H-1000-4045-01-B
ACR2
Autochange system for
PHS1 servo positioning head system
Installation Guide
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Renishaw plc, New Mills, Wotton-under-Edge, Gloucestershire GL12 8JR, United Kingdom
International Tel +44 1453 524524 Fax +44 1453 524901
National Tel 01453 524524 [07000 RENISHAW] Fax 01453 524901 Telex 437120 RENMET G
email [email protected] Internet http://www.renishaw.com
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C.C. Alphaville,
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Brazil
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15 rue Albert Einstein,
Champs sur Marne,
77437 Marne la Vallée,
Cedex 2,
France
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Renishaw S.p.A.,
Via dei Prati 5,
10044 Pianezza,
Torino,
Italy
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Renishaw A.G.,
Poststrasse 5,
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Switzerland
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Renishaw Inc,
623 Cooper Court,
Schaumburg,
Illinois 60173,
USA
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Unit 4A,
3/F, New Bright Building,
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The People's Republic of China
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Germany
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Across City Nakano-Sakaue,
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CONTENTS
2 Manual No. H-1000-4045
The copyright in this document is vested in Renishaw plc. The document must not be
reproduced in whole or in part, or used in tendering or manufacturing purposes, except with
consent of Renishaw plc and then only on the conditions that this notice is included in any such
reproduction.
Information contained within this document is believed to be accurate at the time of publication
but no liability whatsoever can be accepted by Renishaw plc arising out of any use made of this
information.
Unless otherwise expressly stated neither this document nor any information contained in shall
be deemed to constitute or form any part of an invitation to treat or offer contract for the
product(s) described in this document.
Renishaw reserves the right to change specifications or any information contained in this
document without notice.
© 1999 Renishaw plc. All rights reserved.
Renishaw® is a registered trademark of Renishaw plc.
Manual No: H-1000-4045-01-B
First issued – August 1999
Revised – February 2000
CONDITIONS
Care of probing system
Renishaw probing systems are precision tools used to obtain precise measurements and should
therefore be treated with care.
Changes to equipment
Renishaw reserves the right to change specifications without notice.
Renishaw reserves the right to improve, change or modify its hardware or software without
incurring any obligations to make changes to Renishaw equipment previously supplied.
Warranty
Renishaw plc warrants its equipment provided that it is installed exactly as defined in associated
Renishaw documentation.
Consent must be obtained from Renishaw if non-Renishaw equipment (eg interfaces and/or
cabling) is to be used or substituted. Failure to comply with this will invalidate the Renishaw
warranty.
Claims made under warranty must be made from authorised service centres only, which may be
advised by the supplier or distributor.
Patents
Features of the various products shown in this Installation Guide and features of similar products
are the subject of the following patents and patent applications:
EP 0142373 EP 0293036
JP 2098080 US 4651405
EP 0816014 EP 0836377
JP 12,662/1998
SAFETY
Manual No. H-1000-4045 3
FCC (USA)
Information to user (FCC section 15.105)
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 used in
accordance with the installation 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 you will be required to
correct the interference at your own expense.
Information to user (FCC section 15.21)
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.
Special accessories (FCC section 15.27)
The user is also cautioned that any peripheral device installed with this
equipment, such as a computer, must be connected with a high-quality
shielded cable to insure compliance with FCC limits.
SAFETY
4 Manual No. H-1000-4045
GB WARNINGS
SAFETY NOTE
Each ACR2 port contains spring-loaded components which cause pinch
hazards if covers are removed.
Do not dismantle ACR2 ports or remove them from their mounting plates.
Return defective units to an authorised Renishaw Customer Service Centre.
Pinch hazards exist between moving parts and between moving and static
parts. Do not hold any part of the Autochange system during movements or
during automatic probe changes.
Beware of unexpected movement. The user should remain outside of the full
working envelope of probe head / extension / probe combinations.
In all applications involving the use of machine tools or CMMs, eye protection
is recommended.
There are no user serviceable parts inside Renishaw ACR2 units. Return
defective units to an authorised Renishaw Customer Service Centre.
For instructions regarding the safe cleaning of Renishaw products, refer to
the MAINTENANCE section of the relevant product documentation.
Refer to the machine supplier's operating instructions.
It is the machine supplier’s responsibility to ensure that the user is made
aware of any hazards involved in operation, including those mentioned in
Renishaw product documentation, and to ensure that adequate guards and
safety interlocks are provided.
