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That's a new one on me.??

I've not heard a motor at a high speed, not even at the fastest slew speed,? "scream."? I think you get this kind of gear scream when the driven side is stuck and the drive side has only got a frictional connection.??

The only sense the Gemini has for motor movement is the optical encoder in the motor.? If the optical encoder signal is not received? ?then the Gemini will continue to put DC voltage to the motor until it "sees" the optical encoder move.? If the motor can't move because of a stall condition (axis can't turn), then the Gemini should stop trying to move the motor, because throwing more power into a stuck motor would only burn out the motor.? The Gemini would then tell you "Stall".??

So I'm at a loss to understand how your drive would be screaming (meaning it's still getting power to the motor).? That implies the motor shaft is still moving (so Gemini thinks the motor is still free to turn), but some other gear is possibly loose and that is rubbing and screaming from friction.? Suspects would be the two transfer gears (their setscrews can work loose...if you have tucked motors), or the Oldham coupler ends (those would not scream).? The pinion gear at the end of the motor shaft is glued on (like super glue)...I suppose that could come loose but I've never seen that.??

Let us know when you discover the cause of your trouble.? We can all learn from this experience...and it's cure.??

Very best,

Michael