pic: Team 701's 3 CIM In-line 2 Speed Shifting Transmission Prototype

[Kevin Sevcik]

The most likely time for that gear to fail is under a rapidly reversing load. When you go from full forward to full reverse, there's a brief moment where the back EMF of the motor effectively doubles the voltage across the motor and you can double the current in the motors. Or atleast you'll be drawing as much current as 24V can pull from your battery and through your wires. Double the current is double the torque, so you'd be wise to atleast size the teeth for a static load of 6x the stall torque of a CIM.