Under certain circumstances the probe signal may falsely indicate a probe
seated condition. Do not rely on probe signals to stop machine movement.
The expected method of providing an emergency stop for Renishaw products
is to remove power.
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SAFETY
Manual No. H-1000-4045 15
Environmental Requirements
The following environmental conditions comply with (or exceed) BS EN 61010-1:1993
Indoor use IP30 (no protection against water)
Altitude Up to 2000m
Operating temperature +10°C to +40°C
Storage temperature -10°C to +70°C
Relative humidity 80% maximum for temperatures up to +31°C
Linear decrease to 50% at +40°C
Transient overvoltages Installation category II
Pollution degree 1
Spécifications relatives à l'environnement
Les conditions d'environnement sont en accord avec la norme BS EN 61010-1:1993 ou ultérieure.
Utilisation uniquement à l'intérieur IP30 (aucune protection contre l'eau)
Altitude Jusqu'à 2000m
Température de fonctionnement +10°C à +40°C
Température de stockage -10°C à +70°C
Humidité relative 80% maximum pour des températures jusqu'à +31°C
avec diminution linéaire jusqu'à 50% à +40°C
Surtensions transitoires Installation classée en 2ème catégorie
Degré de pollution 1
Umgebungsbedingungen
Die Forderungen der Richtlinie BS EN 61010-1:1993 sind erfüllt
Inneneinsatz IP30 (kein Schutz gegen Wasser)
Höhe bis zu 2000m
Betriebstemperatur +10°C bis +40°C
Lagertemperatur -10°C bis +70°C
Relative Luftfeuchtigkeit maximal 80% für Temperaturen bis +31°C,
linearer Anstieg bis 50% bei +40°C
Kurzzeitige Überspannungen Installationsklasse II
Verschmutzungsgrad 1
Specifiche ambientali operative
Le seguenti specifiche ambientali di lavoro sono conformi, o eccedono, la norma BS EN 61010-1:1993
Uso interno IP30 (senza protezione contro l'acqua)
Altitudine Fino a 2000m
Temperatura di lavoro da +10°C a +40°C
Temperatura di immagazzinamento da –10°C a +70°C
Umidità relativa Massimo 80% per temperatura fina a +31°C
riduzione lineare al 50% a +40°C
Sovraccarichi di tensione (transienti) Categoria d'installazione II
Grado di inquinamento 1
CONTENTS
16 Manual No. H-1000-4045
CONTENTS PAGE
1 INTRODUCTION .....................................................................................................17
1.1 System features .......................................................................................17
1.2 System description ...................................................................................18
2 INSTALLATION.......................................................................................................20
2.1 Port pair mounting....................................................................................20
2.2 Port pair alignment ...................................................................................22
2.3 Port pair alignment checking procedure...................................................23
2.4 Rack reference.........................................................................................23
3 MANUAL OPERATION ...........................................................................................24
4 AUTOMATIC OPERATION.....................................................................................26
4.1 Port datum procedure...............................................................................26
4.2 Change cycles..........................................................................................31
Associated publications
H-1000-4044 PHS1 Installation Guide
H-1000-6005 PHS1 Programmer's Guide
H-1000-4048 PHS1 Calibration Guide
INTRODUCTION
Manual No. H-1000-4045 17
1 INTRODUCTION
The ACR2 autochange system is an arm-changing system for the PHS1
servo positioning head system. It allows probe extensions or probe adapter
arms to be exchanged to suit the probing task required.
Arms are locked or unlocked from the head by motion of the machine itself.
The head engages a rack port and the machine drives the port up to unlock
an arm or down to lock it in position.
No power connections or signal connectors are necessary to the rack,
making installation very simple.
The ACR2 is supplied as pairs of rack ports which are mounted onto a
suitable fixture supplied by the OEM. The system is modular and any number
of port pairs can be used anywhere on the CMM.
