Renishaw RGH24 User manual

RSLM high accuracy linear encoder
Installation guide
M-9541-9109-01-B
RGH24 RGS20 linear encoder system

Contents
Product compliance 1
Storage and handling 2
RGH24 readhead installation drawing 3
RGS20 scale installation drawing 4
Scale application 5
End clamps 5
Reference mark and limit switch actuator installation 5
Readhead mounting and alignment 6
Reference mark setup 6
Limit switch 6
Output signals 7
Speed 7
Electrical connections 8
Output specifications 9
General specifications 10
Scale specifications 10
RGH24 RGS20 installation guide

1
Product compliance
C
Renishaw plc declares that RGH24 complies with the applicable standards and regulations.
A copy of the EC Declaration of Conformity is available on request.
FCC 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.
RoHS compliance
Compliant with EC directive 2011/65/EU (RoHS)
Further information
Further information relating to the RGH24 encoder range can be found in the RGH24 system
Data sheet (L-9517-9677). This can be downloaded from our website www.renishaw.com/encoder
and is also available from your local representative. 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 written
prior permission of Renishaw. The publication of material within this document does not imply freedom
from the patent rights of Renishaw plc.
Disclaimer
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.
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.
The packaging of our products contains the following materials and can be recycled.
Cardboard
Polypropylene
Low Density Polyethylene Foam
Cardboard
High Density Polyethylene Bag
Metalised Polyethylene
Not applicable
PP
LDPE
Not applicable
HDPE
PE
Outer box
Inserts
Bags
Recycling Guidance
ISO 11469
Material
Packaging Component
Recyclable
Recyclable
Recyclable
Recyclable
Recyclable
Recyclable
RGH24 RGS20 installation guide

Storage and handling
2
RGH24 RGS20 installation guide
RGS20 – 100 mm
NOTE: Ensure self-adhesive
tape is on outside of bend.
Minimum bend radius
Operating
Storage
System
+55 °C
0 °C
System
+70 °C
-20 °C
Humidity
95% relative humidity
(non-condensing)
to EN 60068-2-78
N-heptane
CH3(CH2)5CH3
Propan-2-ol
CH3CHOHCH3
Acetone
CH3COCH3
Methylated
Spirits
Chlorinated
Solvents

3
RGH24 readhead installation drawing Dimensions and tolerances in mm
RGH24 RGS20 installation guide
*Dimensions measured from substrate.
=Required nominal 0.8 gap can be set using blue readhead spacer (supplied) positioned between readhead and actuator when positioning/fixing the actuator.
Rideheight
0.8 ±0.1
9.5 6.2
27
21
0.6
0.3
(Yaw Tol. ±0.5°)
R>20 Dynamic bend radius
R>10 Static bend radius
(Pitch Tol. ± 1°)
Fixing screws
M3 x 0.5 x 8
6
3
6 (RGS20-S)
6.3 (RGS20-P)
36
26
21.1
>4
4
8.5
8.5*
A
Reference mark actuator
(A-9541-0037)
4*8*
2 Mounting holes
M3 x 0.5 through
Set-up LED
5
4.3
17
JST connector
version
12.8
5.5
Arrow indicates forward direction
of readhead relative to scale
Limit switch
actuator
(A-9541-0040)
Readhead to
scale clearance
Detail A
Scale surface
11.9
8
23
9.3
Alternative
mounting face
6.4*
(Roll Tol. ± 1°)
0.09
3.8
13.5
15.8*
4.8
(Extent of mounting faces)
Mounting face
3
3
Scale thickness:
0.2 (RGS20-S)
0.3 (RGS20-P)
Reference marksensor/
limit switch sensor position
Optical centreline
( )
0.8 -0.1
+0.2
See note=
Ø4.4 max

