Installation guide

M-9537-9016-01-D

RGH41 RGS40 linear encoder system

 Contents
Product compliance 1

Storage and handling 2

RGH41 readhead installation drawing 3

RGS40 scale installation drawing 4

Scale application 5

End clamps 6

Reference mark and limit switch installation 6

Readhead mounting and alignment 7

Reference mark set-up 7

Limit switch 7

Output signals 8

Speed 9

Electrical connections 10

Output specifications 11

General specifications 12

Scale specifications 12

RGH41 RGS40 installation guide

Product compliance

C
Renishaw plc declares that RGH41 complies with the applicable standards and regulations. The packaging of our products contains the following materials and can be recycled.
A copy of the EU Declaration of Conformity is available from our website at
www.renishaw.com/productcompliance Packaging Component Material ISO 11469 Recycling Guidance
Outer box Cardboard Not applicable Recyclable
FCC compliance Polypropylene PP Recyclable
This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions:
Inserts Low Density Polyethylene Foam LDPE Recyclable
(1) This device may not cause harmful interference, and (2) this device must accept any interference
Cardboard Not applicable Recyclable
received, including interference that may cause undesired operation.
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
REACH regulation
and used in accordance with the instruction manual, may cause harmful interference to radio
Information required by Article 33(1) of Regulation (EC) No. 1907/2006 (“REACH”) relating to products
communications. Operation of this equipment in a residential area is likely to cause harmful
containing substances of very high concern (SVHCs) is available at: www.renishaw.com/REACH
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.

Patents
Features of Renishaw’s encoder systems and similar products are the subjects of the following
patents and patent applications:
EP 1147377 JP 4571768 US 6588333

Further information
The use of this symbol on Renishaw products and/or accompanying documentation indicates that the product
Further information relating to the RGH41 encoder range can be found in the RGH41 encoder system
should not be mixed with general household waste upon disposal. It is the responsibility of the end user to
Data sheet (Renishaw part no. L-9517-9713). This can be downloaded from our website at
dispose of this product at a designated collection point for waste electrical and electronic equipment (WEEE)
www.renishaw.com/opticalencoders 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 to enable reuse or recycling. Correct disposal of this product will help to save valuable resources and prevent
means without the written prior permission of Renishaw. The publication of material within this document does potential negative effects on the environment. For more information, please contact your local waste disposal
not imply freedom from the patent rights of Renishaw plc. service or Renishaw distributor.

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.

RGH41 RGS40 installation guide 1

Storage and handling

Minimum bend radius-

RGS40 - 100 mm

NOTE: Ensure self-adhesive tape

is on the outside of the bend.
Storage Operating Humidity
System System 95% relative humidity
+70 °C +55 °C (non-condensing) to
−20 °C 0 °C BS EN 60068-2-78:2013

N-heptane Propan-2-ol Acetone

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

RGH41 RGS40 installation guide 2

RGH41 readhead installation drawing Dimensions and tolerances in mm
Reference mark sensor position
R> 50 Dynamic bend radius
R> 10 Static bend radius 18*
Optical centre

6 min 12.6*
Reference mark actuator 2 mounting holes M3 × 9.5 deep‡
Epoxy mounted
(A-9531-0250)
14 4
(Yaw tol. ±1°) 3.6 3*
7 4 9
0.8

14.5 12.5 ±0.5

Set-up LED
27
13
10.5

6 3
2 mounting holes 10
3*
M3 × 7.5 deep‡
14.6 14.6 Q limit switch 8.6 †

sensor position
P limit switch actuator P limit switch Q limit switch actuator
(A-9531-0251) sensor position (A-9531-0251) (Roll tol. ±1°)
Mount dimple down Forward direction of Mount dimple up 0.13
(Dimensions as Q actuator) readhead relative to scale

44 Detail A

38
A Scale surface
3
Ø4.5 ±0.2

(Pitch tol. ±1°) Scale thickness 0.2

0.8
11.6*

2.2* 5* 2*
Arrow indicates optical and Rideheight 0.8 ±0.15
reference mark centre line

*Dimension measured from substrate †

Extent of mounting faces
‡
The recommended thread engagement is 5 mm. The recommended tightening torque is between 0.5 and 0.7 Nm.

