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, and reverse high-speed returns to home. After encountering the rising
edge of the negative limit switch , it will run at high speed in the forward direction. After encountering the falling
edge of the home switch, it will run forward at low speed, and stop at the rising edge of the 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 low-speed in the reverse direction, and stop at the rising edge of the Z signal.
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