At the tournaments, especially early in the season, I have seen quite some teams struggle with lifting the tray.
Some usage tips are directly on the page. Details of the internals are in the page source. Feel free to modify if it doesn’t fit your use case. Feel free to ask if something isn’t clear.
After evaluating different configurations, we ended up with the powered lever attached to a simple 1:7 gearbox (~14Nm available torque with the red cartridge), 7Nm computed maximum torque needed to raise our fully-loaded 12-cube tray and actually verified that the motor behind the 1:7 gearbox never needs more than 1Nm during 12-cube scoring.