Imperfect engraving - Galvo laser

Hello!
I would like to ask about the settings for a 20W Raycus laser with RC1001 head (max 4000mm/s).

At high speeds the engraving is inaccurate. Please take a look at the picture:

At 4000 mm/s on the fill setting on the letter S you can see triangular cuts, and on the offset fill setting you can see cropped parts of the letters.
At 2000 mm/s on the fill setting the letters are not filled, and on the offset fill setting there is a similar problem as at 4000.

What could be the cause?

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