Siemens SIMATIC FM 353 Manual page 170

Starting up
Optimization of stepper motor control
The following table shows you how to make parameter quality selection for any
given axis dynamic response desired. The time values MD46 and MD47 are added
to the previously documented machine data from basic startup. These times are
essentially needed on a stepper drive-specific basis. They amount to a few ms.
However, should the axis machinery have a tendency to vibrate, they can be used
e.g. in the case of seamless transition between acceleration and delay (e.g. when
traversing short distances), in order to prevent the resultant doubling of accelera-
tion jump, or to permit the vibration which is induced at this discontinuous location,
to die out by adding a constant travel time.
Table 7-5
Soft travel behavior
Suppression of resonance
Short positioning time
7-22
Effect of dynamic-defining MDs
MD39
small
great
great
MD41 MD42...45
− small great
− great great
great great small
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
MD46 MD47
great
great
small