Delta EtherCAT Programming Manual page 249

Homing

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0, Mode=1;
12
I32 Offset=200;
U32 FirstVel =600000, SecondVel =100000;
U32 Acceleration = 3;
/*Homing mode setting*/
Status = _ECAT_Slave_Home_Config (CardNo, AxisNo, SlotNo, Mode, Offset, FirstVel,
SecondVel, Acceleration);

Description
1. Mode 1
The motor runs in reverse direction at high speed until it reaches the negative limit. Once
reaching the limit, it decelerates. Upon leaving the negative limit at low speed, it starts to
look for the first Z pulse in forward direction and regards the first Z pulse as the new homing
origin.
Motor
Negative
limit
Z Pulse
12-4
Homing origin
Speed
L
H
Position
S
E
EtherCAT Programming Guide
st
H: High speed (The 1 speed)
nd
L: Low speed (The 2 speed)
S: Starting point
E: Ending point
Z Pulse: Zero point of each cycle of
the encoder
March, 2017