I have a touchle mark vii. Sounds like u have a bad travel limit prox switch (or cable). These are the prox switches that aim down on bottom of machin…..they have a target at both ends of track. most likely if unit is “stuck” at home the entrance end switch is bad. Once u fugure that out….u will likely need to retrain the machine
what does d10 code say. Look at sticker on panel
door