Motor stalling when current is reversed

Hello, what is the correct configuration to prevent the motor from stalling when decelerating the motor strongly?

we applied a sinusoidal signal to a motor 90% amplitude and with a 3hz frequency.
we have a problem of the motor making strange noise as if it was stalling when the motor order is decelerating a lot. When we look at the esc_status messages we realized that the stalling occurs only when the current is negative.
Thanks in advance for your help.