RESM20/REST20 angle encoder

Transcription

1 L A RESM20/REST20 angle encoder The RESM20/REST20 is a one piece stainless steel ring with 20 µm scale marked directly onto the periphery, featuring the IN TRAC auto-phase optical reference mark. The RESM20/REST20 offers impressive accuracy with resolution to arc second, suiting the most demanding precision applications. Read by Renishaw s VIONiC, TONiC and SiGNUM encoder systems, it has high tolerance to dirt, scratches and greasy fingerprints that can cause other encoder systems to miscount. The low profile RESM20/REST20, with large internal, is easy to design into most installations. Equally important, its low mass, low inertia design does not compromise system performance. Available in a wide range of sizes and line counts, providing compatibility with industry standard controllers. System features Compatible with the VIONiC, TONiC and SiGNUM encoder systems offering industry standard analogue or digital incremental outputs IN-TRAC bi-directional optical reference mark Graduation accuracy to ±0.5 arc second ( mm ring) Patented taper mount simplifies integration and minimises installation errors Large internal for ease of integration Available in sizes from Ø mm to Ø mm with line counts from to Custom sizes also available Low mass and low inertia Ultra-low inertia versions also available Dual limits (SiGNUM only) REST20 is a RESM20 with two reference marks, for use on dual readhead systems in partial arc applications

2 Installation drawing ( A section) Dimensions and tolerances in mm Section A-A 0.5 x 45 2 positions Scale 2 N holes equally spaced on PCD ØDH M3 x 0.5 through, counterbored top face Ø3.5 x 4 deep N holes equally spaced on PCD ØDH Ø3.5 through, c/bore Ø x 3 deep A A θ ±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. ØDI ØDH ØDO Line count DO DI Mounting holes DH N θ *18 *NOTE: There are no tapped holes on the 489 mm ring

3 Installation drawing ( B section) Dimensions and tolerances in mm Section A-A x 45 Scale 0.5 N holes equally spaced on PCD ØDH Ø3.5 through N holes equally spaced on PCD ØDH M3 x 0.5 through A.5 R0.5 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. A θ DO DI DH N θ ØDI ØDH ØDO Mounting methods Taper mount Interference fit B section A section Not applicable Notes Recommended for all installations Offers highest accuracy. Enables simplest adjustment. Enables eccentricity to be compensated. Offers excellent mechanical stability against thermal cycling, shock and vibration. Minimises cost of substrate preparation. Alternative installation Will not correct eccentricity of the supporting shaft. For further information on installation and mounting options, please refer to the VIONiC RESM20/REST20 Installation guide (M ), TONiC RESM installation guide (M ) or SiGNUM RESM installation guide (M-92-9), which are available from your local representative, or can be downloaded from: Reference mark position 3 IN-TRAC reference mark is embedded in the scale, radially aligned with the centre of the mounting hole to the left of the Renishaw logo, within ±0.5 mm. No actuators or physical adjustment are required. NOTE: For REST20 rings the second reference mark is located 180 from the first reference mark.

4 VIONiC readhead installation drawing mounted on A section RESM20/REST20 Dimensions and tolerances in mm R > Dynamic bend radius R> Static bend radius min 35 Set-up LED off mounting holes M2.5 through, counterbored Ø3 x 2.3 deep both sides Forward direction of ring (increasing count) 0. Ø 4.25 ± *Extent of mounting face. Optical centreline (incremental and reference mark) RESM20/REST20 A section 1. ±0.5 (Yaw tol. ±0.4 ) 18 RESM20/REST20 B section 3.25 ± Rideheight: 2.1 ±0. (Roll tol. ±0.5 ) 0.08 Mounting faces (Pitch tol. ±1 ) 8.*.1 4

5 TONiC readhead installation drawing mounted on A section RESM20/REST20 Dimensions and tolerances in mm 2 off mounting holes M2.5 through, counterbored Ø3 x 2. deep from alternative mounting face Optical centreline (incremental and reference mark) RESM20/REST20 A section 1. ±0.5 RESM20/REST20 B section 3.25 ±0.5 (Yaw tol. ±0.4 ) R >20 Dynamic bend radius R > Static bend radius min 35 Set-up LED CAL/AGC LED Recommended mounting faces off mounting holes M2.5 through, counterbored Ø3 x 2.3 deep both sides Ø 4.25 ±0.25 = (Pitch tol. ±1 ) Rideheight 2.1 ±0. Forward direction of ring (increasing count) *Extent of mounting faces. = UHV cable approx. Dynamic bend radius not applicable for UHV cables. (Roll tol. ±0.5 ) * 4.25 Alternative mounting face 4. 8.*.1 5

