[John Wanninger]

We're also using the 42mm, 256:1 FisherPrice/Banebot combo to drive our arm through a a 54:14 (sprocket/chain/sprocket) reduction. Our arm load is approximately 100 in-lb max static load, with tube. We're using dynamic braking, no counterbalancing and closed loop proportional control. We limit maximum PWM signal to stay within the 100 to 160 command range. Our arm is fairly flexible and has some 'whip' to it - I think that may help to limit peak loads.

After a practice tournament, and two regional events (about 48 matches total), I opened the BaneBot for inspection. The internals look like new, with no observable cam out on the carrier plate. We're crossing our fingers that it holds up through the Championship Event. We do have a 16:1 and a 64:1 that I believe we can use for parts if need be. Another option is to go with a Globe motor-to-'lovejoy' coupling-to-shaft w/ dual outboard bearing set up.