ATS SuperTrak GEN3, Operation And Maintenance Manual, Page: 322 / 366

310 SuperTrak™ GEN3 System Operation and Maintenance Manual
Rev. 9 (12-2021)
Appendix C: Component Data Sheets
Pallet Motion at a Constant Velocity
A 3* standard deviation for following error is provided to show the +/-
positioning tolerance of the pallet 99.7% of the time.
Component
a
a. Calculations for pallet motion predictability are based on the following test:
i. A pallet is programmed to travel between the two (2) targets at various constant velocities
(shown as Constant Velocity in the table).
ii. The pallet motion is measured two (2) different ways: the SuperTrak encoders using the
TrakMaster built-in Scope feature, and an external laser interferometer.
iii. A target is placed at the 0 mm (0 in.) and 1000 mm (39.37 in.) position on a straight
section.
Constant Velocity
(mm/s)
Laser
Interferometer
b
(+/- microns)
b. The laser interferometer and SuperTrak encoder results vary from section-to-section due to
manufacturing tolerances.
The following settings and hardware versions were used during this test:
- Control gains: P=8, I=0.4, D=4, FF=5, Moving Filter=0.5, Stationary Filter=0.5
- Coil driver version: ACB3000-C02
- Controller firmware version: 3.0.10.0 using the updated March 2019 force table.
SuperTrak
Encoders
b
(+/- microns)
Pallet 2-magnet 20 31 23
50 38 28
100 48 32
200 40 28
500 69 25
1000 63 35
Pallet 3-magnet 20 31 24
50 35 27
100 51 35
200 49 35
500 75 28
1000 58 32