6 SiGNUM readhead installation drawing mounted on A section RESM20/REST20 Dimensions and tolerances in mm (Yaw tol. ±0.4 ) Set-up LED 14.5 min.5 2 mounting holes M3 x deep R >20 Dynamic bend radius R > Static bend radius mounting holes M3 through, counterbored each side, 3 deep = Ø4.7 ±0.1 (Roll tol. ±0.5 ) typ* Rideheight 0.8 ± (Pitch tol. ±0.5 ) 3 ±0.25 Ring and readhead optical centreline Optical centreline (incremental and reference mark) 7. Limit sensor position 0.32 *Extent of mounting faces. = Recommended thread engagement 5 min (8 including counterbore). Recommended tightening torque 0.5 to 1 Nm. NOTE: IN-TRAC reference mark is integrated in the scale and requires no actuators or physical adjustment. Forward direction of ring (increasing count)

7 Operating specifications Material 3/4 stainless steel Coefficient of expansion (at 20 C).5 ±0.5 µm/m/ C Temperature Storage -20 C to +70 C Operating SiGNUM 0 C to + 85 C VIONiC and TONiC 0 C to + 70 C internal Line count Mass (kg) A section B section Moment of inertia (kgmm 2 ) A section B section internal Line count Mass (kg) A section B section Moment of inertia (kgmm 2 ) A section B section On-scale limits - SiGNUM systems only For applications such as partial arc, dual on-scale limits can be used on A section rings having an of 0 mm or more. Self adhesive limit markers are available in mm, 20 mm and 50 mm lengths as pre-aligned pairs on backing paper. Accuracy Graduation accuracy (arc second) TONiC and SiGNUM system accuracy (arc second) VIONiC system accuracy (arc second) ±3.97 ±4.20 ±4.13 ±3.2 ±3.84 ±3.7 ±2. ±2.92 ±2.8 0 ±2.0 ±2.19 ±2. 3 ±2.00 ±2. ±2.08 ±1.98 ±2. ±2.0 ±1.79 ±1.90 ± ±1.38 ±1.4 ±1.40 ±1.03 ±1.09 ± ±1.00 ±1.0 ±1.02 ±0.99 ±1.05 ±1.01 ±0.90 ±0.95 ± ±0.81 ±0.8 ± ±0.9 ±0.73 ± ±0.59 ±0.2 ±0.0 ±0.50 ±0.53 ± ±0.49 ±0. ± ±0.42 ±0.45 ±0.43 ±0.38 ±0.40 ±0.38 Graduation accuracy is the maximum difference between the angle measured by a single readhead and the true rotation of the encoder as graduated. Application disturbances such as eccentricity are not included. System accuracy is graduation accuracy plus SDE. Effects such as eccentricity influence installed accuracy; for application advice, please contact your local representative. 7

8 Maximum speed (rev/min) For details of maximum speeds for other clocked options, please contact your local representative VIONiC system: For 50 MHz clocked option Line count µm µm µm µm µm Output resolution 50 nm 40 nm nm nm nm nm nm

9 Maximum speed (rev/min) For details of maximum speeds for other clocked options, please contact your local representative. TONiC system: For 50 MHz clocked option. Line count Ti µm Ti µm Ti µm Ti µm Ti0 0.1 µm Output resolution Ti nm Ti00 20 nm Ti0 nm Ti nm TiKD 2 nm Ti20KD 1 nm Analogue Ti SiGNUM system: For 40 MHz clocked option. Line count Si-NN µm Si-NN µm Si-NN µm Si-NN µm Output resolution Si-NN µm Si-NN nm Si-NN nm Si-HN-0 Si-HN-4000 nm 5 nm Analogue* Si-NN Vpp Si-NN Vpp *NOTE: Si-NN-0000 is the high-speed version of the 1 Vpp analogue interface, suitable for both high-speed and general applications. Si-NN-0001 is the low-noise version of the 1 Vpp analogue interface, incorporating additional noise filtering to provide even better positional stability and smoother velocity control. To achieve this, the maximum speed is limited. Si-NN-0001 is suitable for advanced applications requiring the most precise motion control and it is also suitable for general applications that do not require high-speed operation. 9

