Renishaw T20x1 Resm Angle Encoder System Installation Guide

: June 1, 2024
: RENISHAW

Table of Contents

T20x1 Resm Angle Encoder System
Specifications
Product Information
System Features:
Installation Guide:
FAQ

T20x1 Resm Angle Encoder System

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Specifications

Product: TONiC T20x1 RESM angle encoder system
Model: M-9653-9161-04-D

Product Information

The TONiC T20x1 RESM angle encoder system is a high-precision
encoder system designed for accurate positioning and motion control
applications. It consists of a T20x1 readhead and a RESM20 ring,
providing reliable and precise angular measurement
capabilities.

System Features:

High accuracy and resolution
Quick-start guide for easy setup
Output signals for seamless integration
Compatible with various mounting options

Installation Guide:

The installation of the TONiC T20x1 RESM angle encoder system
involves several steps to ensure proper functioning and alignment.
Follow the steps outlined below:

Storage and Handling:

Properly store and handle the components of the encoder system
to prevent damage.

Readhead Installation:

Refer to the provided installation drawings for the T20x1
readhead and RESM20 ring for proper positioning.

Mounting Options:

Choose a suitable mounting option for the RESM20 ring based on
your equipment requirements.

System Calibration:

Calibrate the system to ensure accurate readings and
performance.

Output Signals:

Connect the output signals as per the provided specifications
for data transmission.

Electrical Connections:

Ensure proper electrical connections for seamless operation of
the encoder system.

Restoring Factory Defaults:

If needed, restore the factory defaults as described in the user
manual.

Switching AGC On/Off:

Adjust the Automatic Gain Control (AGC) settings based on your
application requirements.

FAQ

Q: What should I do if I encounter interference during

installation?

A: If interference occurs during installation, refer to the
interference fit method described in the manual to address the
issue.

Q: How do I ensure compatibility between the readhead and

RESM20 ring?

A: Follow the guidelines provided in the user manual to ensure
proper compatibility between the readhead and RESM20 ring.

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Installation guide M-9653-9161-04-D
TONiCTM T20x1 RESM angle encoder system

Contents

Legal notices

1

Storage and handling

2

TONiC T20x1 readhead installation drawing

3

Ti interface drawing

4

RESM20 installation drawing (`A’ section)

5

RESM20 installation drawing (`B’ section)

6

Select a RESM20 ring mounting option

7

Equipment for taper mounting

8

Taper mount method

9

Equipment for interference fit mounting

11

Interference fit method

12

TONiC quick-start guide

13

System connection

14

T20x1 readhead and RESM20 compatibility

15

Readhead mounting and alignment

16

System calibration

17

Restoring factory defaults

18

Switching Automatic Gain Control (AGC) on or off

18

Output signals

19

Speed

20

Electrical connections

21

Output specifications

22

General specifications

24

RESM20 ring specifications

24

TONiC RESM20 angle encoder system installation guide

Legal notices

Copyright
© 2008-2023 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:

EP0748436 CN100543424C EP1766335 CN101310165B EP1094302 CN1314511

US5861953 US7659992 CN101300463B US7839296 CN1293983 EP1469969

EP1173731 JP4932706 EP1946048 EP1957943 GB2397040 JP5002559

US6775008B2 CN100507454C US7624513B2 US6481115 JP4813018 US2005045586

JP4750998 US7550710 JP5017275 IL138995 US7723639

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 TONiC 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.

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 TONiC encoder range can be found in the TONiC encoder system Data sheet (Renishaw part no. L-9517-9337). This can be downloaded from our website at www.renishaw.com/ tonicdownloads and is also available from your local representative.

Packaging

Packaging Component

Material

Outer box

Cardboard

Polypropylene

Inserts

Low density polyethylene foam

Cardboard

Bags

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.

TONiC RESM20 angle encoder system installation guide

1

Storage and handling
RESM20 is a non-contact optical encoder that provides good immunity against contaminants such as dust, fingerprints and light oils.

However, in harsh environments such as machine tool applications, protection should be provided to prevent ingress of coolant or oil.

