[Andy Brockway]

If you search 'gearbox' in the white papers you will find several different versions of two speed transmissions including those authored by Andy Baker, Dave Lavery and others.

If you add '716' to your search you can find our 2005 version which I have used a variant of the last few years. My adaptions, not in the original documentation, include: two CIM; one CIM; one CIM with one FP; and repositioning the motors as needed for the robot design.