Delta EtherCAT User Manual

Homing EtherCAT Programming Guide
12-8 March, 2017
12
6. Mode 6
Mode 6 is similar to mode 4 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 runs at low speed, it starts to look for the first Z
pulse and 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, the motor runs in reverse direction. When the motor reaches the
home switch again, the motor starts to look for the first Z pulse and regards the first Z
pulse as the new homing origin.
L
L
S
E
H
L
SE
Speed
Speed
Motor
Motor
Homing origin
Position
Position
Home
switch
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

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English