TONiC T103x RTLC/FASTRACK linear encoder system

Transcription

1 Installation guide M C RSLM high accuracy linear encoder TONiC T3x RTLC/FASTRACK linear encoder system

2 Contents Product compliance 1 Storage and handling 2 TONiC readhead installation drawing 3 RTLC/FASTRACK installation drawing (adhesive datum clamp) 4 RTLC/FASTRACK installation drawing (mechanical datum clamp) 5 RTLC/FASTRACK installation 6 TONiC interface drawing 8 TONiC quick start guide 8 System connection 9 Readhead mounting and alignment Reference mark selector and limit magnet installation System calibration 11 Output signals 12 Speed 12 Electrical connections 13 Output specifications 14 General specifications 15

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 2011/65/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 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: EP US EP US B2 JP CNCN C US JP CNCN C US75507 EP CNCN B EP US B2 JP CNCN13165B US EP US EP CN JP JP KR CN EP JP US US 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 Minimum bend radius RTLC 50 mm FASTRACK 200 mm NOTE: Ensure selfadhesive tape is on the outside of the bend radius. Scale and readhead Readhead only Nheptane Acetone Storage Operating Humidity CH 3 (CH 2 ) 5 CH 3 CH 3 COCH 3 Chlorinated Solvents 70 C 0 C Propan2ol 70 C 20 C CH 3 CHOHCH 3 Methylated Spirits UHV readhead Bakeout 120 C 95% relative humidity (noncondensing) to EN

5 TONiC T30 readhead installation drawing Dimensions and tolerances in mm Reference mark selector (A ) (Dimensions as P limit) Forward direction of readhead relative to scale (Yaw tol. ±0.4 ) 0.25 INTRAC reference mark (Roll tol. ±0.5 ) * 18 ± ± * 3.7 P limit magnet (A ) 15 Reference mark selector sensor position off mounting holes M2.5 through, counterbored Ø3 x 2.75 deep from alternative mounting face P and Q limit switch sensor position Optical centreline (incremental and reference mark) Q limit magnet (A ) (Dimensions as P limit) Recommended mounting faces 4.25 Alternative mounting face = R>20 Dynamic bend radius R> Static bend radius 6 min 35 Setup LED CAL/AGC LED Detail A Ø 4.25 ±0.25 > off mounting holes 2.5 through, counterbored Ø3 x 2.3 deep both sides NOTE: The recommended thread engagement is 5 min (7.5 including counterbore) and the recommended tightening torque is between 0.25 and 0.4 Nm. A (Pitch tol. ±1 ) FASTRACK thickness = 0.1 Optical centreline marker Rideheight 1.9 ±0.12 from FASTRACK top surface *Extent of mounting faces. = Dimensions from substrate surface. Dynamic bend radius not applicable for UHV cable. > UHV cable diameter 3.0 approx. NOTE: External magnetic fields greater than 6 mt, in the vicinity of the readhead, may cause false activation of the limit sensor. 3

6 RTLC/FASTRACK installation drawing (adhesive datum clamp) Dimensions and tolerances in mm Overall length (L 12) 1 min (gap) Scale length (L) Measuring length ML = (L) (ML = (L25) with dual limits) FASTRACK length = (L 24)* 2.25 ±0.5 max (gap) Reference mark selector magnet A B 5 18 ±0.1 NOTE: When FASTRACK reference mark and adhesive datum aligned as shown, reference output will be positionally repeatable with respect to substrate. Detail A P limit magnet Optional end cover (Pair A ) 15 ±1 TONiC readhead (T3x) RTLC scale (A9705xxxx) INTRAC reference mark Spot of Loctite 435 (2 positions) to secure axis datum position 0.5 F 0.1/0 F = axis of motion Detail B Do not cut FASTRACK over shaded areas 35 max FASTRACK (A9704xxxx) Q limit magnet F Ra 3.2 Nominal P limit trigger point Optical centreline (incremental and reference mark) Nominal Q limit trigger point F = axis of motion *Assumes 1 mm gap between scale and end covers and zero gap between FASTRACK and end covers. NOTES: Minimum recommended FASTRACK length = 0 mm. The reference mark selector and limit actuator locations are correct for the readhead orientation shown. 4

