Renishaw RCS T Series User manual

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User guide
RCS T-series

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Contents
Legal information ..................................................................................................................5
International regulations and conformance ..............................................................................................6
Supplier’s Declaration of Conformity ...................................................................................................7
Safety information..................................................................................................................8
Overview ...................................................................................................................8
Mechanical safety.............................................................................................................9
Electrical and power safety.....................................................................................................10
Metric and imperial accessory kits ...............................................................................................10
Datum ball assembly .........................................................................................................10
Cleaning the joints ...........................................................................................................10
System overview .................................................................................................................11
Guidelines for best practice .........................................................................................................12
RCS L-90 calibration ..............................................................................................................13
Calibration certicates ........................................................................................................13
Certicate content ...........................................................................................................13
Handling the RCS L-90 strut with care............................................................................................14
RCS L-90 calibration and homing ...............................................................................................14
Device pairing and connecting ..................................................................................................15
RCS T-90 strut calibration procedure .............................................................................................16
Tether use..................................................................................................................18
RCS T-90 frame calibration.....................................................................................................18
Setting up the T-90 ...........................................................................................................19
RCS Software Suite ...............................................................................................................20
Complete RCS T-90 system contents .................................................................................................21

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RCS T-90 upgrade kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
RCS T-90 tripod kit ................................................................................................................23
Interface LED status ...............................................................................................................24
Troubleshooting ..................................................................................................................27
Equipment mishandling .......................................................................................................27
In-test robustness ...........................................................................................................27
Further information ................................................................................................................28

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Legal information
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 ofce.
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 dened in associated Renishaw documentation. You should
consult these Standard Terms and Conditions to nd 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. If you
purchased the equipment from any other supplier, you should contact them to
nd out what repairs are covered by their warranty.
Packing material
Packaging
component Material 94/62/EC Code 94/62/EC number
Outer box Non-corrugated
breboard PA P 21
Bag Low density
Polyethylene LDPE 4
Renishaw software EULA
Renishaw software is licensed in accordance with the Renishaw licence at:
www.renishaw.com/legal/en/software-licence-agreement

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International regulations and conformance
Declaration of conformity
Renishaw plc hereby declares that RCS T-series system complies with the
essential requirements and other relevant provisions of:
• the applicable EU directives
• the relevant statutory instruments under UK law
In compliance with BS EN 61010-1:2010 the product is safe to use in the
following environmental conditions:
• Indoor use only
• Altitude up to 2000 m
• Maximum relative humidity (non-condensing) of 80% for temperatures up
to 31 °C, decreasing linearly to 50% relative humidity at 40 °C
• Pollution degree 2
The full text of the declaration of conformity is available upon request.
Disposal of waste electrical and electronic
equipment
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, contact
your local waste disposal service or Renishaw distributor.
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

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FCC
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 modications 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 used in
accordance with this user guide, may cause harmful interference to radio
communications. Operation of this equipment in a residential area is likely to
cause harmful interference, in which case you will be required to correct the
interference at your own expense.
Supplier’s Declaration of Conformity
47 CFR § 2.1077 compliance information
Unique Identier: RCS L-90 and RCS T-90 systems
Responsible Party – U.S. Contact Information
Renishaw Inc.
1001 Wesemann Drive
West Dundee
Illinois
IL 60118
United States
Telephone number: [phone]
Email: [e-mail]
US Government notice
NOTICE TO UNITED STATES GOVERNMENT CONTRACT AND PRIME
CONTRACT CUSTOMERS.
This software is commercial computer software that has been developed by
Renishaw exclusively at private expense. Notwithstanding any other lease
or licence agreement that may pertain to, or accompany the delivery of,
this computer software, the rights of the United States Government and/or
its prime contractors regarding its use, reproduction and disclosure are as
set forth in the terms of the contract or subcontract between Renishaw and
the United States Government, civilian federal agency or prime contractor
respectively. Please consult the applicable contract or subcontract and the
software licence incorporated therein, if applicable, to determine your exact
rights regarding use, reproduction and/or disclosure.

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RoHS compliance
Compliant with EC directive 2011/65/EU (RoHS)
China RoHS
The T-90 China RoHS is available on request. Please contact Renishaw plc
support for the full China RoHS tabulation.
ICES-001 (Canada only)
This ISM device complies with Canadian ICES-001(A) / NMB-001(A).
Cet appareil ISM est conforme à la norme ICES-001(A) / NMB-001(A) du
Canada.
Safety information
Overview
The RCS T-series system can be used in a variety of environments and
applications.
WARNING: To ensure the safety of the user and other personnel in the
vicinity, it is recommended that a comprehensive risk assessment of the robot
system under test is carried out before starting.
The risk assessment should be carried out by qualied users (requiring
machine competency, application technical knowledge and advice from
a trained risk assessor) with consideration for the safety of all personnel.
The risks identied must be mitigated prior to using the systems. The risk
assessment should pay particular attention to robot system movement (in
both manual and automatic modes), manual handling, and electrical safety.
CAUTION: There are no user-serviceable parts inside the RCS T-series
robot ballbar and T-series interface modules. Do not remove any part of
the housing; to do so could cause personal harm and damage the system
irreparably.

