Delta ASDA-A3 Series User Manual page 737

CANopen Mode
Method 30: homing on the negative limit switch and rising edge of home switch
12
Home switch
Negative limit
Methods 31 and 32: reserved
Methods 33 and 34: homing on the Z pulse
Z pulse
Method 35: define the current feedback position as the origin.
12-76
switch
30
30
Starting point
30
33 Starting point
Starting point
34
Starting
point
Starting point
ASDA-A3