Delta AX Series

AX-Series Motion Controller Instructions Manual Appendix A
562
 Mode 20: Homing which depends on the home switch, similar to mode 4, but has nothing to do with Z pulse.
Circumstance 1： MC_Home instruction is run when the home switch is OFF and the axis moves in the positive direction
at the first-phase speed. Where the servo is the home position when the home switch is ON.
Circumstance 2： MC_Home instruction is run when the home switch is ON and the axis moves in the negative direction
at the second-phase speed. The motion direction changes and the axis moves at the second-phase
speed when the home switch becomes OFF. Where the servo is the home position when the home
switch is ON.
 Mode 21: Homing which depends on the home switch, similar to mode 5, but has nothing to do with Z pulse.
Circumstance 1: MC_Home instruction is run and the axis moves in the positive direction at the second-phase speed while
the home switch is ON. And where the axis stands is the home position at the moment the home switch
becomes OFF.
Circumstance 2: MC_Home instruction is run and the axis moves in the negative direction at the first-phase speed while the
home switch is OFF. The motion direction changes and the axis moves at the second-phase speed once
the home switch becomes ON. And where the axis stands is the home position at the moment the home
switch becomes OFF.