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Ensure that you have read and fully understood the RCS T-series user guide
before using the devices.
NOTE: Appropriate safety wear must be worn during installation and
operation of the product within a robotic cell.
CAUTION: The device contains magnets which may cause pinch
injuries with metal objects or interfere with electronic and
implanted medical devices.
Mechanical safety
• When setting up and mounting the RCS T-series, be aware of pinch
and/or crush hazards that may be created, for example, due to magnetic
coupling and/or the expanding or collapsing of the robot ballbar.
• Be aware of trip hazards that may be created between the cables of the
RCS T-series, interface modules and the laptop or desktop computer.
• Exercise caution if either system is mounted to an external axis that
moves or rotates. Beware of cables becoming entangled.
• If operating the robot system with guards or any safety features
removed or disabled, it is the responsibility of the operator to ensure
that alternative safety measures are taken in line with the robot system’s
operating instructions or relevant codes of practice.
• If operating the robot system within a guarded cell, it is the responsibility
of the operator to ensure safe practice is followed.
• When setting up the tripod stand, the height of the tripod should be set to
approximately the height of the robot xture plate. The tripod stand legs
should be adjusted to ensure that the tripod is steady and will not move
during use.

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Electrical and power safety
• The system must not come into contact with uids; for example, coolant.
• The RCS T-series must be powered by the power supply provided.
• Users are advised to ensure they are using the correct regional power
adaptor.
• The RCS T-series interface module is compatible with any USB 2.0 port
(and above) on a laptop or desktop computer. The USB power source is
not sufcient to power the device.
• Never connect the interface modules to devices that are not intended to
be used as part of the RCS T-series.
Metric and imperial accessory kits
Both metric and imperial versions of the accessory kits are available. The
measurement unit is detailed in the product names. The complete kit is
supplied as standard with metric components. Users should ensure they have
the correct accessories prior to set-up.
Datum ball assembly
Prior to use, users should ensure all datum balls are clean and undamaged.
Where required, use the supplied Renishaw cleaning kit to ensure that
kinematic joints are clean and free from debris.
Cleaning the joints
Prior to mounting the device, ensure all contact points and extensions are
free from debris (for example, metal shavings on either magnetic mounting
interface) using the Renishaw-supplied cleaning kit.
With clean hands, tear off a small piece of material and shape it into a ball.
Press into or onto each feature, taking care to ensure none of the cleaning
material is left behind.

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System overview
The RCS T-series is a tripod ballbar system designed to enable advanced
tests to be undertaken for the calibration of robot systems, periodic
health checks and preventative maintenance. The system can perform
a variety of tests, including the calibration of the tool centre point (TCP),
calibration of part work frames, alignment of external axes, volumetric
verication, and joint offset calibration.
The RCS T-series is a tripod conguration of three RCS L-90 ballbar systems
magnetically seated across the RCS base plate. As the robot manipulator
moves through test positions, the device records accurate measurements at
varying positions which are then computed inside the RCS Software Suite
and output as a result.

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Guidelines for best practice
Using the RCS T-90 system
• The RCS T-series has been designed to be robust, however the
equipment is a precision measurement system and must be handled with
care.
• When mounting the devices, ensure all contact points are free from
debris; for example, metal shavings on either magnetic mounting
interface, using the provided Renishaw cleaning kit. Ensure the T-series
extensions are aligned correctly and are used as intended.
• Use the supplied RCS T-series tether to prevent accidental drops. These
can be hooked behind the TCP ball on the robot and attached to the
RCS T-90 series struts.
• Calibrating the RCS T-series system using the supplied calibration device
is recommended once every 12 hours, before rst use in a new location
and following any notable changes in room temperature.
• Ensure all datum balls are clean and not damaged before use.
• When setting up the system, care and consideration should be given to
the orientation of products. Users should ensure all items are secured
and are not likely to move during use.
• The supplied interface connectors must be utilised with the system.
• Refer to the electrical and power safety guidance to ensure the correct
USB power supply is provided.
• Do not disconnect the power supply whilst the system is in use.
• When plugging in each L-90 to the interface, ensure that the D-type
connections are rmly xed in place using the screw pins.
• Two L-90 struts are utilised when undertaking a joint offset test and the
unused strut should be left in the ball-to-ball position.
• Once paired, the supplied cable tag identiers with the unique symbols
must be added to each L-90 strut cable so that they can be reconnected
to the correct interface ports.

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RCS L-90 calibration
Calibration certicates
Each RCS L-90 strut and calibrator is delivered with a calibration certicate.
This demonstrates that the system has been calibrated at the Renishaw
factory with traceability to National Standards. It is proof of the equipment’s
performance as tested prior to delivery. Visit the Calibration product quality
and conformance webpage (https://www.renishaw.com/en/calibration-
product-quality-and-conformance--6872) for more information.
The certicates are important documents which may be required to
demonstrate compliance with quality assurance requirements.
Duplicate documents can be supplied, but there is a charge for a hard copy.
Certicate content
Each certicate is unique and is identied by a certicate number. All
RCS L-90 ballbar certicates provide the following key information:
• Serial number of calibrated RCS L-90 device
• Specic test results
• Statement of accuracy
• Traceability data (calibration details)
• Test conditions and methodology
To enable traceability, details of the test equipment used are given. The date
of testing and the date of printing the certicate are separately noted and the
results are signed by an authorised Renishaw employee.
Details of the test procedure, test environment, and applicable standards,
all in accordance with the requirements of Renishaw’s ISO 9001 quality
assurance system, are also supplied.

