[Kevin Sevcik]

Sounds a lot like the jaguars faulting out. Likely with an overcurrent fault. Under a constant, slight overload, the jags will fault out before the breaker trips. They'll blink for a few seconds, then start working again. If you have a 4 motor drivetrain, one might be faulting first, then the other. So they'll come back in the same fashion, and you'll end up with half power for a bit, then full power. This could also happen with 2 motor drive. 2 motor skid steer with a side dead can often feel like a merely underpowered, sluggish robot.

So your best bet for checking this is to buy or borrow a clamp on ammeter and measure the current drawn by your drive when running. If a single CIM is pulling more that 20 amps just driving around, then you've got a binding problem or a gearing problem.