A peristaltic pump includes a rotor and first and second rollers mounted on the rotor. The first and second rollers rotate between a disengaged, initially engaged and a fully engaged position with respect to a section of tubing. The rollers begin to occlude the tubing when in the initially engaged positon and fully occlude the tubing when in the fully engaged position. The pump also includes an encoder and a rotor controller. The encoder monitors the position of the first and second rollers as the rotor rotates. The rotor controller is in electrical communication with the encoder and controls the operation of the pump and rotor. The controller stops the rotation of the rotor in response to a stop command and based upon the monitored position of the first and second rollers such that either the first or second roller remains in the fully engaged positon.
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