At checking your parameter settings I found one weird input:
Please set the acceleration limit value either to "0" or a reasonable value like 500 to 2000 rad/s^2.
If this doesn´t help, create an oscilloscope reading in the strange situation recording S-0-0040, S-0-0084, P-0-0043, P-0-0044 and P-0-0445 as signals.
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