Siemens 6ES7351-1AH02-0AE0

FM 351 positioning module for rapid/creep traverse drives

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Siemens SIMATIC S7-300 FM 351 positioning module for drives with a rapid and a creep speed: 8 digital inputs, 8 digital outputs, 5 V and 24 V encoder supplies, configuration package on CD.

Manufacturer: Siemens
Manufacturer part no.: 6ES7351-1AH02-0AE0
Product family: SIMATIC S7-300 PLC Modules
Type: Positioning module
Category: PLCs and I/O › Counter, positioning and temperature modules
Lifecycle: Discontinued
OEM successor: Not stated
Technical datasheet: Data sheet

Technical specifications

Manufacturer: Siemens
Manufacturer part no.: 6ES7351-1AH02-0AE0
Type: Positioning module
Application: Positioning module
Used with: SIMATIC S7-300 rack (S7-300 backplane bus)
Supply voltage / Rated value (DC): 24 V
Supply voltage / permissible range, lower limit (DC): 20.4 V
Supply voltage / permissible range, upper limit (DC): 28.8 V
Load voltage L+ / Rated value (DC): 24 V
Load voltage L+ / permissible range, lower limit (DC): 20.4 V
Load voltage L+ / permissible range, upper limit (DC): 28.8 V
Input current / Current consumption, max.: 350 mA
Input current / from backplane bus 5 V DC, max.: 150 mA
5 V encoder supply / 5 V: Yes
5 V encoder supply / Output current, max.: 350 mA
5 V encoder supply / Cable length, max.: 32 m
24 V encoder supply / 24 V: Yes
24 V encoder supply / Output current, max.: 400 mA; Per channel
24 V encoder supply / Cable length, max.: 100 m
Power loss, typ.: 7.9 W
Number of digital inputs: 8
Digital inputs / Functions: Reference cams, reversing cams, flying actual value setting, start/stop positioning
Input voltage / Rated value (DC): 24 V
Input voltage / for signal "0": -3 to +5V
Input voltage / for signal "1": +11 to +30V
Input current / for signal "0", max. (permissible quiescent current): 2 mA
Input current / for signal "1", typ.: 6 mA
Number of digital outputs: 8
Digital outputs / Functions: Rapid traverse, creep, run right, run left
Digital outputs / Short-circuit protection: Yes

Show all 66 specifications

Output voltage / Rated value (DC): 24 V
Output voltage / for signal "1", min.: UP - 0.8 V
Output current / for signal "1" permissible range for 0 to 60 °C, min.: 5 mA; with UPmax
Output current / for signal "1" permissible range for 0 to 60 °C, max.: 600 mA; with UPmax
Output current / for signal "0" residual current, max.: 0.5 mA
Connectable encoders / Incremental encoder (symmetrical): Yes
Connectable encoders / Incremental encoder (asymmetrical): Yes
Connectable encoders / Absolute encoder (SSI): Yes
Connectable encoders / 2-wire sensor: Yes
Connectable encoders / 2-wire sensor / permissible quiescent current (2-wire sensor), max.: 2 mA; on signal "0", max. 2 mA; on signal "1", max. 6 mA
Encoder signals, incremental encoder (symmetrical) / Trace mark signals: A, notA, B, notB
Encoder signals, incremental encoder (symmetrical) / Zero mark signal: N, notN
Encoder signals, incremental encoder (symmetrical) / Input voltage: 5 V difference signal (phys. RS 422)
Encoder signals, incremental encoder (symmetrical) / Input frequency, max.: 0.5 MHz
Encoder signals, incremental encoder (asymmetrical) / Trace mark signals: A, B
Encoder signals, incremental encoder (asymmetrical) / Zero mark signal: N
Encoder signals, incremental encoder (asymmetrical) / Input voltage: 24 V
Encoder signals, incremental encoder (asymmetrical) / Input frequency, max.: 50 kHz; 50 kHz for 25 m cable length; 25 kHz for 100 m cable length
Encoder signals, absolute encoder (SSI) / Input signal: 5 V difference signal (phys. RS 422)
Encoder signals, absolute encoder (SSI) / Data signal: DATA, notDATA
Encoder signals, absolute encoder (SSI) / Clock signal: CL, notCL
Encoder signals, absolute encoder (SSI) / Telegram length, parameterizable: 13 or 25 bit
Encoder signals, absolute encoder (SSI) / Clock frequency, max.: 1.5 MHz
Encoder signals, absolute encoder (SSI) / Gray code: Yes
Encoder signals, absolute encoder (SSI) / Cable length, shielded, max.: 200 m; At max. 188 kHz
Potential separation digital inputs / Potential separation digital inputs: Yes
Potential separation digital outputs / Potential separation digital outputs: Yes
Ambient temperature during operation / min.: 0 °C
Ambient temperature during operation / max.: 60 °C
Ambient temperature during storage/transportation / min.: -40 °C
Ambient temperature during storage/transportation / max.: 70 °C
required front connector: 1x 20-pin
Width: 80 mm
Height: 125 mm
Depth: 120 mm
Weight, approx.: 550 g

