The firmware should have no effect on motor heating, you need to look a the current (Amps) setting of your drivers. setting this too high can also cause excessive vibration.by mrbubble - Repetier
You could also try using a laptop to monitor, that will eliminate the ground loop problem. (two pin power cord or run on battery)by mrbubble - Repetier
I the same symptom on my Delta caused by extruder motor noise in the end stops. In Repetier at least this causes the current move to end early and the machine looses position. If you are using Repetier try: #define ALWAYS_CHECK_ENDSTOPS falseby mrbubble - Delta Machines
Quotebobc There is an issue with homing, which doesn't always seem to work, and I get lots of position shifting during printing, even at low speed/accel. I couldn't find a combination of settings that worked. I suspect it may be something to do with step doubling, because there doesn't seem to be any motor stalls, the print head just goes to the wrong place. Your Repetier symptoms are very simiby mrbubble - Controllers