Tanks, wilson. I have made some test.
First, if I set Isx13 equals to 0(Non-segmented LINEAR mode moves) and feedrate(F) greater than Ixx16, the actual feedrate would be limited to Ixx16, and then, if I set Isx13 equals to 5, Isx20 equals to 13 (lookahead buffer defined and Isx20 greater than 0), the actual feedrate will be greater than IXX16 and equals to the setting feedrate(F).
As mentioned in the "Turbo SRM.pdf", "Ixx16 is not used for segmented LINEAR and CIRCLE mode moves when the special lookahead buffer is not active.", so I think someting is wrong with my setting about lookahead, enclose my setting about the motors and all of my motion programs and plc, Looking forward to you reply
MOTOR SETTING
//PWM Frequency=4.5173Khz
//phase frequency=9.0346Khz
//servo Frequency=2.2586Khz
I7000=6527
I7001=0
I7002=3
I10=3713991
//Motor Type Select
//stepper, rotary
I101=0
I100=1
I201=0
I200=1
I301=0
I300=1
I401=0
I400=1
//PFM Turbo-PMAC2 Channel1
//PFM frequency setting=2.4576Mhz
I7016=3
I102=$78004
I169=32767
I7003=2258
I130=20000
I131=0
I132=650
I7026=3
I202=$7800C
I269=32767
I230=20000
I231=0
I232=650
I7036=3
I302=$78014
I369=32767
I330=20000
I331=0
I332=650
I7046=3
I402=$7801C
I469=32767
I430=20000
I431=0
I432=650
//Amp Fault Signal, Ignore Amp Fault
//Position Limits Disabled
I125=$78000
I124=$120001
I225=$78008
I224=$120001
I325=$78010
I324=$120001
I425=$78018
I424=$120001
//Postion Loop Feedback Sensor Setup
//Incremental Encoder X4
I103=$3501
I108=96
I7010=8
I203=$3502
I208=96
I7020=8
I303=$3517
I308=96
I7030=8
I403=$3518
I408=96
I7040=8
//Velocity Loop Feedback Sensor Setup
//Incremental Encoder X4
I109=96
I209=96
I309=96
I409=96
//Dead band
I164=-16
I264=-16
PROGRAM
Undefine All
/***********************Setup and Defination*****************************/
&1 ;Enter coordinate system 1
#1->1000X ;Assign motor 1 to X axis
#2->1000Y ;Assign motor 2 to Y axis
I5049 = 10 ;gather every 10 servo cycle
I5000 = 1 ;Strore gather in Ram and do not permit wrap-around
I5113 = 5 ;Enable segmentation; compute every 5 ms
I5192 = 0 ;Enable blending
I116 = 50 ;Set motor 1 max vel. to 50 cts/ms
I117 = 0.5 ;Set motor 1 max Accel. to 0.5 cts/ms^2
I216 = 50 ;Set motor 2 max vel. to 50 cts/ms
I217 = 0.5 ;Set motor 2 max Accel. to 0.5 cts/ms^2
I5120 = 13 ;Compute number of lookahead segments needed
End Gat
Del Gat
Del Rot
Del Comp
Del Look
Close
Define Lookahead 13,50 ;Define lookahead buffer based on the number in I5120
/**************************************Motion Program************************/
Open Prog 1 Clear
Linear Abs
Cmd "End Gat" ;End gathering
Cmd "Del Gat" ;Delete contents of gather buffer
Cmd "Def Gat" ;Define gater buffer
Dwell 0
Cmd "Gat" ;Begin gathering
Dwell 0
F 100 ;Feedrate 50 user units/sec
X 10 Y 10
X 0 Y 20 ;Move to X 0 and Y 20 user units
Dwell 0 ;Do not blend to next command
Cmd "End Gat" ;End gathering
Dwell 0 ;Do not blend to next command
Close
M100=0;
OPEN PLC 1 CLEAR
IF(M100=0)
COMMAND"&1A"
COMMAND"&1B1R"
M100=1;
ENDIF
CLOSE