This is great info. Thanks so much. I am confused about a couple of things though. The motors I have are (4) KL23H286-20-8B I understand them to be rated to 50 vdc and 2.8 amps/ea. The power supply I have is a kl-350-36 36V 9.7A Looks to me like the Power Supply was undersized both in terms of Volts and Amperage for the (4) NEMA 23s - so I figured a 48 volt power supply was in order anyway. I'm confused about the 80 volt Drivers though. Seems like a 48V 12 A Power supply would have driven the motors to almost their max capability.