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Installation Guide for RENISHAW models including: QUANTiC RKLC40-S Incremental Linear Encoder System, QUANTiC, RKLC40-S, Incremental Linear Encoder System, Encoder System, Linear Encoder System, Linear Encoder, M-9417-9238-03-D
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Optical encoders installation guides
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DocumentDocumentInstallation guide M-9417-9238-03-D
QUANTiCTM RKLC40-S incremental linear encoder system
Contents
Legal notices
1
Storage and handling
2
QUANTiC readhead installation drawing
3
RKLC40-S scale installation drawing
4
RKLC40-S scale application
5
End clamps
8
Reference mark selector and limit magnet installation
9
QUANTiC quick-start guide
10
Readhead mounting and alignment
11
System calibration
12
Restoring factory defaults
13
Switching Automatic Gain Control (AGC) on or off
13
Troubleshooting
14
Output signals
16
Speed
17
Electrical connections
18
Output specifications
19
General specifications
21
RKLC40-S scale specifications
22
Reference mark
22
Limit switches
22
QUANTiC RKLC40-S linear installation guide
Legal notices
Copyright
© 2019-2021 Renishaw plc. All rights reserved. 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 prior written permission of Renishaw.
Trade marks
RENISHAW ® and the probe symbol are registered trade marks of Renishaw plc. Renishaw product names, designations and the mark `apply innovation' are trade marks of Renishaw plc or its subsidiaries. Other brand, product or company names are trade marks of their respective owners.
Patents
Features of Renishaw's encoder systems and similar products are the subjects of the following patents
and patent applications:
EP1173731
US6775008
JP4750998
CN100543424
EP1766334
JP4932706
US7659992
CN100507454
EP1766335
IN281839
JP5386081
US7550710
CN101300463
EP1946048
JP5017275
US7624513
CN101310165
EP1957943
US7839296
CN108351229
EP3347681
JP2018530751
KR20180052676 US20180216972 WO2017203210
CN1314511
EP1469969
EP2390045
JP5002559
US8987633
US8466943
Disclaimer
WHILE CONSIDERABLE EFFORT WAS MADE TO VERIFY THE ACCURACY OF THIS DOCUMENT AT PUBLICATION, ALL WARRANTIES, CONDITIONS, REPRESENTATIONS AND LIABILITY, HOWSOEVER ARISING, ARE EXCLUDED TO THE EXTENT PERMITTED BY LAW.
RENISHAW RESERVES THE RIGHT TO MAKE CHANGES TO THIS DOCUMENT AND TO THE EQUIPMENT, AND/ OR SOFTWARE AND THE SPECIFICATION DESCRIBED HEREIN WITHOUT OBLIGATION TO PROVIDE NOTICE OF SUCH CHANGES.
Terms and conditions and warranty
Unless you and Renishaw have agreed and signed a separate written agreement, the equipment and/or software are sold subject to the Renishaw Standard Terms and Conditions supplied with such equipment and/or software, or available on request from your local Renishaw office.
Renishaw warrants its equipment and software for a limited period (as set out in the Standard Terms and Conditions), provided that they are installed and used exactly as defined in associated Renishaw documentation. You should consult these Standard Terms and Conditions to find out the full details of your warranty.
Equipment and/or software purchased by you from a third-party supplier is subject to separate terms and conditions supplied with such equipment and/or software.You should contact your third-party supplier for details.
Product compliance
Renishaw plc declares that QUANTiCTM complies with the applicable standards and regulations. A copy of the EU declaration of conformity is available from our website at www.renishaw.com/productcompliance.
QUANTiC RKLC40-S linear installation guide
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.
Further information
Further information relating to the QUANTiC encoder range can be found in the QUANTiC TM series encoder system Data sheet (Renishaw part no. L-9517-9778), Advanced Diagnostic Tool ADTi-100 Data sheet (Renishaw part no. L-9517-9699), Advanced Diagnostic Tool ADTi-100 and ADT View software User guide (Renishaw part no. M-6195-9413) and Advanced Diagnostic Tool ADTi-100 and ADT View software Quick-start guide (Renishaw part no. M-6195-9321). These can be downloaded from our website at www.renishaw.com/quanticdownloads and are also available from your local representative.
Packaging
Packaging Component Outer box
Inserts
Bags
Material Cardboard Polypropylene Low density polyethylene foam Cardboard High density polyethylene bag Metalised polyethylene
ISO 11469 Not applicable
PP LDPE Not applicable HDPE
PE
Recycling Guidance Recyclable Recyclable Recyclable Recyclable Recyclable Recyclable
REACH regulation
Information required by Article 33(1) of Regulation (EC) No. 1907/ 2006 ("REACH") relating to products containing substances of very high concern (SVHCs) is available at www.renishaw.com/REACH.