Ring and readhead
N-heptane
CH3(CH2)5CH3
Propan-2-ol

Ring only
Acetone

Readhead only
Acetone

CH3COCH3

Chlorinated Solvents

CH3COCH3

Chlorinated Solvents

Storage

Operating

+70 °C -20 °C
UHV readhead Bakeout +120 °C

+70 °C 0 °C

Humidity
95% relative humidity (non-condensing) to IEC 60068-2-78

CH3CHOHCH3

Methylated Spirits

TONiC RESM20 angle encoder system installation guide

2

TONiC T20x1 readhead installation drawing

2 off mounting holes M2.5 through,
counterbored Ø3 x 2.75 deep from alternative mounting face 3

Optical centreline (incremental and reference mark)

18 31
16

A’ section ring Offset 1.75 ±0.5B’ section ring Offset 3.25 ±0.5
7.5

(Yaw tol. ±0.4°) 0.25

Dimensions and tolerances in mm

(Roll tol. ±0.5°) 0.08

8.75*

13.5 11*

22 29

R > 20 Dynamic bend radius R > 10 Static bend radius

6 min

35 23 11.5

3
Set-up LED CAL/AGC LED

Recommended mounting faces

4.25
Alternative mounting face
4.15
10 12.1

2 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.

(Pitch tol. ±1°) 0.6

Ø4.25 ±0.25

4.6

Forward direction

Rideheight 2.1 ±0.15

of ring (increasing count)

Extent of mounting faces. UHV cable 3.0 approx. Dynamic bend radius not applicable for UHV cables.

TONiC RESM20 angle encoder system installation guide

3

Ti interface drawing
16 8

1

9

40

33.3

15

8

4- 40 UNC x 2

67 62

6 minimum
R > 20 Dynamic bend radius* R > 10 Static bend radius

Cover plate

Dimensions and tolerances in mm
CAL/AGC push button switch access hole Ø2.4
Diagnostic LED (Ti0004 – Ti20KD and TD4000 – TD0040)

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

Dynamic bend radius not applicable for UHV cables.

TONiC RESM20 angle encoder system installation guide

4

RESM20 installation drawing (`A’ section)
Dimensions and tolerances in mm

N holes equally spaced on PCD ØDH Ø3.5 through c/bore top face Ø6 × 3 deep

Nominal external diameter
(mm)

Line count

DO (mm)

DI (mm)

Mounting holes

DH

N

(mm)

Readhead model

N holes equally spaced on PCD ØDH M3 × 0.5 through c/bore top face Ø3.5 × 4 deep

Section AA

A

10

0.5 × 45°

52.20 30.04

52

8 192

52.10 30.00

40

6

30°

57.35 37.04

57

9 000

57.25 37.00

47

6

30°

75.40 55.04

75

11 840 75.30 55.00

65

6

30°

T2021

100.30 80.04

100

15 744 100.20 80.00

90

6

30°

103.20 80.04

A

103

16 200 103.00 80.00

90

6

30°

T2011

104.40 80.04

104

16 384 104.20 80.00

90

6

30°

15° ±0.2°

114.70 95.04

115

18 000 114.50 95.00 105

6

30°

150.40 130.04

150

23 600 150.20 130.00 140

9

20°

200.40 180.04

200

31 488

190 12 15°

200.20 180.00

1 x 45°

206.50 186.05

206

32 400

196 12 15°

3

206.10 186.00

209

32 768 208.80 186.05 196

12

15°

208.40 186.00

229

36 000 229.40 209.05 219

12

15°

229.00 209.00

255

40 000 254.80 235.06 245

12

15°

254.40 235.00

T2001

300

47 200 300.40 280.06 290

16 11.25°

300.20 280.00

350

55 040 350.40 330.06 340

16 11.25°

ØDI

350.20 330.00

ØDH

413

64 800 412.70 392.08 402

18

10°

412.30 392.00

417

65 536 417.40 380.10 390

18

10°

417.00 380.00

ØDO

489

76 800

489.12 451.10 488.72 450.90

462

20

18°*

NOTE: is the angle between one tapped hole and the adjacent clearance hole. The angle between two clearance holes is 2.

550

86 400

550.20 510.10 549.80 510.00

520

20

9°

There are no tapped holes on the 489 mm ring.

