The f4 in line 1 is meaningless since all of your commands are rapids G00.
Try G01 f4 and get rid of the G0's completely. If by locking up you mean the motor won't turn the other way and makes a buzzing or growling sound, you are probably trying to move the motors to fast.
If it works with g01 in the code, reduce your accel and speeds by half and try again.
Mike


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