CNC router occasionally makes jarring noise and home jumps when it does this. Help!!

[JAZZCNC]

Rapid speed is the Velocity setting in Motor tuning.
If you watch the video it stalls while cutting not rapiding between moves so I think if you tweak the Accel first and lower the feed while cutting then you'll be ok.
Basically it's stalling under the cutting load which isn't much at this depth but your feed rate is so fast your at the limits of the motors torque so it doesn't take much to make stall.

Just drop the Accel by 10% and try again.

What feed rate was it set at while cutting.?

Edit: If you want to test and see the affects of lowering feedrate without altering anything, machine or G-code, then just lower the feed rate over ride to 75% and try it again.!