Renishaw RCU10, Installation And User Manual, Page: 71 / 202

5-4 Controller integration
NOTE: The machine control or drive may be using one or more of the methods available
to detect an error from the RCU10. Ensure that all these methods detect the error signal.
Multiple error lines on Aux I/O
When using multiple error lines (Error, Suspend and Warning), it is important to check the
functionality of each line to ensure that the machine control responds correctly to each
type of error asserted.
Error line

Ensure that the drives are inactive, and that they will not become active during the
test procedure.

Power up the RCU10 system to place it into compensation mode.

Clear the initial error asserted at start-up by sending a Reset signal to the RCU10.

Assert an error on the encoder to place the RCU10 in error. This may be a beam
block on a laser encoder, or a similar “beam block” type of error on a tape scale with
a piece of paper placed between the head and the scale.

Check on the machine control that the Error line is active.

Remove the source of the error condition and send a Reset signal to the RCU10 to
clear the error.

Check on the machine control that the Error line is inactive.
NOTE: This error line is for information only and is not safety critical.
Suspend line

The easiest method of checking the suspend line is to simulate a home sequence of
the RCU10 without activating the drives. The suspend line is asserted before the
axis is homed and removed after it is homed.

Ensure the drives are inactive, and that they will not become active during the test
procedure.

Power up the RCU10 system to place it into compensation mode.

Clear the initial error asserted at start-up by sending a Reset signal to the RCU10.

Check on the machine control that the Suspend line is active.

Activate the Seek Ref line on J7 – Auxiliary I/O port.

Manually activate the reference switch to reference the RCU10 (note that the
reference mark will only be registered in combination with quadrature,
i.e. the axis is moving).