QUANTiC series encoder system

Transcription

1 L C QUANTiC series encoder system The QUANTiC encoder series provides robust incremental position measurement with excellent metrology and wide installation tolerances that reduce or eliminate the need for mounting adjustment during the installation process. QUANTiC includes Renishaw s high-performance integrated interpolation technology, removing the need for additional adaptors or separate interfaces. This provides stable and reliable position signals for a wide range of demanding measurement and motion control applications. QUANTiC s easy-to-use built-in installation and calibration functions can be enhanced with the optional Advanced Diagnostic Tool ADTi-100, providing comprehensive real-time encoder feedback during installation and diagnostics. In addition to Renishaw s proven unique filtering optics, QUANTiC has a new detector design which gives superior signal purity and dirt immunity. They are combined in a compact readhead body, joining the VIONiC and TONiC family of encoders. Compact, all-in-one, digital output, optical encoder Wide installation tolerances - Rideheight ±0.2 mm - Yaw ±0.9 Maximum speed up to 24 m/s ( µm resolution) Improved dirt immunity for robust operation Resolutions from 10 µm to 50 nm Optical IN-TRAC autophase reference mark and dual magnetic limits Integrated set-up LED Auto Gain Control (AGC), Auto Balance Control (ABC) and Auto Offset Control (AOC) ensure consistent signal strength for long-term reliability Optional Advanced Diagnostic Tool ADTi-100 to optimise set-up and assist with system diagnostics

2 System features In-built reliability and ease of installation Robust position measurement over contamination QUANTiC readheads ensure excellent motion control performance in a wide range of applications by minimising positional error over scale contamination. A new detector design provides an additional layer of signal filtering which helps to eliminate non-harmonic signal frequencies, ensuring low Sub-Divisional Error (SDE) and minimal signal variation over dirt or contamination on the scale. Increased operating tolerances whilst maintaining metrology The new detector design helps to increase installation and operational tolerances, whilst maintaining metrological performance. Combining this with Renishaw s established filtering optics and signal processing technology makes QUANTiC a robust and easy to use incremental encoder. Optional Advanced Diagnostic Tool ADTi-100 The QUANTiC encoder system is compatible with the Advanced Diagnostic Tool ADTi-100 and ADT View software. They provide comprehensive real-time encoder data feedback to aid more challenging installations and diagnostics. The intuitive software interface can be used for: Remote calibration Signal optimization over the entire axis length Readhead pitch indication Limit and reference mark indication Digital readout of encoder position (relative to scale) Monitoring velocity Exporting and saving data 2

3 QUANTiC readhead dimensions Dimensions and tolerances in mm 18 Optical centreline (Incremental and reference mark) * Mounting faces Reference mark selector sensor position Set-up LED 4.15 P and Q limit switch sensor position 10 6 min R>30 Dynamic bend radius R>10 Static bend radius 35 Ø4.25 ± off mounting holes M2.5 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. Optical centreline marker * Extent of mounting faces General specifications Power supply 5 V -5%/+10% Typically 200 ma fully terminated 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 Humidity (system) 95% relative humidity (non-condensing) to EN Sealing IP40 Acceleration Operating 400 m/s², 3 axes Shock Operating 500 m/s², 11 ms, ½ sine, 3 axes Vibration Operating 100 m/s² 55 Hz to 2000 Hz, 3 axes Mass Readhead 9 g Cable 26 g/m EMC compliance BS EN : 2006 Readhead cable Single-shielded, outside diameter 4.25 ±0.25 mm Flex life >20 x 10 6 cycles at 30 mm bend radius UL recognised component Connector options Typical Sub-Divisional Error (SDE) Code - connector type A - 9 way D-type D - 15 way D-type (standard pin-out) H - 15 way D-type (alternative pin-out) X - 12 way circular connector J - 14 way JST connector <±80 nm 3

4 RTLC40-S installation drawing Dimensions and tolerances in mm Overall length (L+37) Scale length (L) F 0.2/100 F = axis of motion Measuring length ML = (L-17) (ML = (L-32) with dual limits) (Yaw tol. ±0.9 ) ±0.5 A Reference mark selector magnet (A ) B 5 8 (Roll tol. ±0.8 ) P limit magnet (A ) 1.5* C QUANTiC readhead Nominal P limit trigger point Optical centreline (Incremental and reference mark) RTLC40-S scale Datum clamp (A ) Forward direction of readhead relative to scale D (Pitch tol. ±1 ) F F = axis of motion Q limit magnet (A ) (Dimensions as P limit) Nominal Q limit trigger point Optional end cover (Pair A ) Ra 3.2 Detail D Detail A ±1 Detail B End cover alignment indicator Detail C Scale reading surface Scale thickness 0.2 Adhesive thickness Calibration rideheight: 2.1 ±0.2 Operating rideheight: 2.1 ±0.3 *Dimension from substrate surface. Bolted reference mark selector magnet and limit magnets available. NOTE: The reference mark selector and limit actuator locations are correct for the readhead orientation shown. 4