TONiC RESM20 angle encoder system installation guide

5

RESM20 installation drawing (`B’ section)
Dimensions and tolerances in mm N holes equally spaced on PCD ØDH Ø3.5 through N holes equally spaced on PCD ØDH M3 × 0.5 through A
A
ØDI ØDH ØDO NOTE: is the angle between one tapped hole and the adjacent clearance hole. The angle between two clearance holes is 2. TONiC RESM20 angle encoder system installation guide

Nominal external diameter
(mm)

Line count

52

8 192

75

11 840

100

15 744

115

18 000

150

23 600

200

31 488

DO (mm)
52.20 52.10 75.40 75.30 100.30 100.20 114.70 114.50 150.40 150.20 200.40 200.20

DI (mm)
32.04 32.00 55.04 55.00 80.04 80.00 95.04 95.00 130.04 130.00 180.04 180.00

Mounting holes

DH

N

(mm)

38

6

30°

61

6

30°

86

6

30°

101 6

30°

136 9

20°

186 12 15°

Readhead model T2021 T2011
T2001

Section AA 2.5 × 45°
7

6.5

R0.5

3 6

Select a RESM20 ring mounting option

`A’ Section

Taper Mount

Interference fit

`B’ Section

Not applicable

Notes

Recommended for all installations Enables simplest adjustment. Offers highest accuracy. 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.

TONiC RESM20 angle encoder system installation guide

7

Equipment for taper mounting
Suitable for:
u RESM20 `A’ section rings

Required parts:
u Appropriate RESM20 A’ section ring (RESM20 installation drawing (A’ section)’, page 5) u Appropriate number of screws for ring size (RESM20 installation drawing (A’ section)’, page 5) NOTE: Recommended screw type M3 × 0.5: ISO 4762/DIN 912 grade 10.9 minimum/ANSI B18.3.1M. u Dial Test Indicator (DTI) u Appropriate cleaning solvents (Storage and handling’, page 2) u Hex key u Green spacer (supplied with TONiC readhead)

Optional parts:
u Renishaw scale wipes (A-9523-4040) u Lint-free cloth

TONiC RESM20 angle encoder system installation guide

8

Taper mount method
Step 1 Mounting shaft specifications

Recommended taper roundness:

Diameter (mm)
115 150 to 225
300

Roundness value (mm TIR)
0.025
0.050
0.075

Recommended taper roundness when using two heads and DSi:

Diameter (mm)
115 150 to 225
300

Roundness value (mm TIR)
0.0125
0.025
0.0375

7 min 1*

DT 15° ±0.2°

Allow 2 mm for 417 mm, 489 mm and 550 mm rings only.

Recommended taper diameter (DT):

DO (mm) DT (mm)

33.85

52

33.65

40.85

57

40.65

75

58.85 58.65

100

83.85 83.65

103

83.85 83.65

104

83.85

83.65

115

98.85

98.65

133.85

150

133.65

183.85

200

183.65

206

189.85 189.65

209

189.85 189.65

229

212.85 212.65

255

238.85

238.65

300

283.85

283.65

DO = Nominal external diameter.

DO (mm) DT (mm)

333.85

350

333.65

395.85

413

395.65

417

383.85 383.65

489

454.85 454.65

550

513.85 513.65

Recommended surface finish Ra 1.2. NOTE: It is recommended that the mounting surface is a turned, rather than ground finish.
TONiC RESM20 angle encoder system installation guide

Step 2

u Remove the protective film from the surface of the the RESM20 ring.
u Clean shaft taper and internal taper of RESM20 as recommended in `Storage and handling’, page 2
u Insert the first screws: · For RESM20 rings with 6, 9 or 18 mounting holes, use 3 equally spaced M3 screws. · For RESM20 rings with 12, 16 or 20 mounting holes, use 4 equally spaced M3 screws.
NOTE: Do not lubricate screws. u Insert the screws so that the RESM20 is loosely connected
to the shaft, then roughly align the ring by eye and touch. u Lightly tighten the screws. Use a Dial Test Indicator (DTI) to
check the radial displacement at the screw locations. NOTE: Disregard the radial displacement between the screw locations.
DTI
Use a DTI with low exertion force to avoid scratching the scale surface. A DTI with a ruby ball stylus is recommended as a further precaution against scratches.
9

Taper mount method (continued)
u Adjust the screws to reduce the range of radial displacement. When adjusting, identify the screw location with the lowest radial displacement and tighten that screw, aiming for the average of the highest and lowest indicator readings.
u Repeat this process until the DTI readings are within ±5 µm at the screw locations. NOTE: It may be necessary to loosen screws whilst tightening other screws.

