[RRLedford]

IMO, the focus for solving the slipping issue should initially be directed toward maximizing the friction factors, not RPM.

We are concentrating urethane materials with better properties to match the task being in contact with the disk edge. We are also concentrating on having two points of wheel contact from slightly above and below the peak of the disk edge curve, to better capture the disk and maintain better consistency of motion.

Once we feel these items are well handled, we will then further tune with RPM adjustments.

-Dick Ledford