[ozrien]

ericomoura, did disabling the motor-safety enable remove the symptom of the motor-safety error in your DS and unexplained motor-stopping? Be sure to clear the log in the DS before each test run.

If the DS is reporting motor safety, then a motor controller is absolutely being set to zero throttle. In fact the mode will read "No Drive" in the roboRIO web-based config Self Test. (see section 19 in Talon SRX software reference manual).