If you look at page 5-24 (see attached file - below) of your installation manual you will see that Zone Type [5] is the same as Type [4] when the system is armed in the away mode. Specifically, the zones will have an exit and entry delay, if a entry/exit zone is tripped first. If the motion is tripped/activated first it will be instant. 

If you do not want them to have a delay when entering your home/business you'll need to use the Zone Type [32] Instant, Stay-Away Zone. 

[03] INSTANT:  This zone type is normally used for door/window contacts, but is instant when opened after the exit delay expires.

[04] INTERIOR:  The zone type is used with interior motion detectors.  Interior zones have an exit delay and an entry delay if a delay type zone has been violated first.  The zone goes into alarm when the entry delay of the delay type zone has expire, if the system has not been disarmed.  If the protected area is entered without entering the delayed entrance and an interior zone is violated, an immediate alarm is generated.

[05] INTERIOR STAY/AWAY If the system is Stay armed, this zone type is bypassed.  If the system is Away armed, the zone acts like an interior type zone [04].

[32] This zone is bypassed when the system is in the Stay armed mode, but it functions similarly to an Instant Zone [03] when Away armed.  This zone type is useful for motion detectors that must NOT follow the entry delay after a delay zone is violated, but must still retain the Stay/Away functionality.  aka "PIR w/o Follower" 

 If you use #32 you must put you keypad/motion so you can get to your keypad without activated the motion.