10 Resolution The RESM20/REST20 offers a range of standard ring s, as well as sizes that offer line counts that provide 2 n counts per revolution or resolutions that are precise sub-divisions of degrees or arc seconds. NOTE: 1 arc second resolution = 1.29 x counts per revolution ~ x -4 degree resolution. (line count) 5 µm (x4) 1 µm (x20) 0.5 µm (x40) 0.2 µm (x0) 0.1 µm (x) VIONiC digital resolution (interpolation factor) 50 nm (x400) 40 nm (x500) 25 nm (x800) 20 nm (x1 000) nm (x2 000) 5 nm (x4 000) 2.5 nm (x8 000) mm (11 840) 27.4" 5.47" 2.74" 1.1" 0.55" 0.27" 0.22" 0.14" 0.11" 0.055" 0.028" 0.014" 0 mm ( 744) 20." 4." 2.0" 0.82" 0.41" 0.21" 0.1" 0.0" 0.082" 0.041" 0.021" 0.0" Standard outside s 0 mm ( 00) mm (31 488) 255 mm= (40 000) 0 mm (47 ) 350 mm (55 040) 13.7".3" 8.1".9" 5.9" 2." 2.0" 1.2" 1.37" 1.18" 1.37" 1.03" 0.81" 0.9" 0.59" 0.55" 0.41" 0.32" 0.27" 0.24" 0.27" 0.21" 0.1" 0.14" 0." 0.14" 0.1" 0.081" 0.09" 0.059" 0.11" 0.08" 0.0" 0.05" 0.05" 0.07" 0.05" 0.04" 0.03" 0.03" 0.055" 0.041" 0.032" 0.027" 0.024" 0.028" 0.021" 0.01" 0.014" 0.0" 0.014" 0.0" " 0.009" " 0.007" 0.005" 0.004" 0.003" 0.003" 489 mm (7 800) 4.22" 0.84" 0.42" 0." 0.084" 0.042" 0.03" 0.0" " " 0.002" mm (8 400) 3." 0." 0.38" 0." 0.0" 0.38" 0.03" 0.0" 00" 0038" 0.002" mm (8 192) 39." 7.9" 3.9" 1.58" 0.79" 0.4" 0.32" 0.20" 0.1" 0.079" 0.040" 0.020" 2 n line count mm (1 384) mm (32 78) 19.8" 9.89" 3.9" 1.98" 1.98" 0.99" 0.79" 0.4" 0.4" 0.2" 0.2" 0.1" 0.1" 0.8" 0.0" 0.05" 0.08" 0.04" 0.040" 0.020" " 0.0" 0.005" 4 mm (5 53) 4.9" 0.99" 0.49" 0.2" 0.1" 0.05" 0.04" " " 0.002" Subdivisions of degrees mm (9 000) mm (18 000) mm (3 000) Subdivisions of arc second 3 mm (1 ) 20 mm (32 400) mm (4 800) 20" " 5" 4" 2" 1" 2" 1" 0.5" 0.8" 0.4" 0.2" 0.4" 0.2" 0.1" 0.2" 0.1" 0.05" 0.1" 0.08" 0.04" 0." 0.05" 0.03" 0.08" 0.04" 0.02" 0.040" 0.020" 0.0" 0.020" 0.0" " 0.0" " 0.003" = Line count as a multiple of 00 NOTE: The symbol " indicates units of arc seconds. NOTE: Numbers preceded with a symbol show rounded resolution values. To calculate the exact resolution in arc seconds, use the following equation: 1.29 x θ (arc seconds) [ Line count ] x [ Interpolation factor ]

