FASTRACK and RTLC-S high-accuracy incremental linear ... · PDF fileFiltering optics and Auto Gain Control for high reliability and solid Lissajous signals

Data sheetL-9517-9417-01-C

FASTRACK ™ and RTLC-S high-accuracy incremental linear encoder scale system

• High accuracy (±5 µm/m) scale. Further improvement possible with error correction

• Compatible with high-performance readheads

• RTLC scale expands at its own low thermal coeffi cient (10.6 µm/m/°C)

• Use with FASTRACK for very low hysteresis

• FASTRACK guide rails are pre-aligned in reels for cut-to-suit fl exibility

• Quick installation. FASTRACK adds fast scale replacement capability

• Scale can be locked to the substrate at a single datum point anywhere along the axis

• RTLC scale can bridge gaps in the substrate up to 25 mm

• High solvent immunity

• Absolute RTLA version for readheads

also available

RTLC linear encoder tape scale from Renishaw combines ±5 µm/m accuracy

with the ruggedness of stainless steel. Two versions are available; self-adhesive RTLC-S

and RTLC for use with the revolutionary FASTRACK track system from Renishaw. Designed for applications that demand high-accuracy and an independent

expansion coeffi cient with tape scale convenience, RTLC-S and RTLC are read

by Renishaw’s compact yet reliable readhead. Resolutions to 1 nm,

10 m/s maximum speed, ultra low SDE and jitter down to 0.5 nm RMS result in

a linear encoder system that outperforms any other encoder in its class.

RTLC-S is laid onto the substrate using its self-adhesive backing tape. A patented

application tool makes this a quick, simple and inexpensive process. A clamp is fi tted

at a single point to lock the scale to the substrate.

RTLC (without self-adhesive) is used with FASTRACK. In this case, the scale is held

securely in place by two miniature, yet rugged, guide rails. Again, the scale is clamped

in a single point to allow independent expansion with extremely low hysteresis, even

over wide temperature ranges. If damaged, the scale can be pulled out of the guide

rails and quickly replaced, even where access is limited, thus reducing machine

downtime. This feature also makes the new linear encoder system ideal for large

machines that need to be sectioned for transportation

RTLC-S and RTLC with FASTRACK are suitable for many applications, including

FPD manufacturing and inspection machines, P-V manufacturing, linear motors with

aluminium substrates, axes that are exposed to potential damage, large CMMs and

other machines that require the scale to be installed/removed for transit, or simply

for any application where thermal expansion of the scale must be independent of

the machine structure

-10

-8

-6

- 4

-2

0

2

4

6

8

10

0 500 1000 1500 2000 2500 3000 3500

Position (mm)

Err

or

(µm

)

Error plot

Data sheetFASTRACK and RTLC-S

System features

Compatible with readheads

Filtering optics and Auto Gain Control for high reliability and solid Lissajous signals

Dynamic signal processing ensures ultra-low SDE of just ±30 nm. Result: smoother scanning performance

High signal-to-noise ratio provides ultra-low jitter (to 0.5 nm RMS) for optimum positional stability

CAL button enables auto-phasing of IN-TRAC reference mark

Analogue outputs or digital resolutions to 1 nm and maximum speed to 10 m/s

Clocked outputs ensure optimised speed performance for all resolutions, for a wide variety of industry-standard controllers

DOP Dual output interfaces available to provide simultaneous analogue and digital outputs

Other high-accuracy linear scales also available:

- RELA Invar ® scale with ±1 µm accuracy on lengths up to 1130 mm

- RSLM stainless steel spars with ±4 µm total accuracy over an entire 5 m length. Lengths up to 10 m also available on special order.

High accuracy RTLC and RTLC-S scale

±5 µm/m accuracy@20 °C, including slope and linearity.Further improvement possible with error correction

Hardened stainless steel construction is rugged and reliable, with high scratch and solvent resistance

Independent expansion coeffi cient (10.6 µm/m/°C)

Very low hysteresis: sub-micron on a centre-clamped 2 m axis over the entire operating temperature range, for example

20 µm scale pitch

Features optical IN-TRAC reference marks every 200 mm (on scale lengths over 1 m) or every 50 mm (on scale lengths 1m or less); identify one or more using the reference mark selector magnet(s)

Scale can be cut to length using a guillotine, for easy customisation

Track-mounted RTLC using the revolutionary new FASTRACK or self-adhesive mounted, RTLC-S.

Example accuracy test result of 3400 mmlength of RTLC scale

±6.

2 µm

FASTRACK with installation drawing (adhesive datum clamp method)For further details, please refer to TONiC FASTRACK installation guideDimensions and tolerances in mm

RT

LC s

cale

(A-9

705-

xxxx

)

FAS

TR

AC

K(A

-970

4-xx

xx)

Ref

eren

ce m

ark

sele

ctor

(A-9

653-

0143

)

13.5

Q li

mit

mag

net

(A-9

653-

0139

)

Opt

iona

l sca

le e

nd c

over

(P

air

A-9

589-

0058

)

18

BA

35 23

11.5 18

Opt

ical

cen

trel

ine

(incr

emen

tal a

nd r

efer

ence

mar

k)

18 ±

0.1

P li

mit

mag

net

(A-9

653-

0138

)

12.3

5

Ove

rall

leng

th (

L +

12

)

Sca

le le

ngth

(L)

Mea

surin

g le

ngth

ML

= (

L-10

)

10 m

ax (

gap)

1 m

in (

gap)

Do

not c

ut F

AS

TR

AC

K

over

sha

ded

area

Spo

t of

Loc

tite

435

(2 p

ositi

ons)

NO

TE

: W

hen

FAS

TR

AC

K

refe

renc

e m

ark

and

adhe

sive

da

tum

alig

ned

as s

how

n,

refe

renc

e ou

tput

will

be

posi

tiona

lly r

epea

tabl

e w

ith r

espe

ct t

o su

bstr

ate.

IN-T

RA

C re

fere

nce

mar

k

30 m

ax

Det

ail A

Det

ail B

0 ±1

(al

ignm

ent

betw

een

refe

renc

e m

ark

sel

ecto

r an

d IN

-TR

AC

refe

renc

e m

ark)

0.1/

100

0.5

F

F =

axi

s of

mot

ion

FAS

TR

AC

K le

ngth

(M

L - 2

4)*

5

NO

TE

: B

olte

d cl

amp

also

ava

ilabl

e.S

ee T

ON

iC T

103x

FA

ST

RA

CK

In

stal

latio

n G

uide

for

info

rmat

ion.

* Ass

umes

1 m

m g

ap b

etw

een

scal

e an

d en

d co

vers

and

z

ero

gap

betw

een

FAS

TR

AC

K a

nd e

nd c

over

s.

NO

TE

: M

in r

ecom

men

ded

FAS

TR

AC

K le

ngth

= 1

00 m

m

6.75

D

imen

sion

s fr

om s

ubst

rate

sur

face

2 m

ount

ing

hole

s M

2.5

thro

ugh,

co

unte

rbor

ed Ø

3 x

2.5

deep

eac

h si

de

2 m

ount

ing

hole

s M

2.5

thro

ugh,

co

unte

rbor

ed t

op fa

ce Ø

3 x

2.7

deep

Det

ail C

C

Rid

ehei

ght

1.9

±0.

12 f

rom

FA

ST

RA

CK

top

sur

face

0.4

FAS

TR

AC

Kth

ickn

ess

Data sheet FASTRACK and RTLC-S

Sca

le le

ngth

( L

)

Ove

rall

leng

th (

L +

36

)

Mea

surin

g le

ngth

(L-

18)

Rea

dhea

d op

tical

det

ecto

r po

sitio

n at

ext

ent

of t

rave

l

P li

mit

mag

net

(A-9

653-

0138

)Q

lim

it m

agne

t(A

-965

3-01

39)

Ref

eren

ce m

ark

sele

ctor

(A

-965

3-01

43)

13.5

8

C

Det

ail A

For

sca

le le

ngth

s >

300

A15

16.7

11.7

3.7

10

A2.

0D

etai

l AF

or s

cale

leng

ths

300

A

A2.

0

55

Dat

um c

lam

p(A

-958

5-00

28)

Opt

iona

l end

cov

er(P

air

A-9

585-

0035

)

Det

ail C

B

B2.

0

0.8

Det

ail D

Sca

le

read

ing

surf

ace

Rea

dhea

d to

sc

ale

clea

ranc

eR

ideh

eigh

t 2.

1 ±

0.15

Sca

le t

hick

ness

0.2

Adh

esiv

e th

ickn

ess:

0.

