Delta ASDA-A3 Series User Manual page 731

CANopen Mode
Method 13: homing on the negative limit switch, rising edge of home switch, and Z pulse
12
Home switch
Negative limit
Method 14: homing on the negative limit switch, rising edge of home switch, and Z pulse
Home switch
Negative limit
Methods 15 and 16: reserved
12-70
Z pulse
switch
Z pulse
switch
13
13
Starting point
13
14
14
Starting point
14
Starting
point
Starting point
Starting
point
Starting point
ASDA-A3