I have seen some Youtube Videos where teams have taken out the Motor Cartridge and replaced with “other” means of direct connection to the Spindle Gear inside the Motor. This spindle motor is what the gear cartridge would affix to. So, I guess you could say the Gear Cartridge(s) has been replaced with a custom insert, In reference to R20 “c” is this a legal modification?
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This is a new addition to this year, and custom cartridges are allowed as long as it’s not 3d printed.
Yes. There is a official Q&A about it
Yes.
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