06 fo

r sc

ale

leng

ths

300

0.2

for

scal

e le

ngth

s >3

00

A

T1030 readhead/RTLC-S installation drawing (adhesive datum clamp method)For further details, please refer to TONiC RTLC-S installation guideDimensions and tolerances in mm

P li

mit

trig

ger

poin

tQ

lim

it tr

igge

r po

int

Opt

ical

cen

trel

ine

(incr

emen

tal a

nd r

efer

ence

mar

k)

2335

D

12.1

4.

6

D

imen

sion

s fr

om s

cale

sur

face

195

End

cov

eral

ignm

ent

indi

cato

r

Det

ail B

B

4

FASTRACK /RTLC-S specifi cations

Description FASTRACK Hardened stainless steel guide rails with integral sacrifi cial spacers, with self-adhesive backing tape for easy installation RTLC Incremental high-accuracy hardened and tempered stainless steel scale for use with FASTRACK and TONiC T103x readheads. RTLC-S Self-adhesive incremental high-accuracy hardened and tempered stainless steel for use with TONiC T103x readheads.

Form FASTRACK 0.4 mm x 18 mm (H x W)* RTLC-S (>300 mm) 0.4 mm x 8 mm (H x W)* ( 300 mm) 0.26 mm x 8 mm (H x W)*

Accuracy RTLC/RTLC-S ±5 µm/m@20 °C

Thermal expansion FASTRACK ~10.6 µm/m/°C RTLC/RTLC-S ~10.6 µm/m/°C

Temperature Storage -20 °C to +70 °C Operating 0 °C to +70 °C

Humidity Storage 95% maximum relative humidity (non-condensing) Operating 80% maximum relative humidity (non-condensing)

Acceleration Operating 500 m/s2 BS EN 60068-2-7: 1993 (IEC 68-2-7:1987)

Shock Non-operating 1000 m/s2, 6 ms, ½ sine BS EN 60068-2-27: 1993 (IEC 68-2-27:1987)

Vibration Operating 100 m/s2 max @ 55 to 2000 Hz BS EN 60068-2-6: 1996 (IEC 68-2-6:1995)

Mass FASTRACK 24 g/m RTLC 12.5 g/m RTLC-S 12.9 g/m

Minimum recommended length FASTRACK 100 mm

Maximum supplied length FASTRACK 25 m RTLC 10 m RTLC-S 10 m

*Including adhesive For lengths >2 m FASTRACK with RTLC is recommended

FASTRACK installationNOTE: For full details of FASTRACK installation, please refer to the TONiC FASTRACK installation guide. FASTRACK features a

unique installation technique that allows the encoder to be installed quicker, easier and allows wider cutting tolerances.

For machines that are sectioned before being shipped to their installation site, simply lay down multiple lengths of FASTRACK

with gaps up to 25 mm at the point where the substrate mates together, safe in the knowledge that the scale can be removed

and re-installed as many times as necessary. For details on installing RTLC-S refer to TONiC RTLC-S installation guide.

Lay down FASTRACK Feed in scale

Fit accessories

Remove centre section

Clamp or glue at a single point

Data sheetFASTRACK and RTLC-S

Renishaw plc

New Mills, Wotton-under-Edge,Gloucestershire GL12 8JRUnited Kingdom

T +44 (0)1453 524524F +44 (0)1453 524901E [email protected]

www.renishaw.com

For worldwide contact details, please visit our main website at www.renishaw.com/contact

RENISHAW HAS MADE CONSIDERABLE EFFORTS TO ENSURE THE CONTENT OF THIS DOCUMENT IS CORRECT AT THE DATE OF PUBLICATION BUT MAKES NO WARRANTIES OR REPRESENTATIONS REGARDING THE CONTENT. RENISHAW EXCLUDES LIABILITY, HOWSOEVER ARISING, FOR ANY INACCURACIES IN THIS DOCUMENT.RENISHAW® and the probe emblem used in the RENISHAW logo are registered trademarks of Renishaw plc in the UK and other countries. apply innovation is a trademark of Renishaw plc.

© 2009-2011 Renishaw plc All rights reserved Issued 0711

Compatible products

T103x FASTRACK/RTLC Installation guide M-9589-9002

TONiC Data sheet L-9517-9337

T103x RTLC-S Installation guide M-9589-9013

TONiC Data sheet L-9517-9337

FASTRACK /RTLC

RTLC-S

FASTRACK, RTLC and RTLC-S part numbers

Scale type Length Reference mark separation Increments Part number

(where xxxx is the length in cm)

FASTRACK 100 mm to 25 m N/A 25 mm* A-9704-xxxx

RTLC 100 mm to 1 m 50 mm 50 mm A-9705-xxxx 1 m to 10 m 200 mm 100 mm

RTLC-S 100 mm to 1 m 50 mm 50 mm A-9715-xxxx 1 m to 10 m 200 mm 100 mm

*NOTE: Part numbers for scale lengths ending in 25 mm are: A-9704-xxx3 Part numbers for scale lengths ending in 75 mm are: A-9704-xxx8

Accessories

Reference and limit magnets Reference mark selector magnet A-9653-0143

Q limit switch actuator magnet A-9653-0139

P limit switch actuator magnet A-9653-0138

Magnet applicator device A-9653-0201

Datum clamp

Adhesive datum clamp (RTLC-S only) A-9585-0028

Adhesive for datum clamp (Loctite 435) P-AD03-0015

Bolted datum clamp (FASTRACK only) A-9589-0077

Setting gauge

RTLC 1.9 mm setting shim (black) M-9589-0067

RTLC-S 2.1 mm setting shim (green) M-9653-0189

Separator kit (FASTRACK only)

RTLC/TONiC - centre section removal tool A-9589-0066

End coverEnd cover kit (FASTRACK only) A-9589-0058

End cover kit (RTLC-S only) A-9585-0035

Scale/track cutting jigGuillotine kit A-9589-0071

*L-9517-9417-01*

• Compact readhead (35 x 13.5 x 10 mm)

• Compatible with RGSZ20 gold tape scale, FASTRACK/RTLC scale system, RSLM, RELM, RESM, RESD and REXM with customer-selectable IN-TRAC auto-phase optical reference mark (datum)

• Third-generation fi ltering optics optimised for even lower noise (jitter)

• Dynamic signal processing provides ultra-low cyclic error of typically ±30 nm

• Auto Gain Control ensures consistent signal strength for long-term reliability

• Increased ride height tolerance and patented set-up LED for ease of installation

• Maximum speed to 10 m/s (3.24 m/s at 0.1 µm resolution)

• Detachable analogue or digital connector with integral interpolation to 1 nm resolution (0.00075 arc seconds)

• Integral dual limits (linear only)

• Operating temperature to 70 °C

• Dual resolution version available

Data sheetL-9517-9337-05-A

™ encoder system

Renishaw’s series represents a new generation of super-compact encoders, designed for highly-dynamic precision motion systems, bringing higher accuracy, speed and greater reliability to a wide variety of demanding industry sectors.The readhead is complemented by the latest evolution of RGSZ20 gold tape scale, REXM ultra-high accuracy angle encoder and FASTRACK ™/RTLC scale system with bi-directional optical IN-TRAC™ reference marks, in addition to established RSLM stainless steel scale, RELM high accuracy invar scale and RESM rotary rings.

For ultimate reliability and high dirt immunity, readheads incorporate third-generation fi ltering optics, tuned for even lower noise (jitter), further enhanced by dynamic signal processing including Auto Gain Control and Auto Offset Control. The result is low sub-divisional error (SDE) giving smoother velocity control for improved scanning performance and increased positional stability.

readheads also feature a detachable analogue or digital interface in the form of a robust, convenient connector that can be located up to 10 m from the readhead. The interface offers digital interpolation to 1 nm resolution, with clocked outputs for optimised speed performance at all resolutions for industry-standard controllers.

16

4-40 UNC x 2 8

40

6min

62

67

CAL/AGC push switchaccess hole Ø2.4

>R10 Static bend radius>R20 Dynamic bend radius

Cover plate

Requires 2 mm hex key

Diagnostic LED(Ti0004-Ti20KD and TD4000 -TD0040)

33.3

Ti/TD interface dimension drawing

NOTE: RGSZ20 only shown. For detailed installation drawings, refer to revelant TONiC Installation guide or Data sheet.

