.
Wire ferrules
It is recommended to use wire ferrules to prevent cable damage or wrong contacts. Ensure crimped
ferrule diameter does not exceed 1.5 mm and the insulator is < 3.5 mm. Following are some suggested
ferrules:
Manufacturer Part number Image Description
WAGO 216-201
0.5 mm (22 AWG)
2
WAGO 216-224
1.5 mm (16 AWG)
2
Motor choke
In applications where electromagnetic compatibility is a concern, when long cables are used or when
sensitive sensors are used, the use of an external common mode choke is extremely recommended. Place
the choke as close to the driver as possible. 2 turns to the choke are recommended for best performance.
Make sure the chosen choke does not saturate at the maximum operating phase current. If this happens,
the choke temperature would increase rapidly and audible noise could be generated.
The combination of a motor EMI choke and a good PE (Protective Earth) connection between
motor, driver and power supply will solve most EMI and noise issues.
Next table shows a choke that fits the Pluto Servo Drive specifications and has a great performance at low
frequencies.
Type Manufacturer Reference
Low frequency ferrite Laird Technologies LFB360230-300
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