Installation guide

M-9541-9109-01-C

RGH24 RGS20 linear encoder system

RSLM high accuracy linear encoder
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

Product compliance

C
Renishaw plc declares that RGH24 complies with the applicable standards and regulations. The packaging of our products contains the following materials and can be recycled.
A copy of the EC Declaration of Conformity is available on request.
Packaging Component Material ISO 11469 Recycling Guidance

FCC compliance Outer box Cardboard Not applicable Recyclable

This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: Polypropylene PP Recyclable
(1) This device may not cause harmful interference, and (2) this device must accept any interference Inserts Low Density Polyethylene Foam LDPE Recyclable
received, including interference that may cause undesired operation.
Cardboard Not applicable Recyclable
The user is cautioned that any changes or modifications not expressly approved by Renishaw plc or
Bags High Density Polyethylene Bag HDPE Recyclable
authorised representative could void the user’s authority to operate the equipment.
Metalised Polyethylene PE Recyclable
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 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
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 dispose of this product at a designated collection point for waste electrical and electronic equipment (WEEE)
and is also available from your local representative. This document may not be copied or reproduced to enable reuse or recycling. Correct disposal of this product will help to save valuable resources and prevent
in whole or in part, or transferred to any other media or language, by any means without the written potential negative effects on the environment. For more information, please contact your local waste disposal
prior permission of Renishaw. The publication of material within this document does not imply freedom service or Renishaw distributor.
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.

RGH24 RGS20 installation guide 1

Storage and handling

N-heptane Propan-2-ol Acetone

Chlorinated Methylated
CH3(CH2)5CH3 CH3CHOHCH3 CH3COCH3
Solvents Spirits

Storage Operating Humidity

System System 95% relative humidity
+70 °C +55 °C (non-condensing)
Minimum bend radius -20 °C 0 °C to EN 60068-2-78

RGS20 – 100 mm
NOTE: Ensure self-adhesive
tape is on outside of bend.

RGH24 RGS20 installation guide 2

RGH24 readhead installation drawing Dimensions and tolerances in mm

Arrow indicates forward direction of

0.8
( +0.2
-0.1
)
readhead relative to scale See note=
Fixing screws
27 M3 x 0.5 x 8 23
Set-up LED 15.8*
9.5 6.2 3 21 17 3 6 9.3
Alternative 11.9
12.8 mounting face

13.5

3
(Yaw Tol. ±0.5°)
5.5 8 6 (RGS20-S) 3.8
0.3 6.3 (RGS20-P)
4.8
(Extent of mounting faces)
Mounting face

(Roll Tol. ± 1°)­

>4 JST connector 0.09
version
36
4 R>20 Dynamic bend radius
2 Mounting holes R>10 Static bend radius Detail A
M3 x 0.5 through‡ 26

21.1 Scale surface

Reference mark actuator (Pitch Tol. ± 1°) Scale thickness:

Ø

8.5
4.

0.6
4

(A-9541-0037) 5 0.2 (RGS20-S)

m
ax

A 6.4* 0.3 (RGS20-P)

8.5* Limit switch Rideheight­

4* 8* 4.3 Readhead to
actuator scale clearance 0.8 ±0.1
Optical centreline Reference mark sensor / (A-9541-0040)
limit switch sensor position

*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.
‡
The recommended thread engagement is 5 mm. The recommended tightening torque is between 0.5 and 0.7 Nm.
RGH24 RGS20 installation guide 3
RGS20 scale installation drawing (with reference mark actuator) Dimensions and tolerances in mm

Bolted reference mark actuator shown

(A-9541-0037) Measuring length (ML)
>5 >5 Optional epoxy mounted reference mark actuator
Reference mark actuator position range (A-9531-0250)

>15 14
30 <10 2.2 8.7
0.5
F
0.2/100
F = axis of motion

13

6 (RGS20-S) 6.3 (RGS20-P)

Scale length (ML + 40)

Overall length (ML + 70)

RGS20 scale installation drawing (with limit switch actuator) Dimensions and tolerances in mm

Bolted limit switch actuator shown

(A-9541-0040) Measuring length (ML)
>5 >5 Optional epoxy mounted limit switch actuator
Limit switch actuator position range (A-9531-0251)

>15 <10 10
30 2 8.5
0.5
F
0.2/100
F = axis of motion

13

6 (RGS20-S) 6.3 (RGS20-P)

Scale length (ML + 40)

Overall length (ML + 70)

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.

