[Libby K]

Originally Posted by Billfred

To achieve a 63:1 reduction with a VersaPlanetary costs $84.95 ($89.95 if you want 1/2" hex)--base stage, two ring gears, 7:1 and 9:1 stages. That buys you six NeveRest 60 gearheads (and most of the 7th), which also tucks into a smaller space (shorter, and the diameter is basically that of the motor itself). If you have means to protect against shock loads in the design, the packaging and budget advantages of the stock gearhead may be attractive to you.

I think it's a difference worth spending for teams that can afford it - That $85 is the means (for our FTC teams) of protecting against the shock load. Our FTC teams were so thankful when buying them without the gearhead became available. The spiraling spur gears don't hold up well on the small robots, I'd be really worried about FRC team applications. Releasing latches or other servo-like replacements work with the gearhead on, but anything more heavy-duty, in our experience, is less reliable.

Originally Posted by Billfred

(And at the risk of being a broken record, FIRST has still not announced whether removing or changing the gearhead is an approved modification.)

Yep! Definitely something teams will have to pay attention to. Our mods come from the FTC world where it is legal. Hopefully they allow for it in FRC - the modifications our FTC teams have learned to make have made their robots significantly more dependable. If there's a situation where teams need to use them (cue the 2011 flashbacks) I hope teams will be able to customize in a way that lets them play their best.