[Tom Line]

Ah yes. We've seen this for years, both on the old IFI control system, on the new one and even on our old RC cars that we drive around.

If what you're seeing is what we're seeing, then I believe the culprit is a possible combination of several things.

The 775's are fairly noisy motors. We've had good success in the past with damping the noise down with appropriate capacitors. There are several threads here about it. Al from 111 made a suggestion as the size requirement - I can't remember it off hand.

Another issue that we dealt with in 07 (our camera would shudder when we ran our drivetrain) was that the PWM wires feeding the servos were too close to the motor power wires that ran our arm joint.

A combination of capacitors and rerunning the pwm's fixed our problem.

I haven't seen the issue you are seeing with the servos and their initial position. I'm assuming that you're using labview: have you set their position IN the begin statement? That's where we initialize all our actuators, and we've never had an issue with the HD servos moving.

We really need Eric van W. in here to explain the internal wiring of the PD and DSC components. Do they all share the same unfiltered ground?