I have a 2010 550 h1 and today the right front axel made a griding noise. This is the second time this has happend. I've tried to replicate the the problem several times but it hasnt done it since. It seems to be when I'm switching from 4wd low to 2wd high. It doesnt happen right away after switching but a few meters afterwards. The right front axel makes a griding noise then all of a sudden "catches" and the sound goes away and the bike rides normally. It only happens for a second, as soon as the tire makes almost 1 full turn I hear a "snap" and all is back to normal. Like I said I've tired to make it do it again but it wont. It sounds horrible but the bike drives just fine after that. At first I thought a branch was caught in the driveline, got spun around and snapped off and all was well after that. Thats what it sounds like. But after inspection there was no branch or any debris for that matter. I know somethings not right but the bike rides just fine afterwards and it only happens for a second. So its happend twice in 60 miles of riding. Has anyone encountered this? Its under warranty but I'd just like an idea of whats going on before I bring it in. Thanks for any help you guys can offer.