# Acceleration weighting (G130/G131/G231)

 G130 { }                                                     (modal) G131 =                                                                                                                           (modal) G231 =                                                                                                                           (modal)
 G130 Axis-specific weighting of acceleration Weighting for specific axes in [%] G131 Axis group-specific weighting of acceleration with G01, G02, G03 weighting for all axes in [%] G231 Axis group-specific weighting of acceleration with G00 weighting for all axes in [%]

The G130/G131/G231 functions can change acceleration ramps.

This acceleration can be influenced by a percentage change in the associated acceleration characteristic values. With a jerk-limited profile, these values are the axis parameters P-AXIS-00001 and P-AXIS-00002.

When programming with G130/G131/G231, all axes which are not programmed or not yet programmed are set to 100%. Every additional selection of these functions, irrespective of previous programming, refers to 100%. This means that geometrical data processing always weight the default values -1 and/or -2 with the percentage value.

Therefore, 50% programmed twice in succession means the setting is made to 50% and not to 25%. A weighting of over 100% is possible up to maximum axis acceleration P-AXIS-00008.

## Attention After an axis exchange, the G130 weighting factors are reset to 100% for all the axes involved.

## Notice The acceleration weighting has no effect with single axis motions, such as homing, manual mode and independent axes.

## Programing Example Acceleration weighting (G130/G131/G231)

 N10 G130 X70 (Axis-specific acceleration weighting) (Acceleration of X axis is restricted to 70%) N20 G01 F1000 X100 (Linear interpolation) N30 G130 Y60 (Acceleration of Y axis is restricted to 60%) (Acceleration of X axis remains at 70%) N40 Y100 (Linear interpolation) N50 G131 = 100 (Axis group-specific acceleration weighting) (G01,G02,G03 acceleration of all axes to 100%) N60 G231 = 80 (Axis group-specific acceleration weighting) (G0 acceleration of all axes to 80%) N70 G00 X200 (Rapid traverse) Special feature: N50 G131 = 100 X10 Y20 (With G131/G231 in the same block, axis also) (can also be programmed.)