Joint following error

How do I diagnose Joint following errors?

I am running LinuxCNC 2.8 / Linux Mint 192. with a realtime Kernel (rt5-kona-rt) on a quad core Intel CPU. Testing was OK, but now I am trying some real work, I see joint following errors. As an example, somewhere in the middle of the program:
(F250)
G1 Z-2
G1 X9
G1 Y41
G1 Z3
G0 X66 Y29
On G0 the error 'Joint 0 following error' always appears. I assume that the error means that the joint cannot follow the G0 speed in this case (about 360). Which parameters in the joint 0 definition should I be looking at?

Thanks, Rob

You can lower the max velocity in the ini file

Under joint 0 and x axis

Posting your hal and ini files will help forum members spot possible issues
that can cause following errors

Thanks. Setting the same values for Axis and Joint solved the problem.