This particular programming will save you time by anticipating the reactions of the slow elements such as actuators. You will surely have noticed that the "M" type functions programmed with an axis movement are executed at the time of axes translation. To illustrate this case, let us take as an example the advance of a manipulator arm (function M160).

The programming line is written as:
G1 G100 X1=3 Z1=-10 F0.03 M160

Here, function M160 will take place whilst axes X1 and Z1 are moving and in certain instances, could jeopardise production.

In order to gain in productivity, it is possible to take account of the slow reaction of an item, in this case a pneumatic piston controlled by the M160 function. Here is the solution to this problem: A parameter "D" followed by the digital code of the M function should be added to the end of the M code so as to specify an anticipation time in [ms].

In our example, the modified programming line is written as follows:
G1 G100 X1=3 Z1=-10 F0.03 M160 D160=1000

The same ISO code adopted above takes account of the reaction time of the element controlled by M160 as being 1000 ms, i.e. 1 second. In this case, the part manipulator will be in position as soon as the axes X1 and Z1 start to move.
The list of functions which can be controlled by anticipation is located in the programming aid, under the heading "Machine functions (M code)", Ant. column.