Installation guide M A

Transcription

1 Installation guide M A TONiCRSLM T20x1 high accuracy RESD linear angle encoder encoder system

2 Contents Product compliance 1 Storage and handling 2 Installation drawing ( A section RESD) 3 TONiC T20x1 readhead installation drawing 4 TONiC interface drawing 5 TONiC quick start guide 5 Installing the ring System connection 8 T20x1 readhead and RESD compatibility 9 Readhead mounting and alignment 9 System calibration Output signals 11 Electrical connections 12 Output specifications 13 General specifications 14 Speed 14

3 Product compliance C Renishaw plc declares that TONiC complies with the applicable standards and regulations. A copy of the EC Declaration of Conformity is available on request. FCC compliance This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. The user is cautioned that any changes or modifications not expressly approved by Renishaw plc or authorised representative could void the user s authority to operate the equipment. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense. NOTE: This unit was tested with shielded cables on the peripheral devices. Shielded cables must be used with the unit to ensure compliance. RoHS compliance Compliant with EC directive 2011/5/EU (RoHS) Disclaimer 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. The packaging of our products contains the following materials and can be recycled. Packaging Component Outer box Inserts Bags Cardboard Polypropylene Low Density Polyethylene Foam Cardboard Material High Density Polyethylene Bag Metalised Polyethylene Not applicable PP LDPE Not applicable HDPE PE ISO 1149 Recycling Guidance Recyclable Recyclable Recyclable Recyclable Recyclable Recyclable Patents Features of Renishaw s encoder systems and similar products are the subjects of the following patents and patent applications: US 4,92,5 US 5,03,85 JP 2,837,483 EP JP 3,202,31 US 5,241,173 EP EP US 5,81,953 EP US,588,333 B1 EP US,775,008 B2 EP Further information Further information relating to the TONiC encoder range can be found in the TONiC system Data sheet (L ). This can be downloaded from our website and is also available from your local representative. This document may not be copied or reproduced in whole or in part, or transferred to any other media or language, by any means without the written prior permission of Renishaw. The publication of material within this document does not imply freedom from the patent rights of Renishaw plc. The use of this symbol on Renishaw products and/or accompanying documentation indicates that the product should not be mixed with general household waste upon disposal. It is the responsibility of the end user to dispose of this product at a designated collection point for waste electrical and electronic equipment (WEEE) to enable reuse or recycling. Correct disposal of this product will help to save valuable resources and prevent potential negative effects on the environment. For more information, please contact your local waste disposal service or Renishaw distributor. 1

4 Storage and handling Readhead Ring Ring and readhead Ring only Readhead only N-heptane Acetone Acetone CH 3 (CH 2 ) 5 CH 3 CH 3 COCH 3 Chlorinated Solvents CH 3 COCH 3 Chlorinated Solvents Propan-2-ol CH 3 CHOHCH 3 Methylated Spirits Methylated Spirits Interface Storage +70 C -20 C Operating +70 C 0 C Humidity 95% relative humidity (non-condensing) to EN

5 Installation drawing ( A section RESD) Dimensions and tolerances in mm Nominal external diameter (mm) Line count DO (mm) DI (mm) Mounting holes DH (mm) N θ Wake angle Readhead model N holes equally spaced on PCD ØDH M3 x 0.5 through, c/bore top face Ø3.5 x 4 deep T2021 T2011 N holes equally spaced on PCD ØDH Ø3.5 through c/bore Ø x 3 deep A A θ T2001 ØDI ØDH ØDO Section A-A 0.5 x 45 2 positions Scale 2 15 ±0.2 3 NOTE: θ is the angle between one tapped hole and the adjacent clearance hole. For example, the angle between two clearance holes is 2θ. 3

6 TONiC T20x1 readhead installation drawing (RESD A section ring shown) Dimensions and tolerances in mm 2 off mounting holes M2.5 through, counterbored Ø3 x 2.75 deep from alternative mounting face 1.75 ± (Yaw tol. ±0.3 ) 0.25 / / Alternative mounting face (Roll tol. ±1.0 ) 0.24 / / 13.5 Ring and readhead optical centreline ref min 18 Optical centreline (incremental and reference mark) Set-up LED Recommended mounting faces ±0.15 R>20 Dynamic bend radius R> Static bend radius 35 CAL/AGC LED Ø4.25 ± mounting off holes M2.5 through, counterbored Ø3 x 2.3 deep both sides Rideheight 2.1 ±0.15 (Pitch tol. ±1.0 ) / / Forward direction of ring (increasing count) 29 4

