Hi, i have been following this thread, very good work, there is though a point i would like to make concerning the Faulhaber and in general all coreless motors. To use these types of motors with a worm gear is not good practise, what you will find is that they will work perfectly in one direction but will be slightly noisy in the other, this is because the worm will be trying to pull the motor axle away from it's natural position and will generate interference around the commutater leading to the eventual distruction of the motor making it useless. To avoid this and when there really is no alternative than a coreless motor you must have a thrust bearing in between the motor and the worm, but what is most important is to ensure that when setting up the position of the worm and it's thrust bearing in relation to the motor this shoud be done with motor axle in it's natural position and not working against itself. In other words the motor axle and the worm shoud not be able to move backwards and forwards away from where it was intended, i hope i haven't confused anyone, it's just to make sure that your expensive coreless motor's last longer, bye.