RGH41 RGS40 installation guide 3

RGS40 scale installation drawing Dimensions and tolerances in mm

Overall length (ML + 70)

Scale length (ML + 40)

Optional bolted reference mark actuator

Reference mark actuator position range (A-9531-0287)

22
>3 >3
8 14 5

>5 >5

0.5
F
30 0.2 / 100
10
F = axis of motion

13

P limit Q limit
< 10 6 < 10

Measuring length (ML)

Readhead optical centreline

Reference mark sensor position (inside readhead)

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.

RGH41 RGS40 installation guide 4

Scale application
RGA22 - scale applicator (recommended for longer axes)
The RGA22 scale applicator kit (A-9531-0265) is designed specifically for installing RGS40-S scale for use 8 Slowly and smoothly move the applicator through the entire axis of travel, ensuring the backing
with the RGH41 readhead. paper is pulled manually from the scale and does not catch under the applicator.

For instructions on how to use the RGA22 please Direction of scale application
refer to ‘RGA22 scale applicator User’s guide’
(M-9531-0297). Scale

Splitter screw

Backing paper
RGA22G - scale applicator (recommended for shorter axes or where space is limited)
The RGA22G scale applicator (A-9531-0239) is designed specifically for installing RGS40-S scale for
use with the RGH41 readhead. START

1 Allow scale to acclimatize to installation environment prior to installation.

9 Remove applicator and, if necessary, adhere the remaining scale manually. Apply firm finger
2 Mark out ‘START’ and ‘FINISH’ points for the scale on the axis substrate. Ensure that there is
pressure via a clean lint-free cloth along the length of the scale after application to ensure
room for the end clamps (see ‘RGS40 installation drawing’).
complete adhesion

3 Thoroughly clean and degrease the substrate using recommended solvents

10 Clean scale using Renishaw scale cleaning wipes (A-9523-4040) or a clean, dry, lint-free cloth.
(see 'Storage and handling'). Allow substrate to dry before applying scale.

11 Fit end clamps (see ‘End clamps’ section).

4 Mount the scale applicator to the readhead mounting bracket using M3 screws. Place the shim
supplied with the readhead between the applicator and substrate to set the nominal height. 12 Allow 24 hours for complete adhesion of scale before fitting reference mark and limit magnets.
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.

6 Begin 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.

7 Apply finger pressure to the scale at the ‘START’ point,

using a clean lint-free cloth, to ensure scale end
adheres well to the substrate.
‘START’ point

M3 mounting holes

RGH41 RGS40 installation guide 5

End clamps Reference mark and limit switch installation
A-9523-4015 is an end clamp kit designed to be used with RGS40 scale. Limit switch
IMPORTANT: End clamps should be used to ensure positional stability of the scale and reference actuator
mark repeability.
NOTE: End clamps can be mounted before or after readhead installation. Reference mark
actuator

1 Remove the lacquer coating from the last 2 Mix up a sachet of glue (A-9531-0342)
15 mm of each end of the scale with a knife and apply a small amount to the
and clean with one of the recommended underside of the end clamp. Orange shim
solvents (see ‘Storage and handling’).

Mix up a sachet of glue (A-9531- 0342) and apply a small amount to the underside of the reference mark
and limit switches. Position with the aid of the Orange shim as shown. Reference mark and limit switch
actuators can be mounted independently from each other, but within the limits specified by the relevant
installation drawing.
m
m
15

Ensure that the glue does not enter the reference mark actuator
adjustment mechanism.
Once the reference mark has been secured it must be phased with
the readhead. See ‘Reference mark set-up’ for details

Single limit switches

3 The end clamp features a small region of 4 Immediately position end clamp For single limit switch detection, limit switch actuator should be mounted with the dimple up.
contact adhesive. This will temporarily hold over the end of the scale.
the end clamp in position while the glue cures. Allow 24 hours at 20 °C
Dual limit switches
Remove the backing tape from either side. for full cure.
Some versions of the RGH41 (options 05 and 06) are configured to detect dual limit switch actuators.

End clamp Scale End clamp

Dimple down triggers Dimple up triggers Q limit

P limit switch sensor switch sensor

P limit switch Q limit switch

sensor position sensor position

Ensure that excess glue is wiped away from scale as it may affect the readhead signal level. If in doubt, refer to the RGH41 encoder system Data sheet
(Renishaw part no. L-9517-9713) to see if single or dual limit switch
capability has been specified on the readhead you have purchased.

