Chapter 7 EtherCAT Communication
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, and reverse high-speed returns to home. After encountering the falling edge of the home switch,
it runs at a high-speed in the forward direction, after encountering the rising edge of the home switch, it will find
the rising edge of the Z signal at a forward low speed and stop.
The current position of the motor is between the positive limit switch and the home switch. When the homing is
started, the home switch is at a low level, and forward high-speed returns to home. After encountering the rising
edge of the positive limit switch, and then run at high speed in the reverse direction. After encountering the falling
edge of the home switch, it will run forward at high speed, and when it encounters the rising edge of the home
switch, it will find the rising edge of the Z signal at a forward low speed and stop.
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