Delta EtherCAT User Manual

Homing EtherCAT Programming Guide
12-10 March, 2017
12
8. Mode 8
 Home switch OFF: The motor runs in forward direction at high speed until it reaches
the home switch. Then, the motor runs at low speed, starting to look for the first Z
pulse and regards it 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 and leaves the home
switch at low speed. Afterwards, the motor runs in forward direction. When the home
switch is reached again, the motor 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, it runs in forward direction. When the home switch is reached
again, the motor starts to look for the first Z pulse and regards the first Z pulse as the
new homing origin.
S
E
L
L
H
S
E
L
Positive limit
Home switch
Z Pulse
Motor
Motor
Position
Position
Speed
Speed
Homing origin
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
H
S
H
E
L
L
Motor
Position
Speed

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English