I'm pushing up to a hard stop, with a move command (also tried jog). Once the stop is sensed (which works), I attempt to stop the move command, but it continues for about two seconds sometimes, sometimes faster.

One second is a really long time, is there anyway to stop faster?

When I use a Popsicle stick to stop it, it will sense that it hits the Popsicle stick immediately, and then continue moving slowly for about two seconds, bending the stick as it does.

Sometimes the motion seems to be totally stopped, but it still waits a second or two.

Here's some things I tried:

ch2->integrator = 0;

Move(2, ( ch2->Position - ch2->LastFollowingError);

Jog(2,0);

StopCoordinatedMotion();
ch2->integrator = 0; // seems to prevent jumping
ClearStopImmediately();


ch2->integrator = 0;
ch2->t = 0; // this makes it faster, but sometimes jumps backward

ch2->integrator = 0; // this didn't help
StopMotion(2); // this one jerks really bad

Tony