Siemens SIMATIC FM 353 Manual page 226

Description of Functions
Table 9-5 Control actions for "Incremental relative" mode (examples), continued
Signal name
Control action 3, stop during positioning
Control signal:
Stop [STP]
Checkback signals:
Travel minus [FR−]
Start enable [SFG]
Control action 4, error during traversing movement
Checkback signals:
Travel plus [FR+]
Processing in progress
[BL]
Control signal:
Acknowledge operator/
travel error [BFQ/FSQ]
Checkback signals:
Start enable [SFG]
Control signal:
Direction plus [R+]
Checkback signals:
Travel plus [FR+]
Processing in progress
[BL]
Control action 5, change mode
Control signal:
Mode [BA]
Checkback signals:
Active mode [BAR]
Travel plus [FR+]
Processing in progress
[BL]
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Level
If Stop is enabled during positioning, the axis stops.
[FR−] is reset, and [SFG] is activated. [PEH] is not out-
put, since positioning is not complete.
Before the axis comes to a standstill, it is possible to
define a new direction "through start".
The axis moves.
An error is output during the traversing movement.
[FR+] and [BL] are canceled, and [BFQ/FSQ] is en-
abled.
When the error has been acknowledged, the start en-
able is activated. The movement can be restarted with
[R+].
[FR+] and [BL] are activated.
[SFG] is canceled.
[BA] is deactivated during the traversing movement.
The axis is stopped. [FR+] and [BL] are deleted.
Explanation
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0