[JamesCH95]

Originally Posted by magnets

We we're looking at them for a drive system after seeing what 118 did in 2008. I understand that they never changed direction, but that they used one gearbox for the entire drive system. From that data, it doesn't look like more than one CIM is a good idea, at stall they're over 300 in-lbs each.

Indeed. These transmissions are designed for 775-sized motors. They simply aren't designed to handle a CIM motor, let alone two! Though empirically using a single CIM with an XRP trans seems to be fine.

Originally Posted by magnets

That's really nice. I've been reading through the NBD whitepaper, and these look like the perfect gearboxes for an arm/lift. The slow speed can be used to raise a heavy object, the fast speed can be used to move the unloaded arm. Not backdriving and having an adjustable slip clutch is also pretty great.

This can be problematic when trying to drive a loaded arm downwards at slower rates. The anti-backdrive pins lock up the arm intermittently, causing very erratic and sometimes dangerous arm behavior.