7 RTLC/FASTRACK installation drawing (mechanical datum clamp) Dimensions and tolerances in mm Overall length (L 12) 1 min (gap) max (gap) Scale length (L ) Measuring length ML = (L) (ML = (L25) with dual limits) FASTRACK length (L 24)* Reference mark selector Detail B Do not cut FASTRACK over shaded areas 2.25 ± /0 F F = axis of motion A B 18 ±0.1 P limit magnet Optional end cover (Pair A ) TONiC readhead (T3x) RTLC scale (A9705xxxx) Q limit magnet max Detail A INTRAC reference mark FASTRACK (A9704xxxx) Detail A 15 ±1 25 RTLC clamp (A ) 3 M3 x 6 low head screw, supplied with clamp = 12 NOTE: When FASTRACK reference mark and datum clamp aligned as shown, reference output will be positionally repeatable with respect to substrate. Do not place clamp tip over shaded area min thread depth Clamp shoulder Ra 3.2 Nominal P limit trigger point (±3) Optical centreline (incremental and reference mark) Nominal Q limit trigger point (±3) 0.05 F F = axis of motion *Assumes 1 mm gap between scale and end covers and zero gap between FASTRACK and end covers. NOTE: Minimum recommended FASTRACK length = 0 mm = Additional screws available (Pack of 25 A ) 5

8 RTLC/FASTRACK installation During handling or installation of FASTRACK suitable gloves should be worn to protect against injury from sharp edges. 1 If required cut FASTRACK and scale to length (separately) using guillotine (A ) after referring to installation drawing. Guillotine should be held securely in place, using a suitable vice or clamping method. Feed FASTRACK or scale through the guillotine as shown, and place guillotine press block down onto the FASTRACK/scale. Ensure the block is in the correct orientation (as shown). Whilst holding the block in place, in a smooth motion, pull down the lever to cut through the FASTRACK/scale. Guillotine press block 2 Thoroughly clean and degrease the substrate and allow to dry. For FASTRACK location a ledge, separate straight edge(s) or dowels can be used. Check alignment of ledge/separate straight edge(s) with respect to axis of motion (see installation drawing). DO NOT CUT FASTRACK in these areas 3 Before sticking FASTRACK to the substrate bend the centre 4 Remove backing liner and stick to substrate, locating against ledge/separate straight edge(s) or dowels. section upwards slightly using Ensure complete adhesion to the substrate by a small pair of pliers. applying firm finger pressure along the length of the FASTRACK from the centre outwards towards each end using a lintfree cloth if required. NOTE: Allow the FASTRACK a minimum of 20 minutes to adhere before removing the centre section. 5 Engage centre section removal tool and with consistent forward pressure remove centre section. If the ledge method or similar is used then the appropriate side panel on the removal tool (A ) will need to be removed as shown. Side panels Ledge IMPORTANT: Wear suitable protective gloves whilst carrying out this procedure to avoid risk of cuts. 6

9 RTLC/FASTRACK installation (Continued) 6 Slide RTLC scale into the FASTRACK ensuring the scale is fed under the projections as shown. Scale can be installed manually by either pulling or pushing it through the FASTRACK carrier. Alternatively use the optional scale installation tool (A ) as shown, for easy installation. Projections NOTE: For instructions on how to use the scale installation tool, download User guide RTL scale installation tool (A ) from the website at IMPORTANT: If manually installing the scale using fingers, suitable gloves should be worn to protect against injury from sharp edges. 7 Create scale datum Option 1 7 By fixing mechanical clamp. (A ) Create scale datum Option 2 Using dispensing tip PTL apply Loctite 435 between scale and FASTRACK so it wicks underneath adjacent to user selected datum location as shown. NOTE: Drawing shows the scale datum adjacent to the chosen reference mark. However the position of both is user selectable depending upon application. NOTE: Only apply Loctite 435 in these gaps to ensure best bond. Loctite 435 will wick under the scale to lock it to the substrate. Do not place clamp tip over shaded area. 8 Optional: fix selfadhesive end covers ensuring a gap of at least 1 mm. Ensure a gap >1 mm 8 Clean FASTRACK and scale using a lintfree cloth. 7