7 TONiC interface drawing Dimensions and tolerances in mm 40 8 TONiC quick-start guide This section is a quick-start guide to installing a TONiC system. More detailed information on installing the system is contained in the following sections of the installation guide. 1 INSTALLATION Ensure scale, readhead optical window and mounting faces are clean and free from obstructions UNC x 2 off 33.3 If fitted, ensure reference mark selector magnet is correctly positioned. Plug the readhead cable into the Ti/TD interface under the cover plate and reassemble interface. Connect to receiving electronics and power-up. 2 7 Ensure AGC is switched off - the CAL LED on the readhead should be off (if not press and hold the CAL button on the interface until the CAL LED on the readhead switches off). Install and align the readhead to maximise signal strength over the full axis travel as indicated by the readhead and interface set-up LEDs (readhead green; interface - ideally blue/purple). Cover plate CALIBRATION Press and release the CAL button on the interface. The CAL LED on the readhead will be single flashing. min R Static bend radius R20 Dynamic bend radius Move the readhead along the scale at slow speed (<0 mm/s), without passing a reference mark, until the CAL LED starts double flashing. Diagnostic LED (Ti Ti20KD and TD TD0040) CAL/AGC push button switch access hole Ø2.4 Move the readhead back and forth over a reference mark until the CAL LED stops flashing and remains off. The system is now calibrated and ready for use. CAL values are stored in readhead non-volatile memory at power down. CAL button operation Push and release (<3 seconds) - Calibration (CAL) routine enable/disable Push and release (>3 seconds) - Automatic Gain Control (AGC) enable/disable Push and hold during power Off/On cycle - Restore factory defaults Refer to readhead LED functionality chart for CAL LED indications NOTE: If calibration fails, restore factory defaults by pressing and holding the CAL button whilst switching on. Then repeat the installation and calibration routine. 5

8 Installing the ring Step 1 Mounting shaft specifications 7 min ±0.2 DT Step 2 u Clean shaft taper and internal taper of RESD as recommended in the storage and handling section. u Insert the first screws: Use 3 equally spaced M3 screws. (On RESD 209 mm ring use 4 equally spaced M3 screws. NOTE: Do not lubricate screws. Recommended screw type M3 x 0.5: ISO 472/DIN 912 grade.9 minimum/ansi B18.3.1M. Recommended taper roundness Diameter (mm) to 209 Roundness value (mm TIR) Recommended surface finish Ra 1.2 NOTE: It is recommended that the mounting surface is a turned, rather than ground finish. u Insert the screws so that the RESD is loosely connected to the shaft, then roughly align the ring by eye and touch. u Lightly tighten the screws. Use a Dial Test Indicator (DTI) to check the radial displacement at the screw locations. NOTE: Disregard the radial displacement between the screw locations. DTI Use a DTI with low exertion force to avoid scratching the scale surface. A DTI with a ruby ball stylus is recommended as a further precaution against scratches. Recommended taper diameter (DT) DO (mm) DO = Nominal external diameter DT (mm) u Adjust the screws to reduce the range of radial displacement. When adjusting, identify the screw location with the lowest radial displacement and tighten that screw, aiming for the average of the highest and lowest indicator readings. u Repeat this process until the DTI readings are within ±5 µm at the screw locations. NOTE: It may be necessary to loosen screws whilst tightening other screws. NOTE: At this stage, the screws should only be lightly tightened (less than 0.5 Nm) to allow further final adjustment.

9 Installing the ring (continued) Step 3 Step 4 u Insert the remaining M3 screws. u As described in Step 2, adjust all the screws so that the radial displacement at each screw location is within ±5 µm. u Again, at this stage, the screws should only be lightly tightened (less than 0.5 Nm). NOTE: You may notice that the torque required to achieve the radial displacement tolerance will be slightly higher during step 3 than during step 2. This is normal. Diameter (mm) to 209 Torque (Nm) min u Rotate the RESD ring, looking for the screw with the lowest radial displacement. u Tighten that screw so that it matches the average radial displacement, whilst ensuring the maximum torque specified in the table is not exceded. u Again, rotate the RESD ring and re-check the radial displacement at all of the screw locations, tightening the screw with the lowest radial displacement so that it matches the average. u Repeat this process until the radial displacement at all of the screw locations is within ±3 µm and that all screw torques are within the specified range. u Excessive tightening of screws can have a small effect on accuracy. Please contact your local representative for more details. 7

