Is it all the time or when initially hooked up and the first few brakings that this occurs? The slight glaze of rust that builds up between uses will "burn" off like this. You should have a minor amount of heat build-up while this happens.
If it is a constant grabbing of the pads, you may want to break the wheels down and compress the calipers with a C-clamp, visually inspecting for rust or burr hangs in the caliper piston. (With the resevoir cap off.) I would attack the accuator/plunger assembly as a last attempt. They are a PIA and pretty much require a second set of hands for a R&R. Good Luck!