Siemens SIMATIC FM 353 - Determining the Position

Description of Functions
9-63
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
9.6 Determining the position
Overview
The FM 353 operates without encoders.
The position resolution of the axis is determined by the traversing distance of one
motor increment.
The control frequency pulses emitted by the FM 353 are added internally to form a
position value.
Function parameters
The following table shows you how to adapt a stepper motor to the FM 353.
MD Designation Value/Meaning Comments/Unit
11 Distance/motor revolution
(division period)
1...1 000 000 000
1)
[MSR]
(integer component)
12 Residual distance/motor
revolution (division period)
0...2
32
−1
1)
[2
−32
MSR]
(fractional compo-
nent)
13 Increments/motor revolu-
tion
(division period)
2
1
...2
25
1)
Entry per stepper
motor data plate
1) see Section 5.3.1, Dependencies
MSR stands for measurement system raster (see Section 5.3.1)