[Tristan Lall]

Take this one to the Q&A. The 2012 rules aren't clear about what's integral and what's not. Furthermore, since you can bring in scrap motors never before seen, FIRST can't decide in advance whether such a modification is legal for a particular design.

Ask FIRST to make a blanket statement about what's modifiable (under the cited rule) and what's integral (per the cited blue box), to aid in the selection of motors. They just need to officially say something like "inspectors will operate with a strong presumption that motor gearbox modifications are permissible, unless they have strong evidence that the motor itself has been electrically or mechanically compromised".

But until that time, it's hard to answer with any certainty. The worm gear systems have been variously considered integral and non-integral.