[kitare102]

Originally Posted by Ty Tremblay

The root of the issue here is that you're running a mini cim through a 100:1 planetary, which is not recommended by VEXpro.
http://link.vex.com/vexpro/pdf/Versa...ry-LoadRatings

Look in the 3-stage section of the simple load ratings charts. Using more structurally stable stages, VEX greenlights gearing a miniCIM up to 108:1, so you can still use a legitimate configuration to reach that 100:1 reduction. That's what we'll likely be doing for one of our manipulators.