diff --git a/SimulatorMP.cpp b/SimulatorMP.cpp
index 2bcb705..fcacfde 100644
--- a/SimulatorMP.cpp
+++ b/SimulatorMP.cpp
@@ -48,9 +48,10 @@ using namespace std ;
 
 //----------------------------------------------------------------------------
 static const double MIN_STEP = 1.0 ;
-static const double MAX_STEP = 500.0 ;
 static const double MID_STEP = 50.0 ;
+static const double MAX_STEP = 500.0 ;
 static const double COLL_STEP = 10. ;
+static const double MAX_COLL_STEP = 100. ;
 static const double SQ_COEFF_ROT_MOVE = 100. ;
 static const double COEFF_LIM = 0.999 ;
 static const double SAFEDIST_STD = 5.0 ;
@@ -2574,6 +2575,7 @@ SimulatorMP::ExecCmdData( int& nStatus)
       static const int STEP_RAPID = -2 ;
       static const int STEP_RAPROT = -3 ;
       static const int STEP_COLLROT = -4 ;
+      double dMaxStep = ( NeedCollisionCheck() ? MAX_COLL_STEP : MAX_STEP) ;
       int nStep = 1 ;
       for ( int i = 0 ; i < nAxCount ; ++ i) {
          double dMove = abs( CmdCurr.vAxNaEpSt[i].dEndPos - vPrev[i]) ;
@@ -2588,7 +2590,7 @@ SimulatorMP::ExecCmdData( int& nStatus)
             else                 // STEP_COLLROT
                dStep = min( 0.4 * m_dStep, 10.) ;
          }
-         dStep = max( dStep, 1.) ;
+         dStep = Clamp( dStep, MIN_STEP, dMaxStep) ;
          int nAxStep = int( dMove / dStep) + 1 ;
          nStep = max( nStep, nAxStep) ;
       }
diff --git a/SimulatorSP.cpp b/SimulatorSP.cpp
index f3572fc..28380e8 100644
--- a/SimulatorSP.cpp
+++ b/SimulatorSP.cpp
@@ -51,9 +51,10 @@ using namespace std ;
 
 //----------------------------------------------------------------------------
 static const double MIN_STEP = 1.0 ;
-static const double MAX_STEP = 500.0 ;
 static const double MID_STEP = 50.0 ;
+static const double MAX_STEP = 500.0 ;
 static const double COLL_STEP = 10. ;
+static const double MAX_COLL_STEP = 100. ;
 static const double SQ_COEFF_ROT_MOVE = 100. ;
 static const double COEFF_LIM = 0.999 ;
 static const double SAFEDIST_STD = 5.0 ;
@@ -2561,6 +2562,7 @@ SimulatorSP::MoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt)
    static const int STEP_RAPID = -2 ;
    static const int STEP_RAPROT = -3 ;
    static const int STEP_COLLROT = -4 ;
+   double dMaxStep = ( NeedCollisionCheck() ? MAX_COLL_STEP : MAX_STEP) ;
    bool bViewAllFrames = true ;
    int nStep = 1 ;
    for ( int i = 0 ; i < nAxCount ; ++ i) {
@@ -2576,11 +2578,11 @@ SimulatorSP::MoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt)
             bViewAllFrames = ( bIsRobot ? true : false) ;
          }
          else {               // STEP_COLLROT
-            dStep = min( 0.4 * m_dStep, 10.) ;
+            dStep = min( 0.4 * m_dStep, COLL_STEP) ;
             bViewAllFrames = ( bIsRobot ? true : false) ;
          }
       }
-      dStep = max( dStep, 1.) ;
+      dStep = Clamp( dStep, MIN_STEP, dMaxStep) ;
       int nAxStep = int( dMove / dStep) + 1 ;
       nStep = max( nStep, nAxStep) ;
    }
@@ -2613,7 +2615,7 @@ SimulatorSP::MoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt)
          }
       }
      // Aggiorno visualizzazione
-      if ( bViewAllFrames  ||  ( i % 4) == 0  ||  i == nStep)
+      if ( bViewAllFrames  ||  ( i % 8) == 0  ||  i == nStep)
          ExeDraw() ;
      // Verifico collisioni
       int nCdInd, nObjInd ;
@@ -2649,7 +2651,7 @@ SimulatorSP::MoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt)
      // Gestione aggiornamenti...
       if ( ExeGetEnableUI()) {
         // Aggiornamento interfaccia
-         ExeProcessEvents( 0, 4) ;
+         ExeProcessEvents( 0, 0) ;
          while ( m_nUiStatus == MCH_UISIM_PAUSE) {
             ExeProcessEvents( 0, 4) ;
          }