Connects to Ti interface

14

49

2 off mounting holes M2.5 through, counterbored Ø3 x 2.75 deep from alternative mounting face

Reference mark selectorsensor position

P and Q limit switchsensor position

Detail A

0.25

(Yaw tol. ±0.4°)

/ /

6.75 ref

3.75 ±0.5

3

31

16

7.8 7.8

Optical centreline (incremental and reference mark)

18

35

23

Scale reading surface

Readhead to scale clearance

Rideheight 2.1 ±0.15

Scale thickness 0.2

>R20 Dynamic bend radius>R10 Static bend radius

Ø 4

.25

±0.2

5

11.5

6min

2 off mounting holes M2.5 through, counterbored Ø3 x 2.3 deep both sides

Set-up LED

CAL/AGC LED

A0.6

(Pitch tol. ±1.0°)

/ /

29

224.8

Alternativemounting face

Recommendedmounting faces

0.24

(Roll tol. ±1.0°)

/ /

13.5

10

12.3

±0.15

4.15

4.25

Reference mark selector(A-9653-0143)

P limit magnet(A-9653-0138)

3.7

15

10Q limit magnet(A-9653-1039)

3

Dimensions and tolerances in mm

readhead installation drawing (on RGSZ scale) Dimensions and tolerances in mm

Data sheet encoder system

Operating and electrical specifi cations

Power supply 5V ±10% T1xxx/T2xxx with Ti0000 <100 mA

T1xxx/T2xxx with Ti0004 - Ti20KD or TD4000 - TD0040 <200 mA

NOTE: Current con sump tion fi g ures refer to unterminated systems.

For digital outputs, a fur ther 25 mA per chan nel pair (eg A+, A-) will be drawn

when ter mi nat ed with 120 Ω. For analogue outputs, a further 20 mA will be drawn when terminated with 120 Ω. Power from a 5 V dc supply complying with the requirements for SELV of

standard EN (IEC) 60950.

Ripple 200 mVpp maximum @ frequency up to 500 kHz

Temperature (system) Storage -20 °C to +70 °C

Operating 0 °C to +70 °C

Humidity (system) Rated up to 40 °C, 95% relative humidity (non-condensing)

Sealing (readhead) IP40

(interface) IP20

Acceleration (readhead) Operating 500 m/s² BS EN 60068-2-7:1993 (IEC 68-2-7:1983)

Shock (system) Non-operating 1000 m/s², 6 ms, ½ sine BS EN 60068-2-27:1993 (IEC 68-2-27:1987)

Vibration (system) Operating 100 m/s² max @ 55 Hz to 2000 Hz BS EN 60068-2-6:1996 (IEC 68-2-6:1995)

Mass Readhead 10 g

Interface 100 g

Cable 26 g/m

EMC compliance (system) BS EN 61326-1: 2006

Environmental Compliant with EU Directive 2002/95/EC (RoHS)

Readhead cable Double-shielded, outside diameter 4.25 ±0.25 mm

Flex life >20 x 106 cycles at 20 mm bend radius

UL recognised component

Speed

Minimum receiver

clock frequency

(MHz)

50

40

25

20

12

10

8

6

4

1

Maximum speed (m/s)

Ti00045 µm

10

10

10

10

10

10

10

10

10

4.2

Ti00201 µm

10

10

10

10

9

8.10

6.48

4.50

3.37

0.84

Ti00400.5 µm

10

10

8.10

6.75

4.50

4.00

3.24

2.25

1.68

0.42

Ti01000.2 µm

6.48

5.40

3.24

2.70

1.80

1.62

1.29

0.90

0.67

0.16

Ti02000.1 µm

3.240

2.700

1.620

1.350

0.900

0.810

0.648

0.450

0.338

0.084

Ti040050 nm

1.625

1.350

0.810

0.670

0.450

0.400

0.324

0.225

0.169

0.042

Ti100020 nm

0.648

0.540

0.324

0.270

0.180

0.162

0.130

0.090

0.068

0.017

Ti200010 nm

0.324

0.270

0.162

0.135

0.090

0.081

0.065

0.045

0.034

0.008

Ti10KD2 nm

0.065

0.054

0.032

0.027

0.018

0.016

0.013

0.009

0.0068

0.0017

Ti40005 nm

0.162

0.135

0.081

0.068

0.045

0.041

0.032

0.023

0.017

0.004

Ti20KD1 nm

0.032

0.027

0.016

0.013

0.009

0.0081

0.0065

0.0045

0.0034

0.0008

Analogue output 10 (-3dB)

Angular speed depends on ring diameter - use the following equation to convert to rev/min.

TD interface maximum speeds are resolution dependent as defi ned above.

Angular speed (rev/min) = V x 1000 x 60

π DWhere V = maximum linear speed (m/s) and D = external diameter of RESM or REXM (mm)


System features

Reference mark

Form IN-TRAC reference mark, directly in incremental track

Refer to RGSZ, FASTRACK/RTLC, RELM, RSLM, RESM, RESD or REXM Data sheets for

reference mark location

Bi-directionally repeatable across full speed and temperature range

Electronically phased, requires no physical adjustment

Selection T1xx0: Single reference mark selection by magnetic actuator (A-9653-0143), customer positioned

T1xx1 and T2xx1: No selector required, all reference marks output

Repeatability Unit of resolution repeatability, over full operating temperature and speed

Dual limit switches (linear systems only, not available on TD interfaces)

Form Magnetic actuators for P and Q limit switches

10 mm P limit, North pole facing – A-9653-0138

10 mm Q limit, South pole facing – A-9653-0139





Typical P magnet Typical Q magnet

Trigger point Leading edge of magnet from direction of travel

Trigger point tolerance

Mounting Self-adhesive

Position Customer placed at desired locations

Repeatability <0.1 mm

Dynamic signal processing

Real time signal conditioning for optimized performance across a range of operating conditions

– Automatic Gain Control (AGC)

– Automatic Offset Control (AOC)

Ultra low cyclic error of typically ±30 nm

Calibration

Simple calibration at the press of a button, no physical adjustment required

Optimization of incremental and reference mark signals

TD dual resolution interface

Allows output to be switched between two resolutions.

NOTE: It is recommended that movement should be halted before switching resolutions.

See part number section for details of available resolutions.

No limit outputs

Nominal trigger point

3 mm tolerance of trigger pointReadhead direction of travel

(RGSZ scale shown)



Connector pin confi guration

Digital outputs

Becomes alarm (E+) for Ti options E, F, G, H‡The alarm signal can be output as a line driver signal or 3-state. Please select the preferred option at time of ordering.On TD interfaces pin 10 should be connected to 0 V to switch to lower resolution.

15 pin ‘D’ type connector

Power

Incremental

Reference mark

Limits

Set-up

Remote CAL

Shield

Colour

Brown

White

Red

Blue

Yellow

Green

Violet

Grey

Pink

Black

Clear

Orange

Green/Yellow*

Outer screen

Readhead T1xxx/2xxx

Function Signal Pin

4, 5

12, 13

9

1

10

2

3

11

7

8

6

14

–

Case

InterfaceTi0000

5 V

0 V

V1+

V1-

V2+

V2-

V0+

V0-

Vp

Vq

Vx

CAL

Inner

Outer

Analogue outputs

*Inner shield is connected to 0 V inside the Ti/TD interface

Cosine

Sine

Maximum cable lengthReadhead to interface: 10 m

Interface to controller: Dependent on output frequency. See table below for details.

Receiver clockfrequency (MHz)

40 to 50

<40

analogue

Maximum cable length (m)

25

50

50

Limit outputs (Ti interface only)

*Select R so max current does not exceed 20 mA

Alternatively, use a suitable relay or opto-isolatorVp Vq P Q

R*

5 -24 V

Analogue outputs

V0 V1 V2-

V0 V1 V2+

120R

Standard RS422A line receiver circuitry

Interface

120R

A B Z E-

Customerelectronics

Cable Z0 = 120R

A B Z E+

Recommended signal termination Digital outputs Single ended alarm signal termination (Ti options A, B, C, D)

5 V

4k7

4k7

1k8

100

100nF

E-

Customerelectronics

IMPORTANT: The outer shield should be connected to the machine earth (Field Ground). The inner shield should be connected to 0 V at receiving electronics only. Care should be taken to ensure that the inner and outer shields are insulated from each other. If the inner and outer shields are connected together, this will cause a short between 0 V and earth, which could cause electrical noise issues.

