Renishaw RCU10, Installation And User Manual, Page: 76 / 202

Controller integration 5-9
5.2.6 Encoder considerations
There are usually two different types of encoder configuration encountered when
integrating the RCU10 system in a closed-loop application:

Dual encoder systems: Each machine axis has a basic (secondary) encoder
system that is separate to the encoder being used with the RCU10 system. This
may be the motor rotary encoder or a pre-existing tape scale etc. This enables the
machine to be moved safely and independently by the machine control whilst
ignoring the RCU10 system.

Single encoder systems: Each machine axis has only one encoder system to
control motion. This is the encoder that is to be integrated through the RCU10
system. Therefore, non-closed-loop motion is only available by hand.
The dual encoder system is easier, because the system integrator is able to move the
machine under closed-loop control whilst setting up the RCU10 system.
The single encoder system is a little more difficult because it makes the process of
ensuring that the resolution and direction of count are correct for feedback purposes more
difficult. It will be necessary to move the machine by hand.
CAUTION: The process of closing the machine’s feedback loop is the point in the
installation where there is the most potential to cause problems if the operations
are not carried out correctly. Therefore it is essential that great care is taken at this
stage, and that the installer understands fully the operation of both the RCU10 and
the machine control. Before progressing, check all settings associated with
feedback direction and resolution both within the feedback system and the motion
controller.
It should also be noted that during the integration process certain safety features
might not be fully operational, hence the machine should only be operated by
personnel who are aware of this, and able to take appropriate action in the event
of a problem. During the integration process the machine should be kept clear of
untrained personnel until all functions have been enabled and tested.
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