Writing Traversing Programs
10-18
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Sample programming (standard case)
The following figure shows a sample program with the programming flow.
/ N
G1
G2 G3 X/t F M1
M2
M3 D
100 0010 000
10
90 645
15
20
25 64
20 000
30 000
40 000
30 000
200 00
150 00
100 00
t
V
N5 N10 N15 N20 N25
1
2
3
4
5
1 − Block N10 is started at the point of deceleration of N5.
2 − N15 is started at the point of deceleration of N10. Acceleration to the higher traversing
speed begins when the set position of N10 is reached.
3 − N20 is started at a lower traversing speed at the braking point of N15.
4 − When the traversing direction is changed, the axis decelerates to a standstill.
5 − When the target range is reached, the axis accelerates in the opposite direction up to
the traversing speed of the new block.
To be able to approach a position correctly, the axis must calculate the point of de-
celeration. The relevant parameters for this calculation are the residual traversing
distance, the deceleration value and the current traversing speed.
The point of deceleration is also the earliest possible time for a block change.
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