[Joe G.]

Originally Posted by WesleyK

So would placing an encoder on the output shaft of the gear box and limit the motor power based on that be enough to prevent overdraw or would we have to monitor the rpm and current draw of each individual cim using a CIMcoder and a current sensor on each motor?

You could infer the stress on your motors with a single encoder value per side compared to the commanded motor speed, over a sustained period of time (you don't want to shift down for a fraction of a second just because you accelerate hard). Doing the same thing with the built-in current monitoring functionality of the new power distribution panel is a lot more straightforward way of doing it though, since you get the actual value (the current) which causes bad things to happen.