Delta EtherCAT

Homing EtherCAT Programming Guide
12-18 March, 2017
12
17. Mode 34
The motor runs in forward direction looking for the first Z pulse and regards it as the new
homing origin.
L
S
E
Position
Homing origin
Speed
Motor
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

18. Mode 35
The motor regards the current position as the new homing origin.