controlling the speed that a PID on the talon moves an arm

[Bruceb]

My programmers are trying to get the PID on a talon SRX to move an arm to a set of set points and hold it there. They have it working but when the set point button is pushed the arm appears to get maximum voltage at start and rapidly decreases to the set point. From start to stop it is less than a second and it holds position with no apparent oscilation so that is good but that high velocity start I am afraid is going to be hard on the VP planetary gears.
Is there a way to have the motors start at a lower voltage so the acceleration is not so violent?
Thanks