RGS20 scale installation drawing (with reference mark actuator) Dimensions and tolerances in mm
4
RGH24 RGS20 installation guide
NOTE: The surface roughness of the scale mounting surface must be 3.2 Ra. The parallelism of the scale surface to the axis of motion (readhead rideheight variation) must be within 0.05 mm.
Measuring length (ML)
Overall length (ML+ 70)
<10
6 (RGS20-S) 6.3 (RGS20-P)
Scale length (ML + 40)
10
28.5
14 8.72.2
Measuring length (ML)
Reference mark actuator position range
Limit switch actuator position range
0.5
0.2/100
F = axis of motion
F
0.5
0.2/100
F = axis of motion
F
6 (RGS20-S) 6.3 (RGS20-P)
Scale length (ML + 40)
Overall length (ML+ 70)
>15
30
13
>5
>15
30
>5
13
Bolted reference mark actuator shown
(A-9541-0037)
Bolted limit switch actuator shown
(A-9541-0040)
Optional epoxy mounted reference mark actuator
(A-9531-0250)
<10
>5
>5 Optional epoxy mounted limit switch actuator
(A-9531-0251)
RGS20 scale installation drawing (with limit switch actuator) Dimensions and tolerances in mm

5
RGH24 RGS20 installation guide
Scale application
The scale applicator A-9541-0124 is designed specifically for use with the RGH24 readheads
and RGS20-S scale. Use applicator A-9541-0305 when installing RGS20-P scale.
1Allow scale to acclimatize to installation environment prior to installation.
2Thoroughly clean and degrease the substrate using recommended solvents (see 'Storage and handling').
Allow substrate to dry before applying scale.
3Mark out ‘START’ and ‘FINISH’ points for the scale on the axis substrate. Ensure that there is room for the
end clamps (see ‘RGS20 scale installation drawing’).
4Mount the appropriate scale applicator to the readhead mounting bracket using M2.5 screws.
Place the shim supplied with the readhead between the applicator and substrate to set the nominal height.
NOTE: Scale applicator can be mounted either way round to enable easiest orientation for scale installation.
5Move axis close to scale start position, leaving enough room for the scale to be inserted through the
applicator as shown below.
6Begin to remove the backing paper from the scale and insert scale into the applicator up to the
‘START’ point (as shown). Ensure backing tape is routed under the splitter screw.
7Apply finger pressure to the scale at the ‘START’ point,
using a clean lint-free cloth, to ensure scale end
adheres well to substrate.
End clamps
A-9523-4015 is an end clamp kit designed to be used with Renishaw RGS scale.
IMPORTANT: End clamps should be used to ensure positional stability of the scale and
reference mark repeatability.
NOTE: End clamps can be mounted before or after readhead installation.
Ensure that excess glue is wiped away from scale
as it may affect the readhead signal level.
3The end clamp features two small regions
of contact adhesive. These will temporarily
hold the end clamp in position while the
glue cures. Remove the backing tape
from either side.
15 mm
1Remove the lacquer coating from the last
15 mm of each end of the scale with a knife
and clean with one of the recommended
solvents (see ‘Storage and handling’).
4Immediately position end clamp
over the end of the scale.
Allow 24 hours at 20 °C
for full cure.
2Thoroughly mix up a sachet of glue
(A-9531-0342) and apply a small amount
to the underside of the end clamp.
9Remove applicator and, if necessary, adhere remaining scale manually. Apply firm finger pressure via
a clean lint-free cloth along the length of the scale after application to ensure complete adhesion.
10 Clean the scale using Renishaw scale wipes (A-9523-4040) or a clean, dry, lint-free cloth.
11 Fit end clamps (see ‘End clamps’ section).
12 Allow 24 hours for complete adhesion of scale before fitting reference mark selector magnet or limit magnet.
M2.5 mounting holes
‘START’ point
8Slowly and smoothly move the applicator through the entire axis of travel, ensuring the backing paper
is pulled manually from the scale and does not catch under the applicator.
Direction of scale application
Scale
Splitter screw
Backing paper
START
Reference mark and limit switch actuator installation
Screw mounted or adhesive mounted reference mark and limit switch actuators are available.
Refer to RGH24 readhead installation drawing and RGS20 scale installation drawing for
actuator positioning.

