Delta EtherCAT Programming Manual page 259

Homing
12. Mode 12

12


Motor
Motor
Motor
Z Pulse
Home switch
Negative
limit
12-14
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 OFF: The motor runs in reverse direction at high speed. When the motor
triggers the negative limit before reaching the home switch, it runs in forward direction
until reaching the home switch. Then, the motor decelerates and leaves the home
switch at low speed. Afterwards, it 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.
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 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
Speed
H
S
H
Speed
Homing
origin
E
L
H
L
E
L
L
E
S
L
EtherCAT Programming Guide
Position
S
Position
Position
st
H: High speed (The1
nd
L: Low speed (The 2
S: Starting point
E: Ending point
Z Pulse: Zero point of each
cycle of the encoder
speed)
speed)
March, 2017