10 TONiC interface drawing Dimensions and tolerances in mm 40 8 TONiC quickstart guide This section is a quickstart guide to installing a TONiC system. More detailed information on installing the system is contained in the following sections of the installation guide INSTALLATION Ensure scale, readhead optical window and mounting faces are clean and free from obstructions. 440 UNC x If required, 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 powerup. 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 setup LEDs (readhead Green; interface ideally Blue/Purple). CALIBRATION Press and release the CAL button on the interface. The CAL LED on the readhead will be single flashing. Cover plate 6 min 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 (Ti0004 Ti20KD and TD4000 TD0040) R>20 Dynamic bend radius* R> Static bend radius CAL/AGC push button switch access hole Ø2.4 No reference mark If a reference mark is not being used, the calibration routine should now be exited by pressing and releasing the CAL button. The CAL LED will stop flashing. (Incremental CAL values are automatically stored) Reference mark Move the readhead back and forth over the selected reference mark until the CAL LED stops flashing and remains off. (Incremental and reference mark CAL values are automatically stored) *Dynamic bend radius not applicable for UHV cables. 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 The system is now calibrated and ready for use. AGC can now be switched on if required by pressing and holding the CAL button until the CAL LED on the readhead switches on. CAL values and AGC status are stored in readhead nonvolatile memory at power down. NOTE: If calibration fails, restore factory defaults by pressing and holding the CAL button whilst switching on. Then repeat the installation and calibration routine. 8

11 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 feedthrough during installation. Connecting the readhead 1 Remove the cover plate as shown (2 x M2.5 hex head screws). Disconnecting the readhead 1 Remove the cover plate on the interface (2 x M2.5 hex head screws). 2 Gently lever the connector PCB (on the end of the cable) out of the socket. Do not pull the cable to remove the connector. 3 Place the connector in an antistatic bag. 4 Refit the cover plate. 2 Taking care not to touch the pins, plug the connector into the socket in the interface, ensuring correct orientation as shown. 3 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. 9

12 Readhead mounting and alignment Mounting brackets The bracket must have a flat mounting surface and should provide adjustment to 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 setup Ensure that the scale, readhead optical window and mounting face are clean and free from obstructions. To set nominal rideheight, place the black readhead spacer with the aperture under the optical centre of the readhead to allow normal LED function during setup procedure. Ensure that the black spacer covers both sides of the FASTRACK surface. Adjust the readhead to maximise the signal strength along the full axis of travel to achieve a Green setup LED on the readhead (>70% signal). If a digital Ti/TD interface is used, aim for a Blue LED on the interface. NOTE: The readhead should be installed and setup with the AGC switched off (CAL LED off). When reinstalling factory defaults should be restored. Readhead setup LED status Reference mark selector and limit magnet installation For accuracy and ease of positioning of reference mark selector and limit magnets, the applicator tool (A ) should be used. The magnet should be attached to the applicator tool as shown below and aligned with the outer edge of the FASTRACK. Limit magnets can be positioned at any user defined location along the FASTRACK, but the reference mark selector magnet should be positioned adjacent to the chosen INTRAC reference mark as shown below. As the TONiC readhead passes the reference mark selector magnet or limit switch magnet, a force of up to 0.2 N is generated between the magnet and the readhead. The design of the bracket should be sufficiently stiff so that it is able to tolerate such force without distorting. NOTE: Reference and limit magnets may creep when influenced by magnetic materials in close proximity. In such cases, they should be held in place using an additional fillet of epoxy glue or similar along the outer edge of the magnet assembly. Remove selfadhesive backing paper Applicator tool (A ) Green Orange Red Yaw 0 ±0.4 P limit magnet Pitch 0 ±1 Roll 0 ±0.5 NOTE: All limit and reference selector magnets should be aligned with the outer edges of the FASTRACK. Correct position of reference selector for readhead orientation shown INTRAC reference mark Rideheight 1.9 ±0.12 mm from FASTRACK top surface Limit trigger point The limit output is nominally asserted when the readhead limit switch sensor passes the limit magnet leading edge, but can trigger up to 3 mm before that edge. (See RTLC/FASTRACK installation drawing ). Q limit magnet IMPORTANT: Use only black spacer