Electrical connections Grounding and shielding

Power

Incremental

Reference mark

Limits

Set-up

Alarm‡

Resolution switching

Shield

Function Signal Pin Pin

7, 8

2, 9

14

6

13

5

12

4

11

10

1

–

3

–

–

Case

7, 8

2, 9

14

6

13

5

12

4

–

–

1

11

3

10

–

Case

Interface

Ti0004 - Ti20KD

TD4000 - TD0040

5 V

0 V

A+

A-

B+

B-

Z+

Z-

P

Q

X

E+

E-

–

Inner

Outer

ReadheadInner shield

Outer shield

Outputsignals

5 V

Ti/TD interface

0 V

Customerelectronics

Output specifi cationsDigital output signals - Interface models Ti0004 - Ti20KD and TD4000 - TD0040

Form - Square wave differential line driver to EIA RS422A (except limits P and Q)

Analogue output signals - Interface model Ti0000 and direct output from all readheads

20 µm

Incremental 2 channels A and B in quadrature (90° phase shifted)

Signal period P

Resolution S

A

B

Z

Incremental 2 channels V1 and V2 differential sinusoids in quadrature (90° phase shifted)

0.7 to 1.35 Vpp with green LED indication (readhead)and 120R termination. Centred on 1.65 V

NOTE: Ti0000A00Vcentred on 2.5 V

(V1 +)-(V1 -)

(V2 +)-(V2 -)

Reference

45° Bi-directionally repeatableDifferential pulse V0

centred on 45°(V0 +)-(V0-)

0.8 to 1.2 Vpp

360° (nom)

0°

Z

Reference

Wide reference

NOTE: Select ‘standard’ or ‘wide’ reference at time of ordering, to match the requirements of the controller being used.

NOTE: No limits on TD interfaces.

Synchronised pulse Z, duration as resolution

Synchronised pulse Z, duration as signal period

Limits Open collector output, asynchronous pulse

Digital Ti interfaces only


~ Length of limit actuator

P QP Q



Active high or Active low

Inverse signals not shown for clarity * Set-up signals as shown are not present during calibration routine

>15 ms

E

E- output only for Ti options A, B, C, D

3-state alarm (option)Differentially transmitted signals forced open circuit for >15 ms when alarm conditions valid.

Alarm Asynchronous pulse

Limits Open collector output, asynchronous pulse

Ti0000 interface only

Vp Vq





Vp Vq

Active high Active low

Direct output from readhead

Set-up*

Voltage at VX

3.3 V (nom)

50% 70% 100%00

Signal level

Between 50% and 70% signal level, VX is a duty cycle, 20 µm duration.Time spent at 3.3 V increases with incremental signal level. At >70% signal level VX is nominal 3.3 V.

Set-up*

Voltage at X

1

100%00

Signal level

Setup signal voltage proportional to incremental signal amplitude

Alarm asserted when signal level is less than 20% or greater than 135%. Alarm is also asserted if readhead speed is too high for reliable operation.

NOTE: Ti0000 interface contains a transistor to invert the readhead’s ‘active low’ signal to give an ‘active high’ output.

Remote CAL operation (analogue versions only)

CAL

0 V

All Ti and TD interfaces include a push button switch to enable CAL/AGC features.

Remote operation of the CAL/AGC is possible via pin 14 of analogue Ti0000 interfaces.

For applications where no interface is used, remote operation of CAL/AGC is essential.

S (µm)

5

1

0.5

0.2

0.1

0.05

0.02

0.01

0.005

0.002

0.001

Model

Ti0004

Ti0020

Ti0040

Ti0100

Ti0200

Ti0400

Ti1000

Ti2000

Ti4000

Ti10KD

Ti20KD

P (µm)

20

4

2

0.8

0.4

0.2

0.08

0.04

0.02

0.008

0.004


T1xxx linear readhead Compatible with RGSZ20, RTLC, RSLM or RELM scale

Readhead part number T 1 0 0 0 - 15 A

SeriesT =

Scale form1 = Linear

Readhead type0 = Standard

Scale type compatibility0 = RGSZ20/RGSN201 = RSLM/RELM3 = RTLC4 = RGSZ20-P/RGSN20-P

Reference mark0 = Customer selectable reference mark1 = All reference marks are output

Cable length05 = 0.5 m10 = 1 m15 = 1.5 m30 = 3 m50 = 5 m99 = 10 m

Cable terminationA = Standard mini connector to mate with Ti/TD interface

Ti interface Compatible with all readheads

Interface part number

Analogue: Ti 0000 A 00 A

OptionsA = dual active high limitsV = 2V5 Vmid dual active high limits

Digital: Ti 0200 A 20 A

SeriesTi =

Interpolation factor/resolution*0004 = 5 µm 0020 = 1 µm0040 = 0.5 µm 0100 = 0.2 µm0200 = 0.1 µm 0400 = 50 nm1000 = 20 nm 2000 = 10 nm4000 = 5 nm 10KD = 2 nm20KD = 1 nm

Alarm format and conditionsA = Line driven E output; All alarmsB = Line driven E output; low signal, high signalE = 3 state; All alarmsF = 3 state; low signal, high signal

Minimum receiver clock frequency50, 40, 25, 20, 12, 10, 8, 6, 4, 1 (MHz)

OptionsA = P/Q limits - ‘active high’, standard reference markB = P/Q limits - ‘active low’, standard reference markC = P/Q limits - ‘active high’, wide reference markD = P/Q limits - ‘active low’, wide reference markE = Q limit only, differential alarm - ‘active high’, standard reference markF = Q limit only, differential alarm - ‘active low’, standard reference markG = Q limit only, differential alarm - ‘active high’, wide reference markH = Q limit only, differential alarm - ‘active low’, wide reference mark

Readhead part number T 2 0 0 1 - 15 A

SeriesT =

Scale form2 = Rotary

Readhead type0 = Standard

Ring diameter0 = RESM/REXM/RESD >135 mm1 = RESM/REXM/RESD 60 to 135 mm2 = RESM/REXM/RESD <60 mm

4 = RGSZ/RGSN partial arc >135 mm5 = RGSZ/RGSN partial arc <135 mm

Reference mark

0 = Customer selectable reference mark

1 = All reference marks are output (rotary standard)

Cable length

05 = 0.5 m10 = 1 m15 = 1.5 m30 = 3 m50 = 5 m99 = 10 m

Cable terminationA = Standard mini connector to mate with Ti/TD interface

T2xxx rotary readhead Compatible with RESM, RESD and REXM rings

4 = RGSZ/RGSN partial arc >135 mm5 = RGSZ/RGSN partial arc <135 mm

0 = Customer selectable reference mark

Please contact your local Renishaw representative if you require a partial arc application


Dual resolution: TD 4000 A 20 A

SeriesTD = dual resolution

Interpolation factor/resolution* Pin 10 open Pin 10 = 0 V4000 = 5 nm 10 nm2000 = 10 nm 20 nm1000 = 20 nm 40 nm0400 = 50 nm 0.1 µm0200 = 0.1 µm 0.2 µm0040 = 0.5 µm 1 µm

Alarm format and conditionsA = Line driven, differential output; All alarmsB = Line driven, differential output; low signal, high signal E = 3 state; All alarmsF = 3 state; low signal, high signal

Minimum receiver clock frequency50, 40, 25, 20, 12, 10, 8, 6, 4, 1 (MHz)

OptionsA = Standard reference markB = Wide reference mark

*Contact Renishaw for other interpolation factors.

Renishaw plc



www.renishaw.com


RENISHAW HAS MADE CONSIDERABLE EFFORTS TO ENSURE THE CONTENT OF THIS DOCUMENT IS CORRECT AT THE DATE OF PUBLICATION BUT MAKES NO WARRANTIES OR REPRESENTATIONS REGARDING THE CONTENT. RENISHAW EXCLUDES LIABILITY, HOWSOEVER ARISING, FOR ANY INACCURACIES IN THIS DOCUMENT.RENISHAW® and the probe emblem used in the RENISHAW logo are registered trademarks of Renishaw plc in the UK and other countries. apply innovation is a trademark of Renishaw plc.Invar® is a registered trademark of Arcelor Mittal


T100x RGSZ

Installation guide M-9653-9154

Data sheet L-9517-9348

RGSZ20

T1xxx

T2xxx

compatible products:

T101x RSLM/RELM



RELM

T101x RSLM/RELM



RSLM

T20x1 RESM



RESM

T20x1 REXM



REXM

DSi dual readhead rotary encoder system



DSi

RESDT20x1 RESD



T103x FASTRACK/RTLC



FASTRACK /RTLC

DOP (dual output) encoder system


Data sheetL-9517-9411

T103x RTLC-S



RTLC-S

*L-9517-9337-05*

Contact your local Renishaw representative for more information

RGSZ20 Partial arc

Data sheetL-9517-0182-05-C

RGH22 series readhead

Renishaw’s RG2 linear encoder system is a non-contact optical encoder designed for position feedback solutions.

The system uses a common reflective

tape scale scanned by a readhead chosen

from a range of options offering industry

standard digital square wave or analogue

sinusoidal output signal formats.

