Delta EtherCAT Programming Manual page 252

EtherCAT Programming Guide
5. Mode 5
Mode 5 is similar to similar to mode 3 but with different initial moving directions.

Home switch OFF: The motor runs in reverse direction at high speed until it reaches
the home switch. Then, the motor decelerates in forward direction. When the motor
leaves the switch at low speed and looks for the first Z pulse, it regards the first Z
pulse as the new homing origin.

Home switch ON: The motor runs in forward direction at low speed until it leaves the
home switch. Then, it looks for the first Z pulse and regards the first Z pulse as the
new homing origin.
Speed
Motor
Speed
Motor
Home
switch
Z Pulse
March, 2017
Homing origin
L
L
S
Position
S
E
H
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
Homing
12
st
speed)
nd
speed)
12-7