Feedforward control (G135/G136/G137)

Syntax:

G135

Selecting feedforward control

modal

G136 <axis_name>..  { <axis_name>.. }

Specify weighting

modal

G137

Deselecting feedforward control

modal, initial state

Path distortions can be reduced by using velocity and acceleration feedforward control.

Axis group.specific activation is programmed with G135. An axis-specific percentage weighting of the calculated feedforward control variables in [%] takes place with G136. It is limited to 100% for all axes.

G137 deactivates axis group-specific feedforward control. In case of axes for which no feedforward control is to be implemented after global selection with G135, a percentage weighting of 0% must be specified with G136. It is also possible to enter the selection and weighting of feedforward control in a single block.

At every program start, feedforward control is explicitly disabled in the interpolator and the weighting factors are set to 100%.

If feedforward control is disabled or enabled during the NC program, the weighting factors remain at the values set by G136 or, if no G136 is programmed, to 100%.

Attention

attention

After an axis exchange, the G136 weighting factors are reset to 100% for all axes involved.

Programing Example

prg_example

Feedforward control (G135/G136/G137)

G135    (Select feedforward control: weighting for all axes 100%)

G136 X80 Y95 Z0(Weighting;  Z axis has no feedforward control here)

G137    (Deselect feedforward control: weighting for all axes 100%)