Step 4

Step 3

NOTE: At this stage, the screws should only be lightly tightened (less than 0.5 Nm) to allow further final adjustment.
u Insert the next screws: · For RESM20 rings with 6, 9 or 12 mounting holes, insert all the remaining M3 screws. · For RESM20 rings with 16 mounting holes, insert 4 equally spaced M3 screws. · For RESM20 rings with 18 mounting holes, insert 6 equally spaced M3 screws. · For RESM20 rings with 20 mounting holes, insert 8 equally spaced M3 screws (in four groups of two) between existing screws.
u As described in Step 2, adjust all the screws inserted thus far, so that the radial displacement at each screw location is within ±5 µm.
u Again, at this stage, the screws should only be lightly tightened (less than 0.5 Nm). NOTE: You may notice that the torque required to achieve the radial displacement tolerance will be slightly higher during step 3 than during step 2. This is normal.

Step 5

Diameter (mm)
115 150 to 255 300 to 413
417

Recommended torque range (Nm) 1.5 – 2.1
0.8 – 1.1
0.5 – 0.7
1.2 – 1.7

TONiC RESM20 angle encoder system installation guide

u Insert screws into the remaining mounting holes.
u Rotate the RESM20 ring, measuring the radial displacement at all of the screw locations.
u Tighten the screw with the lowest radial displacement so that it matches the average radial displacement, whilst ensuring the maximum torque specified in the table is not exceeded.
u Again, rotate the RESM20 ring and re-check the radial displacement at all of the screw locations, tightening the screw with the lowest radial displacement so that it matches the average.
u Repeat this process until the radial displacement at all of the screw locations is within ±3 µm and that all screw torques are within the specified range.
u Excessive tightening of screws can have a small effect on accuracy. Please contact your local representative for more details.
u Clean ring using Renishaw scale cleaning wipes or a clean, dry, lint-free cloth.
10

Equipment for interference fit mounting
Suitable for:
u RESM20 A’ section rings u RESM20B’ section rings
Required parts:
u Appropriate RESM20 A’ orB’ section ring (RESM20 installation drawing (A’ section)’, page 5) or (RESM20 installation drawing (B’ section)’, page 6)
u Appropriate number of screws for ring size (RESM20 installation drawing (A’ section)’, page 5) or (RESM20 installation drawing (B’ section)’, page 6) NOTE: Recommended screw type M3 × 0.5: ISO 4762/DIN 912 grade 10.9 minimum/ANSI B18.3.1M.
u Appropriate cleaning solvents (`Storage and handling’, page 2) u Hex key u Green spacer (supplied with TONiC readhead)

Optional parts:
u Renishaw scale wipes (A-9523-4040) u Lint-free cloth

TONiC RESM20 angle encoder system installation guide

11

Interference fit method
u Remove the protective film from the surface of the RESM20 ring. u Clean the mounting faces fo the shaft and the RESM20 as recommended in
`Storage and handling’, page 2. u Place RESM20 ring on shaft.

DO

DS

u Insert required number of screws into all mounting holes. u Tighten all screws. u Clean ring using Renishaw scale cleaning wipes or a clean, dry, lint-free cloth. NOTES: u Ensure that all screws are tightened to 1.6 Nm. u The recommended thread engagement is 6 mm. u 417, 489 and 550 mm rings should be taper mounted only.

DO (mm) 52* 57 75 100 103 104 115 150 200 206 209 229 255 300 350 413

DS (mm)
30.033 30.017
37.033 37.017
55.039 55.020
80.045 80.023
80.045 80.023
80.045 80.023
95.045 95.023
130.052 130.027
180.052 180.027
186.060 186.031
186.060 186.031
209.060 209.031
235.060 235.031
280.066 280.034
330.073 330.037
392.073 392.037

DO = Nominal external diameter. DS = Recommended shaft diameter to enable interference fit.