WEEE recycling guidelines
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
Storage and handling
Scale and readhead
N-heptane
Propan-2-ol
CH3(CH2)5CH3
CH3CHOHCH3
Readhead only
Acetone
CH3COCH3
Chlorinated Solvents
Methylated Spirits
Minimum bend radius RKLC40-S 50 mm
Storage
+70 °C -20 °C
Installation
+35 °C +10 °C
Operating
+70 °C 0 °C
Humidity
NOTE: During storage, ensure self-adhesive tape is on the outside of the bend.
QUANTiC RKLC40-S linear installation guide
95% relative humidity (non-condensing) to IEC 60068-2-78
2
QUANTiC readhead installation drawing
Reference mark selector magnet
18 29 7.8
Optical centreline (Incremental and reference mark)
7.8
Offset 3.75 ±0.5
(Yaw tol. ±0.9°) 0.55
Dimensions and tolerances in mm
(Roll tol. ±0.8°) 0.12
8.75*
Ø4.25 ±0.25
P limit magnet Selected IN-TRAC TM reference mark
Reference mark selector sensor position
R > 30 Dynamic bend radius R > 10 Static bend radius
Forward direction of readhead relative to scale
6 min
35 23 11.5
Mounting faces
13.5
Set-up LED
Q limit magnet
P and Q limit switch sensor position
4.25 4.15
10
A
(Pitch tol. ±1°) 0.6
Detail A Scale reading surface Scale thickness 0.15 (including adhesive)
Calibration rideheight: 2.1 ±0.2 Operating rideheight: 2.1 ±0.3
4.75
Optical centreline marker
* Extent of mounting faces. Dimension from substrate.
QUANTiC RKLC40-S linear installation guide
2 mounting holes M2.5 through, counterbored Ø3 × 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.
3
RKLC40-S scale installation drawing
Overall length (L + 30)
Dimensions and tolerances in mm
Scale length (L)
20
Measuring length ML = (L - 40) (ML = (L - 55) with dual limits)
35
Readhead optical detector position at extent of travel
(20 when Q limit not used)
QUANTiC readhead
0.5 0.2 /100
F
F = axis of motion
9.2 A
Reference mark selector magnet (A-9653-0143) (Dimensions as Q limit)
13
30 P limit magnet (A-9653-0138)
(Dimensions as Q limit)
Nominal P limit trigger point
Ra 3.2
P and Q limit switch sensor position
IN-TRAC reference mark RKLC40-S scale
Optical centreline (Incremental and reference mark)
6 Q limit magnet
(A-9653-0139)
0.05 F F = axis of motion
10
15
End clamp
(Pair A-9523-4015)
Nominal Q limit trigger point
Detail A
Optional bolted reference mark selector and limit magnets
15 ±1
9.7 3.7
22
18
Bolted magnet type
Part number
Reference mark selector
A-9653-0290
Ø2.2
10
Q limit
A-9653-0291
P limit
A-9653-0292
1.5* 1.85
3.7 18.5 ±1
* Dimension from substrate Supplied with 2 × M2 × 4 screws.
NOTES: The reference mark selector and limit actuator locations are correct for the readhead orientation shown. External magnetic fields greater than 6 mT, in the vicinity of the readhead, may cause false activation of the limit and reference sensors.
QUANTiC RKLC40-S linear installation guide
4
RKLC40-S scale application
Suitable for:
u RKLC tape scale (any length)
Required parts:
u Appropriate length of RKLC40-S scale (`RKLC40-S scale installation drawing', page 4) u Scale applicator (A-6547-1912) u End clamp kit (A-9523-4015) u RGG-2 two part epoxy adhesive (A-9531-0342) u Appropriate cleaning solvents (`Storage and handling', page 2) u 2 × M2.5 screws
Optional parts:
u Renishaw scale wipes (A-9523-4040) u Lint-free cloth u Magnet applicator tool (A-9653-0201) u Limit magnets (P limit - A-9653-0138, Q limit - A-9653-0139) u Reference mark selector magnet* (A-9653-0143) u Guillotine (A-9589-0071) or shears (A-9589-0133) for cutting RKLC40-S to length required
* The reference mark selector magnet is only required for `Customer selectable reference mark' readheads.
QUANTiC RKLC40-S linear installation guide
5
RKLC40-S scale application (continued)
Cutting scale
If required cut scale to length using guillotine or shears.
