A system and method for pumping formation fluids from a well using a sucker rod pumping system that prevents the pumping system from experiencing a floating rod condition. The sucker rod pumping system comprises a pump drive system, a rod string, and a downhole reciprocating pump driven by the rod string. The pump drive system is coupled to the rod string by a bridle. In addition, the sucker rod pumping system comprises a drive control system that controls the speed of the pump drive system during the downstroke. The drive control system is coupled to a load cell configured to provide a signal representative of load on the rod string. The drive control system controls the speed of the pump drive system during the downstroke based on the load on the rod string so that the rod string does not experience a floating rod condition.