1.1 System features
Modular construction Ports can be positioned in pairs anywhere on
the machine
Simple concept The change cycle is operated by CMM motion
No power connections are needed and all
sensing and overtravel protection is contained
within the PHS1 servo positioning head itself;
no motors, switches or sensors within the rack
Expandable concept Any number of racks can be fitted anywhere on
the machine, eg a 4 port rack at one end and a
2 port rack at the other
Versatile probing ACR2 ports can accommodate touch trigger,
analogue contact or laser scanning probes, with
or without extension bars
Safe operation Sensors on the PHS1 servo positioning head
detect collisions and check whether arms are
correctly and safely locked in position after a
change cycle. The PHS1 also incorporates an
overtravel mechanism to protect against
collisions
Sealed arm locations Covers with effective seals protect electrical
contacts and kinematic locations when not in
use
INTRODUCTION
18 Manual No. H-1000-4045
1.2 System description
The ACR2 rack consists of pairs of ports that store arms. The arms are
either head adapters (HA) or head extensions (HE).
The ports allow arms stored in them to be automatically locked and unlocked
onto a PHS1 servo positioning head.
To change probe arms automatically, the CMM must be programmed to
complete a series of movements using positions calculated during the port
datum routine. These movements cause a mechanism inside the port to
rotate a screwdriver which engages a slot on the arm. The slot activates a
cam which, when rotated, locks the arm in place.
Manual fitment of probe arms can be achieved using the S10 autojoint key
supplied.
Arms are located in the rack port on two steel pins which pass through holes
in the arm. A spring-loaded lid secures the arm in position and seals the
spring-loaded electrical contacts and kinematic locations against
contamination.
Signals to indicate when an arm is present on the head and whether the arm
is locked correctly and safely are provided by the servo positioning head.
This ensures that arms are always positively locked on the head.
Crash protection is provided by the head overtravel unit. Any machine move
errors or mis-programmed moves which cause an unexpected collision will
cause the head overtravel to operate, sending a signal to stop the machine.
NOTE
The maximum operating speed of the ACR2 autochange rack should not
exceed 100mm/sec.
INTRODUCTION
Manual No. H-1000-4045 19
Figure 1 – 6 port ACR2 autochange system
INSTALLATION
20 Manual No. H-1000-4045
2 INSTALLATION
2.1 Port pair mounting
The ACR2 autochange system is a modular system with pairs of ports
supplied by Renishaw to be mounted on a suitable fixture. In this way, any
number of racks of two, four, six or more ports can be created and positioned
anywhere on the CMM.
NOTE
Renishaw do not supply the mounting pillar.
Each port pair can be mounted using four off M8 bolts supplied with the kit
or, if a proprietary extrusion is used, M8 T-slot nuts. Mounting hole positions
for M8 bolt mounting are shown in Figure 2.
INSTALLATION
Manual No. H-1000-4045 21
Figure 2 - Port
pair mounting
132.5
ADJUSTMENT HOLES
M8 X 1.25 THROUGH (2 POSITIONS)
MOUNTING HOLES
∅ 9MM THROUGH (4 POSITIONS)
12.7
305
40
20
50
100
299
INSTALLATION
22 Manual No. H-1000-4045
2.2 Port pair alignment
1. Mount a pair of ports to the mounting fixture using four off M8 bolts
through the mounting holes shown in Figure 2.
2. Align the port mounting plate, with the use of shims if necessary, such
that the front face is aligned to the machine axes within ±0.1° (0.5mm
runout) and the runout on the top face is within 0.5mm.
Two off M8 screws (supplied in the port pair kit) can be used in the
adjustment holes (see Figure 2) to assist in aligning the port pair.
Figure 3 – Port pair alignment
FACE B : ALIGN TO WITHIN 0.5MM
FRONT FACE
ALIGN TO
WITHIN ±0.1°
ALIGN FRONT FACE
TO WITHIN 0.5MM
THIS DIRECTION
ALIGN FRONT FACE TO WITHIN 0.5MM THIS DIRECTION
INSTALLATION
Manual No. H-1000-4045 23
2.3 Port pair alignment checking procedure
In order to check the alignment of a port pair, the following procedure should
be used:
Place the tool onto the alignment pins, as shown in Figure 4, ensuring
the alignment pins are seated in the levelling tool vee grooves.
If the port is correctly aligned, the bubble should be central within the
graticule.
Figure 4 – Placing the alignment tool onto the ACR2 port
NOTE
If the alignment is found to be incorrect, procedure 2.2 (port pair alignment)
should be repeated.
2.4 Rack reference
It may be useful to add a reference sphere to the rack pillar. The reference
sphere can be used as a master reference for the position of the rack pillar
relative to the zero reference position of the machine.
