[jimfortytwo]

Our team took some measurements with a strobe in preperation for building a quad motor robot. I do NOT believe these numbers actually reflect peak performance, I'm only providing them to give a ballpark idea of what kind of rpm differences were talking about. We used a speed controller ON last years robot (read: we don't know what our pwm in these tests actually was) and we used fairly dead batteries. Your results may vary... SIGNIFICANTLY.

Tests conducted with 2003 equipment.

Test One RPMs(battery ~11.2V)
Drill in High:
Fwd: 1145 Rvs: 1005
CIM:
Fwd: 5331 Rvs: 5190

Test Two RPMs(battery ~12.6)
Drill in High:
Fwd: 1244 Rvs: 1094
CIM:
Fwd: 5670 Rvs: 5560

From memory: Forwards on the Drill was defined as clockwise looking down the barrel, as if you were using the drill. Forwards on the CIM was defined as the opposite. Clockwise as if you were looking at the face of the CIM. Please don't ask why.

To reiterate: It would be very foolish for anyone to design ANYTHING based on these actual numbers. We recognise that these numbers in some cases don't even remotely reflect spec. However, if you were wondering if this phenomina is real-- there you go. As for us, we more or less completely disreguarded this data in the consruction of our gearbox; I recommend you do the same.