Delta EtherCAT User Manual

Homing EtherCAT Programming Guide
12-4 March, 2017
12

Example
U16 Status;
U16 CardNo=16, AxisNo=1, SlotNo=0, Mode=1;
I32 Offset=200;
U32 FirstVel =600000, SecondVel =100000;
U32 Acceleration = 3;
/*Homing mode setting*/
Status = _ECAT_Slave_Home_Config (CardNo, AxisNo, SlotNo, Mode, Offset, FirstVel,
SecondVel, Acceleration);

Description
1. Mode 1
The motor runs in reverse direction at high speed until it reaches the negative limit. Once
reaching the limit, it decelerates. Upon leaving the negative limit at low speed, it starts to
look for the first Z pulse in forward direction and regards the first Z pulse as the new homing
origin.
Negative
limit
Z Pulse
Motor
Speed
Position
Homing origin
H: High speed (The 1
st
speed)
L: Low speed (The 2
nd
speed)
S: Starting point
E: Ending point
Z Pulse: Zero point of each cycle of
the encoder
H
L
S
E

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English