Suspicious movement in Homing

Translated from Japanese to English by Google Translate
I apologize for the hard-to-read parts

I am building a desktop type NC milling machine NC device with linuxcnc + EtherCAD.
The servo motor is used for torque control.

There is a suspicious movement in the operation of Homing, and it cannot be removed, so I would like to ask you to teach me.
The Home switch and overtravel switch are as shown in the figure, and the Homing direction is the positive direction of the coordinate axes.

1. Go with HOME_SERCH_VEL and detect the Home switch
2. Change direction and move away from the switch
3. Look for the encoder index in HOME_LATCH_VEL in the original direction.
4. When you think you've found the index, it suddenly accelerates briefly and stops at what seems to be the maximum joint speed.
5. Go to Home position with Home_FINAL_VEL

I want to eliminate the operation of 4, but I don't know how to do it. I tried changing various settings and changing the Home position, but the phenomenon is the same. It happens on all three axes.

Attach ini files, Hal files, and figures and videos.

If anyone knows the cause, please let me know

thank you

Video could not be attached

Try connecting the pid.N.index-enable for each axis. This tells the PID component to ignore the step-change in encoder position when the index trips.

You have an example of this (commented-out) in the spindle section.

Thank you andypugh

Homing is now quietly finished without strange behavior.

Thank you for teaching