Remora - ethernet NVEM / EC300 / EC500 cnc board

I borrowed an old pc with a very low latency of about 3-4us (still steady after 1300sec)
Unfortunately, I'm not getting any improvement, I'm still getting a following error above 2300mm/min (~38KHz)

There must be another limiting factor somewhere else, how can I improve my troubleshooting method ?
Did anyone achieve a step rate higher than 38KHz with a similar setup ?

As Royka suggested, I've tried to increase the servo period, without success. (Though, lowering it definitely makes things worse)
Also, how can I make sure that the default stepper timing are correct ?

Attached to this post, you'll find my config.

In the last line of "remora-eth-3.0.h" from the remora component the default line is:
#define PRU_BASEFREQ 40000 // Base freq of the PRU stepgen in Hz

Try to increase that frequency and recompile/install

And a quote of Scott: "Your joint max velocity needs to he higher than the overall max velocity so that a joint can try to catch up the following error." 

I remember seeing Scott's post about the max velocity, I forgot to bump it up, now it's set to 2x the max gui velocity, thanks.

Increasing the base frequency did not result in any mesurable improvement, still fails at about 38KHz.
I've tried 60KHz 80KHz and 100KHz, updating each time with the command sudo halcompile –install remora-eth-3.0.c

Now I see that setting that frequency was unnecessary indeed. Are you using the DMA config?
github.com/scottalford75/Remora-RT1052-c...ec500-rt1052-DMA.txt

github.com/scottalford75/Remora-RT1052-c...DMA/remora-ec500.hal

Understood, I'm using the basic config.
What does DMA stands for ?

Direct Memory Access, as far as I understand is that with DMA the frequency is 500kHz and it seems that it's limited in the firmware to 40kHz otherwise. Somewhere in this topic Scott explained how it works.