Renishaw RLI20-P User manual

RLI20 Renishaw laser interfaceRLI20-P laser interface (Panasonic)
User’s guide
M-9926-0005-02-B

© 2012-2015 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.
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.
Trademarks
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.
Renishaw part no: M-9926-0005-02-B
Issued: 09 2015
All other brand names and product names used in this
document are trade names, trade marks, or registered trade
marks of their respective owners.
Care of equipment
The RLI20 laser interface contains precision electronic
components. Avoid exposure to moisture. Remove power before
connecting, disconnecting or handling.
Changes to Renishaw products
Renishaw plc reserves the right to improve, change or modify
its products and documentation without incurring any obligation
to make changes to Renishaw equipment previously sold or
distributed.
Warranty
Renishaw plc warrants its equipment provided that it is installed
exactly as defined in associated Renishaw documentation.

Safety
It is the responsibility of the manufacturer and/or encoder
system installation authority to ensure that, in safety critical
applications of the RLI20 laser interface, any form of signal
deviation from the limits of the receiving electronics, howsoever
caused, shall not cause the machine to become unsafe. It is also
their responsibility to ensure that the end user is made aware of
any hazards involved in the operation of their machine, including
those mentioned in Renishaw product documentation, and to
ensure that adequate guards and safety interlocks are provided.
When using the RLI20 as part of a positioning system on
machines, beware of pinch and/or crush hazards that can
be created, depending on how and where the equipment is
installed.
Further information on safety is contained in Appendix B.
The RLI20 has been designed for use with an RLE or HS20
laser encoder only. Its use is not supported with other encoder
systems.

FCC notice
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.
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.
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.
EC compliance
Renishaw plc declares that the RLI20 interface complies with the
applicable directives, standards and regulations.
A copy of the full EC Declaration of Conformity is available at the
following address:
www.renishaw.com/RLECE
WEEE
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.
c

1
Contents
Contents
1 System overview ............................................................. 2
1.1 Part numbers ........................................................... 2
2 Installation ....................................................................... 3
2.1 Analogue quadrature interface................................. 3
2.2 Serial interface ......................................................... 5
2.3 Error output.............................................................. 6
2.4 Power ....................................................................... 6
2.5 Mechanical installation............................................. 7
3 Configuration................................................................... 8
3.1 RLE set-up – dip switches ....................................... 8
3.2 Position .................................................................... 9
3.3 Error output............................................................ 10
3.4 LED indicators........................................................ 10
Appendix A – Specification .................................................. 11
Appendix B – Safety information ......................................... 12

2System overview
1 System overview
The RLI20 converts 1 Vpp analogue quadrature signals from
an RLE laser interferometer encoder system into a position
reading, which is available over a serial bus.
The RLI20-P is specifically programmed to be compatible with
Panasonic motor controllers.
1.1 Part numbers
The following saleable part numbers are available:
A-9926-0200 - RLI20P laser interface (Panasonic)
The followng accessories are available:
A-9926-0204 - RLI connector kit

3
Installation
The signals should be wired as shown in Table 1:
Table 1 – Signal wiring between RLE or HS20 and RLI20
Signal Function
1st pair Sine and /Sine
2nd pair Cosine and /Cosine
3rd pair Error and /Error
4th pair Ref mark and /Ref mark
Individual screens 0 V (both ends)
Outer screen Case/shell (both ends)
WARNING: It is essential that the error line inputs
are connected so that the RLI20 can determine if any errors
have occurred in the RLE or HS20 system. If the analogue
quadrature is incorrectly wired, the system may still work but
may move distances and at speeds that are not expected and
may move in the opposite direction to that expected. If a voltage
exceeding ±7 V is applied on any of the signals, damage to the
unit can occur.
WARNING: Care should be taken to ensure that
individual signal wires do not short. It is advised that all joints
are sleeved. If input signal wires short, the position output will
be unreliable and the error signal may not work reliably.
!
!
2 Installation
2.1 Analogue quadrature interface
The RLI20 accepts the nominal 1 Vpp analogue quadrature
from the RLE or HS20. Signal termination is contained within
the RLI20 itself. There is no need for any other termination to be
used.
Cabling
The choice of cables for this application is very important. A
cable with individually screened twisted pairs is recommended.
An example of a suitable cable is the Belden 8164 cable. The
maximum recommended cable length is 10 m.

