New Machine Build Step Response graph in Torque Mode

Would like to make sure im on the right track , My Graph results are not a Square wave like the Tuning manual shows ,But the target Graph isn't either .
Is this correct ?

I ve included the graph and drc file .

I can get it internal Hard stop ok . But didn't really understand the I.O user , but how Ive got it work when i Unlock the reset switch.
Would appreciate any feedback

BL60-235 servos Vsde drives

Many thanks

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Attached Files

Y Axis Hard stop set.txt‎ (3.7 KB)