Delta EtherCAT User Manual

EtherCAT Programming Guide Homing
March, 2017 12-9
12
7. Mode 7
 Home switch OFF: The motor runs in forward direction at high speed until it reaches
the home switch. Then, it decelerates in reverse direction. When the motor leaves the
home switch 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 OFF: The motor runs in forward direction at high speed. When the motor
triggers the positive limit before reaching the home switch, it runs in reverse direction
until reaching the home switch. Then, the motor decelerates to low speed. When the
motor leaves the home switch, 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 reverse direction at low speed until it leaves the
home switch. Then, the motor starts to look for the first Z pulse and regards the first Z
pulse as the new homing origin.
H
E
H
H
S
E
L
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
Home switch
Positive limit
Motor
Motor
Speed
Speed
Homing origin
Position
Position
L
S
S
E
Motor
Speed
Position
L

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English