A system for safe retention of loads, the system comprising: a motor configured to control operation of a load responsive to rotation of the motor; a holding brake configured to prevent rotation of the motor; a position feedback device operatively coupled to the motor and configured to generate a position feedback signal corresponding to an angular position of the motor; and a motor drive configured to: receive a command to stop rotation of the motor, bring the motor to a stop responsive to receiving the command, control operation of the holding brake via a first safety channel, wherein the first safety channel is operative to set the holding brake responsive to stopping the motor, receive a brake set feedback signal indicating that the holding brake has physically been set; once the brake set feedback signal is received, begin monitoring the position feedback signal; control operation of torque output to the motor from the motor drive via a second safety channel, wherein the second safety channel is operative to disable torque production from the motor drive when the holding brake is set, and re-enable torque production via the second safety channel when the position feedback signal changes beyond a predefined threshold with the holding brake set. a motor configured to control operation of a load responsive to rotation of the motor; a holding brake configured to prevent rotation of the motor; a position feedback device operatively coupled to the motor and configured to generate a position feedback signal corresponding to an angular position of the motor; and a motor drive configured to: receive a command to stop rotation of the motor, bring the motor to a stop responsive to receiving the command, control operation of the holding brake via a first safety channel, wherein the first safety channel is operative to set the holding brake responsive to stopping the motor, receive a brake set feedback signal indicating that the holding brake has physically been set; once the brake set feedback signal is received, begin monitoring the position feedback signal; control operation of torque output to the motor from the motor drive via a second safety channel, wherein the second safety channel is operative to disable torque production from the motor drive when the holding brake is set, and re-enable torque production via the second safety channel when the position feedback signal changes beyond a predefined threshold with the holding brake set. receive a command to stop rotation of the motor, bring the motor to a stop responsive to receiving the command, control operation of the holding brake via a first safety channel, wherein the first safety channel is operative to set the holding brake responsive to stopping the motor, receive a brake set feedback signal indicating that the holding brake has physically been set; once the brake set feedback signal is received, begin monitoring the position feedback signal; control operation of torque output to the motor from the motor drive via a second safety channel, wherein the second safety channel is operative to disable torque production from the motor drive when the holding brake is set, and re-enable torque production via the second safety channel when the position feedback signal changes beyond a predefined threshold with the holding brake set. <EOS>