5 RTLC40 scale and FASTRACK carrier installation drawing Dimensions and tolerances in mm Overall length (L+12) 1 min (gap) Scale length (L) Ra Measuring length ML = (L-10) (ML=(L-25) with dual limits) FASTRACK length = (L-24)* Reference mark selector magnet (A ) (Dimensions as P limit) 10 max (gap) 2.25 ±0.5 A RTLC40 scale 18 ±0.1 5 FASTRACK QUANTiC readhead P limit magnet (A ) Q limit magnet (A ) (Dimensions as P limit) F / F = axis of motion Optional end cover (Pair A ) (Roll tol. ±0.8 ) 0.12 B (Yaw tol. ±0.9 ) 0.55 Forward direction of readhead relative to scale Optical centreline (Incremental and reference mark) 0.05 F Nominal Q limit trigger point Nominal P limit trigger point C F = axis of motion 1.5 (Pitch tol. ±1 ) 0.6 Detail C Detail B Detail A FASTRACK thickness 0.4 Do not cut FASTRACK over shaded areas 2 locations for spots of Loctite 435 (P-AD ) to secure axis datum position 15 ±1 Calibration rideheight: 1.9 ±0.2 Operating rideheight: 1.9 ± max * Assumes 1 mm gap between scale and end covers and zero gap between FASTRACK and end covers. Dimension from FASTRACK surface. For alternative mechanical datum clamp method see QUANTiC linear installation guide (M ). NOTES: Minimum recommended FASTRACK length = 100 mm. The reference mark selector and limit actuator locations are correct for the readhead orientation shown.

6 RTLC40-S, RTLC40 and FASTRACK specifications Description RTLC40-S Self-adhesive incremental hardened and tempered stainless steel scale. RTLC40 FASTRACK Incremental hardened and tempered stainless steel scale for use with FASTRACK carrier system. Hardened stainless steel guide rails with integrated sacrificial spacers. Self-adhesive backing tape for easy installation. Scale period 40 µm Form (H x W) Accuracy (at 20 C) Linearity RTLC40-S RTLC40 FASTRACK 0.4 mm x 8 mm (including adhesive) 0.2 mm x 8 mm 0.4 mm x 18 mm (including adhesive) ±15 µm/m ±5 µm/m achievable with two point error correction Coefficient of thermal expansion (at 20 C) 10.1 ±0.2 µm/m/ C Temperature (system) Storage -20 C to +70 C Operating 0 C to +70 C Humidity (system) 95% relative humidity (non-condensing) to EN Acceleration Operating 400 m/s 2, 3 axes Shock Non-operating 500 m/s 2, 11 ms, ½ sine, 3 axes Vibration Operating 300 m/s 2 55 to 2000 Hz, 3 axes Mass Minimum recommended length Maximum supplied length RTLC40-S RTLC40 FASTRACK RTLC40-S RTLC40 FASTRACK RTLC40-S RTLC40 FASTRACK 12.9 g/m 12.2 g/m 24 g/m 20 mm 20 mm 100 mm 10 m 10 m 25 m For axis lengths >2 m FASTRACK with RTLC40 is recommended. For further information, contact your local Renishaw representative. 6

7 Speed Clocked output option (MHz) T (10 µm) D (5 µm) X ( 1 µm) Maximum speed (m/s) Z (0.5 µm) W (0.2 µm) Y (0.1 µm) H (50 nm) Minimum edge separation* (ns) * For a readhead with a 1 m cable. Output signals 1 14 Function Signal Colour 9 way D-type (A) 15 way D-type (D) 15 way D-type alternative pin-out (H) 12 way circular connector (X) 14 way JST (J) Power Incremental Reference mark Limits A B Z 5 V Brown 5 7, 8 4, 12 G 10 0 V White 1 2, 9 2, 10 H 1 + Red M 7 - Blue L 2 + Yellow J 11 - Green K 9 + Violet D 8 - Grey E 12 P Pink 11 8 A 14 Q Black 10 6 B 13 Alarm E - Orange 3 13 F 3 Remote CAL CAL Clear C 4 Shield Screen Case Case Case Case Ferrule 7

8 Electrical connections Grounding and shielding QUANTiC readhead Readhead termination/connector Customer electronics 5 V Output signals Shield 0 V IMPORTANT: The shield should be connected to the machine earth (Field Ground). For JST variants the ferrule should be connected to the machine earth. Maximum readhead cable length: 3 m Maximum extension cable length: Dependant on cable type, readhead cable length and clock speed. Contact your local subsidiary for more information. Recommended signal termination 0 V Single ended alarm signal termination (Alarm signal not available with 'A' cable termination) Readhead A B Z+ 220 pf Customer electronics Readhead 5 V 4k7 Customer electronics Cable Z 0 = 120R 120R 1k8 A B Z- 220 pf E- 4k7 100R 100nF 0 V Standard RS422A line receiver circuitry. Capacitors recommended for improved noise immunity. Limit output (Limit output not available with 'A' cable termination) Remote CAL operation CAL 5 V to 24 V P Q R* * Select R so that maximum current does not exceed 10 ma. Alternatively, use a suitable relay or opto-isolator. 0 V Remote operation of the CAL/AGC is possible via CAL signal. 8

