Having joint following error on 5axiskins

I think the key for my problem is explained on your last sentence, reducing the acceleration. Let me check it....

And by the way, let me explain my problem again. The misunderstood is caused because of my lack of english.

I construct my machine conguration on emc with trivial kinematics with the given parameters on my last hal and ini files that I have attached.

I can succesfully the jog all axis and run gcode with %100 feed rates.

But when I switched into the 5axis kinematics (5axiskins), I can jog with %100 feed rate but can run a program with only %10 feed rate because the joint following error.