RGH24 RGS20 installation guide 4

Scale application End clamps
The scale applicator A-9541-0124 is designed specifically for use with the RGH24 readheads A-9523-4015 is an end clamp kit designed to be used with Renishaw RGS scale.
and RGS20-S scale. Use applicator A-9541-0305 when installing RGS20-P scale.
IMPORTANT: End clamps should be used to ensure positional stability of the scale and
1 Allow scale to acclimatize to installation environment prior to installation. reference mark repeatability.
2 Thoroughly clean and degrease the substrate using recommended solvents (see 'Storage and handling'). NOTE: End clamps can be mounted before or after readhead installation.
Allow substrate to dry before applying scale.
3 Mark out ‘START’ and ‘FINISH’ points for the scale on the axis substrate. Ensure that there is room for the 1 Remove the lacquer coating from the last 2 Thoroughly mix up a sachet of glue
end clamps (see ‘RGS20 scale installation drawing’). 15 mm of each end of the scale with a knife (A-9531-0342) and apply a small amount
and clean with one of the recommended to the underside of the end clamp.
4 Mount the appropriate scale applicator to the readhead mounting bracket using M2.5 screws. Place the shim
solvents (see ‘Storage and handling’).
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.
5 Move axis close to scale start position, leaving enough room for the scale to be inserted through the
applicator as shown below.

m
6 Begin to remove the backing paper from the scale and insert scale into the applicator up to the ‘START’ point

m
15
(as shown). Ensure backing tape is routed under the splitter screw.
7 Apply finger pressure to the scale at the ‘START’ point,
using a clean lint-free cloth, to ensure scale end
‘START’ point
adheres well to substrate.

3 The end clamp features two small regions 4 Immediately position end clamp over the
M2.5 mounting holes of contact adhesive. These will temporarily end of the scale.
hold the end clamp in position while the glue Allow 24 hours at 20 °C for full cure.
cures. Remove the backing tape
from either side.

8 Slowly 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

Ensure that excess glue is wiped away from scale

as it may affect the readhead signal level.
START
9 Remove 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.
Reference mark and limit switch actuator installation
Screw mounted or adhesive mounted reference mark and limit switch actuators are available.
11 Fit end clamps (see ‘End clamps’ section).
Refer to RGH24 readhead installation drawing and RGS20 scale installation drawing for
12 Allow 24 hours for complete adhesion of scale before fitting reference mark selector magnet or limit magnet. actuator positioning.

RGH24 RGS20 installation guide 5

Readhead mounting and alignment 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.
Mounting brackets
The bracket must have a flat mounting surface, enable conformance to the installation tolerances, allow adjustment Reference mark set-up
to the rideheight of the readhead, and be sufficiently stiff to prevent deflection or vibration of the readhead To ensure unidirectional repeatability, the reference mark requires phasing with the scale in the
during operation. For easier installation, adjust the roll and yaw of the bracket with respect to the axis of readhead direction of normal datuming operation.
travel before the RGH24 is attached. This can be done with a clock gauge and a precision square.
A reference pulse is output in both directions, but repeatabilty is guaranteed only in the
Readhead set-up phased direction.
To set nominal rideheight, position readhead spacer with ‘L’ shaped aperture under the optical centre of the Ensure readhead is set up correctly with a green LED indication over the full length of travel and
readhead to allow normal LED function during set-up procedure. Ensure that the scale, readhead optical window that the reference mark actuator is fitted correctly.
and mounting face are clean and free from obstructions. NOTE: It is recommended that a datum procedure is performed as part of any power-up sequence
NOTE: Ensure readhead fixing screws are tightened to 0.5 Nm -0.7 Nm. to ensure the correct datum position is recorded.
NOTE: Reference mark output is synchronised with the incremental channels, giving unit of
resolution pulse width.
Green Orange Red*
Yaw Phasing procedure
0° ± 0.5° 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/ 8 turn and the procedure repeated
Pitch
until a red flash is obtained.
0° ± 1°

Roll
0° ± 1°

Red Orange Blank†

0.8 ± 0.1 mm
LED flash during reference mark traverse only
Rideheight
†
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.
For reliable operation, the set-up LED should be GREEN when readhead is moved along the full axis travel.
Select output at order.
The JST version of the RGH24 has an LED repeater signal that can be used in cases where the LED is not visible.
NOTE: Limit switch output is not available with analogue RGH24, or options 60, 61 and 62 of the
*Remote LED will continuously flash Red when signal <20%
digital RGH24.

