YASKAWA SGDS Sigma III Series User Manual page 266

Pn152 Predictive Control Weighting Ratio
Setting Range
0% to 300%
Increasing the weighting ratio in Pn152 has the effect of reducing the tracking error. When the positioning completion
width is large, increasing the weighting ratio will also have the benefit of reducing the settling time.
If the weighting ratio is set too high, the torque may become oscillating and overshooting may occur.
The following diagram shows the typical position error behavior when operating with a trapezoidal speed reference pattern.
Increasing the Predictive Control Weighting Ratio changes the position error behavior from the dashed line to the solid line
and reduces the tracking error.
Position
Error
Setting Unit Factory Setting
1% 100%
Increase the Predictive Control
Weighting Ratio setting in Pn152.
8.6 Servo Gain Adjustment Functions
Position
Setting Validation
Immediately
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