6
RGH24 RGS20 installation guide
For reliable operation, the set-up LED should be GREEN when readhead is moved along the full axis travel.
The JST version of the RGH24 has an LED repeater signal that can be used in cases where the LED is not visible.
*Remote LED will continuously flash Red when signal <20%
Readhead mounting and alignment
Mounting brackets
The bracket must have a flat mounting surface, 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. For easier installation, adjust the roll and yaw of the bracket with respect to the axis of readhead
travel before the RGH24 is attached. This can be done with a clock gauge and a precision square.
Readhead set-up
To set nominal rideheight, position readhead spacer with ‘L’shaped aperture under the optical centre of the
readhead to allow normal LED function during set-up procedure. Ensure that the scale, readhead optical
window and mounting face are clean and free from obstructions.
NOTE: Ensure readhead fixing screws are tightened to 0.5 Nm-0.7 Nm.
Green Orange Red*
Ya w
0° ± 0.5°
Pitch
0° ± 1°
Roll
0° ± 1°
0.8 ± 0.1 mm
Rideheight
IMPORTANT: The RGH24 range does not incorporate a separate Alarm ‘E’ signal. Low signal is
indicated by a 3-state output of the line driver channels.
Reference mark set-up
To ensure unidirectional repeatability, the reference mark requires phasing with the scale in
the direction of normal datuming operation.
A reference pulse is output in both directions, but repeatabilty is guaranteed only in the
phased direction.
Ensure readhead is set up correctly with a green LED indication over the full length of travel and
that the reference mark actuator is fitted correctly.
NOTE: It is recommended that a datum procedure is performed as part of any power-up sequence
to ensure the correct datum position is recorded.
NOTE: Reference mark output is synchronised with the incremental channels, giving unit of
resolution pulse width.
Phasing procedure
The readhead must be moved over the reference mark
in the direction to be used for the datuming operation.
The reference mark is phased correctly when the
set-up LED flashes red for 0.25 seconds.
If it flashes orange or goes blank,
the reference mark adjuster screw
should be turned anti-clockwise by
1
/
8turn and the procedure repeated
until a red flash is obtained.
Red Orange Blank†
LED flash during reference mark traverse only
†Remote LED will flash Green rather than blank.
Limit switch
A limit switch signal is output when the readhead sensor passes over the magnetic actuator.
NOTE: RGH24 readheads are available with reference mark or limit switch detection.
Select output at order.
NOTE: Limit switch output is not available with analogue RGH24, or options 60, 61 and 62 of
the digital RGH24.

