Siemens SIMATIC FM 353 Manual page 216

Description of Functions
Table 9-3 Control actions for "Jogging" mode (examples)
Signal name
Control action 1, enable "Jogging" mode
Control signal:
Mode [BA]
Checkback signals:
Active mode [BAR]
Start enable [SFG]
Control action 2, move axis − positive direction
Control signals:
Direction plus [R+]
Drive enable [AF]
Checkback signals:
Travel plus [FR+]
Start enable [SFG]
Processing in progress
[BL]
Control action 3, deactivate axis − positive direction
Control signal:
Direction plus [R+]
Checkback signals:
Travel plus [FR+]
Start enable [SFG]
Processing in progress
[BL]
Control action 4, move axis − negative direction
Control signals:
Direction minus [R−]
Velocity level [BP]
Checkback signals:
Travel minus [FR−]
Processing in progress
[BL]
Control action 5, switch over set-up velocity
Control signal:
Velocity level [BP]
9-16
Level
The user initiates a [BA] command.
The module returns [BAR] and [SFG].
When [SFG] and [AF] are active, [R+] is actuated.
The axis cancels the [SFG] and outputs messages
[BL] and [FR+]
[R+] is canceled
When the axis has come to a standstill, the [BL] and
[FR+] messages are canceled and [SFG] is activated.
Before the axis comes to a standstill, it is possible to
define a new direction "through start".
[R−] is actuated in combination with velocity level 2.
The axis travels at velocity level 2, and returns [BL]
and [FR−]. The [SFG] signal is canceled.
A switchover from [level 2 to level 1] causes a dynamic
transition between velocity levels 1 and 2.
Explanation
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0