Siemens SIMATIC FM 353 User manual

Preface, Contents
Product Overview 1
Basic Principles of Positioning 2
Installing and Removing 3
Wiring 4
Defining Parameters 5
Programming the Technological
Functions 6
Starting up 7
Human-machine Interface 8
Description of Functions 9
Writing Traversing Programs 10
Troubleshooting 11
Appendices
Technical Specifications A
User Data Block (AW−DB) B
List of Abbreviations C
Index
6ES7 353-1AH01-8BG0
04/2007 Edition
FM 353
Stepper Drive Positioning
Module
Manual
SIMATIC

Index-2 FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
!Danger
indicates that death or severe personal injury damage will result if proper precautions are not taken.
!Warning
indicates that death or severe personal injury damage can result if proper precautions are not taken.
!Caution
indicates that minor personal injury can result if proper precautions are not taken.
Caution
without warning sign means that material damage can occur if the appropriate precautions are not taken.
Attention
means that an undesired result or a condition may occur if the appropriate note is not observed.
If more than one level of hazard can occur, the warning note of the correspondingly highest level is used in
all cases. If a warning note with a warning triangle warns of personal injury, an additional warning of
material damage can be included in the same warning note.
Qualified personnel
The unit may only be started up and operated by qualified personnel. Qualified personnel
as referred to in the safety guidelines in this document are those who are authorized to start up, earth
and label units, systems and circuits in accordance with relevant safety standards.
Proper use
Please note the following:
!Warning
The unit may be used only for the applications described in the catalog or the technical description,
and only in combination with the equipment, components and devices of other manufacturers as far
as this is recommended or permitted by Siemens.
It is assumed that this product be transported, stored and installed as intended and maintained and
operated with care to ensure that the product functions correctly and safely.
Trademarks
All names marked with the copyright notice Rare registered trademarks of SIEMENS AG.
Other names in this publication might be trademarks whose use by a third party for his own purposes
may violate the rights of the registered holder.
Safety Information
This Manual contains information which you should carefully observe to ensure your own personal
safety and the prevention of damage to the system. This information is highlighted by a warning
triangle and presented in one of the following ways depending on the degree of risk involved:
We have checked that the contents of this publication agree with the hard-
ware and software described herein. Nonetheless, differences might exist
and therefore we cannot guarantee that they are completely identical. The
information given in this publication is reviewed at regular intervals and any
corrections that might be necessary are made in the subsequent printings.
Exclusion of liabilityCopyright Siemens AG. 1996-2007 All rights reserved
The reproduction, transmission or use of this document or its contents is not
permitted without express written authority. Offenders will be liable for
damages. All rights, including rights created by patent grant or registration of
a utility model, are reserved.
Siemens AG
Automation & Drives
90437 Nürnberg
Federal Republic of Germany ESiemens AG 1996-2007
Subject to change without prior notice.
Siemens Aktiengesellschaft 6ES7-353-1AH01-8BG0

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FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Preface
Information
This manual contains all information about the FM 353 module:
SHardware and functions
SParameterization
SHuman-machine interface
SS7 blocks
SSafe design
Information blocks in this manual
The following information blocks describe the purpose and application of this
manual:
SProduct overview of the module (Chapter 1)
This section explains the purpose and possible applications of the module. It
provides introductory information about the FM 353 and its functions.
SBasic principles of positioning (Chapter 2)
Here you will find introductory information on positioning methods and associ-
ated definitions of terms.
SInstalling and removing the FM 353 (Chapter 3)
Explains the installation and removal of the FM 353.
SWiring the FM 353 (Chapter 4)
Describes the connection and wiring of drives and digital input/output modules.
SDefining parameters of the FM 353 (Chapter 5)
Describes the parameterization and functions of “Parameterize FM 357.”
SProgramming the FM 353 (Chapter 6)
Describes how to program the FM 357 with STEP 7.
SStarting up the FM 353 (Chapter 7)
Describes startup procedures for the FM 353.
SHuman-machine interface (Chapter 8)
Describes the various options for operating and monitoring the FM 353, and
which data and signals can be used and monitored.

