Thanks Craig for the long feedback on servos and computation of torque. Maybe slightly different question on the pictures you shared of your machine, specifically for the tilting table. I'm planning a similar architecture but directly embedded in the two sides of the frame. In term of dimensioning it, I'm planning to have an harmonic drive on one side, and a cross roller bearing on the other side to deal with both radial and axial force. On your setup, did you use a simple ball bearing on the right side ? and on the motor side, is it directly mounting to the axle with some gearbox ?