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)
Data sheet encoder system
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
20 mm P limit, North pole facing – A-9653-0237
20 mm Q limit, South pole facing – A-9653-0238
50 mm P limit, North pole facing – A-9653-0235
50 mm Q limit, South pole facing – A-9653-0236
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)
Data sheet encoder system
Data sheet encoder system
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
Repeatability <0.1 mm
~ Length of limit actuator
P QP Q
Repeatability <0.1 mm
~ Length of limit actuator
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
Repeatability <0.1 mm
~ Length of limit actuator
Repeatability <0.1 mm
~ Length of limit actuator
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
Data sheet encoder system
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
Data sheet encoder system
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
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.Invar® is a registered trademark of Arcelor Mittal
© 2009-2011 Renishaw plc All rights reserved Issued 0911
T100x RGSZ
Installation guide M-9653-9154
Data sheet L-9517-9348
RGSZ20
T1xxx
T2xxx
compatible products:
T101x RSLM/RELM
Installation guide M-9653-9225
Data sheet L-9517-9219
RELM
T101x RSLM/RELM
Installation guide M-9653-9225
Data sheet L-9517-9305
RSLM
T20x1 RESM
Installation guide M-9653-9161
Data sheet L-9517-9154
RESM
T20x1 REXM
Installation guide M-9653-9248
Data sheet L-9517-9318
REXM
DSi dual readhead rotary encoder system
Installation guide M-9653-9298
Data sheet L-9517-9466
DSi
RESDT20x1 RESD
Installation guide M-9676-9000
Data sheet L-9517-9375
T103x FASTRACK/RTLC
Installation guide M-9589-9002
Data sheet L-9517-9417
FASTRACK /RTLC
DOP (dual output) encoder system
Installation guide M-9653-9278
Data sheetL-9517-9411
T103x RTLC-S
Installation guide M-9589-9013
Data sheet L-9517-9417
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
T +44 (0)1453 524524F +44 (0)1453 524901E [email protected]
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
For worldwide contact details, please visit our main website at www.renishaw.com/contact
*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
Repeatability <0.1 mm typical
Q
Dual limit P, Q, R, S, H*
Length of actuating magnet
Repeatability <0.1 mm typical
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.
Data sheetRESM angle encoder system
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
Data sheetRESM angle encoder system
*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.
Nominal external diameter
(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.
Nominal external diameter
(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
New Mills, Wotton-under-Edge,Gloucestershire GL12 8JRUnited Kingdom
T +44 (0)1453 524524F +44 (0)1453 524901E [email protected]
www.renishaw.com
*L-9517-9154-04*
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.
© 2004-2009 Renishaw plc All rights reserved Issued 1210
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