Using the guillotine
The guillotine should be held securely in place, using a suitable vice or clamping method. Once secured, feed the RKLC40-S scale through the guillotine as shown, and place guillotine press block down onto the 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 scale.
Guillotine press block orientation when cutting RKLC40-S scale
Guillotine press block
Using the shears
Feed the RKLC40-S scale through the first apperture on the shears (as shown).
Hold the scale in place and close the shears in a smooth motion to cut through the scale.
QUANTiC RKLC40-S linear installation guide
6
RKLC40-S scale application (continued)
1. Allow scale to acclimatise to installation environment prior to installation. NOTE: RKLC scale should be installed between +10 °C and +35 °C to ensure scale mastering.
2. Mark out the start position for the scale on the axis substrate ensure that there is room for the end clamps (`RKLC40-S scale installation drawing', page 4).
3. Thoroughly clean and degrease the substrate using recommended solvents (`Storage and handling', page 2). Allow substrate to dry before applying scale.
4. Mount the scale applicator to the readhead mounting bracket. Place the shim supplied with the readhead between the applicator and substrate to set the nominal height.
8. Slowly and smoothly move the applicator through the entire axis of travel, ensuring the backing paper is pulled manually from the scale and does not catch under the applicator. Direction of scale application
RKLC40-S
Backing tape
NOTE: Scale applicator can be mounted either way round to enable easiest orientation for scale installation. 5. Move axis to scale start position, leaving enough room for the scale to be inserted through the
applicator, as shown below.
6. Begin to remove the backing paper from the scale and insert scale into the applicator up to the start position (as shown). Ensure backing paper is routed under the splitter screw.
Splitter screw
Start position
9. During installation ensure scale is adhered to substrate using light finger pressure.
10. Remove applicator carefully. Apply firm finger pressure via a clean lint-free cloth along the length of the scale after application to ensure complete adhesion.
11. Clean the scale using Renishaw scale wipes or a clean, dry, lint-free cloth.
12. Fit end clamps (`End clamps', page 8).
Start position
Splitter screw
M2.5 mounting holes
7. Apply firm finger pressure via a clean, dry, lint-free cloth to ensure scale end adheres well to the substrate.
QUANTiC RKLC40-S linear installation guide
7
End clamps
The end clamp kit is designed to be used with Renishaw RKLC40-S scale. Alternative, narrow 6 mm wide end clamps (A-9523-4111), are also available. NOTE: End clamps can be mounted before or after readhead installation.
1. Clean ends of scale and the area where end clamps are to be fitted using Renishaw scale wipes or one of the recommended solvents (`Storage and handling', page 2).
3. The end clamp features two small regions of contact adhesive. These will temporarily hold the end clamp in position while the adhesive cures. Remove the backing tape from either side.
15 mm
2. Thoroughly mix up a sachet of RGG-2 two part epoxy adheisve and apply a small amount to the underside of the end clamp.
4. Immediately position end clamp over the end of the scale and push down to ensure complete adhesion. Allow 24 hours at 20 °C for full cure.*
15 mm
CAUTION: Ensure that excess adhesive is wiped away from scale as it may affect the readhead signal level.
* To ensure scale end movement of typically < 1 m, stabilise the system at least 5 °C higher than the maximum customer application temperature for a minimum of 8 hours. For example: Customer application = 23 °C axis temperature. Stabilise the system at 28 °C for a minimum of 8 hours.
QUANTiC RKLC40-S linear installation guide
8
Reference mark selector and limit magnet installation
IMPORTANT: Allow 24 hours after scale application before fitting magnets. For accuracy and ease of positioning of reference mark selector and limit magnets, the applicator tool should be used. The magnet should be attached to the applicator tool as shown. Limit magnets can be positioned at any user defined location along the scale, but the reference mark selector magnet should be positioned adjacent to the selected IN-TRAC reference mark as shown. As the QUANTiC 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 concentrators on the readhead. The design of the bracket should be sufficiently stiff so that it is able to tolerate such force without distorting. Following the clamping instructions on the scale installation will prevent this magnetic force from disturbing the scale.
P limit magnet
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 (`RKLC40-S scale installation drawing', page 4).
NOTES: u 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. Optional bolted reference and limit magnets are available (`RKLC40-S scale installation drawing', page 4). u The reference mark selector and limit actuator locations are correct for the readhead orientation shown. u The reference mark selector magnet is only required for `Customer selectable reference mark' readheads. For more information refer to QUANTiC TM series encoder system data sheet (Renishaw part no. L-9517-9778). u External magnetic fields greater than 6 mT, in the vicinity of the readhead, may cause false activation of the limit and reference sensors.
