Need help with 'Joint following error'

So I've been running linuxcnc for a couple of months and so far things were going great until a couple of days ago when I ran an engraving gcode with lots of small movements. The code runs for a while and then I get the joint following errors. This is a stepper motor based system (in fact, I can run the gcode without even turning on the drivers and I still get the same errors, as expected). Looking at the wiki all it says is that I may have the ini file setup incorrectly but I have no idea what I'm looking for. Any help would be much appreciated.

Edit: Nema 23 Stepper Motors 2.8A 269oz.in with a generic parallel port BoB and TB6600 based drivers.

Here's my ini file:

# Generated by stepconf 1.1 at Sun Mar 4 15:55:38 2018
# If you make changes to this file, they will be
# overwritten when you run stepconf again

[EMC]
MACHINE = RF30
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 0.10
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 0.25
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /root/linuxcnc/nc_files
INCREMENTS = 1in .5in .05in .01in .005in .001in
PYVCP = custompanel.xml

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000

[HAL]
HALFILE = RF30.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.10
MAX_VELOCITY = 0.25

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 0.25
MAX_ACCELERATION = 1.0
STEPGEN_MAXACCEL = 1.25
SCALE = 20000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -15
MAX_LIMIT = 15.0
HOME_OFFSET = 0.0
BACKLASH = 0.009

[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 0.25
MAX_ACCELERATION = 1.0
STEPGEN_MAXACCEL = 1.25
SCALE = 20000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -1
MAX_LIMIT = 7
HOME_OFFSET = 0.0
BACKLASH = 0.019

[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 0.25
MAX_ACCELERATION = 1.0
STEPGEN_MAXACCEL = 1.25
SCALE = 20000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -4
MAX_LIMIT = 1
HOME_OFFSET = 0.0
#BACKLASH = 0.023

You might try doubling your "STEPGEN_MAXACCELs"
The stepgen must accelerate twice as fast as normal during
backlash compensation moves, so needs additional headroom.

Thanks PCW! I'll try that tonight. I see that's also suggested in the INI config man page. Can I ask what the "stepgen" is exactly? At first I figured it was a piece of software code that generated steps but that might not be correct since you said it must accelerate twice as fast so it's something physical? Sorry if that sounds as dumb as it feels to ask lol

Yes, in this case, the stepgen is a software component that generates the step pulses
(and handles direction and direction timing)
The stepgen component has settable limits on velocity and acceleration, The acceleration limit needs
to be set a bit higher than the stepgen will ever be commanded to accelerate
(and during backlash compensation the commanded acceleration can be double the axis acceleration limit)

Just ran the gcode after changing the stepgen_max to 2 and it worked! Thanks so much!