Bradshaw, William V wrote:

> What do you mean by adequate bypassing on the motor and PIC?  I have
> diodes across the coils of the relays.

  That's only the first step.  The rest is to do with how you run your
wires (particularly the motor wires), the suppressors connected across
the relay contacts, which earth connects to which, where the bypass caps
are, whether the relay frame is grounded, etc...
--
  Cheers,
        Paul B.