QUANTiC RKLC40-S linear installation guide
Magnet applicator tool
Remove self-adhesive backing paper
Reference mark selector magnet
Selected IN-TRAC reference mark
Q limit magnet
9
QUANTiC quick-start guide
This section is a quick-start guide to installing a QUANTiC readhead. More detailed information on installing the readhead is contained on page 11 and page 12 of this installation guide. The optional Advanced Diagnostic Tool ADTi-100* (A-6165-0100) and ADT View software can be used to aid installation and calibration.
INSTALLATION
Ensure scale, readhead optical window and mounting faces are clean and free from obstructions.
If required, ensure reference mark selector magnet is correctly positioned (`RKLC40-S scale installation drawing', page 4).
Connect the readhead to receiving electronics and power-up. The set-up LED on the readhead will flash.
Install and align the readhead to maximise signal strength over the full axis of travel as indicated by a Green flashing LED.
CALIBRATION
Cycle the power to the readhead to initiate the calibration routine. The LED will single flash Blue.
Move the readhead along the scale at slow speed (< 100 mm/s), without passing a reference mark, until the LED starts double flashing Blue.
No reference mark
If a reference mark is not being used, the calibration routine should now be exited by cycling the power. The LED will stop flashing.
Reference mark
Move the readhead back and forth over the selected reference mark until the LED stops flashing.
The system is now calibrated and ready for use. Calibration values, Automatic Gain Control (AGC) and Automatic Offset Control (AOC) status, are stored in readhead non-volatile memory at power down. NOTE: If calibration fails (LED remains single flashing Blue), restore factory defaults by obscuring the readhead optical window on power-up (page 13). Repeat the installation and calibration routine.
* For more details refer to the Advanced Diagnostic Tool ADTi-100 and ADT View software User guide (Renishaw part no. M-6195-9413) and Advanced Diagnostic Tool ADTi-100 and ADT View software Quick-start guide (Renishaw part no. M-6195-9321). The software can be downloaded for free from www.renishaw.com/adt.
QUANTiC RKLC40-S linear installation guide
10
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 set-up Ensure that the scale, readhead optical window and mounting face are clean and free from obstructions. NOTE: When cleaning readhead and scale apply cleaning fluid sparingly, do not soak.
To set nominal rideheight, place the green spacer with the aperture under the optical centre of the readhead to allow normal LED function during set-up procedure. Adjust the readhead to achieve a flashing Green LED along the full axis of travel. The faster the flash rate, the closer it is to optimum set-up. The optional Advanced Diagnostic Tool ADTi-100 (A-6195-0100) and ADT View software can be used to optimise signal strength in challenging installations. See www.renishaw.com/adt for more information.
NOTE: When re-installing the readhead factory defaults should be restored (page 13).
Yaw 0° ±0.9°
Readhead set-up LED status
Green Orange Red flashing flashing flashing
Pitch 0° ±1°
Roll 0° ±0.8°
Readhead LED diagnostics*
Mode
LED
Status
Installation mode
Calibration mode Normal operation
Green flashing Orange flashing
Red flashing
Blue single flashing Blue double flashing Blue Green
Good set-up, maximise flash rate for optimum set-up Poor set-up, adjust readhead to obtain Green flashing LED Poor set-up, adjust readhead to obtain Green flashing LED Calibrating incremental signals Calibrating reference mark AGC on, optimum set-up AGC off, optimum set-up
Alarm
Red Blank flash Four red flashes
Poor set-up; signal may be too low for reliable operation
Reference mark detected (visible indication at speed < 100 mm/s only)
Low signal, over signal, or overspeed; system in error
Red and Purple flashing (analogue
variant only)
AGC out of normal operating range
* See `Troubleshooting', page 14 for more information on diagnosing faults.
Green spacer
Rideheight 2.1 ±0.2 mm
QUANTiC RKLC40-S linear installation guide
11
System calibration
NOTE: The functions described below can also be carried out using the optional ADTi-100 and ADT View software. See www.renishaw.com/adt for more information.
Before system calibration: u Clean the scale and readhead optical window. u If reinstalling, restore factory defaults (`Restoring factory defaults', page 13). u Maximise the signal strength along full length of travel (readhead set-up LED is flashing Green). NOTE: Maximum calibration speed 100 mm/s or less than the readhead maximum, whichever is slowest.
