Problem homing with index

I too have an issue with index homing on my Bridgeport.  I spent years engineering closed loop controls so not a stranger to servos configs but not a LCNC expert. I have a 7i92 with 7i85.  I am running servos sending step and dir to servo drives (drives close their own loop).  I then send the encoder feedback to the pids in position mode with FF0 set to 1.0 and a 0.5 Pgain (set to 0 doesn't really fix anything) to help following error at speed along with limiting the error to 0.005".  I am getting 0.0003" following error (not counting machine slop) with this setup.  When I look at feed back and command after homing they may be 0.100" off....  When I rehome, it seems to get worse each time...

What exactly do I have to do to get rid of the big encoder to position discrepancy using index homing?
Grab the firmware from above post?
Do I have to run in Vel mode?  I don't want to....
What is this business of sharing encoder indexes?  Can someone spoon feed it to me?
An example ini and hal with this setup?

Thanks for the Help,
Kent
 

For step/dir drives with encoder feedback, you need to use the
stepgen in velocity mode. The pncconf and mesact setup utilities
do this automatically.

Thanks great LCNC wizard... Do I use the posted bit files?

No, those are for homing to index in pure stepgen systems (no encoder feedback)

In this case (no encoder feedback) the stepgen hardware needs to behave like the
encoder index hardware, that is, it must latch and zero the stepgen position
(in hardware) at external index occurrence when stepgen index enable is true.