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USB2.0 cable requirements

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IconicPCB:
A USB 2.0 camera is located on a robotic arm. It is connected to a USB port via a non standard  ( highly flexible )  USB cable  due to continuous movement of the arm.

In general are there specific electrical requirements the USB cable has to meet ( say pF/unit length between conductors, nH/ unit length etc )

IconicPCB:
D+ and D- form a twisted pair transmission line with differential characteristic impedance of 90 +/-15% ohm .

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