Siemens SIMATIC FM 353 Manual page 230

Description of Functions
Table 9-7 Control actions for "MDI" mode (examples), continued
Signal name
Control action 2, change position during positioning
Transfer MDI block on-
the-fly (DB38.4)
Checkback signals:
Travel plus [FR+]
Travel minus [FR−]
Control action 3, stop during positioning with new start signal for resumed positioning
Control signal:
Stop [STP]
Checkback signals:
Travel minus [FR−]
Start enable [SFG]
Control signal:
Start [ST]
Checkback signals:
Travel minus [FR−]
Start enable [SFG]
Control action 4, stop during positioning with new start signal and new MDI block
Control signal:
Stop [STP]
Checkback signals:
Travel plus [FR+]
Start enable [SFG]
Transfer MDI block (job
no. 6)
Transfer "delete residual
path" (job no. 11)
Control signal:
Start [ST]
Checkback signals:
Travel minus [FR−]
9-30
Level
If a new "MDI block on-the-fly" is transferred during
positioning, the current positioning operation is can-
celed immediately, and the new positioning operation is
started on-the-fly. In this case, for example, this causes
the direction to be changed from [FR+] to [FR−].
If Stop is enabled during positioning, the axis stops.
[FR−] is reset, and [SFG] is activated. [BL] remains
active and [PEH] is not output, since positioning is not
.
complete
If [ST] is initiated again, [FR−] and [SFG] are reset and
positioning is completed.
Before the axis comes to a standstill, it is possible to
define a new direction "through start".
If Stop is enabled during positioning, the axis stops.
[FR+] is reset, and [SFG] is activated.
When a new MDI block has been transferred, [ST] is
enabled again. "Delete residual path" is also enabled.
The axis deletes the residual path of the old positioning
operation, and starts executing the new traversing
block.
[FR−] is enabled, and [SFG] is reset.
Note:
If no new "MDI block" is transferred, execution of the
current "MDI block" is repeated from the start.
Without "delete residual path", the interrupted position-
ing operation would be continued (see control action 3)
Explanation
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0