Issue with CIM/Jaguar

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All,
We are having a strange issue with our shooter motor (single CIM, direct drive to two belted plastic wheels).
We use a toggle button to set the motor to full power to run.

Initially, the motor starts running, but after revving up for ~ 1 second it stops, the Jaguar blinks red + orange (note: the "positive" power, green, is the intended power direction).
The motor stops for a few seconds, then powers back on for a second and repeats this process. We don't have any code that is disabling the motors (another joystick button sets the value to 0, but this is never pressed in this test).
This pulsing happens for ~30 seconds. After this time, the motor powers on, revs to full speed, and stays on as intended (almost as if the motor has to warm up). Toggling on/off works perfectly after this.

We swapped out Jaguars (with a brand new one) thinking that may have been causing the issue, but the issue still persists.
When we apply power to the motor directly via battery, it works perfectly.

My guess is an overcurrent (that the Jag is protecting against), but why would the motor behave normally after attempting to run for ~30 seconds?? We hooked up an ampmeter to the motor while running and nothing seemed unusual. Running 2 lightweight plastic wheels off a motor that has little resistance (ie we're not stalling it) shouldnt cause this.

Any tips?