Delta EtherCAT Programming Manual page 254

EtherCAT Programming Guide
7. Mode 7

Home switch OFF: The motor runs in forward direction at high speed until it reaches
the home switch. Then, it decelerates in reverse direction. When the motor leaves the
home switch 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 OFF: The motor runs in forward direction at high speed. When the motor
triggers the positive limit before reaching the home switch, it runs in reverse direction
until reaching the home switch. Then, the motor decelerates to low speed. When the
motor leaves the home switch, 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 reverse direction at low speed until it leaves the
home switch. Then, the motor starts to look for the first Z pulse and regards the first Z
pulse as the new homing origin.
Speed
Motor
Speed
Motor
Speed
Motor
Home switch
Positive limit
March, 2017
Homing origin
H
S E
L
E
L
E
L
Position
H
Position
S
H
Position
S
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
Homing
12
12-9