13 System calibration Calibration is an essential operation that completes readhead setup, with the optimum incremental and reference mark signal settings stored in the readhead s nonvolatile memory. Before system calibration: u Clean the scale and readhead optical window (contamination around the reference mark may result in reference mark dephasing). u If reinstalling restore factory defaults. u Ensure Automatic Gain Control is switched off (CAL LED on readhead is not illuminated). u Maximise the signal strength along full axis of 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 Press the CAL button on the end of the interface for <2 seconds using a 2 mm allen key or similar tool. WARNING! Activating the CAL switch only requires 2.5 N force. Applying excess force may permanently damage the switch. u The CAL LED will now periodically singleflash to indicate that it is in incremental signal calibration routine. u Move the readhead along the axis, ensuring you do not pass the selected reference mark until the CAL LED starts doubleflashing. This indicates 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. u For systems without reference mark, go to Calibration routine manual exit u If the system does not automatically enter the reference mark phasing stage (no doubleflashing of the CAL LED) the calibration of the incremental signals has failed. After ensuring failure is not due to overspeed (>0 mm/s), exit the calibration routine, restore factory defaults and check the readhead installation and system cleanliness before repeating the calibration routine. Step 2 Reference mark phasing u Move the readhead back and forth over the selected reference mark until the CAL LED stops flashing and remains off. The reference mark is now phased. NOTE: Only the chosen reference mark that has been used in the calibration routine is guaranteed to remain phased. u The system automatically exits the CAL routine and is ready for operation. u If the CAL LED continues doubleflashing after passing the chosen reference mark many times it is not detecting the reference mark. Ensure that the correct readhead configuration is being used. Readheads can either output all reference marks or only output a reference mark where a reference selector magnet is fitted. Calibration routine manual exit u The calibration routine can be exited at any stage. To exit the calibration routine press the CAL button. On successful exit the CAL button will stop flashing. CAL LED Single flashing Double flashing Off (autocomplete) Settings stored None, restore factory defaults and recalibrate Incremental only Incremental and reference mark u Release CAL button. u Check the Readhead mounting/installation and recalibrate the system. NOTE: System must be recalibrated after restoring factory defaults. Switching Automatic Gain Control (AGC) on or off AGC can be switched on or off via the interface. u Press and hold the CAL button on the interface for >3 seconds to switch AGC on or off. The CAL LED on the readhead will be illuminated when AGC is active. NOTE: The system must be calibrated before switching AGC on. T0x readhead LED diagnostics Setup CAL LED Ti0004 to Ti20KD and TD4000 to TD0040 Interface LED diagnostics Signal Indication Status Incremental Incremental Reference mark Operating Calibration Reset Purple Blue Green Orange Red Indication Green Orange Red Green (flash)* Orange (flash) Red (flash) On Off Single flashing Double flashing Flashing at powerup (<2s) Red / blank flashing Status Normal setup: signal level >70% Acceptable setup; signal level 50% to 70% Poor setup; signal may be too low for reliable operation; signal level <50% Normal phasing Acceptable phasing Poor phasing; clean scale and recalibrate if required Automatic Gain Control On Automatic Gain Control Off Calibrating incremental signals Calibrating reference mark Restore factory defaults *Flash will effectively be invisible when incremental signal level is >70% when passing reference mark. Normal setup; signal level 1% to 135% Optimum setup; signal level 90% to 1% Normal setup: signal level 70% to 90% Acceptable setup; signal level 50% to 70% Poor setup; signal may be too low for reliable operation; signal level <50% Poor setup; signal level <20%; system in error Alarm output* No No No No No Yes Restoring factory defaults When realigning the readhead, reinstalling the system or in the case of continued calibration failure, 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. Reference mark Blue / blank flashing Purple / blank flashing Blank flash Over speed; system in error Over signal; system in error Reference mark detected (speed <0 mm/s only) * Alarm output will take the form of 3state or line driven E signal depending on interface configuration. Also, some configurations do not output overspeed alarm. See product nomenclature for details. Momentary status only, while fault condition remains. Alarm may result in axis position error, redatum to continue. Yes Yes No 11

