Delta EtherCAT Programming Manual page 260

EtherCAT Programming Guide
13. Mode 13

Home switch OFF: The motor runs in reverse direction at high speed until it reaches
the home switch. Then, the motor decelerates and leaves the switch at low speed.
Afterwards, the motor runs in forward direction. When it 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 OFF: The motor runs in reverse direction at high speed. When the motor
triggers the negative limit before reaching the home switch, it starts running in forward
direction. Once reaching the home switch, the motor runs at low speed and starts to
look for the first Z pulse and regards it 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 runs in forward direction. When it reaching the home
switch again, the motor starts to look for the first Z pulse and regard the first Z pulse
as the new homing origin.
Speed
Motor
Speed
Motor
Speed
Motor
Z Pulse
Home switch
Negative
limit
March, 2017
Homing origin
L
E
L
H
H
L
S
E
H
L
S
E
L
Position
S
Position
Position
H: High speed (The 1
L: Low speed (The 2
S: Starting point
E: Ending point
Z Pulse: Zero point of each
cycle of the encoder
Homing
12
st
speed)
nd
speed)
12-15