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RCS L-90 calibration and homing
Calibration of the RCS L-series system must only be completed with the
supplied calibration device.
For best results, it is recommended that the system is calibrated following any
notable changes in room temperature. This could be:
• Once every 12 hours
• Before rst use in each new location
CAUTION: Handle the calibrator with care. The calibrator is designed to
remain in its protective foam tray during use. Removal from the tray is not
recommended, but if deemed necessary, handle the unit with care.
The RCS L-90 device is automatically homed when it passes over a reference
mark.
Handling the RCS L-90 strut with care
The RCS T-series has been designed to be robust, however the equipment
is a precision measurement system and must be handled with care. The
RCS T-90 system is made up of three RCS L-90 struts. Each L-90 device
contains an encoder and scale to deliver accurate measurements.
Rough handling of the device may damage it and cause the encoder to
malfunction, leading to the need for re-homing. When handling, ensure the
device is fully closed wherever possible.
When extending or closing the device, the thumb tag, located on the
extending end of the strut, must be used.

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Device pairing and connecting
3. Connect all three RCS L-90 struts to the RCS T-90 interface. Use the
unique shapes to ensure the appropriate strut and extension is attached
to its corresponding input.
NOTE: Use the cable identier tags to ensure that previously paired
RCS L-90 struts are correctly paired with their corresponding interface port.
4. If the RCS L-90 struts have not yet been paired, connect each strut to an
interface port.
5. Press the ‘pair’ button in the RCS Software Suite. If the device has been
successfully paired, the software will move to the calibration screen.
NOTE: Once paired, use the cable identier tags to distinguish the unique
shape allocated to each RCS L-90 strut.

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RCS T-90 strut calibration procedure
Once the RCS L-90 struts have been paired, the RCS Software Suite will
prompt the user to calibrate each device.
For use within the RCS T-90 system, each strut must be calibrated both
before and after the extensions have been tted.
Users will be guided by the RCS Software Suite through the steps required
and the correct order of the calibrations.
The instructions below ensure best practice is followed when tting each of
the three RCS L-90 struts (which make up the RCS T-90).
1. With the RCS L-90 strut closed, carefully attach the extending end
(with the cable and thumb tag) of the RCS L-90 strut to one end of the
calibrator.
NOTE: When calibrating for the RCS T-90 system, the RCS L-90 struts must
be calibrated an additional time with the extensions attached. Please refer to
the RCS Software Suite for guidance.

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2. Extend the device so that the opposite end of the strut reaches the
opposite ball surface of the calibrator. Ensure the RCS L-90 strut is
magnetically attached to the calibrator.
3. For removal, the process must be reversed. Close the device by
retracting the ‘non-cable end’, before removing from the calibrator.
NOTE: If calibration is being undertaken in relation to RCS L-90 specic
activities (individual strut usage), users should refer to the individual
RCS L-90 user guide for calibration procedure.

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RCS T-90 frame calibration
The RCS T-90 base plate calibration must be performed prior to any test.
To perform a base plate calibration, users must follow the steps within the
RCS Software Suite.
Tether use
To protect the device in the event of an unintentional detachment, use of the
supplied RCS T-series tether is recommended to connect the struts securely
to the robot tip and prevent accidental drops.
The tether must be hooked behind the RCS hollow ball (or selected RCS kit
alternative) on the robot, and attached to the three RCS L-series struts as
illustrated below:

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Setting up the T-90
Fix the base plate to either the tripod plate, using three of the available screw
attachment points, or a at surface within the working area of the robot, using
a single screw through the interface centre.
Ensure that the correct extensions for each L-90 strut (with matching unique
shape) are placed on the corresponding sides of the base plate.

20 RCS T-series user guide
2. If you do not have a My Renishaw account, select ‘Create an account’.
3. Follow the on-screen instructions to create your account. Your account
may take up to three business days to be activated.
4. Scroll down to ‘Robotics’ and download the RCS Software Suite.
5. In the event that the drop-down ‘Robotics’ is not displayed, contact
[e-mail].
6. For more information on licensing, visit Licensing user guides
(renishaw.com).
RCS Software Suite
Software download
Before you start
The user will receive an email with their unique licence details from Renishaw
Licensing ([e-mail]). This email contains the user’s
‘Entitlement ID’ which is required for the licence activation process.
Software download
Visit https://www.renishaw.com/softwarelicensing
If you already have a My Renishaw account, select the ‘Sign in’ option. It is
important that this step is undertaken rst.
1. Scroll down to ‘Robotics’ and click to download the RCS Software Suite.