What size motor are you using? or better yet do you know the amperage they need? also how far from the controller to the motor in feet. Here is a point most will miss here. The higher the amperage and longer the run of the cable the larger the wire needs to be. I would do a general statement about the 18-4 shielded wire should be fine for the ost part on a NEMA 23 motor less than 400 oz. Now stepping above that I would be leaning towards a larger gauge wire.