Servo Problem

Hi,
This is my first project.
I'm running RH6.0, rtl2.2, servos (2.1 amps) connected with
STG2 with an EMC release of January 2001

well stg2 is runnin' fine with both stg2mod.o & stgmod.o

1)But the problem come that my servos keep rotating slightly when i
start my amps to drive signal ?? How do i get rid of this
Servos also give high pitched noise..Is that normal?

2)Another problem is that emc can't keep up with the encoder counts
fast enough. for example if i rotate the motor axis by hand "Slowly"
it counts , but doesnot count if i move the motor axis "faster"
But in Dos proggy suplied by Stg , encoder countes runs fine & very
fast & does not lose the counts

I've used Ray Henry *.ini file modifications to get out of Estop.

Imran Jawaid