RESOLUTE™ absolute encoder system with RESA rotary (angle) ring
- Protocols available: BiSS®, FANUC, Mitsubishi, DRIVE-CLiQ, Yaskawa, Panasonic
- Readhead size: 36 x 16.5 x 17.2 mm
- Resolutions to 32 bits/rev at 36 000 rev/min
- ±0.52 - 5.49 arc seconds system accuracy
- Vacuum compatible, Extended Temperature Range and side cable outlet versions available
- Low profile ring with large internal diameter for easy installations
- Excellent motion control performance
- Exceptionally high dirt immunity
- Wide set-up tolerances
- Less than 10 nm RMS jitter for improved positional stability
- ±40 nm Sub-Divisional Error for smooth velocity control
What is RESOLUTE?
RESOLUTE is a true absolute, fine pitch optical encoder system that has excellent dirt immunity, and an impressive specification that breaks new ground in position feedback. It is the world's first absolute encoder capable of 32-bit resolution at 36 000 rev/min. Ultra low SDE and jitter result in a rotary encoder system that outperforms any other encoder in its class.
Winner of a Queen's Award for Enterprise 2015 in the Innovation category
What is RESA ring?
RESA is a one-piece stainless steel ring with absolute scale code marked directly on the periphery. Two versions are available in a wide range of sizes (Ø52 mm to Ø550 mm).‘A' section rings, which offer an impressive installed accuracy, feature a taper mount system which reduce the need for highly toleranced machined parts and eliminate eccentricity. ‘B' section thin rings, which are low inertia and mass, are also available. Both 'A' and 'B' section rings have a large internal diameter for flexible integration. The non-contact format eliminates backlash, shaft wind-up (torsion) and other mechanical hysteresis errors that are inherent in traditional enclosed encoders.
Why choose this encoder system?
High dirt immunity
There are many factors that contribute to the high dirt immunity of the RESOLUTE encoder system when compared to other optical encoder technologies. RESOLUTE uses a state-of-the-art DSP (Digital Signal Processor) to analyse the data captured by a custom image sensor which has been specifically designed for this application. Within the DSP complex algorithms are at work to overcome the light scattering effects of oily or greasy smears that may cause other encoders to fail. The custom point source LED changes its flash duration in order to provide the best signal integrity for all possible traversing speeds. Finally a large amount of redundancy is built into the absolute code pattern, which means that RESOLUTE can still function over parts of the scale that are partially obscured by particulate contamination.
Excellent motion control performance
RESOLUTE's industry-leading performance is the result of a sophisticated, reliable and innovative method of operation. Crucially, the system uses a single track non-repeating “bar code” scale format with a nominal pitch of 30 µm. With its sophisticated optical design the RESOLUTE readhead captures a near-instantaneous image of this scale which, when analysed, allows a unique position to be identified at speeds of up to 100 m/s. The system allows position to be determined with resolution as small as 1 nanometre (1 billionth of a metre) and with low noise (jitter below 10 nm RMS) and SDE (Sub-Divisional Error, the error within a scale period) of just ±40 nm. This provides encoder feedback of superior fidelity, to ensure smoother velocity control and rock-solid positional stability.
Wide set-up tolerances
RESOLUTE does not follow the conventional technique of using dual tracks side-by-side (one incremental, one absolute) which inherently suffers de-phasing problems when small amounts of angular misalignment are introduced. Instead, this absolute encoder features a single track, optical absolute scale, combining both the absolute position and embedded phase information into one single code. This technology provides RESOLUTE with far wider set-up tolerances (yaw tolerance ±0.5°) for quick and easy installation and superior long-term reliability, even if the motion axes settle or move over time. To further aid installation and diagnostics, there is an integral set-up LED on the readhead.
- required for DRIVE-CLiQ protocol
- also available in dual head input for high accuracy rotary systems
- displays communication alarms
- duplicates readhead LED
No interface is required for the other available protocols.
|Protocol||Description||Data sheet||Compatible products|
Renishaw supports BiSS C (unidirectional) open protocol for absolute encoders. BiSS is a high-speed serial protocol, perfect for dynamic axes that require high acceleration, smooth velocity control, excellent bi-directional repeatability and rock-solid positional stability.
RESOLUTE with Siemens DRIVE-CLiQ interface is available for linear and rotary applications. DRIVE-CLiQ is the innovative, powerful communications interface to connect encoder and direct measurement systems with SINUMERIK and SINAMICS drive components.
RESOLUTE with FANUC serial interface is available for rotary and linear applications. RESOLUTE brings many advantages to high-performance machine tools that use FANUC controllers. Higher speed, rugged and reliable pure serial communications, superior contouring performance and greater servo stiffness. Furthermore, the non-contact format eliminates backlash, shaft wind-up (torsion) and other hysteresis errors that plague traditional enclosed encoders.
|Yaskawa||RESOLUTE with Yaskawa serial communications interface is available in rotary and linear forms, and is compatible with Sigma-5 and Sigma-7 SERVOPACKs.||RESOLUTE Yaskawa||N/A|
|Panasonic||RESOLUTE with Panasonic serial communications interface is available in linear and rotary forms. Compatible with the A5 and A6 series of drivers, it provides high resolution repeatable feedback for better servo and speed control.||RESOLUTE Panasonic||N/A|
RESOLUTE with Mitsubishi serial communications interface is available in rotary and linear forms. RESOLUTE is compatible with the J4 series of servo drives, and the MDS-D2/DH2/DM2/DJ drives for machine tool applications.
