Delta ASDA-A3 Series User Manual page 729

CANopen Mode
Method 9: homing on the positive limit switch, falling edge of home switch, and Z pulse
12
Home switch
Positive limit
Method 10: homing on the positive limit switch, falling edge of home switch, and Z pulse
12-68
Starting point
Z pulse
switch
Starting point
Z pulse
Home switch
Positive limit
switch
Starting point
Starting point
Starting point
Starting point
9
9
9
10
10
10
ASDA-A3