Following error only when homing

Look like your hal and ini files did not get here...

sorry about that have another look Peter

You might try commenting out these lines

net x-vel-cmd => pid.x.command-deriv
net z-vel-cmd => pid.z.command-deriv

I would also not home to index until homing without index is working

It may take a plot of the ferror, commanded position and feedback position
to track down what's happening

Got it fixed thank you