Preface
ii FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
SReference information and appendices for finding factual information (module
functions, programming guide, interface signals, error handling, technical speci-
fications, standard HMI user interface)
SList of abbreviations and index for looking up information.
User requirements
The present manual describes the hardware and functions of the FM 353
To set up, program and start up a SIMATIC S7-300 with the FM 353, you will need
a knowledge of:
SThe SIMATIC S7
Installation manual S7-400/M7−400 Programmable Controller, Hardware and
Installation
SYour programming device (PG)
SHow to perform programming with STEP 7
SHow to configure an operator panel interface.
FM 353 users
The structure and presentation of the information in the manual are oriented to the
intended uses of the FM 353, and the user’s own activity.
It distinguishes among the following:
SInstallation and wiring
These activities include installation and wiring of the FM 353.
SParameterizing and Programming
These activities include parameterizing and programming the FM 353.
STroubleshooting and diagnostics
These activities include detecting and correcting faults and errors
−in the hardware setup of the module and its components
−and in the programming, handling and control of module functions.
SOperation
These users operate the FM 353. The operator accordingly deals only with the
control of positioning tasks.
Note
The PROFINET functionality described in the present manual (in the current
version) is only available on request. Please get in touch with your Siemens
contact partner.

Preface
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FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Standards and approvals
Our products are in compliance with the EU Guideline 89/336/EEC “Electromag-
netic Compatibility” and the harmonized European standards (EN) which it embo-
dies.
The current version of the EC Declaration of Conformity can be found on the
Internet at
http://support.automation.siemens.com/WW/view/de/15257461
Recycling and disposal
For recycling in an environmentally compatible manner and for the disposal of your
old SIMATIC in line with prsent state of technology, please contact your appropri-
ate Siemens contact partner:
http://www.automation.siemens.com/partner
Technical support
If you have any technical question, please do no hesitate to contact our hotline:
Time zone: Europe/Africa Asia/Australia America
Telephone [phone] [phone] [phone]
Fax [phone] [phone] [phone]
Internet http://www.siemens.com/automation/support-request
E-mail [email protected]
Note
The country−specific telephone numbers for technical consultation can be found
on the Internet at: http://www.siemens.com/automation/service&support
Questions regarding this Manual
If you have any questions regarding this Documentation (suggestions, corrections),
please send a fax or an e−mail to the following address:
Fax: [phone]
E-mail: [email protected]
Siemens Internet address
For currently updated information on the SIMATIC products, vitsit us on the Inter-
net at: http://www.siemens.de/simatic.

Preface
iv FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Further support
We are offering courses to help you familiarize yourself with the operation of the
SIMATIC S7 programmable controller system.
Please contact your regional or the central training center in D-90027 Nürnberg,
Germany under tel. [phone].
J

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FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Table of Contents
1 Product Overview 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 The FM 353 in the S7-300 programmable controller 1-2. . . . . . . . . . . . . . . . . .
1.2 Module description 1-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Overview of module functions 1-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Basic Principles of Positioning 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Installing and Removing 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Installing the FM 353 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Removing the FM 353 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Replacing modules 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Wiring 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Wiring an FM 353 4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Description of the drive interface 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Connecting the drive unit 4-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Description of the I/O interface 4-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5 Wiring up the front connector 4-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Defining Parameters 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Installing “Parameterize FM 353” 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Getting started with “Parameterize FM 353” 5-4. . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Parameter data 5-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Machine data 5-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Increments 5-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.3 Tool offset data 5-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.4 Traversing programs 5-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Parameterization with “Parameterize FM 353” 5-25. . . . . . . . . . . . . . . . . . . . . . .
5.5 Storing the parameter data in SDB 1 000 5-26. . . . . . . . . . . . . . . . . . . . . . . .
6 Programming the Technological Functions 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Programming fundamentals 6-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.1 Communication between the CPU and the FM 353 6-4. . . . . . . . . . . . . . . . . . .
6.1.2 Structure of a user program 6-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.3 Distributed configuration, OB 86 6-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.4 Embedding an OP 6-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.5 Procedure for writing the user program (AWP) 6-7. . . . . . . . . . . . . . . . . . . . . . .
6.2 Putting the FM 353 into operation with the parameter initialization tool 6-8. .