10 System connection Approved ESD precautions must be followed at all times during readhead and interface electrical connections. The readhead is connected to the Ti/TD interface via a small, rugged connector to allow for easy feed-through during installation. Connecting the readhead u Remove the cover plate as shown (2 x M2.5 hex head screws). Disconnecting the readhead u Remove the cover plate on the interface (2 x M2.5 hex head screws). u Gently lever the connector PCB (on the end of the cable) out of the socket. u Place the connector in an anti-static bag. u Refit the cover plate. u Taking care not to touch the pins, plug the connector into the socket in the interface, ensuring correct orientation as shown. u Refit the cover plate ensuring the cable ferrule is located in the recess on the inside and no wires are trapped under the cover plate. 8

11 T20x1 readhead and RESD compatibility T20x1 readhead models are compatible with a range of RESD ring sizes. The optical configuration is optimised for the following conditions: Readhead model T2001 T2011 T2021 Published performance specifications and operating tolerances only apply where the correct readhead model conforms to the RESD size range. Ensure readhead part number and RESD size range compatibility at the time of ordering and installation. Master reference mark position RESD diameter range (mm) >13 0 to 13 <0 Readhead mounting and alignment Mounting brackets The bracket must have a flat mounting surface and should enable conformance to the installation tolerances, allow adjustment to the rideheight of the readhead, and be sufficiently stiff to prevent deflection or vibration of the readhead during operation. Readhead set-up Ensure that the scale, readhead optical window and mounting face are clean and free from obstructions. To set nominal rideheight, place the readhead spacer with the aperture under the optical centre of the readhead to allow normal LED function during set-up procedure. Adjust the readhead to maximise the signal strength and achieve a green set-up LED on the readhead (70 to 135% signal). If a digital Ti/TD interface is used, aim for a blue LED on the interface. NOTE: The readhead should be installed and set-up with the AGC switched off. Readhead set-up LED status Green Orange Red Yaw 0 ±0.3 Master reference mark The master IN-TRAC reference mark is integrated 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. Pitch 0 ±1.0 Optical centreline Rideheight 2.1 ±0.15 mm Roll 0 ±1.0 9

12 System calibration Calibration is an essential operation that completes readhead set-up, with the optimum incremental and reference mark signal settings stored in the readhead non-volatile memory. Before system calibration, install the readhead to maximise the signal strength around the full ring travel. NOTE: CAL routine maximum speed <0 mm/s (all Ti/TD interface models) TD interface can be calibrated in either resolution. Step 1 Incremental signal calibration u Ensure Automatic Gain Control is switched off (CAL LED on readhead is not illuminated) before beginning calibration. u Press and release the CAL button through the access hole the end of the interface as shown. u The CAL LED will now periodically single-flash to indicate that it is in incremental signal calibration routine. u Rotate the ring at slow speed, ensuring you do not pass the reference mark. The CAL LED will double-flash periodically, indicating the incremental signal is now calibrated and the new settings are stored in the readhead memory. u The system is now ready for reference mark phasing. Step 2 Reference mark phasing u Rotate any selected reference mark past the readhead optical centre in any direction; the CAL LED will continue to double flash periodically. u Move the readhead back over the same selected reference mark; the CAL LED will stop flashing and remain off. The reference mark is now phased. u Move the readhead over the entire axis at slow speed ( 25 mm/s), each reference mark should flash green or amber. If not, repeat calibration on a subsequent reference mark after restoring factory defaults. u The system automatically exits the CAL routine and is ready for operation. Calibration routine - manual exit u To exit the calibration routine at any time press the CAL button. u The CAL LED will stop flashing and remain off. u If step 1 is complete, the incremental signal CAL settings will be stored. u Reference mark phasing settings will not be stored for CAL manual exit. If the calibration routine has not been completed, restore factory defaults and then repeat the full calibration. Restoring factory defaults When re-installing the system, or in the case of incomplete calibration, the factory defaults should be restored. To restore factory defaults; u Switch system off. u Press and hold the CAL button whilst switching the system on. The CAL LED on the readhead will flash several times, indicating that the factory defaults have been restored. u Release CAL button. u Check the Readhead mounting/installation and re-calibrate the system. T20x1 readhead LED diagnostics Set-up CAL LED Ti0004 to Ti20KD and TD4000 to TD0040 Interface LED diagnostics Signal Incremental Incremental Reference mark Operating Calibration Reset Reference mark Purple Blue Green Orange Red Green Orange Red Indication Purple / blank - flashing Blue / blank - flashing Red / blank - flashing Blank flash Indication Green (flash)* Orange (flash) Red (flash) On Off Single flashing Double flashing Flashing at power-up (<2s) Normal set-up: signal level 70% to 135% Acceptable set-up; signal level 50% to 70% Poor set-up; signal may be too low for reliable operation; signal level <50% Normal phasing Acceptable phasing Poor phasing; recalibrate Automatic Gain Control On Automatic Gain Control Off Calibrating incremental signals Calibrating reference mark Restoring factory defaults Normal setup; signal level 1% to 135% Optimum setup; signal level 90% top 1% Normal set-up: signal level 70% to 90% Acceptable set-up; signal level 50% to 70% Poor set-up; signal may be too low for reliable operation; signal level <50% Over signal; system in error Over speed; system in error Status Status *Flash will effectively be invisible when incremental signal level is >70% when passing reference mark. Poor set-up; signal level <20%; system in error Reference mark detected (speed <0mm/s only) Alarm output* *-Alarm output will take the form of 3-state or line driven E- signal depending on interface configuration. Also, some configurations do not output overspeed alarm. See TONiC Data Sheet (L ) for details of interface configuration. -Momentary status only, while fault condition remains. -Alarm may result in axis position error, re-datum to continue. No No No No No Yes Yes Yes No NOTE: System must be re-calibrated after restoring factory defaults. NOTE: The LED on the interface will flash blank when the reference mark is detected (<0 mm/s only). It indicates the presence of a reference mark not the phasing status.

