My truck does it too. Its very loud and it sounds like something broke when you first engage the AC.
However, its normal... and its most prevalent after the truck has not been started for awhile.
It due to compressor slugging... liquid refrigerant (and oil) trying to be compressed upon initial start up of the compressor.
On our trucks, the AC compressor is at the lowest point or very close to the lowest point in the system. The refrigerant condenses in the lowest point of the AC system (the compressor in our case).
Once the system is started, the whole phase change (low pressure gas to high pressure gas to high pressure liquid to low pressure liquid back to low pressure gas) process takes over.
The Sanden compressor is pretty tolerant of this occurance.
Hope this helps,
Louis