Delta EtherCAT Programming Manual page 253

Homing
6. Mode 6
Mode 6 is similar to mode 4 but with different initial moving directions.

12

Motor
Motor
Home
switch
Z Pulse
12-8
Home switch OFF: The motor runs in reverse direction at high speed until it reaches
the home switch. Then, the motor runs at low speed, it starts to look for the first Z
pulse and 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, the motor runs in reverse direction. When the motor reaches the
home switch again, the motor starts to look for the first Z pulse and regards the first Z
pulse as the new homing origin.
Homing origin
Speed
E
Speed
L
S
E
S
L
H
L
EtherCAT Programming Guide
Position
Position
st
H: High speed (The 1
nd
L: Low speed (The 2 speed)
S: Starting point
E: Ending point
Z Pulse: Zero point of each cycle
of the encoder
speed)
March, 2017