Delta DVP-15MC Series - Appendix D Explanation of Homing Modes

Appendix D Explanation of Homing Modes
D-3
D_
 Mode 2 Homing which depends on the positive limit switch and Z pulse
Circumstance 1： MC_Home instruction is executed when the positive limit switch is OFF and the axis
moves in the positive direction at the first-phase speed. The motion direction changes
and the axis moves at the second-phase speed when the axis encounters that the
positive limit switch is ON. Where the first Z pulse is met is the home position while the
positive limit switch is OFF.
Circumstance 2： MC_Home instruction is executed when the positive limit switch is ON and the axis
moves in the negative direction at the second-phase speed. Where the first Z pulse is
met is the home position while the positive limit switch is OFF.
Homing depending on the positive limit switch and Z pulse (: mode 2)
2
Z pulse
Po sitive limit
switch
2
Circumstance 1
Circumstance 2
Start
point
Start point
Negative
direction
Negative
direction