[AdamHeard]

Are you still intent on using just the Big CIM?

Also, you mention Outback manufacturing. Is this THE gearbox they will sell? If it is, it definately needs to support 2 motors and be able to use small CIMs to stay competitive on the market.

I'm still baffled by the choice though.... One small CIM is more power for half the weight (remember, the motor can draw 133 amps [at stall] and the electrical system WILL supply it for a short time. It doesn't just hit 40 and stop), two small CIMs is double the power for the same weight.

Also, One big CIM geared to 9 fps takes a little over 1.5 seconds to reach top speed... For 9 fps, that acceleration is rather slow.

Why not design it for One Small CIM and one Large? That leaves open two small CIMs for manipulators like you desired, and still provides a competitive level of power.