13 Output signals Interface output (analogue) Ti0000 only Function Output type Signal Pin Interface output (digital) Ti0004 to Ti20KD and TD4000 to TD0040 Ti Ti20KD Interface TD TD0040 Power 5 V Power 4 Function Output type Signal Pin Pin 5 V Sense 5 Power 5 V 7, 8 7, 8 0 V Power 12 0 V 2, 9 2, 9 0 V Sense 13 Incremental A Incremental signals Reference mark Limits Cosine Analogue Sine Analogue Open collector V 1 + V 1 - V 2 + V 2 - V 0 + V 0 - V p V q Reference mark Limits Set-up RS422A Digital RS422A Digital Open collector RS422A Digital A- B+ B- Z+ Z- P Q X Set-up V X Alarm E+ 11 Calibrate CAL 14 E- 3 3 Shield Inner shield Outer shield Not connected Case Resolution switching > Shield Inner Outer Case Case T20x1 readhead output Function Power Output type Signal 5 V Power 0 V Power Colour Brown White 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 should be connected to 0 V to switch to lower resolution. Output connector for all interfaces; 15 way D type plug Incremental signals Reference mark Limits Cosine Analogue Sine Analogue Open collector V 1 + V 1 - V 2 + V 2 - V 0 + V 0 - V p V q Red Blue Yellow Green Violet Grey Pink Black NOTE: T2000 series readheads are fitted with P and Q end of travel limit switch sensors, typically used for linear motion applications. P and Q limit actuators are not suitable for ring encoder (RESM) installation. Limit switch signal detail is included here for information only. Please contact your local Renishaw representative if you require limits on your rotary installation. Set-up V X Clear Calibrate CAL Orange Shield Inner shield Green/Yellow Outer shield Outer screen 11

14 Electrical connections TONiC grounding and shielding Analogue outputs Readhead Inner shield Ti/TD interface Extension cable max. 50 m dependent upon output frequency Customer electronics 5 V V 0 V 1 V R Output signals V 0 V 1 V 2 - Outer shield 0 V Remote CAL operation (analogue versions only) IMPORTANT: The outer shield should be connected to the machine earth (Field Ground). The inner shield should be connected to 0 V. 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. CAL 0 V All Ti/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. Recommended signal termination Digital outputs TD interface resolution switching 0 V Pin Readhead A B Z+ 220 pf Customer electronics Connect pin to 0 V to switch to lower resolution. 0 V Cable Z 0 = 120R 120R Single ended alarm signal termination (Ti options A, B, C, D) A B Z- 0 V 220 pf 5V 4k7 Customer electronics Standard RS422A line receiver circuitry. Capacitors recommended for improved noise immunity. E- 0 1k8 4k7 0nF 12

