Delta EtherCAT Programming Manual page 255

Homing
8. Mode 8

12


12-10
Home switch OFF: The motor runs in forward direction at high speed until it reaches
the home switch. Then, the motor runs at low speed, starting to look for the first Z
pulse and regards it 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 and leaves the home
switch at low speed. Afterwards, the motor runs in forward direction. When the home
switch is reached again, the motor 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, it runs in forward direction. When the home switch is reached
again, the motor starts to look for the first Z pulse and regards the first Z pulse as the
new homing origin.
Speed
H
Motor
S
Speed
Motor
Speed
Motor
Z Pulse
Home switch
Positive limit
Homing origin
L
E
H
L
E S
L
H
L
E
S
L
EtherCAT Programming Guide
Position
Position
Position
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
March, 2017