52

mm

`B’

section

ring

DS

(mm)

=

32.033 32.017

TONiC RESM20 angle encoder system installation guide

12

TONiC quick-start guide

This section is a quick-start guide to installing a TONiC system. More detailed information on installing the TONiC system is contained on pages 14 to 18 of this installation guide.

INSTALLATION
Ensure RESM20 ring, readhead optical window and mounting faces are clean and free from obstructions.
Plug the readhead cable into the Ti/TD interface under the cover plate and reassemble interface. Connect to receiving electronics and power-up.
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 of rotation as indicated by the readhead and interface set-up 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.
Rotate the axis at slow speed (< 100 mm/s), ensuring the readhead does not pass a reference mark, until the CAL LED starts double flashing.

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 reference mark until the CAL LED
stops flashing and remains `off’. (Incremental and reference mark CAL values
are automatically stored)

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 non-volatile memory at power down.
NOTE: If calibration fails, restore factory defaults by pressing and holding the CAL button whilst switching on (`Restoring factory defaults’, page 18). Then repeat the installation and calibration routine.

TONiC RESM20 angle encoder system installation guide

13

System connection
Approved ESD precautions must be followed at all times during readhead and interface electrical connections. The readhead is connected to the Ti/TD interface via a small, rugged connector to allow for easy feed-through during installation.
Connecting the readhead u Remove the cover plate as shown
(2 x M2.5 hex head screws). u Taking care not to touch the pins, plug the
connector into the socket in the interface, ensuring correct orientation as shown.

Disconnecting the readhead u Remove the cover plate on the interface
(2 x M2.5 hex head screws).
u Gently lever the connector PCB (on the end of the cable) out of the socket. Do not pull the cable to remove the connector.
u Place the connector in an anti-static bag. u Refit the cover plate.

u Refit the cover plate ensuring the cable ferrule is located in the recess on the inside and no wires are trapped under the cover plate. NOTE: The tightening torque should be between 0.25 Nm and 0.4 Nm.

TONiC RESM20 angle encoder system installation guide

14

T20x1 readhead and RESM20 compatibility

T20x1 readhead models are compatible with a range of RESM20 ring sizes. The optical configuration is optimised for the following conditions:

Readhead model T2001 T2011 T2021

RESM20 diameter range (mm) > 136
60 to 136 < 60

Published performance specifications and operating tolerances only apply where the correct readhead model conforms to the RESM20 size range. Ensure readhead part number and RESM20 size range compatibility at the time of ordering and installation.

Reference mark position

IN-TRACTM reference mark is integrated in the scale, radially aligned with the centre of the mounting hole to the left of the `Renishaw’ logo within ±0.5 mm. No external actuators or physical adjustment are required.

TONiC RESM20 angle encoder system installation guide

15

Readhead mounting and alignment

Mounting brackets The bracket must have a flat mounting surface and should enable conformance to the installation tolerances, allow adjustment to the rideheight of the readhead, and be sufficiently stiff to prevent deflection or vibration of the readhead during operation.
Readhead set-up Ensure that the scale, readhead optical window and mounting face are clean and free from obstructions.
NOTE: When cleaning readhead and ring 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 maximise the signal strength and achieve a Green set-up LED on the readhead (> 70% signal) for a complete rotation. If a digital Ti/TD interface is used, aim for a Blue LED on the interface.
NOTE: The readhead should be installed and set-up with the AGC switched off (CAL LED off). When re-installing, factory defaults should be restored (`Restoring factory defaults’, page 18).

Readhead set-up LED status

Yaw 0° ±0.4°

Green Orange

Red

Green spacer

Pitch 0° ±1°

Optical centreline

Rideheight 2.1 ± 0.15 mm

Roll 0° ±0.5°

TONiC RESM20 angle encoder system installation guide

T20x1 readhead LED diagnostics

LED

Indication Green

Status Normal set-up: signal level > 70%

Set-up

Incremental Orange Red

Reference mark

Green (flash)* Orange (flash) Red (flash)

Acceptable set-up; signal level 50% to 70% Poor set-up; signal may be too low for reliable operation; signal level < 50% Normal phasing Acceptable phasing Poor phasing; clean scale and recalibrate if required

CAL

Operating Calibration

On Off Single flashing Double flashing

Automatic Gain Control On Automatic Gain Control Off Calibrating incremental signals Calibrating reference mark

Reset

Flashing at power-up (< 2s)

Restore factory defaults

Flash will effectively be invisible when incremental signal is > 70% when passing reference mark.

