Delta EtherCAT User Manual

EtherCAT Programming Guide Homing
March, 2017 12-7
12
5. Mode 5
Mode 5 is similar to similar to mode 3 but with different initial moving directions.
 Home switch OFF: The motor runs in reverse direction at high speed until it reaches
the home switch. Then, the motor decelerates in forward direction. When the motor
leaves the switch at low speed and looks for the first Z pulse, it regards the first Z
pulse as the new homing origin.
 Home switch ON: The motor runs in forward direction at low speed until it leaves the
home switch. Then, it looks for the first Z pulse and regards the first Z pulse as the
new homing origin.
Motor
L
S
E
Motor
H
L
S
E
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
Z Pulse
Home
switch
Speed
Speed
Homing origin
Position
Position

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English