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Raw unedited video of assembling the thing, still removing some music doe to copyrights and that takes ages, but the video can be watched in entirety, over 2 hours of it with me ranting occasionally...

Silicium is Si, 14, not silicon.
30 years ago making this mistake would cost your job, now you can not find the correct name anywhere.

Salve Giorgio

How does scale come into play for velocity mode servos?  I see multiple different Scale callouts between the .ini and the Hal files.

From JT's configurator tool, in the .ini there are these values which I currently have defined as:
Scale for drives = 10
Analog Scale Max = 10
Analog Min Limit = -10
Analog Max Limit = 10
Encoder Scale = -634.92 (this one I understand, although might need a double check on the value. Calculated based on 500 ppr with .7875" in per rev of servo)

In the main.hal file, I only see this line referencing SCALE, which I assume to be the scale for drives listed above.  
setp hm2_7i97T.0.pwmgen.00.scale [JOINT_0] SCALE

I also have seen Output Scale referenced in other posts, is this the same as Analog Scale Max?

I set the PWM frequency to 75000 and enabled dither.

Thanks for the help