This is a little frustrating. It seems like something that should be able to be handled through the servo enable signal. I'll see what DMM has to say. I know there were some fairly recent changes to firmware to accommodate the Oak, maybe mine aren't up to date.

I have several schematics from DMM showing both power and logic being routed through the contactor. The ones they sent me (specifically for the Oak) have the logic power split off before the contactor so it's always on.

I'm not going to be very happy if I have to loose my encoder every time the e-stop is depressed, or if I keep having to cycle the breakers with every startup.