Hi surf,
Check all mechanical linkages,loose wiring, then if you still have the same problem, it is probably that you have steppers tuned to fast.
Retest by cutting air, and start 1/2 the speed that you are set at now, and gradually increase the max speed until
the motors miss a step, then back the max down 20% and you should be about where the motors can run safely without fear of missing any steps.
Every one wants the fastest speed they can get from a stepper, but that speed isn't really the most reliable speed.
I would like to hear how things turn out for you.
Glenn