Ti0004 to Ti20KD and TD4000 to TD0040 interface LED diagnostics

Signal

Indication

Status

Alarm output

Purple

Normal setup; signal level 110% to 135%

No

Blue

Optimum setup; signal level 90% to 110%

No

Green

Normal set-up: signal level 70% to 90%

No

Orange

Acceptable set-up; signal level 50% to 70%

No

Red Incremental

Poor set-up; signal may be too low for reliable operation; signal level < 50%

No

Red / blank flashing

Poor set-up; signal level < 20%; system in error

Yes

Blue / blank flashing

Over speed; system in error

Yes

Purple / blank –

flashing

Over signal; system in error

Yes

Reference mark

Blank flash

Reference mark detected (speed < 100 mm/s only)

No

Alarm output will take the form of 3-state or line driven E- signal depending on interface configuration. Also, some configurations do not output overspeed alarm. · Momentary status only, while fault condition remains.
· Alarm may result in axis position error, re-datum to continue. See the product nomenclature for interface configuration in the TONiC encoder system Data sheet (Renishaw part no. L-9517-9337). This can be downloaded from our website at www.renishaw.com/tonicdownloads
and is also available from your local representative.

16

System calibration
Calibration is an essential operation that completes readhead set-up, with the optimum incremental and reference mark signal settings stored in the readhead’s non-volatile 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 (Restoring factory defaults’, page 18). u Ensure signal strength has been optimised over the full axis of rotation; the readhead LED will be Green. NOTE: CAL routine maximum speed < 100 mm/s (all Ti/TD interface models). TD interface can be calibrated in either resolution. Step 1 Incremental signal calibration u Ensure Automatic Gain Control is switched off (CAL LED on readhead is not illuminated) before beginning calibration (Switching Automatic Gain Control (AGC) on or off’, page 18). u Press and release the CAL button on the end of the interface 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.

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.
u The system automatically exits the CAL routine and is ready for operation. u If the CAL LED continues double-flashing 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 To exit the calibration routine at any stage press the CAL button. The CAL button will then stop flashing.

CAL LED Single flashing Double flashing Off (auto-complete)

Settings stored None, restore factory defaults and recalibrate
Incremental only Incremental and reference mark

u The CAL LED will now periodically single-flash to indicate that it is in incremental signal calibration mode.
u Rotate the axis at slow speed (< 100 mm/s or less than the readhead maximum speed, whichever is slowest), ensuring the readhead does not pass a reference mark, until the CAL LED starts double-flashing. This indicates that 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.
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 double-flashing of the CAL LED) 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 (Restoring factory defaults’, page 18) and check the readhead installation and system cleanliness before repeating the calibration routine.

TONiC RESM20 angle encoder system installation guide

17

Restoring factory defaults
When re-installing 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. u Release CAL button. u Check the Readhead mounting and alignment’, page 16 and re-calibrate the system (System calibration’, page 17).
NOTE: System must be re-calibrated 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.

TONiC RESM20 angle encoder system installation guide

18

Output signals

Interface output (analogue) Ti0000 only

Function

Output type

Power

–

Incremental signals Analogue

Cosine Sine

Reference mark

Analogue

Limits

Open collector

Set-up

–

Calibrate

–

Shield

–

Signal

5 V Power

5 V Sense

0 V Power

0 V Sense

V1

–

V2

–

V0

–

Vp Vq VX CAL

Inner shield

Outer shield

Readhead output

Function

Output type

Signal

Power

5 V Power –
0 V Power

Incremental signals

Cosine

V1

–

Analogue

Sine

V2

–

Reference mark

Analogue

V0

–

Limits Set-up

Open collector

Vp

Vq

–

VX

Calibrate

–

CAL

Shield

–

Inner shield*

–

Outer shield

No inner shield on UHV cables. TONiC RESM20 angle encoder system installation guide

Interface Ti0000 Pin 4 5 12 13 9 1 10 2 3 11 7 8 6 14
Not connected Case
Colour Brown White Red Blue Yellow Green Violet Grey Pink Black Clear Orange Green / Yellow Outer screen