4Installation
Input connector pinout
The analogue quadrature input connector pinout is shown in
Table 2. All pins are protected to ±7 V. The connector on the
RLI20 is a 15 way female D-type. Figure 1 shows the mating
D-type connector.
Table 2 – Analogue quadrature input (15 way D-type male)
Pin number Function
10 V
2 –
3 Error
4 Ref Mark
5 Sine
6 Cosine
7 –
8 –
9 –
10 /Error
11 /Ref Mark
12 /Sine
13 /Cosine
14 –
15 –
Shell Chassis ground
Figure 1 – Analogue quadrature input mating connector

5
2.2 Serial interface
The RLI20 outputs RS485 serial data at 2.5 Mbps.
Cabling
A screened twisted pair is recommended with SD+/SD- as one
pair 0 V/5 V as second pair and outerscreen as chassis. The
connection on the RLI20 is a 9 way male D-type, the mating
connector is shown in Figure 2. Pinouts are show in Table 3.
5 V power from the controller is needed to detect when the
controller is switched on or power cycled.
Table 3 – Serial interface pinout
Pin Function
2 REQ+ / SD+
3 REQ- / SD-
4,5 5 V power from Panasonic controller
8,9 0 V
Shell Chassis
1,6,7 Not connected
Installation
9 way D-type
31
16
52
Figure 2 – 9 way female D-type connector

6
2.4 Power
The RLI20 power is supplied via a 4 way male M16 Binder,
the mating connector is shown in Figure 4. Pinouts are shown
in Table 5. This is identical to wiring requirements for RCU10
power connector.
Table 5 – Power connector pinout
Pin Function
124 V
224 V
30 V
4 Chassis
Case Chassis
The 24 V power supply should be single fault tolerant certified to
EN (IEC) 60950-1.
Figure 4 – 4 way female M16 Binder connector
2.3 Error output
The RLI20 outputs on RS422 compatible error signal.
Cabling
A screened cable is recommended. The connector on the RLI20
is a 4 way female Binder M9, the mating connector is shown in
Figure 3. Pinouts are shown in Table 4.
Table 4 – Error connector pinout
Pin Function
1 /Error
20 V
3+5 V
4 Error
Shell Chassis
Figure 3 – 4 way male Binder
Installation

7
2.5 Mechanical installation
The RLI20 is intended to be mounted in an electrical control
cabinet or similar environment. It is constructed with IP40
protection and therefore needs to be protected from harsh
environmental conditions.
For connector/cable clearance purposes, allow 100 mm (4 in)
from the front face of the RLI20.
Note: Using the fixings supplied with the unit (M4 x 5 cap
head screws and 4 mm plain washers) ensures that earthing is
achieved directly though the brackets.
Installation
Mounting holes
7 mm x 9.5 mm
Dimensions in
mm (in)

8
3 Configuration
3.1 RLE set-up – dip switches
If the RLI20 is being used with an RLE system, care should be
taken setting the RLE configuration switches correctly.
Table 5 – Error connector pinout
Switch No. Switch position Description
5 Down To give analogue quadrature
output
11 Down So the RLE does not tri-state the
quadrature on error
12 Up Unless the fine digital quadrature
output from the RLE is also
required (in addition to the RLI20
laser position output).
13 Down So that the RLE does not latch
errors. The RLI20 will latch any
errors flagged
Note: The RLE axis direction reversal switches 6 and 7 only
affect the direction of the digital quadrature from the RLE and
not the analogue quadrature.
Note: The RLE will flag an error when the measurement
velocity reaches a level at which the required output rate of the
digital quadrature exceeds the digital bandwidth limit of the RLE.
The digital bandwidth limit depends on the digital quadrature
resolution and maximum output bandwidth selected with the
RLE DIP switches. The digital quadrature resolution and the
digital output bandwidth should be selected so that the RLE
measurement velocity limit is sufficient for the application. It
is therefore recommended that fine quadrature is disabled by
setting RLE switch number 12 UP.
For further information on the RLE front panel switches refer to
the RLE manual (M-5225-0568).
Configuration

9
Configuration
WARNING: It is important to check the direction sense
correctly. If it is set incorrectly, the machine will move in the
opposite direction to that expected, and may accelerate until it
reaches the axis limits. In the case of parallel twin rail drives,
it is important that the direction sense of the slave axis is set
to match the master axis. Failure to do this will cause opposite
ends of the cross-member to move in opposite directions,
possibly causing damage to the machine.
!
3.2 Position
Position output is scaled for 1 nm/lsb for PMI and 2 nm/lsb
for RRI.
Axis 1 is scaled relative to RLE Axis 1 wavelength at NTP of
632.818270 nm.
Axis 2 is scaled relative to RLE Axis 2 wavelength at NTP of
632.819719 nm.
NTP is defined as 101,325Pa, 20ºC, 50% RH, 450 ppm CO2.
Ensure when connecting the RLE/HS20 to the RLI20 that the
appropriate connector is connected to the relevant port
(Axis 1/Axis 2).
Position is set to zero on power up and when the Panasonic
controller is power cycled.
WARNING: If an error is signalled by the RLI20, then the
RLI20 position data may be incorrect. The system must be reset
and re-referenced before it is used for position feedback again.
WARNING: The position data will roll over when the
RLI20 position range limit is exceeded. The stage controller
should be programmed to account for this.
!
!