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6.3 Standard function blocks of the “FMSTSV_L” block library 6-8. . . . . . . . . . . .
6.3.1 Overview of the “FMSTSV_L” function block library 6-9. . . . . . . . . . . . . . . . . .
6.3.2 The POS_INIT (FC 0) block −Initialization 6-10. . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.3 The POS_CTRL (FC 1) block −Data exchange 6-12. . . . . . . . . . . . . . . . . . . . .
6.3.4 The POS_DIAG (FC 2) block −Read diagnostic interrupt data 6-22. . . . . . . . .
6.3.5 The POS_MSRM (FC 3) block −Read measured values 6-25. . . . . . . . . . . . .
6.3.6 Interface, user data blocks (AW-DBs) 6-26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Standard function blocks of the “FM353_354” block library
(also for PROFINET, upon request) 6-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.1 Overview of the “FM353_354” block library 6-28. . . . . . . . . . . . . . . . . . . . . . . . .
6.4.2 The POS_INIT (FC 0) block −Initialization 6-30. . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.3 The POS_CTRL (FC 1) block −Data exchange 6-30. . . . . . . . . . . . . . . . . . . . .
6.4.4 The POS_DIAG (FC 2) block −Read diagnostic interrupt data 6-41. . . . . . . . .
6.4.5 The POS_MSRM (FC 3) block −Read measured values 6-41. . . . . . . . . . . . .
6.4.6 Interface, user DBs (AW-DBs) 6-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Interrupts 6-44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6 User data block (AW-DB) 6-46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7 Sample applications 6-57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8 Error list, system messages (CPU) 6-64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9 Technical specifications 6-66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 Starting up 7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 Installation and wiring 7-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Initial values for testing and optimization 7-3. . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 Testing and optimization 7-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.1 Activating the machine data 7-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.2 Evaluating the characteristics of the stepper motor 7-14. . . . . . . . . . . . . . . . . . .
7.3.3 Basic startup of stepper motor control 7-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.4 Optimization of dynamic response 7-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.5 Realigning the reference point coordinates 7-24. . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.6 Activating stepper motor diagnostics 7-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.7 Activating the software limit switches and backlash compensation 7-26. . . . .
7.3.8 Optimized motion profile 7-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 Human-machine Interface 8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1 Standard HMI (human-machine interface) for the OP 07 and
the OP 17 8-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.1 Standard user interface for the OP 07 8-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.2 Standard user interface for the OP 17 8-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2 Analysis of the user DB by the user program for operator control 8-17. . . . . .
8.3 Data block for status messages (DB-SS) 8-20. . . . . . . . . . . . . . . . . . . . . . . . . . .
9 Description of Functions 9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1 Control and checkback signals 9-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.1 Control signals 9-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2 Checkback signals 9-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.3 General handling information 9-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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9.2 Operating modes 9-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.1 Jogging 9-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.2 Open-loop control 9-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.3 Reference point approach 9-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.4 Incremental relative 9-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.5 MDI (Manual Data Input) 9-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.6 Automatic 9-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.7 Automatic single block 9-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 System data 9-37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.1 Change parameters/data (Write request in user DB, DBX39.3) 9-38. . . . . . . .
9.3.2 Single functions (user DB, DBB34 and 35) 9-42. . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.3 Single functions (user DB, DBB36 and 37) 9-44. . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.4 Zero offset (Write request in the user DB, DBX39.1) 9-46. . . . . . . . . . . . . . . . .