Renishaw’s patented optical scheme is used

in all readhead series and gives proven

performance benefits together with high

tolerance to scale contamination.

The RGH22 range is suitable for use in a

broad range of applications, offering high

resolution and high speed with stability

and reliability.

A dual limit sensor option is also available

offering two dedicated signal outputs, left

and right end-of-axis travel indication.

RGH22 is an ideal feedback solution

wherever precision controlled movement

is required. The RGH22 readheads offer

the full set of RG2 features and integral

interpolation in a robust package, with an

integral set-up LED for quick and easy

installation.

Common applications include co-ordinate

measuring and layout machines, semi-

conductor/electronics manufacturing and

inspection, height gauges, electronics

assembly and test, linear motors, digital

image setters and a variety of custom linear

motion solutions.

Single limit range

RGH22D - 5 µm resolution

RGH22X - 1 µm resolution

RGH22Z - 0.5 µm resolution

RGH22Y - 0.1 µm resolution

RGH22B - 1 Vpp differential

RGH22C - 12 µA differential (no limit)

Dual limit range

RGH22P - 5 µm resolution

RGH22Q - 1 µm resolution

RGH22R - 0.5 µm resolution

RGH22S - 0.1 µm resolution

RGH22H - 50 nm resolution

RGH22A - 1 Vpp differential

• Non-contact open optical system

• Integral interpolation

• Industry standard digital and analogue output options

• Resolutions from 5 µm to 50 nm

• Integral reference and limit sensors

• Dual limit sensor option

• Integral set-up LED

• Uses RGS20-S self-adhesive scale

Data sheetRGH22

RG

H22

Inst

alla

tio

n d

raw

ing

Dim

ensi

ons

and

tole

ranc

es in

mm

.

* Dim

ensi

ons

mea

sure

d fr

om s

ubst

rate

.

‡ A

ltern

ativ

e m

ount

ing

face

s

A-9

531-

0250

R

efer

ence

mar

k ac

tuat

or

R50

dyn

amic

ben

d ra

dius

R

10 s

tatic

ben

d ra

dius

>6 4

4

Ref

eren

ce m

ark

sens

or p

ositi

on

Opt

ical

cen

tre

2 ho

les

M3

x 0.

5 x

9.5

deep

(Yaw

Tol

. ± 0

.5°)

0.38

15.5

10.5

310

Q li

mit

switc

h se

nsor

pos

ition

A-9

531-

0251

Q

lim

it sw

itch

actu

ator

M

ount

dim

ple

up(R

oll t

ol ±

1°)

0.13

14.6

P li

mit

switc

h se

nsor

pos

ition

2 ho

les

M3

x 0.

5

x 7.

5 de

ep

A-9

531-

0251

P

lim

it sw

itch

actu

ator

M

ount

dim

ple

to s

ubst

rate

(s

ize

as Q

act

uato

r)

14.5

7

14

10.6

*

2.2*

Ø4.

7 m

ax.

5*2*

(Pitc

h To

l. ±

1°)

0.8

44 383

A

7.6‡

3*

13

9

27

3.6

3*

7.6‡

11.6

*

17*

Set

-up

LED

23.5

6

Arr

ow in

dica

tes

forw

ard

dire

ctio

n of

re

adhe

ad r

elat

ive

to s

cale

Rea

dhea

d

Rea

dhea

d to

sc

ale

clea

ranc

e0.

8 ±

0.1

Rid

ehei

ght

Det

ail A

Sca

le s

urfa

ce

Sca

leth

ickn

ess

0.2

14.6

Digital readheads

Operating and electrical specificationsEdge separation - digital readheads Clocked output readheads.

The RGH22Y, S, H readheads are available with a variety of different clocked outputs. The clocked options have been designed to prevent fine edge separations being missed by receiving electronics utilising slower clock speeds. Depending on the clock frequency chosen, each option has a different maximum speed and associated minimum recommended counter clock frequency.

Power supply 5 V ± 5% 120 mA (typical), 200 mA RGH22Y, S, H NOTE: For digital outputs, current consumption figures refer to unterminated readheads. A further 25 mA per channel pair (eg A+, A-) will be drawn when terminated with 120 Ω. Renishaw encoder systems must be powered from a 5 V dc supply complying with the requirements for SELV of standard EN (IEC) 60950. Ripple 200 mVpp @ frequency up to 500 kHz maximum.

Temperature Storage -20 °C to +70 °C Operating 0 °C to +55 °C

Humidity Storage 95% maximum relative humidity (non-condensing) Operating 80% maximum relative humidity (non-condensing)

Sealing IP50

Acceleration Operating 500 m/s² BS EN 60068-2-7:1993 (IEC 68-2-7:1983)

Shock (non-operating) 1000 m/s², 6 ms, ½ sine BS EN 60068-2-27:1993 (IEC 68-2-27:1987)

Vibration (operating) 100 m/s² max @ 55 Hz to 2000 Hz BS EN 60068-2-6:1996 (IEC 68-2-6:1995)

Mass Readhead 45 g Cable 38 g/m

EMC compliance (system) BS EN 61000 BS EN 55011

Cable 12 core, double shield, maximum diameter 4.7 mm. Flex life >20 x 106 cycles at 50 mm bend radius.

Connector options Code - connector type Application D - 15 pin D type plug RGH22D X, Z, Y, H, P, Q, R, S R - 12 pin circular plug RGH22D X, Z, Y, H, P, Q, R, S C - 9 pin circular plug RGH22C L - 15 pin D type plug RGH22B, A V - 12 pin circular plug RGH22B W - 12 pin circular coupling RGH22B F - unterminated cable all readheads X - 16 pin in-line connector all readheads

Ed

ge

sep

arat

ion

(µ

s)

100

10

1

0.1

0.01

Speed (m/s)0.1 1 10

RGH22D, P

RGH22Z,REncoder velocity (m/s)

Resolution (µm)

Minimum recommended counter clock frequency (MHz)

Maximum speed (m/s)

Head type

D X Z

Y, S, H option

61 62 63

10 5 3

20 10 5

x 4 safety factor

Sig

nal

am

plit

itu

de

(%)

Speed - analogue type B, A readheads (1Vpp)

RGH22B,A

Speed (m/s)

1 10 100

100

10

1 2 4

Frequency (kHz)

RGH22C

Sig

nal

am

plit

itu

de

(%)

Speed - analogue type C readheads (12µA)

Speed (m/s)

1 10 100

100

10

1 2 4

Frequency (kHz)

RGH22X, Q

Y, S

1.3 0.7 0.35

H

0.6 0.3 0.15

Standard RS422A line receiver circuitry.#Only required on alarm channel E for fail safe operation and to ensure alarm signal is asserted at low signal amplitude on RGH22Y, S, H when output is 3-stated.

Analogue output signals type RGH22C (12µA)

Incremental 2 channels I1 and I2 differential sinusoids in quadrature (90° phase shifted)

Repeatability <0.1 mm typical

Vp Vq

Renishaw plc

New Mills, Wotton-under-Edge, Gloucestershire GL12 8JR United Kingdom


www.renishaw.com

RENISHAW® and the probe emblem used in the RENISHAW logo are registered trademarks of Renishaw plc in the UK and other countries. apply innovation is a trademark of Renishaw plc.

© 2001-2008 Renishaw plc Issued 0208 Renishaw reserves the right to change specifications without notice


*L-9517-0182-05*

Output specificationsDigital output signals - type RGH22D, X, Z, Y, H, P, Q, R, S Form - Square wave differential line driver to EIA RS422A (except limit switches P, Q and external set-up signal X)

=Incremental 2 channels A and B in quadrature (90° phase shifted)

=Reference Synchronised pulse Z, duration as resolution S. Repeatability of position (uni-directional) maintained within ±10 °C from installation temperature and for speed <250 mm/s. For RGH22Y, S, H only Z pulse re-synchronised at power-up with any one of the quadrature states (00, 01, 11, 10).

S (µm)

5

1

0.5

0.1

0.05

Model

RGH22D, P

RGH22X, Q

RGH22Z, R

RGH22Y, S

RGH22H

P (µm)

20

4

2

0.4

0.2

Signal period P

Resolution S

AB

Z

Analogue output signals type RGH22B, A (1Vpp)

Incremental 2 channels V1 and V2 differential sinusoids in quadrature (90° phase shifted)

*Dual limit available with flying lead, 15 pin D connector or in-line X connector only.

