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2 CIM Ball Shifter

The ultimate two-speed transmission for competition robots, enabling seamless "on-the-fly" shifting in a compact, light and easy to maintain package. Three different gearbox ratio options enable maximum versatility.

  • Designed for use with 2 CIM Motors

  • Housing is completely enclosed

  • AGMA 11 quality gears with teflon infused ceramic coating

Note: A pneumatic shifting cylinder and fitting kit is not included in the Ball Shifter kit. Be sure to add these below in the "Pneumatic Cylinder & Fitting Options" category if needed.

SKU: 2cimballshifter

Availability: In stock

  • - In Stock
  • - Out Of Stock
  • - Backorder



The 2 CIM Ball Shifter is the ultimate solution for a two-speed transmission in a competition robot, enabling seamless "on-the-fly" shifting in a compact, light, and easy to maintain package. Three carefully selected ratio options allow for maximum versatility.

Every aspect of this transmission was designed with size in mind. The 2 CIM Ball Shifter puts a 2-speed transmission into a tiny, lightweight form factor. The ball lock shifting method reduces the gap between the two gear reductions and allows for an extremely narrow assembly. The gear reductions were specifically chosen to reduce the overall transmission size and complexity. Highly efficient due to the AGMA 11 quality gears with teflon infused ceramic coating.

  • Weight: 2.50 lbs Ball-lock shifter method enables smooth shifting, even at full speed
  • Designed for use with 2 CIM Motors
  • Housing is completely enclosed - keeps metal chips out, grease in
  • Face mount or install using the included mounting angle
  • Designed to mount a Grayhill 63R series encoder (can be adapted for any encoder with male 1/4" shaft)
  • Assembly Required, see instructions below
  • Encoders, Motors, Cylinder not included


2 CIM Ball Shifter Reduction Stages:

Initial Stage: 40:12
High Gear Stage: 44:40
Low Gear Stage: 60:24

Optional 3rd Stage: 60:24
Optional 3rd Stage: 64:20

2 CIM Ball Shifter Overall Reductions & Spread:

GearboxOverall High Gear ReductionOverall Low Gear ReductionSpread
2-Stage 3.667:1 8.333:1 2.27x
3-Stage 64:20 11.733:1 26.667:1 2.27x
3-Stage 60:24 9.167:1 20.833:1 2.27x
3-Stage 54:30 6.601:1 14.999:1 2.27x
3-Stage 50.34 5.392:1 12.255:1 2.27x

The 2.27x spread between low and high gears in the VEXpro 2 CIM Ball Shifter was specifically chosen to serve the needs of FRC designers. When designing an FRC drivetrain, teams typically try to ensure that the robot low-gear can survive a continuous pushing match (with high traction wheels) without tripping breakers. They then choose a high-gear which is "fast" enough to zip around the field, without being uncontrollable or accelerating too slowly. After doing detailed market research, we learned that many teams have found themselves frustrated and limited by the typical spreads found in some of the "off the shelf" shifters on the market. When their low-gear is at the right speed, the high-gear is too fast, or when their high-gear is in the right spot their low-gear is too slow. Not anymore; this shifter is right where FRC robots need it to be.


Encoder Output Details:

Encoder output spins at 3x the speed of the 2 CIM Ball Shifter output shaft. The gear ratio is 36:12 between the encoder and shaft.

Tech Specs


Kit Contents

2-Stage Ball Shifter:


Downloads & Docs JVN's Mechanical Design Calculator (.XLSX)

Assembly Instructions:
Outputs 1/2" hex
Specification VEXpro Gears Require Lubrication. We recommend white lithium grease.
Material Type Gears: 7075 T6 Aluminum with teflon infused ceramic coating
CIM Input Gear: 4140 Steel
Shafts: 7075 T6 Aluminum 
Shifter Housing: Glass-filled Nylon
CAD Model 217-2428 (2 Stage with Grayhill Encoder) (STEP)
217-2615 (3 Stage 60:24 with Grayhill Encoder) (STEP)
217-2791 (Ball Shifter Short Output Shaft) (STEP)
217-2793 (Ball Shifter Short Output Shaft Assembly with Gears) (STEP)
217-2790 (Ball Shifter Long Output Shaft) (STEP)
Ball Shifter Long Output Shaft Assembly with Gears (STEP)
Drawing 217-2428 (2 Stage 2 CIM Ball Shifter) (PDF)
217-2615 (3 Stage 2 CIM Ball Shifter) (PDF)

217-2616 (Ball Shifter Housing Kit) (PDF)
Short Shifter Shafts with Gears (3 Spread Options) (PDF)
Long Shifter Shafts with Gears (3 Spread Options) (PDF)
Ball Shifter Mounting Bracket (PDF)
3rd Stage Output Shaft (PDF)
Ball Shifter Mechanism (PDF)
Ball Shifter Engagement Ball (PDF)
Weight 2-Stage: 2.50 lbs with pneumatic cylinder, no motors
  • 217-2751 (VEXpro Ball Shifter Hardware Kit): 0.116 lb
  • 217-2616 (Ball shifter Housing kit): 0.52 lb
  • 217-2792 (Ball Shifter Long Output Shaft Assembly): 0.632 lb
  • 217-3099 (12t CIM Motor Gear (Steel) w/ Mounting Hardware): 0.083 lb
  • 217-2703 (24t Gear with 3/8" Hex bore): 0.053 lb
  • 217-2707 (40t Gear with 3/8" Hex bore): 0.119 lb
  • 217-2733 (Flanged Bearing - 0.375" x 0.875" x 0.280"): 0.031 lb
  • 217-2731 (Flanged Bearing - 0.500" x 1.125" x 0.313"): 0.058 lb
  • 217-2789 (Flanged Bearing - 0.750" x 1.375" x .437"): 0.091 lb
  • 217-1699 (Ball Shifter Pneumatic Hardware Kit): 0.1 lb
  • 217-1718 (Ball Shifter Encoder Hardware Kit): 0.076 lb

3-Stage: 3.05 lbs with pneumatic cylinder, no motors
  • 217-2793 (Ball Shifter Short Output Shaft Assembly): 0.608 lb
  • 217-2704 (24t Gear with 1/2" Hex bore): 0.046 lb
  • 217-3574 (60t Gear with 1/2" Hex bore): 0.262 lb
  • 217-2796 (Ball Shifter 3rd Stage Bearing & Hardware Kit): 0.295 lb