Chapter 7 EtherCAT Communication
The current position of the motor is between the negative limit switch and the home switch. When the homing is
started, the home switch is at a low level, it runs at a high-speed in the reverse direction. After encountering the
rising edge of the negative limit switch, it runs at a high-speed in the forward direction, when encountering the
rising edge of the home switch, it runs at a low-speed in the reverse direction, and stop when encountering the
falling edge of the home switch.
The current position of the motor is where the home switch is valid. When the homing is started, the home switch
is at a high level, it runs at a low-speed in the reverse direction, and stop when encountering the falling edge of
the home switch.
0x6098 = 33
Reverse, motor Z signal as deceleration point and home
When there is at least one Z signal in the distance between the current position of the motor and the negative limit
switch, it will return to home at low speed in the reverse direction and stop at the rising edge of the Z signal.
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