10
Errors and warnings are cleared when the Panasonic controller
is power cycled.
EEPROM CRC error can only be cleared by power cycling
the RLI20.
3.4 LED indicators
Status Ax 1 / Status Ax 2.
Table 7 shows the axis status for a give LED colour illumination.
Table 7 – Status Ax 1 / Status Ax 2 LED indicators
LED Status
Red Error
Amber Warning
Green OK
Error
The error LED shows red under any hardware or axis error.
Power
The power LED shows green to indicate the device is
powered up.
Configuration
3.3 Error output
RS422 compatible differential output.
Indicates an error on either channel or a hardware error.
WARNING: The error output is not a fail-safe method
and therefore additional safety precautions must be taken in
safety critical closed loop applications. The error line must be
continually monitored and the motion system must be stopped if
it is asserted.
Error bits returned to Panasonic controller as ALMC shown in
table 6. Errors reported are for individual channel only.
Table 6 – ALMC error links
Bit Function
7 Warning - Beam saturation (beam strength > 115%)
6 Warning - Beam low (beam strength < 25%)
5 Error - not used reads 0
4 Error - not used reads 0
3 Error - EEPROM CRC error during read of scale and offset
settings - can’t be cleared
2 Error - Beam break (beam strength < 12.5%)
1 Error - Overspeed
0 Error - Encoder error (from RLE)
!

11
Appendix A – Specification
Values in this table define the contribution of the RLI20 on the
system performance, not the complete laser interferometer
system performance.
Measurement performance
PMI
†
RRI
‡
LSB resolution 1 nm 2 nm
Maximum speed 1 m/s* 2 m/s*
Positional noise contribution (RMS) 1 nm 2 nm
SDE
contribution
Velocity <50 mm/s (PMI)
<100 mm/s (RRI)
Serial strength >70% and <115%
<±0.5 nm <±1 nm
Velocity
>50 mm/s and <1 m/s (PMI)
>100 mm/s and <2 m/s (RRI)
<±2 nm <±4 nm
* Panasonic interface is limited to 400 mm/sec
†
Plane mirror interferometer
‡
Retroreflector interferometer
Dimensions
Length 350 mm (13.8 in)
Width 42 mm (1.65 in)
Depth 133.5 mm (5.26 in) not including connectors
Weight 1.0 kg
RLI20 power requirement
Voltage 24 ±5 V
Power 3 W
The 24 V power supply should be single fault tolerant certified to
EN (IEC) 60950-1.
Environmental specification
Pressure Normal atmospheric
(650 mbar - 1150 mbar)
Humidity 0 - 95% RU (non-condensing)
Temperature
(storage) -20° C to +70° C
Temperature
(operating) +10° C to +40° C
Specification

12
Appendix B – Safety information
General
The RLI20 is designed for integration into the primary position
feedback loop of a motion system. It is essential that the system
is installed in accordance with the instructions in the installation
manuals. It is the responsibility of the system integrator to
ensure that, in the event of a failure of any part of the RLI20, the
motion system remains safe.
In motion systems with powers or speeds capable of causing
injury, safety protection measures must be included in the
design. It is recommended that satisfactory operation of these
protection measures is verified before the feedback loop
is closed. The following are examples of safety protection
measures that can be used. It is the sole responsibility of the
system integrator to select appropriate measures for their
application.
1. The RLI20 includes an error signal output. The control
system must be designed to stop the axis motion if this error
is asserted.
2. The axis must include physical limit switches which, when
tripped, will stop axis motion before damage occurs (soft
limits alone are insufficient).
3. Motor torque monitoring. If the motor torque exceeds an
expected limit, the axis of motion must be stopped.
4. The machine must include an emergency stop button.
5. Following error detection, if the difference between the
controller demand position and the axis feedback position
exceeds an expected limit, the axis motion must be stopped.
6. Guards, viewing windows, covers and interlocks may be
used to prevent user access to hazardous areas, and to
contain ejected parts and materials.
7. If the machine includes an independent tacho (velocity)
feedback system, this should be cross-checked with the
position feedback. For example, if the tacho indicates the
axis is moving, but the position feedback doesn’t, the axis
motion must be stopped.
8. In the case of synchronised parallel motion systems (for
example twin rail gantry drive systems), the relative positions
of master and slave axes should be monitored. If the
difference in their positions exceeds an expected limit, axis
motion must be stopped.
For further advice, consult the appropriate machinery safety
standards.
Safety information

13
Direction sense
It is important to check the direction sense correctly. If it is set
incorrectly, the machine will move in the opposite direction to
that expected, and may accelerate until it reaches the axis
limits. In the case of parallel twin rail drives, it is important
that the direction sense of the slave axis is set to match the
master axis. Failure to do this will cause opposite ends of the
cross-member to move in opposite directions, possibly causing
damage to the machine.
Error signal monitoring
The RLI20 laser interface continuously checks for internal
errors and errors in the encoder system that may cause invalid
position feedback signals, and signals a fault by asserting an
error line output. In the case of closed loop motion systems, for
safe operation the status of this error line must be monitored. If
the error line goes high, the position feedback signals may be
incorrect and the axis of motion must be stopped.
Power supply out of range
The correct power supply voltage is 24 V ±5 V. Power supplies
outside of this range may give unreliable operation or damage
the RLI20 unit.
Position data integrity
If an error is signalled by the RLI20, then the RLI20 position
data may be incorrect. The system must be reset and
re-referenced before it is used for position feedback again.
Safety information

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 web site at
www.renishaw.com/contact
*M-9926-0005-02