[Al Skierkiewicz]

Michelle,
The clamp on ammeter is a good way to start any robot check out. I recommend it to teams to check all motors, particularly multi motor drives, to be sure the currents are balance and/or one motor has not failed. Follow your first check with lot's of practice. The circuit breakers trip with a distinctive buzz and that should show up with practice sessions. A breaker that trips repeatedly will get warm to very hot so check the temperature of the breakers after a practice match. Careful, they can be hot enough to burn. The current monitor linked in the above post is another way to always check and the data can be interpreted at the dashboard output. If you are using the IFI breaker panel, it will alert you when a breaker had tripped.

Are you expecting trouble? Suspect a particular method or assy? Be aware that you can scale the speed sent to the speed controller with software so it runds less than full speed when the joystick is pushed all the way to the limit.