Step 1 Incremental signal calibration u Cycle the power to the readhead or connect the `Remote CAL' output pin to 0 V for < 3 seconds. The readhead will then single flash Blue to indicate it is in calibration mode as detailed in `Readhead mounting and
alignment', page 11. The readhead will only enter calibration mode if the LED is flashing Green. u Move the readhead at slow speed along the axis ensuring it does not pass a reference mark, until the LED starts double-flashing indicating the incremental signals are now calibrated and the new settings are stored in
the readhead memory. u The system is now ready for reference mark phasing. For systems without a reference mark, cycle the power to the readhead or connect the `Remote CAL' output pin to 0 V for < 3 seconds to exit calibration mode. u If the system does not automatically enter the reference mark phasing stage (LED continues single flashing) the calibration of the incremental signals has failed. After ensuring failure is not due to overspeed (> 100 mm/s,
or exceeding the readhead maximum speed), exit the calibration routine, restore factory defaults as detailed below, and check the readhead installation and system cleanliness before repeating the calibration routine.
NOTE: For analogue variants of QUANTiC ensure correct termination of output signals (`Recommended signal termination', page 18).
Step 2 Reference mark phasing u Move the readhead back and forth over the selected reference mark until the LED stops flashing and remains solid Blue. 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 calibration routine and is ready for operation. u AGC and AOC are automatically switched on once calibration is complete. To switch off AGC refer to `Switching Automatic Gain Control (AGC) on or off', page 13. u If the LED continues double-flashing after repeatedly passing the chosen reference mark it is not being detected.
· 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 depending on the options chosen when ordering.
· Check reference mark selector magnet is fitted in the correct location relative to readhead orientation (`RKLC40-S scale installation drawing', page 4).
Calibration routine manual exit u To exit the calibration routine at any stage cycle the power to the readhead or connect the `Remote CAL' output pin to 0 V for < 3 seconds. The LED will then stop flashing.
LED Blue single flashing Blue double flashing Blue (auto-complete)
Settings stored None, restore factory defaults and recalibrate Incremental only Incremental and reference mark
QUANTiC RKLC40-S linear installation guide
12
Restoring factory defaults
When realigning the readhead, reinstalling the system, or in the case of continued calibration failure, factory defaults should be restored. NOTE: Restoring factory defaults can also be carried out using the optional ADTi-100 and ADT View software. See www.renishaw.com/adt for more information. To restore factory defaults: u Switch system off. u Obscure the readhead optical window (using the spacer supplied with the readhead ensuring the cut-out is NOT under the optical window) or connect the `Remote CAL' output pin to 0 V. u Power the readhead. u Remove the spacer or, if using, the connection from the `Remote CAL' output pin to 0 V. u The LED will start continuously flashing indicating factory defaults have been restored and the readhead is in installation mode (flashing set-up LED). u Repeat `Readhead set-up' procedure on page 11.
Switching Automatic Gain Control (AGC) on or off
The AGC is automatically enabled once the system has been calibrated (indicated by a Blue LED). AGC can be manually switched off by connecting the `Remote CAL' output pin to 0 V for > 3 seconds < 10 seconds. The LED will then be solid Green. NOTE: AGC can be switched on or off using the optional ADTi-100 and ADT View software. See www.renishaw.com/adt for more information.
QUANTiC RKLC40-S linear installation guide
13
Troubleshooting
Fault LED on the readhead is Blank
Cause There is no power to the readhead
LED on the readhead is Red flashing during installation mode
The signal strength is < 50%
Possible solutions
u Ensure 5 V supplied at the readhead u For cable variants check correct wiring of connector u If using the analogue variant of QUANTiC with the ADTi ensure appropriate adaptor cables are connected
u Check the readhead optical window and scale are clean and free from contamination u Restore factory defaults (page 13) and check alignment of the readhead. In particular:
· Rideheight · Yaw · Offset u Ensure the correct scale and readhead combination
Unable to get a Green LED over the complete axis length
System run-out is not within specification
u Use a DTi gauge and check the run-out is within specifications u Restore factory defaults (page 13) u Realign readhead to obtain a Green flashing LED at the mid-point of the run-out u Recalibrate the system (page 12)
Can't initiate the calibration routine
Signal size is < 70%
u Realign readhead to obtain a green flashing LED
During calibration the LED on the readhead remains single flashing
Blue even after moving it along the full axis length
The system has failed to calibrate the
incremental signals due to the signal strength being < 70%
u Exit CAL mode and restore factory defaults (page 13) u Check readhead set-up and alignment (page 11)
Incorrect termination (analogue variant only)
u Check output signal termination (page 18) u When using with ADTi-100 in stand- alone mode ensure Termination tool is connected,
Renishaw part number A-6195-2132 u Exit CAL mode and restore factory defaults (page 13) u Check readhead set-up and alignment (page 11)
During calibration the LED on the readhead is double flashing Blue even after moving it past the reference mark
several times
The readhead is not seeing a reference mark
u Ensure correct position of reference mark selector magnet u Ensure you are moving the readhead past your chosen reference mark several times u Check the readhead /selector magnet orientation u Check the readhead optical window and scale are clean and free from contamination
QUANTiC RKLC40-S linear installation guide
14
Troubleshooting (continued)
Fault No reference mark output
Cause
Possible solutions
u Ensure you are not over-speeding the readhead during calibration mode (maximum speed < 100 mm/sec) u Calibrate the system (page 12)
· If the system completes calibration mode then it has successfully seen and calibrated the reference mark. If you still don't see a reference mark then check the system wiring.
