[Joe P]

I was considering using the CIM as a winch motor for the pull-up bar.

If our 130 lb. robot was directly under the bar and was pulling up from the center of mass, say 12 inches off the ground it would take a maximum torque of 130 lb*12 in = 1560 in-lb.

To keep the motor happy we will keep the load reflected back to the motor between 20-50% of Stall Torque.

CIM Stall Torque = 2.2 N*m which is 20 in-lb.
Running the motor ar 40% Stall Torque gives us Working Torque =20 in-lb*.4 = 8 in-lb

so Gear ratio for CIM woul be 1560 in-lb/ 8 in-lb = 195/1

If I am right, I am looking at too big of a gear reduction to make the motors work.