11 Resolution The RESM20/REST20 offers a range of standard ring s, as well as sizes that offer line counts that provide 2 n counts per revolution or resolutions that are precise sub-divisions of degrees or arc seconds. NOTE: 1 arc second resolution = 1.29 x counts per revolution ~ x -4 degree resolution. (line count) 5 µm (x4) SiGNUM or TONiC digital resolution (interpolation factor) 1 µm (x20) 0.5 µm (x40) 0.2 µm (x0) 0.1 µm (x) 50 nm (x400) 20 nm (x1 000) nm (x2 000) 5 nm (x4 000) TONiC digital resolution (interpolation factor) 2 nm (x 000) 1 nm (x20 000) mm (11 840) 27.4" 5.47" 2.74" 1.1" 0.55" 0.27" 0.11" 0.055" 0.028" 0.011" " 0 mm ( 744) 20." 4." 2.0" 0.82" 0.41" 0.21" 0.082" 0.041" 0.021" " " Standard outside s 0 mm ( 00) mm (31 488) 255 mm= (40 000) 0 mm (47 ) 350 mm (55 040) 13.7".3" 8.1".9" 5.9" 2." 2.0" 1.2" 1.37" 1.18" 1.37" 1.03" 0.81" 0.9" 0.59" 0.55" 0.41" 0.32" 0.27" 0.24" 0.27" 0.21" 0.1" 0.14" 0." 0.14" 0.1" 0.081" 0.09" 0.059" 0.055" 0.041" 0.032" 0.027" 0.024" 0.028" 0.021" 0.01" 0.014" 0.0" 0.014" 0.0" " 0.009" " " " " " " " " 0.001" " 0.00" 489 mm (7 800) 4.22" 0.84" 0.42" 0." 0.084" 0.042" 0.0" " " 0.00" " mm (8 400) 3." 0." 0.38" 0." 0.0" 0.38" 0.0" 00" 0038" 0.00" 0.000" mm (8 192) 39." 7.9" 3.9" 1.58" 0.79" 0.4" 0.1" 0.079" 0.040" 0.01" " 2 n line count mm (1 384) mm (32 78) 19.8" 9.89" 3.9" 1.98" 1.98" 0.99" 0.79" 0.4" 0.4" 0.2" 0.2" 0.1" 0.08" 0.04" 0.040" 0.020" " " " " " 4 mm (5 53) 4.9" 0.99" 0.49" 0.2" 0.1" 0.05" " " " " Subdivisions of degrees mm (9 000) mm (18 000) mm (3 000) Subdivisions of arc second 3 mm (1 ) 20 mm (32 400) mm (4 800) 20" " 5" 4" 2" 1" 2" 1" 0.5" 0.8" 0.4" 0.2" 0.4" 0.2" 0.1" 0.2" 0.1" 0.05" 0.08" 0.04" 0.02" 0.040" 0.020" 0.0" 0.020" 0.0" " " " " " " 0.00" = Line count as a multiple of 00 NOTE: The symbol " indicates units of arc seconds. NOTE: Numbers preceded with a symbol show rounded resolution values. To calculate the exact resolution in arc seconds, use the following equation: 1.29 x θ (arc seconds) [ Line count ] x [ Interpolation factor ] 11

12 Renishaw plc New Mills, Wotton-under-Edge, Gloucestershire GL 8JR United Kingdom T +44 (0) F +44 (0) E uk@renishaw.com Angle encoder part numbers Angle encoder series RESM20 - Single reference mark for axes capable of full rotation REST20 - Two reference marks for partial-rotation axes RESM 20U S A 0 Pitch 20U - 20 µm Material S - Stainless steel Form A - Tapered internal B - Low inertia (only available in,, 0,, 0 and mm s) Diameter 0 - mm* - mm* 0 - mm - mm 0 - mm mm 0-0 mm 0-0 mm 3-3 mm mm - mm* - mm - mm 4-4 mm* 0-0 mm mm - mm - mm mm *FANUC serial interface compatible with these ring sizes RESM20/REST20 compatible readheads RESM20/REST20 VIONiC Installation guide M Data sheet L TONiC Installation guide M Data sheet L SiGNUM Installation guide M-92-9 Data sheet L For worldwide contact details, please visit our main website at RENISHAW HAS MADE CONSIDERABLE EFFORTS TO ENSURE THE CONTENT OF THIS DOCUMENT IS CORRECT AT THE DATE OF PUBLICATION BUT MAKES NO WARRANTIES OR REPRESENTATIONS REGARDING THE CONTENT. RENISHAW EXCLUDES LIABILITY, HOWSOEVER ARISING, FOR ANY INACCURACIES IN THIS DOCUMENT. RENISHAW and the probe emblem used in the RENISHAW logo are registered trademarks of Renishaw plc in the UK and other countries. apply innovation is a trademark of Renishaw plc Renishaw plc All rights reserved Issued 0418 *L *