I need some help

Hi there.
I built huge SCARA robot arm by using modified repetier firmware, the wangsamas firmware.
I know that it is inappropriate to ask question about wangsamas firmware, but I had no choice.
Sorry for my rudeness.
My question is this : when this firmware prints first layer and after it goes to next layer, it doesn't work properly.
When some position, it stops. On the other side, it moves fast that whole arm rattles.
I feel sorry again about asking this, however, i need help.
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