14 Output signals Interface output (analogue) Ti0000 only Interface Ti0000 Interface output (digital) Ti0004 to Ti20KD and TD4000 to TD0040 Ti0004 Ti20KD Interface TD4000 TD0040 Function Power Incremental signals Reference mark Limits Setup Calibrate Shield Output type Cosine Analogue Sine Analogue Open collector Signal 5 V Power 5 V Sense 0 V Power 0 V Sense V 1 V 2 V 0 V p V q V X CAL Inner shield Outer shield Pin Not connected Case Power Incremental Function Output type Signal Pin Pin Reference mark Limits Setup Alarm Resolution switching > Shield RS422A digital RS422A digital Open collector RS422A digital A B Z E 5 V 0 V P Q> X Inner shield Outer shield 7, 8 2, Case 7, 8 2, Case Readhead output Function Power Incremental signals Output type Cosine Analogue Sine V 1 V 2 Signal 5 V 0 V Colour Brown White Red Blue Yellow Green Becomes alarm (E) for Ti options E, F, G, H The alarm signal can be output as a line driver signal or 3state. Please select the preferred option at time of ordering. > On TD interfaces pin should be connected to 0 V to switch to lower resolution. Speed Clocked output option (MHz) Ti µm Ti µm Ti µm 8. Ti µm Maximum speed (m/s) Ti µm Ti nm Ti00 20 nm Ti2000 nm Ti nm TiKD 2 nm Output connector for all interfaces; 15 way Dtype plug Ti20KD 1 nm Reference mark Analogue V 0 Limits Open collector V p V q Setup Calibrate Shield V X CAL Inner shield* Outer shield * No inner shield on UHV cables. Violet Grey Pink Black Clear Orange Green/Yellow Outer screen Analogue output NOTE: TD maximum speeds are resolution dependent as defined above (3dB)

15 Electrical connections Analogue outputs TONiC grounding and shielding Readhead Inner shield Ti/TD interface Extension cable maximum 50 m dependent upon clocked output option Customer electronics 5 V Output signals V 0 V 1 V 2 V 0 V 1 V 2 120R Outer shield 0 V Limit output (No limits on TD interfaces) 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. NOTE: Maximum cable length between readhead and Ti/TD interface is m. *For UHV there is no inner shield to be connected. 5 to 24 V V p V q P Q R* *Select R so maximum current does not exceed 20 ma. Alternatively use a suitable relay or optoisolator. Recommended signal termination Digital outputs 0 V Remote CAL operation (Analogue versions only) Interface A B Z E Cable Z 0 = 120R 120R 220 pf Customer electronics CAL 0 V All Ti/TD interfaces include a push button switch to enable CAL/AGC features. However, 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. A B Z E Standard RS422A line receiver circuitry Capacitors recommended for improved noise immunity. 0 V 220 pf TD interface resolution switching Pin Connect pin to 0 V to switch to lower resolution. Single ended alarm signal termination (Ti options A, B, C, D) 0 V Interface 5 V 4k7 Customer electronics 1k8 E 4k7 0R 0nF 13

