Cantilevering with Planetary Gear Motors

[Ginger Power]

Obviously cantilevering a planetary gear motor output shaft is generally frowned upon... but is it permittable if the loads are low enough? I am working with this motor, and direct driving a 10 lb load directly off the output shaft of the motor. In doing some research I've come to the obvious conclusion that I shouldn't be putting this kind of load on this kind of motor. Is 10 lbs an excessive load for this motor, and how would I go about calculating that? The packaging requirements for the application of this motor are really tight. Direct driving seems to be the cleanest way to fit the motor in the alloted space. As a side question, does anybody have suggestions for an alternate to direct driving?