If the mechanism moves easily and the motors are slipping, the motor torque is too low for the speeds/jerk/acceleration settings you are using. Increasing the motor current can get you a little more torque, but as you have discovered, it also gets a lot more heat. You must either reduce speed/acceleration/jerk or get higher torque motors. Since you've provided no information about the motors or the printer there's no way to know if the motors are capable of making the mechanism do what you want it to do. Start by decreasing the acceleration and jerk- try 300 mm/sec^2 and 2 mm/sec^3. Print at low speed to start- try about 30 mm/sec. Once you have that working, increase the acceleration, and speed in small steps. Once you have found the limits there, start adjusting the jerk upward. As you increase acceleration and jerk, you'll see ringing in the prints go from small to more severe. Use a number that provides satisfactory print quality.
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