Using CIMs at 30 amps?

[woughtera]

Hello,
In our team's current design we plan on using 6 CIMs in our shooting mechanism and 4 mini-CIMs for mechanum drive, but we only have slots for 8 40A breakers. We need to use four of the breakers for our mini-CIM drive motors and that only lets us use the remaining 40A breakers for 4 of our 6 CIMs. We figured that we could use 30 amps on 2 of our CIMs but the rules are iffy on this. It says that we need a circuit breaker value of "up to 40A" for the motor controllers (in the Branch circuit protection table 4-2). Does this mean we can legally use 30A for 2 of our motor controllers? Also, if CIMs don't run well off of 30 amps, could the mini-CIMs run fine on only 30A?