Homing trouble

I'm Japanese and I'm posting using Google Translate. Please forgive me if the text is difficult to read.

In the past, I consulted with LinuxCNC2.8.2 about the phenomenon where the HOME_OFFSET operation starts at full speed for a short time when the homing operation starts. The servo amplifier is torque controlled and uses PID control. The servo amplifier is connected to the servo amplifier using an analog output module via EtherCAT. At that time, I was only connecting the JOINT and Encoder Index-enable in the HAL file, but I was advised to connect it to the PID Index-enable, and the problem was solved.

This time, I am using LinuxCNC2.9,3 to create a machine with a similar configuration, and the homing operation starts at full speed for a short time when the HOME_OFFSET operation starts. In the HAL file, Index-enable is connected to JOINT, PID, and Endoder. And the PID module of this version of LinuxCNC has a pin like the AT-PID version used in between. And there is no AT-PID. I remember that Index-enable didn't work well with the previous version of AT-PID. At the time I thought it couldn't be helped since it was for servo adjustment. Is it possible to fix the behavior when entering this HOME-OFFSET? I've looked through various manuals, but I haven't found anything. Is there some information I don't know? Please let me know.

Thank you.

Thanks for your reply, tommylight.

Unfortunately, HOME_FINAL_VELOCITY is set appropriately.
The Homing parameter uses the value set in LinxCNC2.8.3.

Based on my experience adjusting the servo using AT-PID at that time, I think the PID module in 2.9.3 may have been replaced with AT-PID. I remember that AT-PID did not work properly even when connected to the Index-enable pin with JOINT and Encoder Index-enable.

Has anyone experienced this problem?

Thank you in advance.