15 Output specifications Digital output signals - Form - Square wave differential line driver to EIA RS422A (except limits P and Q) Analogue output signals Incremental 2 channels A and B in quadrature (90 phase shifted) Incremental 2 channels V 1 and V 2 differential sinusoids in quadrature (90 phase shifted) Signal period Resolution 20 µm (V 1 +)-(V 1 -) to 1.35 Vpp with green LED indication, (readhead) and 120R termination. Centred on 1.5 V NOTE: Ti0000A00V centred on 2.5 V A (V 2 +)-(V 2 -) B Reference Z Wide reference = Synchronised pulse Z, duration as resolution Reference (V 0 +)-(V 0 -) (nom) 0.8 to 1.2 Vpp Bi-directionally repeatable Differential pulse V 0 centred on 45 Z Synchronised pulse Z, duration signal period NOTE: Select standard or wide reference at time of ordering, to match the requirements of the controller being used. Alarm Asynchronous pulse Set-up* Set-up* >15 ms E 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. E- output only for Ti options A, B, C, D 1 Voltage at X 0 0 Signal level 0% 3.3 (nom) Voltage at V X % Signal level 70% 0% or 3-state alarm Differentially transmitted signals forced open circuit for >15 ms when alarm conditions valid. Setup signal voltage proportional to incremental signal amplitude Between 50% and 70% signal level, V X is a duty cycle, 20 µm duration. Time spent at 3.3 V increases with incremental signal level. At >70% signal level V X is nominal 3.3 V. Inverse signals not shown for clarity *Set-up signals as shown are not present during calibration mode 13

16 General specifications Speed Power supply 5 V ± % Readhead only <0 ma Sealing (readhead) Ripple T20x1 with Ti0000 <0 ma T20x1 with Ti Ti20KD or TD TD0040 <200 ma NOTE: Current consumption figures refer to unterminated systems. For digital outputs a further 25 ma per channel pair (eg A+, A-) will be drawn when terminated with 120 Ω. For analogue outputs, a further 20 ma 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 IEC BS EN mvpp frequency up to 500 khz maximum. IP40 Minimum receiver clock frequency (MHz) Ti µm 4.2 Ti µm Maximum speed (m/s) Ti µm Ti µm Ti µm Ti nm (interface) IP20 Analogue output (-3dB) Acceleration (readhead) Operating 500 m/s 2, 3 axes Shock (system) Non-operating 00 m/s 2, ms, ½ sine, 3 axes Vibration (system) Operating 0 m/s 2, 55 Hz to 2000 Hz, 3 axes Mass Readhead g Interface Cable 0 g 2 g/m Minimum receiver clock frequency (MHz) 50 Ti00 20 nm 0.48 Maximum speed (m/s) Ti2000 nm Ti nm 0.12 TiKD 2 nm Ti020KD 1 nm Environmental Readhead cable Maximum cable length Readhead to interface Compliant with EU Directive 2002/95/EC (RoHS) Double shielded, outside diameter 4.25 ±0.25 mm. Flex life >20x cycles at 20 mm bend radius. UL recognised component m Interface to controller Receiver clock frequency (MHz) Maximum cable length (m) to 50 <40 analogue Analogue output (-3dB) Renishaw encoder systems have been designed to the relevant EMC standards, but must be correctly integrated to achieve EMC compliance. In particular, attention to shielding arrangements is essential. Angular speed depends on ring diameter - use the following equation to convert to rev/min. Angular speed (rev/min) = V x 00 x 0 p D Where V = maximum linear speed (m/s) and D = external diameter of RESM (mm) NOTE: TD maximum speeds are resolution dependent as defined above. 14

17 Renishaw plc New Mills, Wotton-under-Edge, Gloucestershire GL12 8JR United Kingdom T +44 (0) F +44 (0) E uk@renishaw.com RSLM high accuracy linear encoder For worldwide contact details, please visit our main website at RENISHAW and the probe symbol used in the RENISHAW logo are registered trade marks of Renishaw plc in the United Kingdom and other countries. apply innovation and names and designations of other Renishaw products and technologies are trade marks of Renishaw plc or its subsidiaries Renishaw plc All rights reserved Issued 1 *M *