Technical documents (1)

Siemens data sheet 6ES7351-1AH02-0AE0

Key features

Positions drives using rapid traverse and creep speed
8 digital inputs: reference cams, reversing cams, flying actual value setting, start/stop
8 digital outputs: rapid traverse, creep, run right, run left; up to 600 mA
5 V and 24 V encoder supplies
Discontinued by Siemens on 1 October 2025; spare part only

About the Siemens 6ES7351-1AH02-0AE0

The Siemens 6ES7351-1AH02-0AE0 is the FM 351, the S7-300 module for positioning drives that run at a rapid and a creep speed. Siemens's data sheet gives 8 digital inputs for reference cams, reversing cams, flying actual value setting and start/stop, 8 outputs for rapid traverse, creep, run right and run left (up to 600 mA), 5 V and 24 V encoder supplies and 7.9 W typical power loss. Siemens's data sheet marks it as a spare part.

What is the 6ES7351-1AH02-0AE0 used for?

It positions axes driven at a rapid and a creep speed, under an S7-300 CPU.

Lifecycle and successor

Discontinued.

Before you order

What to photograph or confirm so the right unit is quoted.

Check the order number and firmware version on the module.

Other parts in the Siemens SIMATIC S7-300 family

Listed for reference. They differ from the 6ES7351-1AH02-0AE0 in rating, supply, interface or function and are not interchangeable with it unless Siemens says so. Match the part number on your unit.

Product	Type	Lifecycle	Qty Available	Price	Action
Siemens 6ES7350-1AH03-0AE0FM 350-1 counter module, 1 channel, up to 500 kHz	Counter module	Discontinued	On Request	On request	View
Siemens 6ES7323-1BH01-0AA0SM 323 digital I/O, 8 DI and 8 DO, 24 V DC, 0.5 A	Digital I/O module	Discontinued	On Request	On request	View
Siemens 6ES7331-7NF10-0AB0SM 331 analog input, 8 AI, 16 bit, U/I, 4-channel fast mode	Analog input module	Discontinued	On Request	On request	View
Siemens 6ES7331-7HF01-0AB0SM 331 analog input, 8 AI, 14 bit, 52 µs per channel	Analog input module	Discontinued	On Request	On request	View
Siemens 6ES7331-7PF11-0AB0SM 331 analog input, 8 AI, thermocouples, 16 bit	Analog input module	Discontinued	On Request	On request	View
Siemens 6ES7332-5HB01-0AB0SM 332 analog output, 2 AO, voltage/current, 12 bit	Analog output module	Discontinued	On Request	On request	View
Siemens 6ES7332-7ND02-0AB0SM 332 analog output, 4 AO, 16 bit, isolated per channel	Analog output module	Discontinued	On Request	On request	View
Siemens 6ES7338-4BC01-0AB0SM 338 position input module, 3 SSI encoders	Position input module	Discontinued	On Request	On request	View
Siemens 6ES7341-1CH02-0AE0CP 341 communications processor, RS 422/485	Communications processor	Discontinued	On Request	On request	View
Siemens 6ES7341-1AH02-0AE0CP 341 communications processor, RS 232C	Communications processor	Discontinued	On Request	On request	View
Siemens 6ES7352-1AH02-0AE0FM 352 electronic cam controller, 13 cam tracks	Cam controller module	Discontinued	On Request	On request	View
Siemens 6ES7355-0VH10-0AE0FM 355 C controller module, 4 continuous control channels	Controller module	Discontinued	On Request	On request	View

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