Circuit Criteria

Circuit Wiring Standards

Circuit Planning

Consider “where the circuit comes from and where it goes.”

CAN Wires (22 AWG)

Start from the RoboRIO, connect all electrical components in series, and end at the PDH.

High-Power Supply Wires (8-14 AWG)

Start from the PDH/PDP, directly connect to the electrical components.

  • 12 AWG wire (standard for Falcon): If there is a power output, it must be connected to a 40 Amp fuse.

  • 14 AWG wire (if available): If there is a power output, it must be connected to a 30 Amp fuse.

Low-Power Supply Wires (18 AWG)

  • Radio (field control) wire needs to be connected to the VRM (Voltage Regulator Module).

  • RoboRIO should not be connected to the VRM.

  • Limelight directly connects to the RoboRIO’s 22 AWG power supply interface.



  • At least 60% spare space must be reserved inside the conduit.
  • There must be a fixing device every 0.5m inside the conduit.
  • No quick-connect terminals are allowed inside the conduit.

External Wiring

  • Wiring should be horizontally and vertically aligned according to rigid structures.
  • Wiring at corners should be near right angles; different vertical points should not be connected with slanted lines.
  • Wire connection points should be centralized. Conduits should be used in long straight sections without connection points.
  • Wires should not hang in the air and must be laid close to the surface.
  • When using quick-connect terminals, do not press on the insulation layer; use a crimp terminal before inserting into the quick-connect terminal.



  • CAN wires: Test the continuity of high (H) and low (L) level wires from the RoboRIO to the PDP/PDH with a multimeter.
  • Power wires: Close the circuit breaker, test for short circuits from the PDP/PDH power supply end to the metal structure, then connect the power supply, and determine the power supply and CAN wire connection by observing the status lights.