Hold position when brake is released

I\'d like to have the motors hold their position when the brake is released after I have posed the robot arm, but it seems that the !P command does not move from the current position towards the new commanded position (which in this case are exactly the same). Instead it appears to iterate a model from the old command to the new command. This means that if the speed is low that they attempt to return to the previous commanded position and move towards the new position.

One choice would be to send the hold command with a very high speed such that the model will meet the real point quickly, and then reset the speed with !S. But I would prefer to find a way to have the controllers dump their old commanded position and just start holding the new one. Is there a way to do this?

If you switch to count position mode, the controller should hold steady at the current position.