Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 264)

8.6 Servo Gain Adjustment Functions
8-37
Pn152 Predictive Control Weighting Ratio
Setting Range Setting Unit Factory Setting Setting Validation
0% to 300% 1% 100% Immediately
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
Position
Error
Increase the Predictive Control
Weighting Ratio setting in Pn152.