[Al Skierkiewicz]

Just to add a little fuel to the fire here...
The CIM motors achieve 133 amps in stall, the 40 amp breakers can sustain a 600% overload for a few seconds without tripping and can withstand 120-140% over load without tripping indefinetely. All of that being said, direct drive on these transmissions run the current requirement in the motors pretty high. Since the breakers essentially have some resistance, high current does cause them to heat a little. Once they trip, there is additional heat and no way to remove it. This additional heat then in turn derates the breaker such that it may now trip right at 40 amps. Each subsequent trip adds more heat so that at some point, the trip is now significantly under the 40 amp point. Ambient heat from motors, shrouded electronics, high resistance crimps and loose electrical connections all conduct heat to the operating material inside the breaker. Since teams frequently fail to get a good connection at the 40 breaker panel, they should check the temperature of the block when it comes off the field. If you search CD you will find a picture of burned #6 wire from a loose power input to the 40 amp panel. I would suggest you check (remove and inspect) your #6 connections, and consider a little additional reduction in the output of your transmissions. Adding motors may help but you really need to know the true cause before you can come up with a solution.

BTW, when breakers trip they get hot. If you suspect your breakers have been tripping, don't touch them when your robot comes off the field. You will get burned. Once you find the problem, consider replacing the breakers.