RGH24 RGS20 installation guide 6

Output signals Speed
RGH24 D, X, Z, W, Y, H, I, O RS422A digital Digital readheads
9 way D type JST 15 way D type
Non-clocked output readheads
Function Signal Colour
(A) (Z) (D)
Maximum speed
Head type Lowest recommended counter input frequency (MHz)
Power 5V Brown 5 9 7, 8 (m/s)

0V White 1 10 2, 9 D (5 µm ) 8
Encoder velocity (m/s)
Incremental signals + Green 2 8 14 X (1 µm ) 5 x 4 safety factor
A Resolution (µm)
- Yellow 6 7 6 Z (0.5 µm) 3
+ Blue 4 2 13
B
- Red 8 1 5
Clocked output readheads
Reference mark / Z+ / Q- Pink 3 5 12
The RGH24W, Y, H, I and O readheads are available with a variety of different clocked outputs.
limit switch Z- / Q+ Grey 7 6 4 Customers must ensure they comply with the lowest recommended counter input frequency.
Shield Inner – 9 N/A 15
Standard Maximum speed (m/s) Lowest
Outer – Case N/A Case JST connector
connector Head type recommended
options
Remote LED driver Green – N/A 4 N/A options counter input
(Z) W Y H I O
(A, D and F) frequency (MHz)
Red – N/A 3 N/A (0.2 µm ) (0.1 µm ) (50 nm) (20 nm) (10 nm)
60 – – 3.0 – – – 50
RGH24B 1Vpp analogue 61 – 3.0 1.6 – – – 20
62 – 1.3 0.8 – – – 10
9 way D type JST 15 way D type
Function Signal Colour 30 35 – 0.7 0.35 0.13 0.65 12
(A) (Z) (L)
31 36 – 0.5 0.25 0.09 0.045 8
Power 5V Brown 5 9 4, 5
32 37 0.7 – – – – 6
0V White 1 10 12, 13 33 38 0.5 0.25 0.12 0.04 0.02 4
Incremental signals + Green 2 8 9 NOTE: Maximum speeds of clocked output variants assume 3 m maximum cable length and minimum 5 V supply
V1
- Yellow 6 7 1 at readhead connector.
+ Blue 4 6 10
V2
- Red 8 5 2
Analogue readheads
Reference mark + Pink 3 2 3
V0 RGH24B – 4 m/s (-3dB)
- Grey 7 1 11
Shield Inner – 9 N/A 15
Outer – Case N/A Case

52 16
52 16

31 40

9 pin D type plug (Termination code A) 15 pin D type plug (Termination code D, L)

10 pin JST plug

(Termination code Z)

RGH24 RGS20 installation guide 7

 Electrical connections
Grounding and shielding
Customer
electronics
RGH24
Inner shield
Extension cable* 5V

Output
signals

0V
Outer shield

*Maximum extension cable length

RGH24B - 100 m, RGH24D, X and Z - 50 m, RGH24W, Y, H, I and O - 20 m

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 Remote LED driver outputs
JST connector version allows for remote
monitoring of readhead status.
0V V0 V1 V2+

Readhead Customer 120 Ω

220 pF Green 150 Ω
A B Z Q+ electronics + Red/Green
V0 V1 V2-
LED
Green Red
Cable Z 0 = 120 Ω 120 Ω
Red
–

A B Z Q-
220 pF

0V

Standard RS422A line receiver circuitry

Capacitors recommended for improved noise immunity.

