Marc, the problems you are describing have nothing to do with the router motor. The motor will either run or not. Your problems are with several other things. The first step is to clean the entire work area being sure their is no debris in the servo motors which can cause bad readings. Check to be sure all mounting hardware on the servo motors and router is tight. These are the most common causes of failures. Next check the wiring connections to see if their is any damage or loose connectors. Beyond this you may have problems with either your programing or a controller part is failing.
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Mike
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