Mini Cim Drive Motors?

[KrazyCarl92]

At 12 volts, a CIM goes 3790 rpm at 40 amps and a miniCIM goes 3375 rpm at 40 amps. Therefore, designing a drive train to pull 40 amps per motor at the traction limit with CIMs and miniCIMs in parallel is near achievable with a 1:1 pairing of the motors.

Running the miniCIM at the same speed as the CIM at the traction limit (1:1 pairing) would mean running the CIM at 40 amps and the miniCIM at 34.3 amps, at 12 volts.

Based on these results, I would say it makes sense to run CIMs and miniCIMs together 1:1 in the drive train if design calls for it. So if you need extra power elsewhere, need weight savings that can't be found anywhere else, or have other design criteria, it should work well. It has worked well for many teams.

From what I've seen, miniCIMs are best suited of any of the 2013 legal motors to supplement or replace CIMs in the drive train since they are designed to take that type of abuse. Most other FRC motors simply are not.