Actuation device A-9531-0251, A-9531-2052, A-9531-2054.Asynchronous pulse Q

Limit open collector outputSingle limit RGH22B Dual limit RGH22A

Asynchronous pulse Vq

For RGH22D, X, Z, P, Q, R, - alarm asserted when signal amplitude <15%. For RGH22Y, S, H - alarm asserted when: - Signal amplitude >150% - Readhead exceeds specified maximum speedAlso, outputs are 3-stated at signal amplitude <15%

=Alarm differential line driven output for single limit readheads single ended (E-only) line driven output for dual limit readheads

20 ms minimum

E

Readhead

5VCustomer electronics

120R

0V

#

1k #

Cable Z0=120R

A B Z E+

A B Z E-

Recommended signal termination

Between 50% and 70% signal level , X is a duty cycle, 20 µm duration.Time spent at 5 V increases with signal level. At >70% signal level X is nominal 5V.

Set-up

voltage at X

5 (nom)

50% 70% 100%00

signal level

Limit open collector outputSingle limit D, X, Z, Y Termination

R**

P Q

5 V to 25 VLength of actuating magnet


Q

Dual limit P, Q, R, S, H*

Length of actuating magnet


P Q

Differential pulse V0 - 18° to 108°. Duration 126° (electrical). Repeatability of position (uni-directional) maintained within ±10 °C from installation temperature and for speed <250 mm/s. Actuation device A-9531-0250.

20 µm

90°

0.6 to 1.2 Vpp with green LED indication and 120R termination.

108°-18°0°

Reference

Length of actuating magnet

Repeatability <0.1 mm typical Length of actuating magnet

Vq

(I1+) - (I1-)

90°

20 µm

108º-18º(I0+) - (I0-)

0º

7 to 16 µA with green LED indication.

8 to 12 µA

Alarm

Asynchronous pulse Ve

Trigger level 15% nominal analogue signal.

Reference

Set-up

voltage at VX

5 (nom)

50% 70% 100%00

signal level

Asynchronous pulse P, Q

(V1 +) - (V1-)

(V2 +) - (V2-)

Vp Vq

Asynchronous pulse Vp Vq

Actuation device A-9531-0251, A-9531-2052, A-9531-2054.

**Select R so that maximum current does not exceed 20 mA.

Between 50% and 70% signal level, VX is a duty cycle, 20 µm duration.Time spent at 5 V increases with signal level. At >70% signal level VX is nominal 5V.

(I2+) - (I2-)

Alternatively, use a relay or opto-isolator.

0.8 to 1.2 Vpp

20 ms minimum

Ve

0.8 to 1.2 Vpp

(V0+) - (V0-)

Termination

R**

5 V to 25 V

Set-up

Refer to RGH22C set-up information opposite.

120R

Termination

V0 V1 V2+

V0 V1 V2 -

Differential pulse V0 - 18° to 108°. Duration 126° (electrical). Repeatability of position (uni-directional) maintained within ±10 °C from installation temperature and for speed <250 mm/s. Actuation device A-9531-0250.

Asynchronous pulse E

=Inverse signals not shown for clarity.

1k

Data sheetL-9517-9154-04-B

The RESM is a one-piece stain less steel ring with 20 µm scale marked di rect ly onto the periphery, featuring the IN-TRAC TM auto-phase optical reference mark.

The RESM offers impressive accuracy with

resolution to 0.00075 arc second, suiting

the most demanding precision applications.

Read by Renishaw’s new and

established encoder sys tems,

it has high tol er ance to dirt, scratch es and

greasy fi n gerprints that can cause other

en cod er sys tems to mis count.

The low profi le RESM, with large internal

di am e ter, is easy to design into most

in stal la tions. Equally important, its low mass,

low inertia design does not compromise

system per for mance. Available in a wide range

of sizes and line counts, providing compatibility

with industry standard controllers.

System features• Compatible with the new

encoder range and the established system to offer industry standard an a logue or digital in cre men tal outputs

• IN-TRAC bi-directional optical reference mark

• High speed operation, up to 4 591 rev/min (12.5 m/s)

• Graduation accuracy to ± 0.5 arc second (550 mm ring)

• Low-noise analogue 1 Vpp version

• New high-resolution, 2 and 1 nm digital versions( only)

• Angular resolution to0.00075 arc second

• System repeatability to 0.00225 arc second

• Patented taper mount sim pli fi es integration and minimises installation errors

• Large internal diameter for ease of integration

• Available in sizes fromØ52 mm to Ø550 mm with line counts from 8 192 to 86 400

• Custom sizes also available

• Low mass and low inertia

• Ultra-low inertia versions also available

• Integral set-up LED on readhead for quick set-up and instant ‘health check’ at any time

• Dual limits ( only)

RESM angle encoder

0.5 x 45° 2 positions

10

6

Scale

3

2

15° ±0.2°

NOTE: θ is the angle between one tapped hole and the adjacent clearance hole. For example, the angle between two clearance holes is 2θ.

Sec tion A-A

Installation drawing (‘A’ section) Dimensions and tolerances in mm

N holes equally spaced on PCD ØDH Ø3.5 through, c/bore Ø6 x 3 deep

N holes equally spaced on PCD ØDH M3 x 0.5 through, counterbored top face Ø3.5 x 4 deep

A

A

θ

ØDI

ØDH

ØDO

Mounting holes

θ

30°

30°

30°

30°

30°

30°

30°

20°

15°

15°

15°

15°

15°

11.25°

11.25°

10°

10°

*18°

9°

DH (mm)

40

47

65

90

90

90

105

140

190

196

196

219

245

290

340

402

390

462

520

N

6

6

6

6

6

6

6

9

12

12

12

12

12

16

16

18

18

20

20

DO

(mm)

52.2052.10

57.3557.25

75.4075.30

100.30100.20

103.20103.00

104.40104.20

114.70114.50

150.40150.20

200.40200.20

206.50206.10

208.80208.40

229.40229.00

254.80254.40

300.40300.20

350.40350.20

412.70412.30

417.40417.00

489.12488.72

550.20549.80

Nominal external

diameter (mm)

Line count

DI

(mm)

30.0430.00

37.0437.00

55.0455.00

80.0480.00

80.0480.00

80.0480.00

95.0495.00

130.04130.00

180.04180.00

186.05186.00

186.05186.00

209.05209.00

235.06235.00

280.06280.00

330.06330.00

392.08392.00

380.10380.00

451.10450.90

510.10510.00

52

57

75

100

103

104

115

150

200

206

209

229

255

300

350

413

417

489

550

8 192

9 000

11 840

15 744

16 200

16 384

18 000

23 600

31 488

32 400

32 768

36 000

40 000

47 200

55 040

64 800

65 536

76 800

86 400

*NOTE: There are no tapped holes on the 489 mm ring

Data sheetRESM angle encoder system

Installation drawing (‘B’ section) Dimensions and tolerances in mm

N holes equally spaced on PCD ØDHØ3.5 through

N holes equally spaced on PCD ØDH M3 x 0.5 through

A

A

θ

ØDI

ØDH

ØDO

Nominal external diameter

(mm)

75

100

150

200

75.4075.30

100.30100.20

150.40150.20

200.40200.20

55.0455.00

80.0480.00

130.04130.00

180.04180.00

DO(mm)

DH(mm)

DI(mm) N θ

61

86

136

186

6

6

9

12

30°

30°

20°

15°

NOTE: θ is the angle between one tapped hole and the adjacent clearance hole. For example, the angle between two clearance holes is 2θ.

Sec tion A-A

2.5 x 45°

7

6

Scale

0.5

6.5

R0.53

For further information on installation and mounting options, please refer to the TONiC T2000 Installation guide (M-9653-9161) or SiGNUM RESM installation guide (M-9572-9106), which are available from your local representative, or can be downloaded from:www.renishawsupport.com

Mounting methods

Recommended for all installationsOffers highest accuracy. Enables simplest adjustment.

Enables eccentricity to be com pen sat ed. Offers excellent mechanical stability against thermal cycling, shock and vibration.

Minimises cost of substrate prep a ra tion.

No

tes

Taper mount Interference fi t

‘B’ s

ecti

on

Not applicable

Alternative installationWill not correct eccentricity of the supporting shaft.

