Delta EtherCAT Programming Manual page 256

EtherCAT Programming Guide
9. Mode 9

Home switch OFF: The motor runs in forward direction at high speed until it reaches
the home switch. Then, the motor decelerates and leaves the home switch at low
speed. Afterwards, the motor runs in reverse direction. When the motor reaches the
home switch again, 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. After 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, it runs in reverse 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
Motor
Speed
Motor
Speed
Motor
Z Pulse
Home switch
Positive limit
March, 2017
Homing origin
H
S
E
E
S
E
L
Position
L
H
Position
S
L
H
L
Position
L
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
12-11