This depends not only on the resistance and inductance of the wires (which are affected by their material, cross-sectional area, length, the geometry of their routing, nearby metallic objects, and of course, the connectors and their contamination) but also on the internal resistance of the battery. It is quite difficult to account for all the involved variables, so we recommend empirical observation instead. Run the drive at the maximum power and measure the DC link voltage ripple at or near the controller. If the ripple does not exceed the recommended limits stated in the Telega Reference Manual, you do not need additional capacitance:
An empirical rule we have observed is that 20 \frac{\mu\text{F}}{\text{A}_\text{DC}} is sufficient for most applications with short DC link wires. More information on this is given in the Mitochondrik LV datasheet, section “DC link capacitance”.