7
RGH24 RGS20 installation guide
Output signals
RGH24 D, X, Z, W, Y, H, I, O RS422A digital
JST
(Z)
9
10
8
7
2
1
5
6
N/A
N/A
4
3
Colour
Brown
White
Green
Yellow
Blue
Red
Pink
Grey
Inner shield
Outer shield
N/A
N/A
5 V
0 V
+
-
+
-
A
B
Z+/Q-
Z-/Q+
Inner
Outer
Green
Red
15 pin D type
(D)
7,8
2,9
14
6
13
5
12
4
15
Case
N/A
N/A
9 pin D type
(A)
5
1
2
6
4
8
3
7
9
Case
N/A
N/A
Signal
Function
Power
Incremental
signals
Reference
mark/Limit
switch
Shield
Remote
LED driver
RGH24B 1Vpp analogue
4, 5
12, 13
9
1
10
2
3
11
15
Case
Colour
Brown
White
Green
Yellow
Blue
Red
Pink
Grey
–
–
9 pin D type (A)
5 V
0 V
V1 + /I1+
V1 - /I1-
V2 + /I2+
V2 - /I2-
V0 + /I0+
V0 - /I0-
Inner
Outer
Function
Power
Incremental
signals
Reference
mark
Shield
Signal
5
1
2
6
4
8
3
7
9
Case
15 pin D type (L)
3-state Alarm
For RGH24D, X, Z, incremental channels forced open circuit for >20 ms when signal too low for
reliable operation.
For RGH24W,Y, H, I, O incremental channels forced open circuit for >10 ms when signal too low or
speed too high for reliable operation.
40
16
52
15 pin D type plug (Termination code D, L)
10 pin JST plug
(Termination code Z)
1652
9 pin D type plug (Termination code A)
31
Speed
Digital readheads
Non-clocked output readheads
Lowest recommended counter input
frequency (MHz)
Maximum speed (m/s)
Head type
D (5 μm)
X (1 μm)
Z (0.5 μm)
8.0
5.0
3.0
x 4 safety
factor
Encoder velocity (m/s)
Resolution (μm)
NOTE: Maximum speeds of clocked output variants assume 3 m maximum cable length and minimum 5 V supply at
readhead connector.
Analogue readheads
RGH24B – 4 m/s (-3dB)
Clocked output readheads
The RGH24W, Y, H, I and O readheads are available with a variety of different clocked outputs.
Customers must ensure they comply with the lowest recommended counter input frequency.
Lowest
recommended
counter input
frequency (MHz)
Maximum speed (m/s)
Standard
connector
options
(A, D and F)
60
61
62
30
31
32
33
W
(0.2 μm)
–
3.0
1.6
–
–
0.7
0.5
50
20
10
12
8
6
4
JST
connector
options
(Z)
–
–
–
35
36
37
38
Y
(0.1 μm)
3.0
1.6
0.8
0.7
0.5
–
0.25
H
(50 nm)
–
–
–
0.35
0.25
–
0.12
I
(20 nm)
–
–
–
0.13
0.09
–
0.04
O
(10 nm)
–
–
–
0.65
0.045
–
0.02

Remote LED driver outputs
JST connector version allows for remote
monitoring of readhead status.
8
RGH24 RGS20 installation guide
Electrical connections
Grounding and shielding
*Maximum extension cable length
RGH24B - 100 m, RGH24D, X and Z- 50 m, RGH24W, Y, H, I and O - 20 m
RGH24
Customer
electronics
Extension cable*
Inner shield
Outer shield
Output
signals
0 V
5 V
IMPORTANT: The outer shield should be connected to the machine earth (Field Ground). The inner shield should be connected
to 0 V. 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.
Recommended signal termination
Digital outputs - RGH24D, X, Z, W, Y, H, I and O Analogue output - RGH24B
V0V1V2+
V0V1V2-
120R
Standard RS422A line receiver circuitry
Capacitors recommended for improved noise immunity.
Customer
electronics
120R
A B Z Q-
Cable Z0= 120R
Readhead
A B Z Q+
0 V
0 V
220 pF
220 pF
Green
Red
Red/Green
LED
150R
+
–
Green Red

9
Output specifications
Digital output signals - type RGH24D, X, Z, W, Y, H, I and O
Form - Square wave differential line driver to EIA RS422A
Incremental=2 channels A and B in quadrature (90° phase shifted)
Reference=
Synchronised pulse Z, duration equal to the resolution.
Repeatability of position (uni-directional) maintained
within ±10 °C from installation temperature and for
speed <250 mm/s.
Actuation device: A-9541-0037 or A-9531-0250
Signal period P
Resolution S
A
B
Z
Limit Asynchronous pulse
Alarm
3-state alarm
Incremental channels forced open circuit for >20 ms when signal too low for reliable operation.
For RGH24W, Y, H, I and O only, incremental channels forced open circuit for >10 ms when signal
too low or speed too high for reliable operation.
= Inverse signals not shown for clarity
Analogue output signals type RGH24B (1Vpp)
20 μm
90°
108°-18°
0°
Incremental 2 channels V1and V2differential sinusoids in quadrature (90° phase shifted)
Differential pulse V0- 18° to 108°.
Duration 126° (electrical).
Repeatability of position (uni-directional) maintained
within ±10 °C from installation temperature and for
speed <250 mm/s.
Actuation device: A-9531-0037 or A-9531-0250
0.6 to 1.2 Vpp with
green LED indication
and 120R termination.
Reference
(V1 +) - (V1-)
(V2 +) - (V2-)
0.8 to 1.2 Vpp
(V0+) - (V0-)
Length of actuating
magnet
Q
Repeatability <0.1 mm typical
NOTE: RGH24 readheads are available with reference mark
or limit switch detection. Select output at order.
Actuation device: A-9541-0040 or A-9531-0251
RGH24 RGS20 installation guide
RGH24D
RGH24X
RGH24Z
RGH24W
RGH24Y
RGH24H
RGH24I
RGH24O
20
4
2
0.8
0.4
0.2
0.08
0.04
5
1
0.5
0.2
0.1
0.05
0.02
0.01
Model P (µm) S (µm)
NOTE: Limit output not available for readheads with option 60, 61and 62.