RGH41 RGS40 installation guide 6

Readhead mounting and alignment Reference mark set-up
Mounting brackets To ensure uni-directional repeatability, the reference mark requires phasing with the scale in the
The bracket must have a flat mounting surface, ensure conformance to the installation tolerances, direction of normal datuming operation. A reference pulse is output in both directions, but repeatability
allow adjustment to the rideheight of the readhead, and be sufficiently stiff to prevent deflection of the is guaranteed only in the phased direction.
readhead during operation. For easier installation, the bracket should be adjusted for roll and yaw with The readhead should be set up correctly ensuring a Green LED indication over the full length of travel.
respect to the axis of readhead travel before the scale is applied using the appropriate applicator. The reference mark actuator should be installed as shown on the installation drawing.
This can be done with a clock gauge and precision square. 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.
Readhead set-up
Ensure that the scale, readhead optical window and mounting face are clean and free from obstructions. NOTE: Reference mark output is synchronised with the incremental channels, giving unit of resolution
To set nominal rideheight place either the Blue or Orange readhead spacer should be positioned with pulse width. For further details see ‘General specifications’.
the aperture under the optical centre of the readhead to allow normal LED function during set-up
procedure. The Orange spacer also helps to position readhead with respect to offset and yaw relative Phasing procedure
to the scale. Adjust the readhead to maximise the signal strength along the full axis travel to achieve a Move the readhead over the reference mark in the direction to be used for the datuming operation. The
Green set-up LED. An external set-up signal (X or VX ) is also available on RGH41 readheads for use reference mark is phased correctly when the set-up LED flashes Red for 0.25 seconds.
where the LED is not visible. See ‘Output specifications’ for details. If it flashes Orange or goes blank, the reference mark adjuster screw should be turned anti-clockwise
1
by 8 turn and the procedure repeated until a Red flash is obtained.
NOTE: Ensure readhead fixing screws are tightened to 0.5 Nm -0.7 Nm.

Yaw
Roll 0° ±1°
0° ±1°

1
8 turn

Pitch
0° ±1°

Orange spacer
Readhead set-up LED flash during
or
reference mark traverse only
Blue spacer
Readhead set-up LED status

Red Orange Blank

Rideheight
Green Orange Red 0.8 ±0.15 mm
Limit switch
Limit switch detection is entirely independent of other readhead functions - the signal is only output
when the readhead is positioned over the limit switch actuator.

RGH41 RGS40 installation guide 7

Output signals
‡
RGH41A, B 1 Vpp analogue Reference mark uni-directional operation
15-way D-type 12-way circular 16-way in-line
12-way circular The RGH41 reference mark output is repeatable for one direction of travel only.
Function Signal Colour plug coupling connector
(V)
(L) (W) (X)
Certain controllers will flag an error when they detect different reference mark
Power Brown 4 2 2 A positions in the forward and reverse directions.
5V
Brown (link) 5 12 12 M
BID / DIR pins allow the readhead to be configured to ignore the reference
White 12 10 10 B pulse output in one direction (see section ‘Reference mark set-up’).
0V
White (link) 13 11 11 N
Incremental + Red 9 5 5 F BID / DIR connections
V1
signals − Blue 1 6 6 R BID / DIR connection
To:- Reference mark output direction
+ Yellow 10 8 8 D For bi-directional operation (normal)
V2
− Green 2 1 1 G BID +5 V or not connected
Forward and reverse
DIR Do not connect
Reference mark + Violet 3 3 3 K
V0
− Grey 11 4 4 O
BID / DIR connection
Limit switch Vq Pink 8 N/C N/C H To:- Reference mark output direction
For uni-directional operation
Dual limit / BID 0V
Vp / Vx Clear 7 N/C N/C E
external set-up*
DIR +5 V or not connected Forward only
Reference mark BID Black 6 9
†
9
††
I DIR 0V Reverse only
uni-directional
† ††
operation
‡ DIR Orange 14 7 7 P

Shield Inner Green / Yellow 15 11 (link) 11 (link) L

Outer – Case Case Case Case
*Dual limit versions (RGH41A) utilise the clear wire for limit switch function ‘Vp’. Single limit versions (RGH41B) utilise the clear wire for
external set-up function ‘Vx’. Please select the preferred readhead version at time of ordering.
† ††
Only connected with option 17 Only connected with option 18

12-way circular plug (termination code V) 15-way D-type plug (termination code L)
52 16
52 28

40

12-way circular coupling (termination code W) 16-way in-line connector plug (termination code X)