‘A’ s

ecti

on

Reference mark position

IN-TRAC reference mark is embedded in the scale, radially aligned with the centre of the mounting hole to the left of the ‘Renishaw’ logo, within ±0.5 mm.No external actuators or physical adjustment are required.


readhead mounted on ‘A’ section RESM

16.5

Scale and readheadoptical centreline8 ±0.25

15.6

8.9

5.5

(Roll tol. ±0.5°)

0.05

(Yaw tol. ±0.4°)

5.8 2.5 15.5

15.5

11.7Set-up LED

6.5 min

36

18

12 14

>R20 Dynamic bend radius

>R10 Static bend radius

Ø4.7 ±0.1

2 mounting holes

M3 x 6 deep

14

2 mounting holes M3 through counterboredeach side, 3 deep

Rideheight0.8 ±0.08

0.32

(Pitch tol. ±0.5°)

3.8

Incremental and reference optical centreline Limit sensor position

7.15

6 typ*

10

NOTE: Roll tolerance applies over mounting faces dimension*

0.25

For SiGNUM installation details refer to the SiGNUM RESM installation guide (M-9572-9106). This can be downloaded from www.renishawsupport.com/encoders or contact your local Renishaw representative.

T2000 readhead mounted on ‘A’ section RESM Dimensions and tolerances in mm

Dimensions and tolerances in mm

2 off holes M2.5 threaded through, counterbored Ø3 x 2.3 deep both sides

>R20 Dynamic bend radius>R10 Static bend radius

Ø 4

.25

±0.2

5

Set-up LED

CAL/AGC LED

A0.6

(Pitch tol. ±1.0°)/ /

35

23

11.5

6min

18

16

31

2 off holes M2.5 through, counterbored top face

Ø3 x 2.75 deep

0.25(Yaw tol. ±0.4°)

/ /

0.24

(Roll tol. ±1.0°)/ /

13.5

4.25

4.15

10

12.1

±0.15

6.75 ref

RESM ‘A’ section - 1.75 ±0.5RESM ‘B’ section - 3.25 ±0.5

3

7.5

29

22

Detail A

Reading surface

Readhead to ring clearance

Rideheight 2.1 ±0.15

Optical centreline (incremental and reference mark)

‘Forward’ direction of ring (increasing count)

Alternativemounting face

Recommendedmounting faces

4.6

For TONiC readhead installation details refer to the TONiC T2000 Installation guide (M-9653-9161). This can be downloaded from www.renishawsupport.com/encoders or contact your local Renishaw representative.

Operating specifi cations

Material 303/304 stainless steel

Coeffi cient of expansion 17 µm/m/°C (ppm/°C)

Temperature Storage -20 °C to +70 °C Operating SiGNUM 0 °C to + 85 °C TONiC 0 °C to + 70 °C

Nominal external diameter (mm)

Nominal internal diameter (mm)

Line count

Mass (kg)

Moment of inertia(kgmm2)

52

30

8 192

0.1

–

47

–

57

37

9 000

0.1

–

63

–

75

55

11 840

0.15

0.07

160

78

100

80

15 744

0.2

0.1

420

200

103

80

16 200

0.25

–

510

–

104

80

16 384

0.25

–

550

–

115

95

18 000

0.25

–

640

–

150

130

23 600

0.3

0.15

1 600

720

‘A’ section

‘B’ section

‘A’ section

‘B’ section

200

180

31 488

0.4

0.2

3 800

1 800

206

186

32 400

0.45

–

4 300

–

Nominal external diameter (mm)

Nominal internal diameter (mm)

Line count

Mass (kg)

Moment of inertia(kgmm2)

‘A’ section

‘B’ section

‘A’ section

‘B’ section

209

186

32 768

0.5

–

4 900

–

229

209

36 000

0.5

–

5 900

–

255

235

40 000

0.55

–

8 000

–

300

280

47 200

0.65

–

14 000

–

350

330

55 040

0.75

–

22 000

–

413

392

64 800

0.9

–

37 000

–

417

380

65 536

1.76

–

70 000

–

489

451

76 800

2.12

–

120 000

–

550

510

86 400

2.67

–

188 000

–

On-scale limits - systems onlyFor applications such as partial arc, dual on-scale limits can be used on ‘A’ section rings having an external diameter of 100 mm or more. Self adhesive limit markers are available in 10 mm, 20 mm and 50 mm lengths as pre-aligned pairs on backing paper.

Graduation accuracy is the maximum difference between the angle measured by a single readhead and the true rotation of the en cod er as graduated. Application disturbances such as eccentricity are not included.

System accuracy is graduation accuracy plus SDE.

Effects such as eccentricity infl uence installed accuracy; for application advice, please contact your local rep re sen ta tive.

AccuracyNominal external

diameter (mm)

52

57

75

100

103

104

115

150

200

206

209

229

255

300

350

413

417

489

550

Graduation accuracy (arc second)

±3.97

±3.62

±2.75

±2.06

±2.00

±1.98

±1.79

±1.38

±1.03

±1.00

±0.99

±0.90

±0.81

±0.69

±0.59

±0.50

±0.50

±0.42

±0.38

System accuracy (arc second)

±4.28

±3.91

±2.97

±2.23

±2.16

±2.14

±1.94

±1.49

±1.11

±1.08

±1.07

±0.97

±0.87

±0.74

±0.64

±0.54

±0.54

±0.46

±0.41


*NOTE: Si-NN-0000 is the high-speed version of the 1 Vpp analogue interface, suitable for both high-speed and general applications. Si-NN-0001 is the low-noise version of the 1 Vpp analogue interface, incorporating additional noise fi ltering to provide even better positional stability and smoother velocity control. To achieve this, the maximum speed is limited. Si-NN-0001 is suitable for advanced applications requiring the most precise motion control and it is also suitable for general applications that do not require high-speed operation.


(mm)

Output resolutionLine

count

52

57

75

100

103

104

115

150

200

206

209

229

255

300

350

413

417

489

550

8 192

9 000

11 840

15 744

16 200

16 384

18 000

23 600

31 488

32 400

32 768

36 000

40 000

47 200

55 040

64 800

65 536

76 800

86 400

Si-NN-00045 µm

Si-NN-00201 µm

Si-NN-00400.5 µm

Si-NN-01000.2 µm

Si-NN-02000.1 µm

Si-NN-040050 nm

Si-NN-100020 nm

Si-NN-00001 Vpp

4 591

4 18 8

3 18 3

2 387

2 318

2 296

2 076

1 592

1 194

1 159

1 142

1 042

936

796

682

578

572

488

434

4 591

4 188

3 183

2 387

2 318

2 296

2 076

1 592

1 194

1 159

1 142

1 042

936

796

682

578

572

488

434

4 591

4 188

3 183

2 387

2 318

2 296

2 076

1 592

1 194

1 159

1 142

1 042

936

796

682

578

572

488

434

1 836

1 675

1 273

954

927

918

830

636

477

463

456

416

374

318

272

231

229

195

176

459

418

318

238

231

229

207

159

119

115

114

104

93

79

68

57

57

49

43

184

167

127

95

92

91

83

63

47

46

45

41

37

31

27

23

23

20

17

4 591

4 188

3 183

2 387

2 318

2 296

2 076

1 592

1 194

1 159

1 142

1 042

936

796

682

578

572

488

434

918

837

636

477

463

459

415

318

238

231

228

208

187

159

136

115

114

98

87

Analogue*

Si-NN-00011 Vpp

1 102

1 105

764

573

556

551

498

382

286

278

274

250

225

191

164

139

137

117

104

Si-HN-200010 nm

Si-HN-40005 nm

50

45

34

26

25

25

22

17

13

13

12

11

10

8.6

7.4

6.2

6.2

5.3

4.7

99

90

69

52

50

50

45

34

26

25

25

23

20

17

15

12

12

11

9.4

SiGNUM system: For 40 MHz clocked option.

Maximum speed (rev/min) For details of maximum speeds for other clocked options, please contact your local representative.


(mm)

Output resolutionLine

count

52

57

75

100

103

104

115

150

200

206

209

229

255

300

350

413

417

489

550

8 192

9 000

11 840

15 744

16 200

16 384

18 000

23 600

31 488

32 400

32 768

36 000

40 000

47 200

55 040

64 800

65 536

76 800

86 400

Ti00045 µm

Ti00201 µm

Ti00400.5 µm

Ti01000.2 µm

Ti02000.1 µm

Ti040050 nm

Ti100020 nm

3 673

3 351

2 546

1 910

1 854

1 836

1 661

1 273

955

927

914

834

749

637

546

462

458

391

347

3 673

3 351

2 546

1 910

1 854

1 836

1 661

1 273

955

927

914

834

749

637

546

462

458

391

347

3 673

3 351

2 546

1 910

1 854

1 836

1 661

1 273

955

927

914

834

749

637

546

462

458

391

347

2 380

2 171

1 650

1 238

1 202

1 190

1 076

825

619

601

592

540

485

413

354

300

297

253

225

597

544

414

310

301

298

270

207

155

151

148

136

122

103

89

75

74

63

56

238

217

165

124

120

119

108

83

62

60

59

54

49

41

35

30

30

25

23

1 190

1 086

825

619

601

595

538

413

309

300

296

270

243

206

177

150

148

127

113

Ti200010 nm

Ti40005 nm

Ti10KD2 nm

Ti20KD1 nm

Ti0000

59

54

41

31

30

30

27

21

15

15

15

14

12

10

9.0

7.0

7.0

6.0

6.0

12

11

8.0

6.0

6.0

6.0

5.0

4.0

3.0

3.0

3.0

3.0

2.0

2.0

2.0

1.0

1.0

1.0

1.0

24

22

17

12

12

12

11

8.0

6.0

6.0

6.0

5.0

5.0

4.0

4.0

3.0

3.0

3.0

2.0

119

109

83

62

60

59

54

41

31

30

30

27

24

21

18

15

15

13

11

TONiC system: For 50 MHz clocked option.

