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My guess first is that, being it is high current, the hammer is getting welded to the anvil a little. generally i can tap the outer casing and it will brake loose. possible solution: use graphite or some lubricant??
(as long as the contacts are rated for the current you're switching)
A snubber network over each contact pair is yet a method
Just out of curiosity about he snubber network, the sabertooths can draw 50A for a couple ms which is pretty nice when demanding torque. Will adding this have a insignificant performance impact?