· If the system does not calibrate the reference mark (LED on the readhead remains double flashing Blue) see above for possible solutions
Reference mark is not repeatable
Only the chosen reference mark that has been used in the calibration sequence is repeatable, other reference marks may not be phased
u Ensure you are using the reference mark that has been calibrated for referencing your system u The readhead bracket must be stable and not allow any mechanical movement of the readhead u Clean the scale and readhead optical window and check for damage then recalibrate the system over the chosen
reference mark (page 12)
LED on the readhead is flashing Red over The reference mark is not phased the reference mark
u Ensure you are using the reference mark that has been calibrated for referencing your system as only this reference mark will be guaranteed to remain phased
u Clean the scale and readhead optical window and check for scratches then recalibrate the system over the chosen reference mark (page 12)
Multiple reference marks are being output
The readhead reference mark option is either option B or F, `All reference marks are output'
u Calibrate the system ensuring both Step 1 and Step 2 are completed (page 12) u Ensure you calibrate the reference mark used for referencing your system as only this reference mark will be
guaranteed to remain phased
LED on the readhead is flashing Red and Purple (analogue variant only)
AGC out of normal operating range
u Check output signal termination (page 18) u When using with ADTi-100 in stand-alone mode ensure Termination tool is connected
Renishaw part number A-6195-2132 u Check cable continuity u Ensure the correct scale and readhead combination
LED on the readhead flashing Red four times on switch on
Low signal, over signal, or overspeed; system in error
u Check readhead set-up and alignment (page 11)
Incorrect termination (analogue variant only)
u Check output signal termination (page 18) u When using with ADTi-100 in stand-alone mode ensure Termination tool is connected,
Renishaw part number A-6195-2132 u Exit CAL mode and restore factory defaults (page 13) u Check readhead set-up and alignment (page 11)
QUANTiC RKLC40-S linear installation guide
15
Output signals
Digital outputs
Function
Signal
Power
Incremental
Reference mark Limits Alarm Remote CAL* Shield
5 V
0 V
+ A
-
+ B
-
+ Z
-
P
Q
E
-
CAL
-
Colour
Brown White Red Blue Yellow Green Violet Grey Pink Black Orange Clear Screen
9-way D-type (A)
5 1 2 6 4 8 3 7 9 Case
15-way D-type (D)
7, 8 2, 9 14
6 13 5 12 4 11 10 3 1 Case
15-way D-type alternative pin-out
(H) 4, 12 2, 10
1 9 3 11 14 7 8 6 13 5 Case
Analogue outputs
Function
Signal
Power
Incremental
Cosine Sine
Reference mark
Limits
Setup Remote CAL* Shield
5 V
0 V
+
V1
-
+
V2
-
+
V0
-
Vp Vq Vx CAL
-
Colour
Brown White Red Blue Yellow Green Violet Grey Pink Black Clear Orange Screen
15-way D-type (L)
4, 5 12, 13
9 1 10 2 3 11 7 8 6 14 Case
15-way D-type alternative pin-out
(H) 4, 12 2, 10
1 9 3 11 14 7 8 6 13 5 Case
QUANTiC RKLC40-S linear installation guide
12-way circular connector (X) G H M L J K D E A B F C Case
14-way JST (J)
10 1 7 2 11 9 8 12 14 13 6 4 Ferrule
14-way JST (J)
10 1 7 2 11 9 8 12 14 13 3 4 Ferrule
9-way D-type connector (termination code A)
52
16
31
15-way D-type connector (termination code D, L, H)
52
16
40
12-way in-line circular connector (termination code X)
66
17
14-way JST connector (termination code J) 2.8
17 1
14
5
* Remote CAL line must be connected for use with ADTi-100. 12-way circular Binder mating socket - A-6195-0105. Pack of 5 14-way JST SH mating sockets:
A-9417-0025 - Bottom mount; A-9417-0026 - Side mount. Maximum of 20 insertion cycles for JST connector.
