Siemens SIMATIC FM 353 Manual page 211

Hints to the user
Here are a few hints for starting a movement and about the response of the
FM 353 to a change of the status of the S7-300 CPU:
It is assumed that the FM 353 has been parameterized correctly.
S First a mode must be set. The servo enable must subsequently be set in order
to prevent the axis from "running away,".
S Before starting a movement in any mode, the relevant data (e.g. speed levels)
must be transferred and the override must be > 0.
S It is only possible to start the movement when the start enable is set and the
enable input is set (if parameterized).
Enable Start is set if:
− No error occurred
− Mode is active
− No Stop is called
− Drive enable is set
S A static Stop signal prevents all movements or block processing.
S Response of the FM 353 to transition of the S7-300 CPU from RUN to STOP
state:
− As described for Restart (see Section 9.3.3)
− The digital outputs are switched off
− Interface to the user program is switched off
S Response of the FM 353 to transition of the S7-300 CPU from STOP to RUN
state:
A cold restart of the module is executed.
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Description of Functions
9-11