Rapids are running at 1800mm per minute which is limited by the number of step / dir pulses that can be sent via the para port.
System = EMC2 running under Ubuntu Linux with RTAI Kernel (Realltime Kernel) It's all open source BTW
I am going to experiment with the pluto-p fpga board connected to the para port with EMC2 this supports 4 - Axis Servo / Encoder (PWM) or 4-axis Stepper (Step / Dir) The motor speed will then be much faster and smoother due to the increased pulses that can be achieved.
Please ignore the mess

Cheers,
SRG