Delta EtherCAT Programming Manual page 250

EtherCAT Programming Guide
2. Mode 2
The motor runs in forward direction at high speed and starts to decelerate once it reaches
the positive limit. When the motor leaves the positive limit at low speed, it starts to look for
the first Z pulse in reverse direction and regards the first Z pulse as the new homing origin.
Speed
Motor
Positive limit
Z Pulse
3. Mode 3

Home switch ON: The motor runs in reverse direction at low speed until it reaches the
home switch. Once reaching the home switch, it decelerates to leave the switch with
low speed and starts to look for the first Z pulse, regarding it as the new homing origin.

Home switch OFF: The motor runs in forward direction at high speed until it reaches
the home switch. Then, it decelerates to leave the home switch in reverse direction
and starts to look for the first Z pulse with low speed and regards the first Z pulse as
the new homing origin.
Speed
Motor
Speed
Motor
Home switch
Z Pulse
March, 2017
Homing origin
H
S
E
L
Homing origin
E
L
H
S
E
L
Position
H: High speed (The 1
L: Low speed (The 2
S: Starting point
E: Ending point
Z Pulse: Zero point of each cycle of
the encoder
Position
S
Position
H: High speed (The 1
L: Low speed (The 2
S: Starting point
E: Ending point
Z Pulse: Zero point of each cycle of
the encoder
Homing
12
st
speed)
nd
speed)
st
speed)
nd
speed)
12-5