EMC2 overexceeds maximum speed

Hi all. I have big problem that stops all my work on machine.

I have made all configs in step config with normal working speeds.
But when I work in EMC2 (linuxcnc) and I move manually Rapid Z (move Z with Shift), it stalls. I suppose that it moves faster that than should.

When I increas speed in stepgen it much faster can move then I need. For example maximum speed 100mm/sec and motors don't have stalls on 200 mm/sec.

Very interesting and very bad moment that when program is running I see some jogs of speed in that time I have micro stalls and coordinate losts much.

How to solve this proble?

After some time was said:
After researching, I've found that I can exceed maximum speed from g-code. It's very bad, how to set automatic saturation?

LinuxCNC will not exceed the acceleration and velocity limits set in your hal and ini files
(assuming the hal and ini files are setup correctly)

if you are losing steps it may be that your acceleration settings are too high

Can you post your hal and ini files and explain what type of machine you have?

Yes, I really have high acceleration 200 mm/sec. And speed 100 mm/sec.
When I configured my cnc, in stepconfig wizard was everything good.
I've decreased speeds to 50mm/s for this work and also have collapse always in one place.

I add file of rough program. When this program executes on Y40 coordinate I have stall of A-axis. If somebody can, please run my program on your cnc-machine and look this part. Does it works fine?
In this problem place, speed increeses, then stalls and slows down extremely. I wrote this program in ArtCam.
LinuxCNC3gb-Rotary_X2A_MM-postprocessor.com is postprocessor for artCam, it should be changed from .txt to .con.

As for my CNC machine, it have XYZA -axis.
XYZ - 5 ampere motors and A-axis is 2 ampere motor with planetary reducer with rate 1:21.

Video of problem work could be seen hear drive.google.com/file/d/0B2rjebZx9009MDk...bkE/view?usp=sharing

Have you read these sections of the manual so that you understand how feed rates work with rotary axis?
linuxcnc.org/docs/2.7/html/gcode/machini...r.html#sub:feed-rate
linuxcnc.org/docs/2.7/html/gcode/g-code.html#gcode:g93-g94-g95

You might need to see if you can set up ArtCam to output your code using "inverse time feeds".
(don't ask me how to do it, I've never used ArtCam or Inverse Time Mode.)

PCW wrote:

LinuxCNC will not exceed the acceleration and velocity limits set in your hal and ini files
(assuming the hal and ini files are setup correctly)

I've made set up in stepconfig withard, file should be correct. But when I change speed in emc2 for example g1 a360 f5000 - axis stalls.

I every time have message about realtime error, Could it be something with computer? Tommorow I will try decrease accelerations.

Currently I have changed my computer because when I loaded program more then 5 Mb, computers sends comands to stepper motors with terrible jerks. When I changed computer to elder, motion become more smoth.