The FM 351 is a module for adjusting and positioning mechanical axes based on the rapid traverse/creep speed principle. With this module, two axes can be positioned independently of one another. The axes to be positioned may be linear axes with limited traversing range and continuously rotating rotary axes. Incremental encoders and SSI encoders can be used for position decoding. The FM 351 is used in the SIMATIC S7-300, C7 and in the ET 200M on S7-masters as well as with WinAC Basis and WinAC Slot 41x.