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I too have experienced the twisting motion that Petkal describes when hand holding either the 500 or 600 Ver, II lens and I don't like it
I often carry my lens with a camera mounted and the new RRS foot is uncomfortable and does not balance very well with a 1DX on the end
Liked the old RRS replacement foot on the 500 expecially.
Have not found a solution to the twisting yet, but presently in Costa Rica so cannot explore
Well, Lloyd, I am glad you have isolated that effect too.
An animal shows up suddenly, typically a bird bursts into flight. You swing the lens towards it as fast as possible, and then stop it on the target in a very abrupt way in order to start AF-ing.
At that moment, the lens twist torque is at its very highest value.
The torque magnitude is proportional to lens deceleration ( a "sudden stop from high swing speed means very high decel"), lens weight and the distance from the lens support/grip point to its axis (center of gravity). The only practical way to diminish such twist torque is to grip/support the lens as close as possible to its axis, which in my case means a low profile foot.
For example, my handholding effort and AF effectiveness with 800L has noticeably improved since I've switched to a low profile foot. The dedicated 800L foot by 4th Gen. Design works great for me here, and it's fully functional as a handle too.
I handhold my teles exactly as you do, an really noticed this twist today photographing fast monkeys