9.3.5 Set actual value (Write request in the user DB, DBX38.7) 9-48. . . . . . . . . . . . .
9.3.6 Set actual value on-the-fly (Write request in the user DB, DBX39.0) 9-49. . . .
9.3.7 Request application data (Write request in the user DB, DBX39.6) 9-50. . . . .
9.3.8 Teach in (Write request in the user DB, DBX39.7) 9-51. . . . . . . . . . . . . . . . . . . .
9.3.9 Set reference point (Write request in the user DB, DBX38.6) 9-51. . . . . . . . . .
9.3.10 Measured values 9-52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.11 Basic operating data (Read request in the user DB, DBX42.0) 9-55. . . . . . . . .
9.3.12 Active NC block (Read request in the user DB, DBX42.1),
next NC block (Read request in the user DB, DBX42.2) 9-56. . . . . . . . . . . . . .
9.3.13 Application data (Read request in the user DB, DBX43.6) 9-57. . . . . . . . . . . . .
9.3.14 Actual value block change (Read request in the user DB, DBX42.3) 9-57. . . .
9.3.15 Servicing data (Read request in the user DB, DBX42.4) 9-57. . . . . . . . . . . . . .
9.3.16 Additional operating data (Read request in the user DB, DBX43.5) 9-58. . . . .
9.3.17 Parameters/data (Read request in the user DB, DBX43.3) 9-58. . . . . . . . . . . .
9.4 System of measurement 9-59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5 Axis type 9-60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6 Determining the position 9-63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.1 Synchronizing the stepper motor axis 9-64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7 Stepper motor control system 9-66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.1 Frequency generation 9-69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.2 Drive interface 9-71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.3 Rotation monitoring 9-75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8 Digital inputs/outputs (Read request user DB, DBX43.4) 9-77. . . . . . . . . . . . . .
9.8.1 Function description for digital inputs 9-78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8.2 Function description for digital outputs
(Write request in the user DB, DBX39.4) 9-79. . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9 Software limit switches 9-80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10 Process interrupts 9-81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10 Writing Traversing Programs 10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1 Traversing blocks 10-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2 Program execution and direction of processing 10-16. . . . . . . . . . . . . . . . . . . . . .
10.3 Block transitions 10-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents
viii FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
11 Troubleshooting 11-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1 Error classes and module responses 11-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2 Error messages 11-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.1 Fault indication by LED 11-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.2 Diagnostic interrupts 11-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.3 Error messages in checkback signals 11-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.4 Message in data block 11-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.5 Viewing the diagnostic buffer (PG/PC) 11-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3 Error lists 11-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.1 Diagnostic interrupts 11-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.2 Error messages 11-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A Technical Specifications A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B User Data Block (AW-DB) B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C List of Abbreviations C-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Index Index-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-1
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Product Overview
Chapter overview
Section Section Header Page
1.1 The FM 353 in the S7-300 programmable controller 1-2
1.2 Module description 1-7
1.3 Overview of the module functions 1-9
What can the FM 353 do?
The FM 353 is a microprocessor-controlled positioning module for actuating a step-
per motor.
The FM 353 is a high-performance module for positioning with stepper drives.
The module works autonomously and is controlled by way of the user program in
the SIMATIC S7-300 system.
It can operate rotary and linear axes.
The FM 353 has a variety of operating modes.
The module has a non-volatile data memory to store parameterization data.
SThe FM 353 is low-maintenance (no battery).
SIt can be linked and adapted to user circumstances by parameterizing it as re-
quired by the system.
1

