Delta EtherCAT Programming Manual page 262

EtherCAT Programming Guide
15. Mode 17 ~ 30
Mode 17 ~ 30 are similar to mode 1 ~ 14 with following differences: In mode 1 ~ 14, after
receiving signals of the limits or home switch, the motor looks for Z pulse and regards the Z
pulse as the new homing origin, whereas in mode 17 ~ 30, the motor regards the signals as
the new homing origin. Please refer to the figure below for the differences between mode 1
and mode 17.
Speed
Method 17
Motor
Speed
Method 1
Motor
Negative
limit
Z Pulse
16. Mode 33
The motor runs in reverse direction looking for the first Z pulse and regards the it as the
new homing origin.
Speed
Motor
Z Pulse
March, 2017
Homing origin
(Method 17)
H
E
L
Homing origin
(Method 1)
H
E
L
Homing origin
L
E
Position
S
Position
S
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
Position
S
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)
st
speed)
nd
speed)
12-17