Delta EtherCAT Programming Manual page 261

Homing
14. Mode 14

12


Motor
Motor
Motor
Z Pulse
Home switch
Negative
limit
12-16
Home switch OFF: The motor runs in reverse direction at high speed before it reaches
the home switch. Then, the motor decelerates to 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 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, the motor runs in reverse direction and reaches the
home switch again. When the motor leaves 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 ON: The motor runs in reverse 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.
Homing origin
Speed
E
Speed
H
E
S
H
Speed
E
S
L
H
L
L
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