16 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) Signal period Resolution Incremental 2 channels V 1 and V 2 differential sinusoids in quadrature centred on 1.65 V (90 phase shifted) NOTE: Ti0000A00V centred on 2.5 V 20 µm (V 1 )(V 1 ) 0.7 to 1.35 Vpp with Green LED indication, (readhead) and 120R termination. A 0 B (V 2 )(V 2 ) Reference Reference Z Synchronised pulse Z, duration as resolution 0.8 to 1.2 Vpp Wide reference (V 0 )(V 0 ) (nominal) Bidirectionally repeatable Differential pulse V 0 centred on 45 Z Synchronised pulse Z, duration as signal period NOTE: Select standard or wide reference at time of ordering, to match the requirements of the controller being used. Wide reference mark not available on Ti0004 interfaces. Differential signals V 0 and V 0 centred on ~1.65 V NOTE: Ti0000A00V centred on 2.5 V Limits Open collector output, asynchronous pulse Digital Ti interfaces only Limits Open collector output, asynchronous pulse Ti0000 interface only T3x readhead only Active high or Active low Active high Active low P Q Repeatability <0.1 mm P Q Repeatability <0.1 mm V p V q Repeatability <0.1 mm V p V q Repeatability <0.1 mm Length of limit actuator Length of limit actuator Length of limit actuator Length of limit actuator NOTE: No limits on TD interfaces. P limit becomes E for Ti options E, F, G and H. NOTE: Ti0000 interface contains a transistor to invert the readhead s active low signal to give an active high output. Alarm Asynchronous pulse Setup* Setup* Line driven >15 ms (nom) 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 and D. Voltage at X 0 0 Signal level 0% Voltage at V X % Signal level 70% 0% or 3state 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. *Setup signals as shown are not present during calibration routine. Inverse signals not shown for clarity 14

17 General specifications Power supply 5 V ±% Readhead only <0 ma T3x with Ti0000 <0 ma T3x with Ti0004 Ti20KD and TD4000 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 R. For analogue outputs a further 20 ma in total will be drawn when terminated with 120 R. Power from a 5 V dc supply complying with the requirements for SELV of standard IEC BS EN Ripple 200 mvpp frequency up to 500 khz Temperature (system) Storage 20 C to 70 C Operating 0 C to 70 C (UHV readhead) Bakeout 120 C Sealing (readhead) IP40 (interface) IP20 Acceleration (readhead) Operating 500 m/s 2, 3 axes Shock (system) Operating 500 m/s 2, 11 ms, ½ sine, 3 axes Vibration (system) Operating 0 m/s 2, 55 Hz to 2000 Hz, 3 axes Mass Readhead g Interface 0 g Cable 26 g/m UHV cable 14 g/m Readhead cable (standard) Double shielded, outside diameter 4.25 ±0.25 mm Flex life >20x 6 cycles at 20 mm bend radius UL recognised. (UHV) Tin coated braided single screen, FEP core insulation Maximum cable length Readhead to interface m Interface to controller Clocked output option (MHz) 40 to 50 <40 analogue Maximum cable length (m) RTLC scale technical specifications Form 0.2 mm x 8 mm (H x W) Datum fixing Loctite 435 or mechanical clamp (A ) Reference mark Customer selected INTRAC auto phase optical reference mark repeatable to unit of resolution throughout specified temperature and speed range. L <0 mm Single reference mark at scale centre L 1 mm Reference marks at 50 mm spacing Material Hardened and tempered martensitic stainless steel Accuracy at 20 C ±5 µm/m calibration traceable to International Standards (includes slope and linearity) Linearity ±2.5 µm/m achievable with 2 point error correction Coefficient of thermal expansion at 20 C.1 ±0.2 µm/m/ C Maximum length m FASTRACK technical specifications Form 0.4 mm x 18 mm (H x W) (includes adhesive) Material Hardened and tempered martensitic stainless steel Coefficient of thermal expansion at 20 C.1 ±0.2 µm/m/ C Mounting Selfadhesive backing tape Minimum recommended length 0 mm Maximum supplied length 25 m Installation temperature 15 C to 35 C 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. 15

18 Renishaw plc New Mills, WottonunderEdge, 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. Loctite is a registered trademark of the Henkel Corporation Renishaw plc All rights reserved Issued 0517 *M *