[JesseK]

As another reference point:

The configuration on our turret is [BAG -> 10:1 -> 10:1 -> 4:1 -> VP Encoder -> 18:42 chain]. This is technically out of spec by a smidge but after careful consideration of the full system setup I believe it will work fine. The turret uses the really nice, sturdy Igus slew ring that prevents 'racking'. It doesn't require much torque to turn and at full motor power should only be about 4% of the maximum load rating for any of the failure conditions listed in the VP load rating guide (2.1 N-m at the hex output shaft + 100% safety margin). We went for higher precision in control since it only has a 75-90 degree FOV. In reality I don't believe the turret will ever receive full motor power - probably more like 75% while it resets to center. The thing seriously takes some oomph to turn by hand for manual alignment...

Conversely, the configuration on our tilt is [BAG -> 10:1 -> 10:1 -> Encoder -> 3:1] since the load for the tilt is a bit higher of a load, at about 50% of the load rating of the failure conditions at the worst point (including 100% safety margin). It may see full power when angling backwards, so we'll remain strictly within the BAG->VP "Green" zones in the guide.