[MrForbes]

There was a BB failure story in the pits next to us at AZ, the arm on the 1212 robot is attatched directly to the output shaft of a BB 56mm gearbox. And powering the 56mm gearbox is the KOP 36mm gearbox! I thought about that a while, and then looked up the numbers, and that little gearmotor puts out about 6 times as much torque as a CIM (according to my flaky unit conversion calculations). So it's no wonder they were ripping up carrier plates and output shafts in the 56mm when the arm was accidently pushed past the end of it's travel.

You need to be careful with the BB transmissions, they are not for high torque applications.