Chapter 7 EtherCAT Communication
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 reverse high-speed returns to home. After encountering the rising
edge of the home switch, it will run reverse at low speed, and stop when encountering the rising edge of Z signal.
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 forward high-speed returns to home. After encountering the falling edge of the home switch,
it runs at a high-speed in the reverse direction, after encountering the rising edge of the home switch, it will find
the rising edge of the Z signal at a reverse low speed and stop.
0x6098 = 7
Forward, home switch as deceleration point and Z signal as home
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, and forward high-speed returns to home. After encountering the rising
edge of the home switch, it will run reverse at high speed, and when it encounters the falling edge of the home
switch, it will run reverse at low speed, and stop at the rising edge of the Z signal.
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