Bubble
level
Alignment tool
MANUAL OPERATION
24 Manual No. H-1000-4045
3 MANUAL OPERATION
Figure 5 – Probe arm locking mechanism
Refer to section 4 for information on automatic probe exchange.
To change a probe manually :
NOTE
It is advised that no measurements should be made after a manual probe
change. It is suggested that the probe should be unloaded and loaded in the
autochange rack before use.
1. With the use of the autojoint key, ensure that the cam slot which
operates the locking mechanism is in the unlocked ‘1 o’clock’ position -
see Figure 6
2. Place the probe arm in position, ensuring that the central pin on the head
is aligned with the mating hole on the probe arm
3. The alignment pin in the probe arm will engage and align the kinematic
locations - see Figure 5
4. Once aligned, turn the key to its locked ‘5 o’clock’ position - see Figure 6
5. Once aligned, insert the S10 autojoint key into the cam slot and turn fully
clockwise to the cam end stop. Then back the cam off by approximately
5° to ensure correct docking with the ACR2 port mechanism.
D axis
E axis
Arm probe
Locking pin
Spring-loaded contact pins
Mating hole
MANUAL OPERATION
Manual No. H-1000-4045 25
NOTE
If a probe adapter or extension is manually locked, it is important that the
cam is fully locked and then backed off by approximately 5°, or the probe
arm may not dock correctly in the ACR2 port.
Figure 6 – Cam positions
D axis
Arm probe
E axis
Unlocked position
Locked position
AUTOMATIC OPERATION
26 Manual No. H-1000-4045
4 AUTOMATIC OPERATION
This section gives a suggested method for datuming an ACR2 autochange
rack port and the recommended CMM movements for change cycles using
that datum position.
4.1 Port datum procedure
This method allows datuming of each ACR2 port by taking probing points on
one of the location pins.
1. Qualify the PHS and probe combination as shown below
Note that the probe tip must be qualified before the port can be
datumed. Refer to the PHS Calibration Guide H-1000-4048 for
recommended probe calibration procedure.
A typical probe assembly suitable for port datuming would be
HA8 probe arm
TP2 probe
PS17R 20mm stylus
Nominal offset values for this probe assembly are
RD 72mm
RE 104mm
The values RD and RE should be established to within ±0.1mm by the
probe qualification procedure.
Note also the angular orientation of the D and E axes required for port
datuming (D 0°, E 0°). The probe tip should be aligned to the axis
origins to within 0.1°.
AUTOMATIC OPERATION
Manual No. H-1000-4045 27
Figure 7 - ACR2 port datum procedure
2. Position the ACR2 port in the lower latched position (Figure 8).
NOTE
To manually move between upper and lower positions, the two port pins
must be pushed to the left to disengage the motion locks.
3. Lift the lid retaining clip up to hold the latch in the open position (Figure
9).
D axis C/L
PHS D/E axis origin
RD
E axis C/L
Typical probe assembly
for port datum procedure
RE
±0.1°
NOTE: Angular orientation of D and E axes
required for port datum procedure (D and E 0°)
AUTOMATIC OPERATION
28 Manual No. H-1000-4045
Figure 8 – Port in lower latch position
Figure 9 – Lifting the latch retaining clip
Z
X
Y
Lift lid retaining clip
AUTOMATIC OPERATION
Manual No. H-1000-4045 29
Figure 10 – ACR2 port datuming procedure
NOTE
Only one port is shown for clarity.
4. Take four points around the full diameter of the upper location pin in
the ZX plane (assuming the rack is oriented to the CMM axes as
shown on this page).
5. Use the four points to create a circle.
6. Use the centre point of the circle as the coordinates for the pin datum
in the X and Z axes, X
P
and Z
P
.
7. Take one point on the end of the upper location pin in the Y axis and
use it as the coordinate for the pin datum in the Y axis, Y
P
.
Ensure port is in its lower position
Upper location pin
AUTOMATIC OPERATION
30 Manual No. H-1000-4045
8. Push the lid forward to release the retaining clip.
Figure 11 – Pin datum position
9. Offset the position X
P
, Y
P
, Z
P
to the PHS D/E axis origin as shown
below. Use this point X
D
, Y
D
, Z
D
as the pin datum point.
X
D
= X
P
– R
D
Y
D
= Y
P
+ R
E
Z
D
= Z
P
Pin datum point (X
P
, Y
P
, Z
P
)
Z
XY
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