Interface output (digital) Ti0004 to Ti20KD and TD4000 to TD0040

Function

Output type

Signal

Power

5 V –
0 V

Incremental

RS422A digital

A

–

B

–

Reference mark

RS422A digital

Z

–

Limits

P Open collector
Q

Set-up

RS422A digital

X

Alarm

–

E

Resolution

switching

–

Shield

–

Inner shield

–

Outer shield

Becomes alarm (E+) for Ti options E, F, G, H
The alarm signal can be output as a line driver signal or 3-state. Please select the preferred option at time of ordering.
On TD interfaces pin 10 should be connected to 0 V to switch to lower resolution.

Interface

Ti0004 – Ti20KD

TD4000 – TD0040

7, 8

2, 9

14

6

13

5

12

4

11

–

10

–

1

–

11

3

–

10

Case

Output connector for all interfaces;
15 way D-type plug

NOTE: T2000 series readheads are fitted with P and Q `end of travel’ limit switch sensors, typically used for linear motion applications. P and Q limit actuators are not suitable for ring encoder (RESM) installation. Limit switch signal detail is included here for information only. Please contact your local Renishaw representative if you require limits on your rotary installation.

19

Speed

Clocked output option (MHz)

Maximum speed (m/s)
Ti0004 Ti0020 Ti0040 Ti0100 Ti0200 Ti0400 Ti1000 Ti2000 Ti4000 Ti10KD Ti20KD 5 µm 1 µm 0.5 µm 0.2 µm 0.1 µm 50 nm 20 nm 10 nm 5 nm 2 nm 1 nm

50

10

6.48 3.24 1.62 0.648 0.324 0.162 0.0654 0.032

40

10

5.40 2.70 1.35 0.540 0.270 0.135 0.054 0.027

25

10

8.10 3.24 1.62 0.810 0.324 0.162 0.081 0.032 0.016

20

10

6.75 2.70 1.35 0.675 0.270 0.135 0.068 0.027 0.013

12

10

9

4.50 1.80 0.900 0.450 0.180 0.090 0.045 0.018 0.009

10

8.10 4.05

1.62 0.810 0.405 0.162 0.081 0.041 0.016 0.0081

08

10

6.48 3.24

1.29 0.648 0.324 0.130 0.065 0.032 0.013 0.0065

06

10

4.50 2.25

0.90 0.450 0.225 0.090 0.045 0.023 0.009 0.0045

04

10

3.37 1.68

0.67 0.338 0.169 0.068 0.034 0.017 0.0068 0.0034

01

4.2 0.84 0.42 0.16 0.084 0.042 0.017 0.008 0.004 0.0017 0.0008

Analogue output

10 (-3dB)

NOTE: TD maximum speeds are resolution dependent as defined above.

Angular speed depends on ring diameter use the following equation to convert to rev/min.

Angular

speed

(rev/min)

=

V

×

1000
D

×

60

Where V = maximum linear speed (m/s) and D = external diameter of RESM20 ring (mm)

TONiC RESM20 angle encoder system installation guide

20

Electrical connections
Grounding and shielding

Readhead Inner shield

Ti / TD interface

Extension cable maximum 50 m dependent upon clocked output option

Outer shield

Customer electronics
5 V Output signals
0 V

Recommended signal termination
Digital outputs
A B Z E+

0 V 220 pF Customer electronics

Cable Z 0 = 120R

120R

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 10 m

Remote CAL operation (Analogue versions only)

CAL

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,

0 V

remote operation of CAL /AGC is essential.

TD interface resolution switching

Pin 10 0 V

Connect pin 10 to 0 V to switch to lower resolution.

A B Z E-

220 pF

0 V
Standard RS422A line receiver circuitry Capacitors recommended for improved noise immunity

Single ended alarm signal termination (Ti options A, B, C, D)

Interface

5 V Customer

4k7

electronics

1k8

100R E-

4k7

100nF

Analogue outputs

V0 V1 V2+ V0 V1 V2-

120R

TONiC RESM20 angle encoder system installation guide

21

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

Resolution

A B

Reference Z
Wide reference

Bi-directionally repeatable pulse Z, duration equal to the resolution

Z

Bi-directionally repeatable pulse Z,

duration equal to the signal period

NOTE: Select standard’ orwide’ reference at time of ordering, to match the requirements of the controller being used. Wide reference mark not available on Ti0004 interfaces.

