Torch isn’t firing

I will do this. Do you think it will take care of the velocity lock? Maybe I set the correction rate too fast and the motor is locking? What seems to be the issue with that?

   

[AXIS 21
# set to double the value in the corresponding joint
MAX VELOCITY = 2.9
* set to double the value in the corresponding jornt
MAX ACCELERATION = 5.9
# shares the above two equally between the joint and the offset
OFFSET AV RATIO = 9.5
MIN LIMIT
-3
MAX LIMIT =
-A l
[JOINT 3]
TYPE
= LINEAR
HOME
-6.2
FERROR = 0.5
MIN FERROR = 0.05
MAX VELOCITY = 1.9
MAX ACCELERATION = 2.5
# The values below should be 25% larger than MAX VELOCITY and MAX ACCELERATION
# If using BACKLASH compensation STEPGEN MAXACCEL should be 100% Larger.
STEPGEN MAXVEL
= 1, 25
STEPGEN MAXACCEL
= 3.125
P
= 1000 a
I
= 0.0
D
= 00
FFO
= 09
FF1 = 1 0
FF2 = 0.0
BIAS = 9.9
DEADBAND = 9.0
MAX OUTPUT =
# these are in nanoseconds
DIRSETUP
DIRHOLD
5000
STEPLEN
= 2500
STEPSPACE
2500
STEP SCALE = 9065.6
MIN LIMIT
-3
MAX LIMIT
-0.1
HOME OFFSET =
-0.080000
HOME SEARCH VEL
= 0.200000
HOME LATCH VEL = 0.050000
HOME FINAL VEL
= 0.000000
HOME USE INDEX = NO
HOME IGNORE LIMITS = YES
HOME SEQUENCE