10
RGH24 RGS20 installation guide
General specifications
Power supply 5 V ± 5% 120 mA
NOTE: Current consumption figures refer to unterminated readheads.
For digital outputs a further 25 mA per channel pair (e.g. A+, A-)
will be drawn when terminated with 120R.
For analogue outputs a further 20 mA will be drawn when
terminated with 120R.
Power from a 5 V dc supply complying with the requirements for
SELV of standard IEC BS EN 60950-1.
Ripple 200 mVpp@frequency up to 500 kHz maximum.
Temperature Storage -20 °C to +70 °C
Operating 0 °C to +55 °C
Humidity 95% relative humidity (non condensing) to EN 60068-2-78
Sealing IP40
Acceleration Operating 500 m/s², 3 axes
Shock Non-operating 1000 m/s², 6 ms, ½ sine, 3 axes
Vibration Operating 100 m/s² max @ 55 Hz to 2000 Hz, 3 axes
Mass Readhead 11 g
Cable 34 g/m
Cable 8 core, double shield, maximum diameter 4.4 mm.
Flex life >20 x 10 6cycles at 20 mm bend radius.
The RGH24 series readheads have been designed to the relevant EMC standards, but must be
correctly integrated to achieve EMC compliance. In particular, attention to shielding arrangements
is critical. Renishaw recommends the use of a double screened cable to connect RGH24 JST as
used in the cable variants of the RGH24.
Scale specifications
Scale type RGS20-S - reflective gold plated steel tape with protective lacquer coating.
Adhesive backing tape allows direct mounting to the machine substrate.
RGS20-P - reflective gold plated steel tape with tough polyester coating
for applications using harsh solvents. Adhesive backing tape allows direct
mounting to the machine substrate.
Scale period RGS20-S, RGS20-P = 20 μm
Linearity RGS20-S = ±3 μm/m
RGS20-P = ±5 μm/m
Scale length Up to 50 m (>50 m by special order)
Form RGS20-S = 0.2 mm x 6 mm (H x W) includes adhesive
RGS20-P = 0.3 mm x 6.3 mm (H x W) includes adhesive
Substrate materials Metals, ceramics and composites with expansion coefficients between
0 and 22 μm/m/°C
(steel, aluminium, invar, granite, ceramic etc.)
Expansion coefficient Scale expansion matches that of substrate material when scale ends are
fixed by epoxy mounted end clamps
End fixing Epoxy mounted end clamps (A-9523-4015) using 2 part epoxy adhesive
(A-9531-0342)
Scale end movement <1 μm over temperature range -20 °C to +50 °C
Operating specification Temperature: -10 °C to +120 °C (Scale only)
Minimum installation temperature: 10 °C
Humidity: 95% relative humidity (non condensing) to EN 60068-2-78
Storage Temperature: -20 °C to +70 °C

RSLM high accuracy linear encoder
Renishaw plc
New Mills, Wotton-under-Edge,
Gloucestershire GL12 8JR
United Kingdom
T+44 (0)1453 524524
F+44 (0)1453 524901
[e-mail]
www.renishaw.com
For worldwide contact details,
please visit our main website at
www.renishaw.com/contact
*M-6195-9211-01*
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