Good grounding rules include
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each PLC component should be grounded back to the main PLC chassis
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the ground wire should be separated from power wiring in enclosures
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use star washers to ensure good electrical connection
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mount ground wires on bare metal, remove paint if needed
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use 12AWG stranded copper for PLC equipment grounds and 8AWG stranded copper for enclosure backplate grounds
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connect the enclosure to the ground bus
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connect the machine ground to the enclosure ground
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the ground connection should have little resistance (<0.1 homs is good)