Product Overview
1-2 FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Where can the FM 353 be used?
The FM 353 can be used for both simple positioning and complex traversing pro-
files demanding superior dynamic response, accuracy and speed. It is also suitable
for positioning tasks in machinery with high clock-pulse rates.
Typical uses for the positioning module might include:
STransfer lines
SAssembly lines
SWoodworking machines
SHandling equipment
SLoaders
SAuxiliary movements in milling and turning machines
SPackaging machines
SConveyor equipment
Its range of functions is comparable to that of the WF 721 module in the SIMATIC
S5 system, and the FM 354 in the SIMATIC S7 system.
1.1 The FM 353 in the S7-300 programmable controller
How is the FM 353 linked up with the S7-300?
The FM 353 is designed as a function module of the SIMATIC S7-300 controller.
The S7-300 programmable controller consists of a CPU and a variety of peripheral
modules mounted on a mounting rail.
The configuration may have one or more racks.

Product Overview
1-3
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Multi-rack configurations
A SIMATIC S7-300 CPU may run up to four racks with as many as eight bus sta-
tions each (see Figure 1-1).
IM
dig./anal. dig./anal.
MPI
MPI −Multipoint interface
IM −Interface module
SM −Signal module
PS −Power supply
CPU −Central processing unit
SIMATIC
S7-300 CPU
Rack 0
Rack 1
Rack 2
Rack 3Backplane
bus
SM SM SM
PS 24 V
2/5/10 A
24 V
24 V
24 V
24 V
Programming device
PG
OP
SM
IM
dig./anal.
SM SM
dig./anal.
FM
Operator panel
stepper drive
dig./anal. dig./anal.
IM
dig./anal.
SM SM
dig./anal.
SM
dig./anal.
SM
dig./anal.
SM
dig./anal.
SM
dig./anal.
FM
IM
dig./anal.
SM
dig./anal.
SM
dig./anal.
SM
dig./anal.
SM
SM
dig./anal.
SM
dig./anal.
FM 353
dig./anal.
SM
dig./anal.
SM
SM
dig./anal.
FM 353
Stepper drive
Distributed I/Os,
L2-DP with IM interface
module
Fig. 1-1 Multi-rack configuration of a SIMATIC S7-300 with FM 353 (example)

Product Overview
1-4 FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
System overview
A complete positioning controller using the FM 353 consists of a variety of individ-
ual components, which are shown in Figure 1-2.
Operator panel (OP)
(e.g. OP 07)
Power section
SIMATIC S7-300
SM SM
Your programming device (PG)
CPU
PS
IM SM SM FM 353
e.g. touch probe
DIN rail
Motor e.g. SIMOSTEP
Configuration package
e.g.
FM STEPDRIVE
Fig. 1-2 System overview (schematic)
MPI connection
The FM can service up to 3 MPI nodes (PCs, programming devices or OPs) simul-
taneously.

Product Overview
1-5
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Components
The most important components and their functions are listed in Table 1-1.
Table 1-1 Components of a positioning controller
Component Function
DIN rail ... the module mounting rack for the S7-300.
FM 353 ... the positioning module. It is controlled by the S7-300 CPU.
CPU ... executes the user program; powers the S7-300 backplane
bus at 5 V; and communicates with the programming device
and the operator panel via the MPI interface.
Power supply (PS) ... converts line voltage (120/230 V AC) to 24 V DC operating
voltage to power the S7-300.
Signal modules (SM) ... adapts various process-signal levels to the S7-300
Interface module (IM) ... connects the individual cells of an S7-300 with
one another (applies to multi-rack configuration; see Figure
1-1).
Programming device (PG) ... configures, parameterizes, programs and tests the S7-300
and the FM 353.
Operator panel (OP) ... the interface to the machine. It serves for operation and
monitoring. It is not an absolute prerequisite for operation of
an FM 353.
Power section ... actuates the motor.
Motor ... drives the axis.
Configuration package ... A CD-ROM containing:
SAn FC block package
SMD DBs (for start-up of stepper motor)
SThe parameterization tool ”Parameterize FM 353”
SA preconfigured operator interface for the COROS series
OP 07 and OP 17
SA manual in PDF format
SGetting Started in PDF format

Product Overview
1-6 FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
System overview of data handling
The following figure gives you an overview of the data storage concept.
FM 353CPU
Module data
User program,
including blocks
User DBx
Online data
OP
LAD/STL
Editor
DB Editor Parameter-
ize FM 353
PG (STEP 7)
Creation of the
user program
P bus
K bus
Operating system DBx
parame-
terization
data
e.g.:
SMachine data
SIncrements
STool offset data
STraversing programs
SStatus messages
Diagnostic/
process
interrupt
SModule data
SDiagnostic data
Loading buffer RAM
Human-machine
interface
Parameterization,
testing and diag-
nostics
DBx
parame-
terization
data
−
MPI
Fig. 1-3 Data storage concept

