Delta EtherCAT User Manual

EtherCAT Programming Guide Homing
March, 2017 12-5
12
2. Mode 2
The motor runs in forward direction at high speed and starts to decelerate once it reaches
the positive limit. When the motor leaves the positive limit at low speed, it starts to look for
the first Z pulse in reverse direction and regards the first Z pulse as the new homing origin.
Positive limit
Z Pulse
H
L
S
E
Homing origin
Speed
Motor
Position
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
3. Mode 3
 Home switch ON: The motor runs in reverse direction at low speed until it reaches the
home switch. Once reaching the home switch, it decelerates to leave the switch with
low speed and starts to look for the first Z pulse, regarding it as the new homing origin.
 Home switch OFF: The motor runs in forward direction at high speed until it reaches
the home switch. Then, it decelerates to leave the home switch in reverse direction
and starts to look for the first Z pulse with low speed and regards the first Z pulse as
the new homing origin.
Home switch
Z Pulse
Motor
Homing origin
H
L
S
E
Motor
Position
L
SE
Speed
Speed
Position
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

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English