52 28 66 17

RGH41 RGS40 installation guide 8

Output signals (continued) Speed
RGH41 T, D, G, X, N, W, Y, H RS422A digital Digital readheads
16-way in-line Non-clocked output readheads
15-way D-type plug
Function Signal Colour connector
(D) Maximum speed
(X) Head type Lowest recommended counter input frequency (MHz)
(m/s)
Power Brown 7 A
5V T (10 µm ) 15
Brown (link) 8 M Encoder velocity (m/s)
D (5 µm ) 12
× 4 safety factor
White 2 B Resolution (µm)
0V G (2 µm) 10
White (link) 9 N X (1 µm) 6
Incremental signals + Green 14 G
A
− Yellow 6 D
+ Blue 13 R
Clocked output readheads
B
− Red 5 F The RGH41N, W, Y, H readheads are available with a variety of different clocked outputs.
Reference mark
Customers must ensure they comply with the lowest recommended counter input frequency.
+ Violet 12 K
Z
− Grey 4 O Maximum speed (m/s)
Lowest recommended counter
Limit switch Q Pink 10 H Options Head type
input frequency (MHz)
Alarm / limit* E+ / P Black 11 I N (0.4 µm ) W (0.2 µm ) Y (0.1 µm ) H (50 nm)

Alarm E− Orange 3 P 61 3 2.5 1.3 0.6 20

External set-up X Clear 1 E 62 2.6 1.3 0.7 0.3 10

Shield Inner Green / Yellow 15 L 63 1.3 0.7 0.35 0.15 5

Outer – Case Case

*Options 05/06 (dual limit) utilise the black wire for limit switch function ‘P’
Options 03/04 (single limit) utilise the black wire for alarm function ‘E+’
Analogue readheads
RGH41A and B - 8 m/s (−3dB)

52 16
66 17

40

15-way D-type plug (termination code D) 16-way in-line connector plug (termination code X)

RGH41 RGS40 installation guide 9

Electrical connections
Grounding and shielding Customer
electronics
RGH41
Inner shield
5V
Extension cable*
Output
signals

0V
Outer shield

*Maximum extension cable length:

RGH41A, B - 100 m, RGH41T, D, G, X - 50 m, RGH41N, W, Y, H - 20 m

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 should 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 terminations

Digital output - RGH41 T, D, G, X, N, W, Y, H Analogue output - RGH41 A, B Limit termination

0V V0 V1 V2+ 5 V to 24 V

Readhead Customer 120 Ω R†

220 pF
A B Z E+ electronics
V0 V1 V2− Vp Vq P Q

†
Cable Z 0 = 120 Ω 120 Ω Select R so that the maximum current does
not exceed 20 mA.
Alternatively, use a relay or opto-isolator.
Single ended alarm signal termination
A B Z E− (option 05/06)
220 pF
5V
Readhead Customer
0V 4k7 Ω electronics

Standard RS422A line receiver circuitry.

1k8 Ω
Capacitors recommended for improved noise immunity.
100 Ω
E−
4k7 Ω 100nF

RGH41 RGS40 installation guide 10

Output specifications
Digital output signals - RGH41T, D, G, X, N, W, Y, H
Form - Square wave differential line driver to EIA RS422A (except limit switches P, Q and external set-up signal X) Analogue output signals - RGH41A, B

Incremental† 2 channels A and B in quadrature (90° phase shifted) Alarm† single limit readheads - differential line driven output Incremental 2 channels V1 and V2 differential sinusoids in quadrature
dual limit readheads - single ended line driven output (90° phase shifted)
P S
Model For RGH41T, G, X alarm asserted
Signal period P (µm) (µm)
20 ms for signal amplitude < 15%. 40 µm
RGH41T 40 10 Either asynchronous pulse E
minimum
Resolution S RGH41D 20 5 as shown (options 03 / 05) or
line driver channels 3-state 0.6 to 1.2 Vpp with Green LED
RGH41G 8 2 (V1+) − (V1−)
E (options 04 / 06). indication and 120 Ω termination.
90°
RGH41X 4 1 For RGH41N, W, Y, H - alarm
RGH41N 1.6 0.4 asserted when: (V2+) − (V2−)
E− only on dual limit readheads
- Signal amplitude > 150%
A RGH41W 0.8 0.2 (option 05 / 06)
- Readhead exceeds specified
B RGH41Y 0.4 0.1 maximum speed

