[fox46]

(I know you asked Kevin but-) The coast mode would definitely help with reducing the load when stopping the motor but limiting the starting power while still keeping the speed up is our challenge. Also, we're using encoders to accurately index the arm and if the Jaguars werent in brake mode I suspect it would drive the software nuts. It would be even worse if it overshot the target position and the software then reversed the motors to bring it back into position. I've been cracking the whip trying to get our programming team to come up with a ramp function to ramp the power up and down relative to proximity to the target position of the arm but dealing with our programmers is like hearding cats and lately I can't convince them to do anything. They've been using the typical post-ship "theres no point to trying because we have no way of testing it" excuse.