3 673

3 351

2 546

1 910

1 854

1 836

1 661

1 273

955

927

914

834

749

637

546

462

458

391

347

Analogue

ResolutionThe RESM offers a range of standard ring diameters, as well as sizes that offer line counts that pro vide 2n counts

per rev o lu tion or resolutions that are precise sub-divisions of degrees or arc seconds.

NOTE: 1 arc second resolution = 1.296 x 106 counts per revolution – ~ 2.778 x 10-4 degree resolution.

Nominal

external

diameter

(line

count )

Sta

nd

ard

ou

tsid

e d

iam

eter

s2n

lin

e co

un

tS

ub

div

isio

ns

of

deg

rees

Su

bd

ivis

ion

s o

f ar

c se

con

d

20 nm

(x1 000)

≈ 0.11"

≈ 0.082"

≈ 0.055"

≈ 0.041"

≈ 0.032"

≈ 0.027"

≈ 0.024"

≈ 0.017"

≈ 0.015"

≈ 0.16"

≈ 0.08"

≈ 0.04"

≈ 0.02"

0.00004°

0.00002°

0.00001°

0.08"

0.04"

0.02"

5 µm

(x4)

≈ 27.4"

≈ 20.6"

≈ 13.7"

≈ 10.3"

≈ 8.1"

≈ 6.9"

≈ 5.9"

≈ 4.22"

≈ 3.75"

≈ 39.6"

≈ 19.8"

≈ 9.89"

≈ 4.9"

0.01°

0.005°

0.0025°

20"

10"

5"

1 µm

(x20)

≈ 5.47"

≈ 4.12"

≈ 2.75"

≈ 2.06"

≈ 1.62"

≈ 1.37"

≈ 1.18"

≈ 0.84"

≈ 0.75"

≈ 7.9"

≈ 3.96"

≈ 1.98"

≈ 0.99"

0.002°

0.001°

0.0005°

4"

2"

1"

0.5 µm

(x40)

≈ 2.74"

≈ 2.06"

≈ 1.37"

≈ 1.03"

≈ 0.81"

≈ 0.69"

≈ 0.59"

≈ 0.42"

≈ 0.38"

≈ 3.96"

≈ 1.98"

≈ 0.99"

≈ 0.49"

0.001°

0.0005°

0.00025°

2"

1"

0.5"

0.2 µm

(x100)

≈ 1.1"

≈ 0.82"

≈ 0.55"

≈ 0.41"

≈ 0.32"

≈ 0.27"

≈ 0.24"

≈ 0.17"

≈ 0.15"

≈ 1.58"

≈ 0.79"

≈ 0.4"

≈ 0.2"

0.0004°

0.0002°

0.0001°

0.8"

0.4"

0.2"

0.1 µm

(x200)

≈ 0.55"

≈ 0.41"

≈ 0.27"

≈ 0.21"

≈ 0.16"

≈ 0.14"

≈ 0.12"

≈ 0.084"

≈ 0.075"

≈ 0.79"

≈ 0.4"

≈ 0.2"

≈ 0.1"

0.0002°

0.0001°

0.00005°

0.4"

0.2"

0.1"

50 nm

(x400)

≈ 0.27"

≈ 0.21"

≈ 0.14"

≈ 0.1"

≈ 0.081"

≈ 0.069"

≈ 0.059"

≈ 0.042"

≈ 0.38"

≈ 0.4"

≈ 0.2"

≈ 0.1"

≈ 0.05"

0.0001°

0.00005°

0.000025°

0.2"

0.1"

0.05"

75 mm(11 840)

100 mm(15 744)

150 mm(23 600)

200 mm(31 488)

255 mm

(40 000)

300 mm(47 200)

350 mm(55 040)

489 mm(76 800)

550 mm(86 400)

52 mm(8 192)

104 mm(16 384)

209 mm(32 768)

417 mm(65 536)

57 mm(9 000)

115 mm(18 000)

229 mm(36 000)

103 mm(16 200)

206 mm(32 400)

413 mm(64 800)

10 nm

(x2 000)

≈ 0.055"

≈ 0.041"

≈ 0.028"

≈ 0.021"

≈ 0.016"

≈ 0.014"

≈ 0.012"

≈ 0.0084"

≈ 0075"

≈ 0.079"

≈ 0.040"

≈ 0.02"

≈ 0.0099"

0.00002°

0.00001°

0.000005°

0.040"

0.020"

0.010"

5 nm

(x4 000)

≈ 0.028"

≈ 0.021"

≈ 0.014"

≈ 0.010"

≈ 0.0081"

≈ 0.0069"

≈ 0.0059"

≈ 0.0042"

≈ 0038"

≈ 0.040"

≈ 0.020"

≈ 0.0099"

≈ 0.0049"

0.00001°

0.000005°

0.0000025°

0.020"

0.010"

0.0050"

2 nm

(x10 000)

≈ 0.011"

≈ 0.0082"

≈ 0.0055"

≈ 0.0041"

≈ 0.0032"

≈ 0.0027"

≈ 0.0024"

≈ 0.0017"

≈ 0.0015"

≈ 0.016"

≈ 0.0080"

≈ 0.0040"

≈ 0.0020"

0.000004°

0.000002°

0.000001°

0.0080"

0.0040"

0.0020"

1 nm

(x20 000)

≈ 0.0055"

≈ 0.0041"

≈ 0.0027"

≈ 0.0020"

≈ 0.0016"

≈ 0.0014"

≈ 0.0012"

≈ 0.00084"

≈ 0.00075"

≈ 0.0079"

≈ 0.0040"

≈ 0.0020"

≈ 0.00099"

0.000002°

0.000001°

0.0000005°

0.0040"

0.0020"

0.0010"

Line count as a multiple of 1000

or digital resolution (interpolation factor)

digital resolution (interpolation factor)

NOTE: The symbol " indicates units of arc seconds.

NOTE: Numbers preceded with a ≈ symbol show rounded resolution values. To calculate the exact resolution in arc seconds, use the following equation:

(arc seconds) = 1.296 x 106

[ Line count ] x [ Interpolation factor ]

Renishaw plc



www.renishaw.com

*L-9517-9154-04*


RENISHAW HAS MADE CONSIDERABLE EFFORTS TO ENSURE THE CONTENT OF THIS DOCUMENT IS CORRECT AT THE DATE OF PUBLICATION BUT MAKES NO WARRANTIES OR REPRESENTATIONS REGARDING THE CONTENT. RENISHAW EXCLUDES LIABILITY, HOWSOEVER ARISING, FOR ANY INACCURACIES IN THIS DOCUMENT.RENISHAW® and the probe emblem used in the RENISHAW logo are registered trademarks of Renishaw plc in the UK and other countries. apply innovation is a trademark of Renishaw plc.


Angle encoder part numbers

RESM 20U S A 300

Diameter 052 = 52 mm (For FANUC serial and standard Si/TONiC) 057 = 57 mm 075 = 75 mm 100 = 100 mm 103 = 103 mm 104 = 104 mm (For FANUC serial and standard Si/TONiC) 115 = 115 mm 150 = 150 mm 200 = 200 mm 206 = 206 mm 209 = 209 mm (For FANUC serial and standard Si/TONiC) 229 = 229 mm 255 = 255 mm 300 = 300 mm 350 = 350 mm 413 = 413 mm 417 = 417 mm (For FANUC serial and standard Si/TONiC) 489 = 489 mm 550 = 550 mm

Form A = tapered internal diameter B = low inertia (only available in 75, 100, 115, 150 and 200 mm diameters)

Material S = stainless steel

Pitch 20U = 20 µm

Angle encoder series (Single IN-TRAC reference mark)

RESM compatible readheads

RESM T2000

Installation guide M-9653-9161Data sheet L-9517-9337

Installation guide M-9572-9106Data sheet L-9517-9155

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