Siemens SIMATIC FM 353 Manual page 225

Note
Please see also Section 9.1.3!
Control actions
Prerequisites:
S The FM 353 has been initialized.
S The mode has been selected and acknowledged.
S The Drive Enable [AF] = 1 (control signal in the user DB, DBX15.7)
S Stop [STP] = 0 (control signal in the user DB, DBX15.1)
S The Servo Enable (RF) = 1 (user DB, DBX34.0)
S Speed levels have been transferred.
S The axis is synchronized.
Table 9-5 Control actions for "Incremental relative" mode (examples)
Signal name
Control action 1, enable "Incremental relative" mode
Control signal:
Mode [BA]
Checkback signals:
Active mode [BAR]
Start enable [SFG]
Control action 2, define position
Transfer incremental di-
mension (DBX38.2)
Select increment (254)
Control signal:
Direction plus [R+]
Checkback signals:
e.g. Travel plus [FR+]
Start enable [SFG]
Processing in progress
[BL]
e.g. Travel plus [FR+]
Processing in progress
[BL]
Position reached, stop
[PEH]
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Level
The user initiates a [BA] command.
The module returns [BAR] and [SFG].
When the incremental dimension has been transferred
and selected, [R+] can be specified.
The axis cancels the [SFG] and outputs messages
[BL] and [FR+]
When the defined position has been reached, the axis
enables [PEH]; [SFG] and checkback signals [FR+]
and [BL] are reset.
Description of Functions
Explanation
9-25