Limits Open collector output, asynchronous pulse Digital Ti interfaces only

Active high

or

Active low

Repeatability < 0.1 mm

P Q P Q

Length of limit actuator

Alarm Asynchronous pulse

Line driven

15 ms

E
Alarm asserted when: Signal amplitude < 20% or > 135% Readhead speed too high for reliable operation
E- output only for Ti options A, B, C, D
or 3-state alarm Differentially transmitted signals forced open circuit for > 15 ms when alarm conditions valid.
Set-up*

1

Voltage at X

0

100%

Signal level

Set-up signal voltage proportional to incremental signal amplitude

NOTE: No limits on TD interfaces. P limit becomes E+ for options E, F, G, H.

Set-up signals as shown are not present during calibration routine. Inverse signals not shown for clarity

TONiC RESM20 angle encoder system installation guide

22

Output specifications (continued)
Analogue output signals
Incremental 2 channels V1 and V2 differential sinusoids in quadrature centred on 1.65 V (90° phase shifted)
20 µm

Set-up* 3.3 (nom)

(V1

+)

-(V 1

-)

(V2

+)

-(V 2

-)

Reference

(V0

+)

-(V -) 0

0°
45° 360° (nominal)

0.7 to 1.35 Vpp with Green LED indication, (readhead) and 120R termination. Differential signals V0+ and V0- centred on ~1.65 V NOTE: Ti0000A00V centred on 2.5 V
0.8 to 1.2 Vpp
Bi-directionally repeatable Differential pulse V0 centred on 45°

Voltage at VX

0 0 50%

Signal level

70%

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 X

is

nominal

3.3

V.

100%

Limits Open collector output, asynchronous pulse Ti0000 interfaces only

Readhead only

Vp Vq

Active high Repeatability < 0.1 mm
Length of limit actuator

Vp Vq

Active low Repeatability < 0.1 mm
Length of limit actuator

NOTE: Ti0000 interface contains a transistor to invert the readhead’s active low’ signal to give anactive high’ output.

TONiC RESM20 angle encoder system installation guide

Set-up signals as shown are not present during calibration routine.
23

General specifications

Power supply
Temperature Humidity Sealing Acceleration Shock Vibration Mass
Readhead cable

(System)
(UHV readhead) (System)
(Readhead) (Interface)
(Readhead) (System) (System)
(Readhead) (Interface) (Cable)
(UHV cable) (Standard)

5 V ±10% Readhead only < 100 mA T20x1 with Ti0000 < 100 mA T20x1 with Ti0004 Ti20KD or 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 120R. For analogue outputs a further 20 mA in total will be drawn when terminated with 120R. Power from a 5 Vdc supply complying with the requirements for SELV of standard IEC 60950-1.
Ripple 200 mVpp maximum @ frequency up to 500 kHz Storage -20 °C to +70 °C Operating 0 °C to +70 °C Bakeout +120 °C
95% relative humidity (non-condensing) to EN 60068-2-78 IP40 IP20 Operating 500 m / s2, 3 axes Operating 500 m /s2, 11 ms, ½ sine, 3 axes Operating 100 m / s2, 55 Hz to 2000 Hz, 3 axes 10 g 100 g 26 g/m 14 g/m Double shielded, outside diameter 4.25 ±0.25 mm Flex life > 20 ×106 cycles at 20 mm bend radius

Maximum cable length

UL recognised component

(UHV)

Tin coated braided single screen FEP core insulation

Readhead to interface 10 m

Interface to controller

Clocked output option (MHz)

Maximum cable length (m)

40 to 50

25

< 40

50

analogue

50

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.

RESM20 ring specifications
Material Coefficient of thermal expansion (at 20 °C)

303/304 stainless steel 15.5 ±0.5 µm/m/°C

TONiC RESM20 angle encoder system installation guide

24

Renishaw plc
New Mills, Wotton-under-Edge Gloucestershire, GL12 8JR United Kingdom

T +44 (0)1453 524524 F +44 (0)1453 524901 E [email protected]
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.

Part no.: M-9653-9161-04-D Issued: 08.2023