16
Speed
Digital readheads
Clocked output option (MHz)
50 40 25 20 12 10 08 06 04 01
T (10 µm)
24 24 24 24 24 24 24 24 24 9.06
Analogue readheads
Maximum speed: 20 m/s (-3dB)
D (5 µm)
24 24 24 24 24 24 24 24 18.13 4.53
Maximum speed (m/s)
X (1 µm)
24 24 18.13 16.11 10.36 8.53 6.91 5.37 3.63 0.91
Z (0.5 µm)
18.13 14.50 9.06 8.06 5.18 4.27 3.45 2.69 1.81 0.45
W (0.2 µm)
7.25 5.80 3.63 3.22 2.07 1.71 1.38 1.07 0.73 0.18
Y (0.1 µm)
3.626 2.900 1.813 1.611 1.036 0.853 0.691 0.537 0.363 0.091
H (50 nm)
1.813 1.450 0.906 0.806 0.518 0.427 0.345 0.269 0.181 0.045
Minimum edge separation* (ns)
25.1 31.6 51.0 57.5 90.0 109 135 174 259 1038
* For a readhead with a 1 m cable. If the speed exceeds 20 m/s, SDE performance cannot be guaranteed.
QUANTiC RKLC40-S linear installation guide
17
Electrical connections
Grounding and shielding
QUANTiC readhead
Readhead termination / connector
Shield
IMPORTANT: The shield should be connected to the machine earth (Field Ground). For JST variants the ferrule should be connected to the machine earth.
Recommended signal termination Digital outputs
0 V
Readhead A B Z+
220 pF Customer electronics
Cable Z0 = 120R
120R
A B Z-
220 pF
0 V Standard RS422A line receiver circuitry.
Capacitors recommended for improved noise immunity.
Single ended alarm signal termination (Not available with `A' cable termination)
Readhead
5 V
4k7
Customer
electronics
1k8
100R E-
4k7
100nF
Customer electronics 5 V
Output signals
0 V
Maximum cable length
Readhead cable Maximum extension cable length Readhead to ADTi-100
Analogue
Digital
5 m
3 m
Dependent on cable type, readhead cable length and
clocked output option. Contact your local Renishaw
representative for more information.
5 m
3 m
Recommended signal termination (continued) Analogue outputs
V0 V1 V2+ V0 V1 V2-
120R
NOTE: 120R termination on the analogue output signals is essential for correct AGC operation.
Analogue and digital ouputs Limit output (Not available with `A' cable termination)
5 V to 24 V R*
Vp Vq P Q
* Select R so that maximum current does not exceed 20 mA. Alternatively, use a suitable relay or opto-isolator.
Remote CAL operation
CAL
0 V Remote operation of the CAL /AGC is possible via CAL signal.
QUANTiC RKLC40-S linear installation guide
18
Output specifications
Digital output signals
Form Square wave differential line driver to EIA RS422A (except limits P and Q) Incremental* 2 channels A and B in quadrature (90° phase shifted)
Signal period P Resolution S
A B
Resolution option code
T D X Z W Y H
P (µm)
40 20 4 2 0.8 0.4 0.2
S (µm)
10 5 1 0.5 0.2 0.1 0.05
Reference* Z
Synchronised pulse Z, duration as resolution. Bi-directionally repeatable.
NOTE: A wide reference mark option, outputting a reference pulse for the duration of the signal period is available. Contact your local Renishaw representative for more information.
Limits Open collector output, asynchronous pulse (Not available with `A' cable termination)
Active high Repeatability < 0.1 mm
P Q ~ Length of limit actuator
Alarm Line driven (Asynchronous pulse) (Not available with `A' cable termination)
E- > 15 ms
Alarm asserted when: Signal amplitude < 20% or > 135%
Readhead speed too high for reliable operation
or 3-state alarm Differentially transmitted signals forced open circuit for > 15 ms when alarm conditions valid.
* Inverse signals not shown for clarity Only calibrated reference mark is bi-directionally repeatable
QUANTiC RKLC40-S linear installation guide
19
Output specifications (continued)
Analogue output signals Incremental 2 channels V1 and V2 differential sinusoids in quadrature, centred on ~1.65 V (90° phase shifted)
40 m
(V1+)-(V1-) 0°
(V2+)-(V2-)
0.7 to 1.35 Vpp with Green LED (AGC off) and Blue LED (AGC on) indication (readhead) and 120R termination.
Reference (V0+)-(V0-)
45° 360° (nom)
0.8 to 1.2 Vpp
Bi-directionally repeatable.* Differential pulse V0 centred on 45°.