Product Overview
1-7
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
1.2 Module description
View of the FM 353
Figure 1-4 shows the FM 353 module, its interfaces and front-panel elements (in-
cluding fault and status displays).
Labeling plate
Front view with doors removed
Front door
(flips open)
Status and
error displays
Drive port X2
Bus connector
SIMATIC port
SF
DC5V
DIAG
DIN rail
I/O port X1
1
2
3
4
5
6
7
8
9
1
1
1
1
1
1
1
1
1
1
2
0
0
1
2
3
4
5
6
7
8
9
Front connector
STEP.CONTR.X2
I0
I1
I2
I3
RM
Q0
Q1
Q2
Q3
Display for digital I/O
modules
Module name plate:
FM 353
FM STEPPER MOTOR
Fig. 1-4 View of the FM353

Product Overview
1-8 FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Ports
A description of the ports is provided in Table 1-2.
Table 1-2 Ports
Ports Description
Bus connector −
SIMATIC port
Back connector to continue the S7 LAN from module to module
Drive port 15-pin male sub-D connector (X2) to connect the drive unit
I/O port 20-pin male front connector (X1) to connect the load power
supply and for digital input and output wiring
LED indicators
Twelve LEDs are arranged on the front panel of the FM 353. Table 1-3 describes
these LEDs and what they mean.
Table 1-3 Status and error displays
LED Significance
SF (red) -
Group error
This LED indicates an error condition in the FM 353.
(see Troubleshooting, Chapter 11)
5 V DC (green) -
Logic power supply is
ON
This LED indicates that the hardware is ready for operation.
DIAG (yellow) -
Diagnostics
This LED indicates various diagnostic states
(see Troubleshooting, Chapter 11)
I0 −I3 (green) -
Digital inputs
These LEDs indicate which input is ON.
Q0 −Q3 (green) -
Digital outputs
These LEDs indicate which output is ON.
RM (green) -
Input, controller mes-
sage
This LED indicates that the input is activated.
(see Section 4.4)

Product Overview
1-9
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Type plate of the FM 353
Figure 1-5 describes all the information contained in the type plate of the FM 353.
Made in Germany
Order number Module identifier
Product status
SVP JM123456
Marks and approvals
SIEMENS
Fig. 1-5 Type plate of the FM 353
1.3 Overview of module functions
Summary
The FM 353 module performs the following functions:
SMode control
SDetermining position
SStepper motor control
SDigital inputs and outputs
SSettings and functions that do not depend on operating mode
SSoftware limit switches
SProcess interrupts
SBlock sequence control
SDiagnostics and troubleshooting
SData storage on the FM 353

Product Overview
1-10 FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Mode control
The operating mode is specified to the FM 353 by way of the user program.
The FM 353 has the following modes available:
SJogging
SOpen-loop control
SReference point approach
SIncremental mode, relative
SMDI-Manual Data Input)
SAutomatic
SAutomatic single block
Determining position
The control frequency pulses emitted by the FM 353 are added internally to form a
position actual value.
Stepper motor control
The stepper motor control performs the following tasks:
SGuidance of the drive commensurate with speed during movement sequence
(e.g. adjustable acceleration and delay, start/stop operation)
SOutput of step pulses in form of control frequency
SOutput of a direction signal
SAccurate approach by axis into programmed target position
SPhase current control to the drive device
Digital inputs/outputs
Four digital inputs and four outputs can be used as specified by the user.
You might connect:
SReference-point switches
SSwitches for external starting
STouch probes
SPosition reached, Stop (“PEH”)
SForward/backward rotation
The switching function is assigned to a given I/O number by way of the machine
data.