RGH24 RGS20 installation guide 8

 Output specifications
Digital output signals - type RGH24D, X, Z, W, Y, H, I and O Analogue output signals type RGH24B (1Vpp)
Form - Square wave differential line driver to EIA RS422A

Incremental= 2 channels A and B in quadrature (90° phase shifted) Incremental 2 channels V1 and V2 differential sinusoids in quadrature (90° phase shifted)
Signal period P 20 µm
P S
Model
(µm) (µm)

Resolution S RGH24D 20 5
RGH24X 4 1
RGH24Z 2 0.5 0.6 to 1.2 Vpp with green LED
RGH24W
(V1 +) - (V1-)
0.8 0.2 indication and 120 Ω termination.
RGH24Y 0.4 0.1 90°
A RGH24H 0.2 0.05
B RGH24I 0.08 0.02 (V2 +) - (V2-)
RGH24O 0.04 0.01

Reference= Reference
Differential pulse V0 - 18° to 108°.
Synchronised pulse Z, duration equal to the resolution. Duration 126° (electrical).
0.8 to 1.2 Vpp
Repeatability of position (uni-directional) maintained within ±10 Repeatability of position (uni-directional) maintained
Z °C from installation temperature and for speed <250 mm/s. within ±10 °C from installation temperature and for
speed <250 mm/s.
(V0+) - (V0-)
-18° 108°
Actuation device: A-9541-0037 or A-9531-0250 0° Actuation device: A-9531-0037 or A-9531-0250

Limit Asynchronous pulse

Repeatability <0.1 mm typical

Q
NOTE: RGH24 readheads are available with reference mark
or limit switch detection. Select output at order.
Length of actuating
Actuation device: A-9541-0040 or A-9531-0251
magnet

NOTE: Limit output not available for readheads with option 60, 61 and 62.

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

=

RGH24 RGS20 installation guide 9

General specifications Scale specifications
Power supply 5 V ± 5% 120 mA Scale type RGS20-S Reflective gold plated steel tape with protective lacquer coating.
NOTE: Current consumption figures refer to unterminated readheads. Adhesive backing tape allows direct mounting to the machine substrate.
For digital outputs a further 25 mA per channel pair (e.g. A+, A-) will be RGS20-P Reflective gold plated steel tape with tough polyester coating for
drawn when terminated with 120 Ω. applications using harsh solvents.
For analogue outputs a further 20 mA will be drawn when terminated Adhesive backing tape allows direct mounting to the machine substrate.
with 120 Ω
Power from a 5 V dc supply complying with the requirements for SELV Scale period 20 µm
of standard IEC BS EN 60950-1.
Linearity RGS20-S ±3 µm /m
Ripple 200 mVpp @frequency up to 500 kHz maximum.
RGS20-P ±5 µm /m
Temperature Storage -20 °C to +70 °C
Scale length Up to 50 m (>50 m by special order)
Operating 0 °C to +55 °C
Form (H x W) RGS20-S 0.2 mm x 6 mm (includes adhesive)
Humidity 95% relative humidity (non condensing) to EN 60068-2-78
RGS20-P 0.3 mm x 6.3 mm (includes adhesive)
Sealing IP40
Substrate materials Metals, ceramics and composites with expansion coefficients
Acceleration Operating 500 m/s2, 3 axes between 0 and 22 µm/m/°C
(steel, aluminium, Invar, granite, ceramic etc.)
Shock Non-operating 1000 m/s2, 6 ms, ½ sine, 3 axes
Expansion coefficient Matches that of substrate material when scale ends are fixed by
Vibration Operating 100 m/s2 max @ 55 Hz to 2000 Hz, 3 axes
epoxy mounted end clamps
Mass Readhead 11 g
End fixing Epoxy mounted end clamps (A-9523-4015) using 2 part epoxy
Cable 34 g/m
adhesive (A-9531-0342)
Cable 8 core, double shield, maximum diameter 4.4 mm Scale end movement <1 µm over temperature range -20 °C to +50 °C
Flex life >20 x 106 cycles at 20 mm bend radius
Temperature Operating -10 °C to +120 °C.
The RGH24 series readheads have been designed to the relevant EMC standards, but must be Minimum installation 10 °C
correctly integrated to achieve EMC compliance. In particular, attention to shielding arrangements Storage -20 °C to +70 °C.
is critical. Renishaw recommends the use of a double screened cable to connect RGH24 JST as Humidity 95% relative humidity (non-condensing) to EN 60068-2-78
used in the cable variants of the RGH24

RGH24 RGS20 installation guide 10

Renishaw plc T +44 (0)1453 524524
New Mills, Wotton-under-Edge, F +44 (0)1453 524901
Gloucestershire GL12 8JR E [email protected]
United Kingdom www.renishaw.com

RSLM high accuracy linear encoder

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please visit our main website at
www.renishaw.com/contact

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of Renishaw plc in the United Kingdom and other countries.

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