Limits Open collector output, asynchronous pulse
Active high Repeatability < 0.1 mm
VP VQ
~ Length of limit actuator
Set-up
3.3 V (nom)
Voltage at VX
0 0 50%
Signal level
Between 50% and 70% signal level, VX is a duty cycle. Time spent at 3.3 V increases with incremental signal level. At > 70% signal level V is nominal 3.3 V.
X
70% 100%
* Only calibrated reference mark is bi-directionally repeatable Set-up signal as shown is not present during calibration routine
QUANTiC RKLC40-S linear installation guide
20
General specifications
Power supply
Temperature (system)
Humidity (system) Sealing
Acceleration (system) Shock (system) Vibration (readhead)
Mass
(scale)
EMC compliance Readhead cable
5V -5%/+10%
Ripple Storage Installation Operating
Operating Operating Operating Operating Readhead
Cable
Typically 150 mA fully terminated (analogue output) Typically 200 mA fully terminated (digital output) Power from a 5 Vdc supply complying with the requirements for SELV of standard IEC 60950-1
200 mVpp maximum @ frequency up to 500 kHz -20 °C to +70 °C +10 °C to +35 °C* 0 °C to +70 °C 95% relative humidity (non-condensing) to IEC 60068-2-78 IP40
400 m/s², 3 axes 500 m/s², 11 ms, ½ sine, 3 axes 100 m/s² max @ 55 Hz to 2000 Hz, 3 axes 300 m/s² max @ 55 Hz to 2000 Hz, 3 axes 9 g 26 g/m
IEC 61326-1 Single-shielded, outside diameter 4.25 ±0.25 mm Flex life > 20 × 106 cycles at 30 mm bend radius
Maximum length
UL recognised component 5 m (analogue) 3 m (digital)
Connector options
Code - connector type
A - 9-way D-type - Digital output only
L - 15-way D-type (standard pin-out) - Analogue output only
D - 15-way D-type (standard pin-out) - Digital output only
H - 15-way D-type (alternative pin-out)
X - 12-way circular connector - Digital output only
J - 14-way JST connector
Typical sub-divisional error (SDE)
Analogue output < ±120 nm
Digital output < ±80 nm
CAUTION: 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.
*
To
limit
maximum
tension
in
the
scale
(CTE substrate
-
CTEscale)
×
(Tuse
extreme
-
T) install
550
m/m
where
CTE scale
=
~
10.1
m/m/°C
QUANTiC RKLC40-S linear installation guide
21
RKLC40-S scale specifications
Form (H × W) Pitch Accuracy (at 20 °C) (includes slope and linearity)
Linearity
Supplied length Material Mass Coefficient of thermal expansion (at 20 °C) Installation temperature End fixing
0.15 mm × 6 mm (including adhesive) 40 m
RKLC40-S ±15 µm/m
RKLC40H-S ±5 µm/m
RKLC40-S ±3 µm/m achievable with 2 point error correction
RKLC40H-S
±2.5 µm/m achievable with 2 point error correction 20 mm to 20 m (> 20 m available on request) Hardened and tempered martensitic stainless steel fitted with a self-adhesive backing tape
4.6 g/m Matches that of substrate material when scale ends fixed by epoxy mounted end clamps +10 °C to +35 °C
Epoxy mounted end clamps (A-9523-4015)
Approved epoxy adhesive (A-9531-0342) Scale end movement typically < 1 µm*
Reference mark
Type Selection
Repeatability
Customer selected IN-TRAC reference mark, directly embedded into incremental track. Bi-directional position repeatability
Single reference mark selection by selector magnet (A-9653-0143) customer positioned. L 100 mm Single reference mark at scale centre L > 100 mm Reference marks at 50 mm spacing (first reference mark 50 mm from scale end)
Unit of resolution repeatability (bi-directional) across full system rated speed and temperature ranges
Limit switches
Type
Trigger point
Mounting Repeatability
Magnetic actuators; with dimple triggers Q limit, without dimple triggers P limit (`RKLC40-S scale installation drawing', page 4)
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
Customer placed at desired locations < 0.1 mm
* The scale and end clamps must be installed following the installation process, see page 7 and page 8.
QUANTiC RKLC40-S linear installation guide
22
Renishaw plc
New Mills, Wotton-under-Edge Gloucestershire, GL12 8JR United Kingdom
T +44 (0)1453 524524 F +44 (0)1453 524901 E uk@renishaw.com
www.renishaw.com
For worldwide contact details, visit www.renishaw.com/contact
Renishaw plc. Registered in England and Wales. Company no: 1106260. Registered office: New Mills, Wotton-under-Edge, Gloucestershire, GL12 8JR, UK.
*M-9417-9238-03*
Part no.: M-9417-9238-03-D
Issued: 09.2021