[MrForbes]

Thanks for the analysis....I was referring to applications for the small Banbots gearmotors, not the 56mm version. Manipulators can be set up to have gradual acceleration, there should not be much requirement for quick back-and-forth motion, hopefully.

I agree that in driving applications the back-and-forth motion is pretty much unavoidable, so your single CIM per transmission recommendation makes good sense.