MK1 Steel router build log 1500x800x200

[JAZZCNC]

But that wouldn't help if you crash into a clamp or something during acceleration at say 50rpm, then I would still get the possibility of losing "square"

Well that depends really. The drives have fault feature when tripped for any of the protections, ie: current voltage etc and usually if you hit a clamp or anything strong enought to stall the motor it will fault one of the drives protections anyway. In which case provided you included the fault signal in your E-stop circuit your still safe.

However I can tell you that if you stall the motors other than hitting something then it nearly always happens at higher than 300 rpm, usually when doing rapid moves.