RESA: one-piece low profile absolute coded 303 / 304 stainless steel ring, standard ‘A' section with tapered internal diameter or low inertia ‘B' section rings available
Readhead size (LxWxH)
36 mm x 16.5 mm x 17.2 mm
Nominal 30 μm
Ring outer diameter
52 mm to 550 mm
±5.49 to ±0.52 arc seconds (depending on ring diameter)
(See data sheet for details)
36 000 rpm (on 52 mm ring)
BiSS C, DRIVE-CLiQ**, FANUC, Mitsubishi and Yaskawa
BiSS C: 18-bit, 26-bit and 32-bit
FANUC: 23-bit and 27-bit
Mitsubishi 2-wire: 23-bit
Mitsubishi 4-wire: 23-bit and 27-bit
DRIVE-CLiQ**: 26-bit and 29-bit
Yaskawa (rotary servomotors): 24-bit
Yaskawa (fully closed loop control): 23-bit, 26-bit and 30-bit
Sub-Divisional Error (SDE)
Up to 20 m cable lengths with D-type connectors (9 pin or 15 pin), flying lead, FANUC compatible connector, LEMO, and M12
5 V ±10%, 250 mA @ 5 V (terminated)
300 m/s2 max @ 55 Hz to 2 000 Hz
1 000 m/s2, 6 ms, ½ sine
0 °C to +80 °C
Refer to data sheets for full details.
* System accuracy is graduation error plus SDE. Graduation accuracy is the maximum difference between the angle measured by a single readhead and the true rotation of the encoder as graduated. Application disturbances such as eccentricity are not included.
†Other protocols are continually being added.
**For DRIVE-CLiQ specifications, refer to RESOLUTE DRIVE-CLiQ data sheet.
- Data sheet: RESA absolute angle encoder
- Data sheet: RESOLUTE™ Absolute optical encoder with Mitsubishi serial communications
- Data sheet: RESOLUTE™ absolute optical encoder with Siemens DRIVE-CLiQ serial communications
- Data sheet: RESOLUTE™ absolute optical encoder with BiSS serial communications
- Data sheet: RESOLUTE™ absolute optical encoder with FANUC serial communications
- Data sheet: RESOLUTE™ absolute optical encoder with Yaskawa serial communications
- 3D model: RESOLUTE™ absolute optical encoder (Side cable outlet)
- 3D model: RESOLUTE™ absolute optical encoder
- 3D model: RESx 52 mm A section ring
- 3D model: RESx 57 mm A section ring
- 3D model: RESx 75 mm A section ring
- 3D model: RESx 100 mm A section ring
- 3D model: RESx 103 mm A section ring
- 3D model: RESx 104 mm A section ring
- 3D model: RESx 150 mm A section ring
- 3D model: RESx 200 mm A section ring
- 3D model: RESx 206 mm A section ring
- 3D model: RESx 209 mm A section ring
- 3D model: RESx 255 mm A section ring
- 3D model: RESx 300 mm A section ring
- 3D model: RESx 350 mm A section ring
- 3D model: RESx 413 mm A section ring
- 3D model: RESx 417 mm A section ring
- 3D model: RESx 550 mm A section ring
- 3D model: RESx 75 mm B section ring
- 3D model: RESx 100 mm B section ring
- 3D model: RESx 115 mm B section ring
- 3D model: RESx 150 mm B section ring
- 3D model: RESx 165 mm B section ring
- 3D model: RESx 200 mm B section ring
How it works
RESOLUTE communicates bi-directionally in purely serial format, using a variety of industry-standard protocols, of both proprietary and open standard.
The process begins...
The controller initiates operation by sending a demand message to the readhead, instructing it to capture the absolute position on the linear or rotary scale at that instant. The head responds by flashing a high-power LED source to illuminate the scale. The flash duration is as brief as 100 ns to minimise image blur on moving axes. Crucially its timing is controlled within a few nanoseconds to preserve the relationship between demanded and reported position, one of the essential features that makes RESOLUTE ideally suited to very high specification motion systems.
Single track scale
The scale is essentially a single track of full-width contrasting lines, based on a nominal period of 30 µm. The absence of multiple parallel tracks gives important immunity from yaw errors and much more lateral tolerance in head position.
The scale is imaged, via an aspheric lens which minimises distortion, onto a custom detector array designed specifically for RESOLUTE. The optical arrangement, with a folded illumination path but direct imaging, is highly compact yet stable thus assuring the fidelity essential for excellent metrology.
Data decoding and analysis
Once captured by the detector, the image is transferred via an analogue-to-digital converter (ADC) to a powerful Digital Signal Processor (DSP). Specially developed algorithms then obtain a true absolute, but relatively coarse position from the code embedded in the scale. This process is checked, and corrections are made by further algorithms in the DSP which exploit redundancy and intentional restrictions in the scale code. Meanwhile other routines calculate a very high resolution fine position, which is then combined with the coarse position to provide a truly absolute and very high resolution location.
Final checks and data output
After final error checking procedures this information is uploaded in the appropriate protocol to the controller as a pure serial word representing position to within 1 nm. Protection against electrical noise disturbance is provided by addition of a Cyclic Redundancy Check (CRC). The entire process can take as little as a few micro seconds and be repeated up to 25 000 times per second. By a variety of techniques, including adjusting the light flash duration to the axis speed, this performance is achieved at up to 100 m/s while, crucially, preserving exceptionally low positional jitter at lower operating speeds.
And the result is...
An encoder with generous installation tolerances: RESOLUTE allows ±0.5° in yaw, pitch and roll and an impressive ±150 µm in rideheight. Meanwhile the generous optical footprint and advanced error correcting procedures confer excellent immunity to optical contamination, both particulate and greasy smears. All this while maintaining 1 nm resolution at 100 m/s: RESOLUTE is the answer to the toughest absolute challenge.