Delta EtherCAT Programming Manual page 263

Homing
17. Mode 34
The motor runs in forward direction looking for the first Z pulse and regards it as the new
homing origin.
12
Motor
Z Pulse
18. Mode 35
The motor regards the current position as the new homing origin.
12-18
Homing origin
Speed
L
S
Position
E
EtherCAT Programming Guide
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