RGH41H 0.2 0.05 Also, outputs are 3-stated at

signal amplitude < 15%

Reference† Synchronised pulse Z, duration as Set-up Reference 0.8 to 1.2 Vpp Differential pulse V0 −18° to 108°.
resolution S. Repeatability of position Duration 126° (electrical).
Between 50% and 70% signal level,
(uni-directional) maintained within (V0+) − (V0−) Repeatability of position
5 (nom) X is a duty cycle.
±20 °C from installation temperature −18° 108° (uni-directional) maintained within
Z and for speed < 0.5 m/s. Voltage Time spent at 5 V increases with 0°
±20 °C from installation temperature
For RGH41W, Y, H only Z pulse at X signal level.
and for speed < 0.5 m/s.
re-synchronised at power-up with 0 At > 70% signal level X is nominal 5 V.
any one of the quadrature states 0 50% 70% 100%
signal level
(00, 01, 11, 10).

Limit open collector output, asynchronous pulse Limit open collector output, asynchronous pulse

Single limit (option 03 / 04) Dual limit (option 05 / 06) Single limit RGH41B Dual limit RGH41A

Length of
Length of actuating magnet actuating magnet
Repeatability < 0.1 mm Repeatability < 0.1 mm
Q Vq
PQ Vp Vq
Repeatability < 0.1 mm Repeatability < 0.1 mm
Length of actuating magnet Length of
actuating magnet

Set-up

† Between 50% and 70% signal level,

Inverse signal not shown for clarity
5 (nom) VX is a duty cycle.
Voltage Time spent at 5 V increases with
at VX signal level.
0 At > 70% signal level VX is nominal 5 V.
0 50% 70% 100%
signal level

RGH41 RGS40 installation guide 11

General specifications Scale specifications
Power supply 5 V ± 5% RGH41A < 140 mA Scale type Reflective gold plated steel tape with protective lacquer coating.
RGH41B < 120 mA Adhesive backing tape allows direct mounting to the machine substrate.
RGH41T, D, G, X < 95 mA
Scale period 40 µm
RGH41N, W, Y, H < 150 mA
NOTE: Current consumption figures refer to unterminated readheads. Linearity ±3 µm /m
For digital outputs a further 35 mA per channel pair (e.g. A+, A−) will
Scale length Up to 50 m (> 50 m by special order)
be drawn when terminated with 120 Ω.
For analogue outputs a further 20 mA will be drawn when terminated Form (H × W) 0.2 mm × 6 mm (includes adhesive)
with 120 Ω. Substrate materials Metals, ceramics and composites with expansion coefficients
Power from a 5 V dc supply complying with the requirements for SELV between 0 and 22 µm/m/°C
of standard IEC BS EN 60950-1. (steel, aluminium, Invar, granite, ceramic etc.)
Ripple 200 mVpp@frequency up to 500 kHz maximum.
Coefficient of thermal expansion Matches that of substrate material when scale ends are fixed by
Temperature Storage −20 °C to +70 °C epoxy mounted end clamps
Operating 0 °C to +55 °C
End fixing Epoxy mounted end clamps (A-9523-4015) using 2 part epoxy
Humidity 95% relative humidity (non-condensing) to EN 60068-2-78
adhesive (A-9531-0342)
Sealing IP50
Scale end movement typically < 1 up to +40 °C
Acceleration Operating 500 m/s2, 3 axes
Temperature Operating −10 °C to +120 °C
Shock Non-operating 1000 m/s2, 6 ms, ½ sine, 3 axes
Minimum installation 10 °C
Vibration Operating 100 m/s2 max @ 55 Hz to 2000 Hz, 3 axes Storage −20 °C to +70 °C
Mass Readhead 50 g Humidity 95% relative humidity (non-condensing) to EN 60068-2-78
Cable 38 g/m
Cable 12 core, double shielded, outside diameter 4.5 ±0.2 mm.
Flex life > 20 × 106 cycles at 50 mm bend radius.

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.

RGH41 RGS40 installation guide 12

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

For worldwide contact details, visit www.renishaw.com/contact

*M-9537-9016-01*
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.

© 2001-2019 Renishaw plc. All rights reserved.

Renishaw reserves the right to change specifications without notice.
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. Part no.: M-9537-9016-01-D
All other brand names and product names used in this document are trade names, trade marks or registered trade marks of their respective owners. Issued: 11.2019