Siemens SIMATIC FM 353 Manual page 222

Description of Functions
Without reference-point switch (RPS)
The following table describes how a reference can be recorded without a refer-
ence-point switch.
Recording of syn-
chronization
R+, R−
or Start
Note
Please see also Section 9.1.3!
Control actions
Preconditions:
S The FM 353 has been initialized.
S The mode has been selected and acknowledged.
S Drive Enable [AF] is = 1 (control signal in the user DB, DBX15.7)
S Stop [STP] = 0 (control signal in the user DB, DBX15.1)
S Servo Enable (RF) is = 1 (user DB, DBX34.0)
Table 9-4 Control actions for "Reference point approach" mode (examples)
Signal name
Control action 1, enable "Reference point approach" mode
Control signal:
Mode [BA]
Checkback signals:
Active mode [BAR]
Start enable [SFG]
Control action 2, move axis − positive direction
Control signal:
Direction plus [R+]
Checkback signals:
Travel plus [FR+]
Start enable [SFG]
Processing in progr. [BL]
Synchronization [SYN]
9-22
Sequence of movements
1. Instantaneous position is defined as reference point (reference-
point coordinate).
2. Value for reference-point shift is traveled.
Level
The user initiates a [BA] command.
The module returns [BAR] and [SFG].
When [SFG] is active, [R+] or [Start] are actuated, for
example.
The axis cancels [SFG], outputs the [BL] and [FR+]
messages and travels here in the positive direction
(defined in MD).
An existing synchronization is reset.
Explanation
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0