Siemens SIMATIC FM 353 Manual page 212

Description of Functions
Module control
The following table lists the control signals used to start a movement.
Prerequisite: Drive enable [AF] = 1, Stop [STP] = 0,
Mode (BA)
Jogging (mode = 01) Velocity level
BP = 1 = level 1
BP = 2 = level 2
Control (mode = 02) Frequency level
BP = 1 = level 1
BP = 2 = level 2
Reference point ap- −
proach
(mode = 03)
Incremental relative BP = 1...100
(mode = 04) BP = 254
MDI (mode = 06) −
Automatic −
(mode = 08)
Automatic single −
block (mode = 09)
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
9-12
Start enable [SFG] = 1
Parameters Command /
Signal state
R+, R− /
Level
R+, R− /
Level
Start, R+, R− /
Edge
R+, R− / Edge R+ = 0/1 or R = 0/1
Start / Edge
Start / Edge
Start / Edge
Preset path executed
Activation of movement
R+ or R− with "Level" = 1
(R+ and R− simultaneously ! error)
R+ or R− with "Level" = 1
(R+ and R− simultaneously ! error)
Direction as in MD
R+ or R− = 0/1 or Start = 0/1
(speed as in MD)
(speed level 1)
Start = 0/1 (R+, R− relevant only for rotary
axis with absolute measure specified for
direction selection)
Start = 0/1 (according to program preset-
ting)
Start = 0/1
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0