SR6 doesn't return to home properly

I’ve had the SR6 for a while with no issues took a break for a month. When I turned it back on it would continually stutter for half a second then repeat that.

It’s clearly trying to home but can’t make it. If I coerce it into the home position it will immediately lock in place and work like normal. Until mid script where it loses its place again and start jittering again.

not sure if this is a code issue or a motor issue have any similar problems?