Delta EtherCAT Programming Manual page 257

Homing
10. Mode 10

12


Motor
Motor
Motor
Z Pulse
Home switch
Positive limit
12-12
Home switch OFF: The motor runs in forward direction at high speed until it reaches
the home switch. Then, it runs at 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 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 runs in forward
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 ON: The motor runs in forward 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
H
L
S
Speed
Speed
S
Homing origin
E
H
L
E S
H
L
E
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