Ria
Please calm down!
Your typing fingers will be worn away.
You are correct, that the instructions do only say it is essential when storing the caravan for winter.
During the course of my work I attended various manufactures product-training courses, including many of Carver's.
The Cascade 2 was designed to be supported by the floor of the caravan, but a number of caravan manufactures routed various pipes under the main casting which meant that the heater was actually raised above the floor, or that the accuracy of the caravan construction sometimes caused the tank to be slightly tilted so that in either case the inboard end of the heater was not supported properly.
The need for that support was to counter the effect of having the tank and its 9 litres of water was cantilevered of the rear of the main casting. Whilst stationary, there was no real problem, but under motion, the vibrations and accelerations imposed on the caravan structure would cause considerably greater loads than just the 9kgf.
Just as an example, from testing that I was involved with, the internal structures of a caravan can be exposed to 4g accelerations during towing. That means that the 9kg mass would be exerting 9x 4 =36 Kgf on heater. Due to the cantilever design and the effect of force on the length of the tank the joint can see impact loads in excess of 70Kgf. These load are very short duration but never the less they do 'work' the joint.
With proper support the tank can weather these loads but if for the many reasons the tank is not supported then the tank joint can suffer. The engineers agreed that to lessen the load is no bad thing, and they agreed that draining for each trip is a sensible precaution.
For the reasons I have already given I still recommend that the system is drained of whilst travelling.
Carvers instructions do as you say recommend draining down for winter, but speak to almost any caravan engineer and they would agree that it better not to have 9Kg of water 'sloshing' (thanks for that great word Maureen) around.
I was also able to speak with Carver's service engineers and they agreed that is better lighten the load, especially when the foot of the insulations jacket was not firmly supported by the floor.
Others are perfectly free to have their own views about this.