Delta EtherCAT User Manual

Homing EtherCAT Programming Guide
12-14 March, 2017
12
12. Mode 12
 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 OFF: The motor runs in reverse direction at high speed. When the motor
triggers the negative limit before reaching the home switch, it runs in forward direction
until reaching the home switch. Then, the motor decelerates and leaves the home
switch at low speed. Afterwards, it 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.
 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 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.
L
S
S
H
E
L
E
L
Negative
limit
Home switch
Z Pulse
Motor
Motor
Speed
Speed
Position
Position
H: High speed (The1
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
E
H
L
S
H
L
Motor
Speed
Homing
origin
Position

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English