Motion control profile to improve reliability of inserter during insertion

An envelope inserting machine has a feed path for envelopes which includes an envelope inserting position and means for feeding successive envelopes to that position. Envelope throat opening claw assemblies have claws that maintain the throat of an envelope at the inserting position open to receive a collation of insert material from a collation feeding mechanism adjacent the envelope inserting position. A microprocessor control means actuates the throat opening claw assemblies to release the upper edge of the envelope and substantially simultaneously actuates the envelope feeding means to move the envelope in a rearward direction momentarily, either after the collation is substantially fully inserted into the envelope or while it is still being inserted, to ensure that the collation is inserted sufficiently to bring the trailing edge of the collation beyond the crease line between the front panel of the envelope and the flap.