Delta EtherCAT User Manual

Homing EtherCAT Programming Guide
12-12 March, 2017
12
10. Mode 10
 Home switch OFF: The motor runs in forward direction at high speed until it reaches
the home switch. Then, it runs at 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 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 runs in forward
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 ON: The motor runs in forward 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
S
H
E
H
S
L
E
L
Positive limit
Home switch
Z Pulse
Motor
Motor
Speed
Speed
Homing origin
Position
Position
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
S E
L
Motor
Speed
Position

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English