[Clem1640]

We have not had any problems with the cantilever loading on the window motor sprocket. We are still using the original (4) window motors after (6) competitions (on & off-season) and (4) demos. We've got (L&R) spares, but have not needed to replace any originals yet.

We embed a magnet in the end of the sprocket. A Cherry absolute magnetic encoder is mounted on the plate below the sprocket. This encoder provides information on the sprocket angle and (since the drive sprocket on the motor and the driven sprocket on the pivot are both 15T) therefore the pivot angle. This makes mounting the bottom end of the drive sprocket problematic.

Regarding building chains in Inventor, I have a process which works well (albeit a little tedious). I will write this up (it'll be short).