9 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 Resolution option code P (µm) S (µm) T D 20 5 X 4 1 A B Z W Y H 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 subsidiary for more information. Limits Open collector output, asynchronous pulse (Limit output 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 9

10 QUANTiC system: Readhead scale and accessories Readhead part numbers Q4 B C Y 30 D 50 A Readhead series Build variant B - Linear Scale type compatibility C - RTLC40/RTLC40-S Resolution T - 10 µm W µm D - 5 µm Y µm X - 1 µm H - 50 nm Z µm Cable length m (not available with 'J' cable termination) m (not available with 'J' cable termination) m 20-2 m (not available with 'J' cable termination) 10-1 m 30-3 m Cable termination A - 9 way D-type plug ( E and F Reference mark options / Alarm format only) D - 15 way D-type plug - Standard pin out H - 15 way D-type plug - Alternative pin out X - 12 way in-line connector J - 14 way JST connector (0.5 m, 1 m and 3 m cables only) Clock frequency MHz MHz MHz 08-8 MHz MHz 06-6 MHz MHz 04-4 MHz MHz 01-1 MHz Reference mark options* / Alarm format A - Customer selectable reference mark / Line driven alarm (not available with 'A' cable termination) B - All reference marks are output / Line driven alarm (not available with 'A' cable termination) E - Customer selectable reference mark / 3-state alarm F - All reference marks are output / 3-state alarm * A or E Customer selectable reference mark - Reference pulse triggered only with selector magnet (see accessories for selector magnet part numbers). Allows activation of specific reference mark when scale has multiple IN-TRAC reference marks. B or F All reference marks are output - Reference pulse triggered without selector magnet. Recommended for scale with single IN-TRAC reference mark NOTE: Not all combinations are valid. Check valid options online at 10

11 Scale part numbers RTLC40 40 µm pitch stainless steel tape scale for use with the FASTRACK carrier Available lengths Available in increments of Reference mark spacing Distance from scale end to first reference mark Part number (where xxxx is the length in cm) 20 mm to 100 mm 10 mm Middle of scale length Middle of scale length >100 mm to 10 m 10 mm 50 mm 50 mm A-6566-xxxx FASTRACK carrier Stainless steel carrier for use with RTLC40 tape scale Available lengths Available in increments of Part number (where xxxx is the length in cm) 100 mm to 25 m 25 mm* A-9704-xxxx *NOTE: Part numbers for FASTRACK lengths ending in 25 mm are: A-9704-xxx3 Part numbers for FASTRACK lengths ending in 75 mm are: A-9704-xxx8 RTLC40-S 40 µm pitch stainless steel tape scale with self-adhesive backing tape. Available lengths Available in increments of Reference mark spacing Distance from scale end to first reference mark Part number (where xxxx is the length in cm) 20 mm to 100 mm 10 mm Middle of scale length Middle of scale length >100 mm to 10 m 10 mm 50 mm 50 mm A-6567-xxxx 11

12 Accessory part numbers Reference mark and limit magnets Part description Part number Product image Reference mark selector magnet - Adhesive mounted A Bolted reference mark selector magnet (For use with RTLC40-S only) A Q limit switch actuator magnet - Adhesive mounted A Bolted Q limit switch actuator magnet (For use with RTLC40-S only) A P limit switch actuator magnet - Adhesive mounted A Bolted P limit switch actuator magnet (For use with RTLC40-S only) A Magnet applicator device (Aids positioning) A Longer reference mark and limit magnets are available. Contact your local subsidiary for more information. Datum clamps Part description Part number Product image Adhesive datum clamp (For use with RTLC40-S only) A Loctite 435 adhesive - 20 g bottle (For securing axis datum position of RTLC40 in FASTRACK carrier or for securing the RTLC40-S datum clamp) P-AD Dispensing tip for Loctite 435 adhesive P-TL Bolted datum clamp (For use with RTLC40 and FASTRACK only) A

13 Accessory part numbers (continued) RTLC40/RTLC40-S scale and FASTRACK accessories Part description Part number Product image Guillotine (For cutting RTLC40/RTLC40-S scale and FASTRACK carrier) A RTLC40-S scale applicator A FASTRACK centre section removal tool (Removes centre section of FASTRACK when carrier has been mounted) A FASTRACK separator assembly (Removes centre section of FASTRACK when carrier has been mounted - includes removable side panels for use when FASTRACK is mounted against a ledge or dowels) A RTLC40 scale pulling tool (Aids installation of RTLC40 scale through the FASTRACK carrier) A End cover kit (RTLC40-S only) A End cover kit (FASTRACK only) A

14 Renishaw plc New Mills, Wotton-under-Edge, Gloucestershire GL12 8JR United Kingdom T +44 (0) F +44 (0) E uk@renishaw.com QUANTiC compatible products: RTLC40 tape scale and FASTRACK carrier RTLC40-S self-adhesive tape scale Optional Advanced Diagnostic Tool ADTi-100 (A ) 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 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 0718 *L *