Alarm 6, the stepper is stuck and unable to move. Is the stepper broken?

Probably the homing speed is much too high, so the motors can’t keep up with the pulses.
Reduce $24 (and maybe $25) by a factor of ten and see if that improves the results.
The maximum speeds & accelerations may be too high for the machine. Make sure $110-111 and %120-121 makes sense and reduce them as needed.