Delta EtherCAT User Manual

Homing EtherCAT Programming Guide
12-6 March, 2017
12
4. Mode 4
Mode 4 is similar to Mode 3. The only difference is the moving direction after the motor
detects that the home switch has changed its state.
Home switch ON: The motor runs in reverse direction at low speed until it leaves the home
switch. Then, the motor reaches the home switch again in forward direction. When the
motor reaches the home switch again, it will regard the first Z pulse as the new homing
origin.
 Home switch OFF: The motor runs in forward direction at high speed until it reaches
the home switch. Then, the motor decelerates and runs at low speed and regards the
first Z pulse it looked for as the new homing origin.
Home switch
Motor
H
L
S
E
Motor
L
S
E
L
Homing origin
Speed
Speed
Z Pulse
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
Position
Position

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English