Description of Functions
9-12
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Module control
The following table lists the control signals used to start a movement.
Prerequisite: Drive enable [AF] = 1, Stop [STP] = 0,
Start enable [SFG] = 1
Mode (BA) Parameters Command /
Signal state
Activation of movement
Jogging (mode = 01) Velocity level
BP = 1 = level 1
BP = 2 = level 2
R+, R− /
Level
R+ or R− with “Level” = 1
(R+ and R− simultaneously error)
Control (mode = 02) Frequency level
BP = 1 = level 1
BP = 2 = level 2
R+, R− /
Level
R+ or R− with “Level” = 1
(R+ and R− simultaneously error)
Reference point ap-
proach
(mode = 03)
− Start, R+, R− /
Edge
Direction as in MD
R+ or R− = 0/1 or Start = 0/1
(speed as in MD)
Incremental relative
(mode = 04)
BP = 1...100
BP = 254
R+, R− / Edge R+ = 0/1 or R = 0/1
(speed level 1)
MDI (mode = 06) − Start / Edge Start = 0/1 (R+, R− relevant only for rotary
axis with absolute measure specified for
direction selection)
Automatic
(mode = 08)
− Start / Edge Start = 0/1 (according to program preset-
ting)
Automatic single
block (mode = 09)
− Start / Edge Start = 0/1
Stat. pending start condition
“Processing in progress” remains active after the end of machining and there is no
start enable as long as the start condition is not reset.
Switching edge
(e.g. R+, R−, Start,
according to mode)
Processing in progress
Enable start
Axis movement with
preset path
Preset path executed
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