text: <s>[INST] Servo motor Brake engage problem Hi, I am trying to find if there is any solution to my problem. I am using a servo motor with a brake and the mechanical part that this motor is moving, shakes only when there is a transaction from drive going off to brake engage in the motor. I am using these blocks in my program: MSO -->MAM or JOG --> MSF Parameter configuration: Mechanical brake engage delay = 0 Mechanical brake release delay = 0 Mechanical brake control  = Automatic stopping action = Current dec & Disable Drive type :2198-H025-ERS2 Motor type : VPL-B1003T-P Ps, I do not think that it is a good solution to hold the drive in ON state for a long time in order not to have this issue, Your thoughts about this will be welcomed. [/INST] Try adding an MAS (Motion Axis Stop) before issuing the MSF (Motion Servo OFF). One would expect some unwanted dynamics if you're allowing the brake to activate while the motor is still turning; servo brakes are generally holding brakes, not stopping brakes. I would suggest issuing the MAS, verify that the axis stopped by checking for zero speed (I think I remember that drive has a zero speed bit in the axis parameters already), then issue the MSF. If the drive definition doesn't have zero speed bit, it's easy enough to use a LIM command with axis velocity. \\n </s>