I tried giving clock pulse up to 1 millisecond, but could not get the required speed

Late

Hi,

Controlled Positioning with Digital Outputs

Introduction

The CPU supports controlled positioning with digital outputs (rapid / creep speed control).

Properties

Controlled positioning with digital outputs (rapid / creep speed control) has the following features:

• The drive is controlled via four permanently assigned 24-V digital outputs. These digital outputs control the direction and speed stages (rapid/creep speed), depending on the configured type of control.
• Connectable are multiple speed, pole-switching motors via contactor combinations or asynchronous motors via frequency converter with a fixed speed setting.
• A 24-V incremental encoder is used for position feedback.
• First, the target is approached with a specified (rapid) speed. Within a defined distance to the target speed is reduced to a lower (creep) speed. The drive is de-energized at a specified distance just before the axis reaches the target. The CPU can monitor the target approach during the process.
• You declare the speed, deceleration and target approach differences in your parameters.

So is it not possible to control a Stepper Motor direct with this CPU.

You could use a FM 353 which will do the job easily for you.
FM 353 Stepper Drive Positioning Module

When you have the possibility to do it with a ET 200S CPU (IM 151-7) then you might use a ET 200S 1 STEP. Positioning ET 200S

There is a new ET 200S CPU IM 151-7AA20 {6ES7151-7AA20-0AB0} with more memory and a faster backplainbus.