Delta EtherCAT Programming Manual page 251

Homing
4. Mode 4
Mode 4 is similar to Mode 3. The only difference is the moving direction after the motor
detects that the home switch has changed its state.
12
Home switch ON: The motor runs in reverse direction at low speed until it leaves the home
switch. Then, the motor reaches the home switch again in forward direction. When the
motor reaches the home switch again, it will regard the first Z pulse as the new homing
origin.

Motor
Motor
Home switch
Z Pulse
12-6
Home switch OFF: The motor runs in forward direction at high speed until it reaches
the home switch. Then, the motor decelerates and runs at low speed and regards the
first Z pulse it looked for as the new homing origin.
Speed
Speed
H
S
Homing origin
L
Position
S
E
L
L
Position
E
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
EtherCAT Programming Guide
st
speed)
nd
speed)
March, 2017