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Kollmorgen UDFBs

A KollmorgenUDFB"User Defined Function Block" UDFB can be used as a sub-function block in another program of the application. It is described using FBD, LD, ST or IL language. Input / output parameters of a UDFB (as well as private variables) are declared in the variable editor as local variables of the UDFB is a pre-defined function block created by Kollmorgen to simplify certain tasks or demonstrate a particular function. A Kollmorgen UDFB"User Defined Function Block" UDFB can be used as a sub-function block in another program of the application. It is described using FBD, LD, ST or IL language. Input / output parameters of a UDFB (as well as private variables) are declared in the variable editor as local variables of the UDFB must be instantiated and unlocked before it may be used.

Name	Description
FB_AKDFltRpt	Outputs AKD fault information
FB_AxisPlsPosModulo
FB_AxisPlsPosNoModulo
FB_Cylinder	Control a cylinder and the Limit Switches.
FB_ElapseTime	Keeps track of the time that a Boolean input variable is on.
FB_FirstOrderDigitalFilter	Filter an Analog signal.
FB_PWDutyOutput	Converts an input range to a duty cycle percentage
FB_S700FltRpt	Outputs S700"Servostar 700 drive" See Servo Drive in Glossary drive fault Information
FB_ScaleInput	Scale DINT to LREAL
FB_ScaleOutput	Scale DINT to LREAL
FB_TemperaturePID	{rovides PID"Proportional-Integral-Derivative" A PID controller is a generic control-loop feedback mechanism widely used in industrial control systems. An "error" occurs when an event or a disturbance triggers off a change in the process variable. A PID controller attempts to correct the error between a measured process variable and a desired setpoint by calculating and then outputting a corrective action that can adjust the process accordingly temperature control with auto tuning
MCFB_AKDFault	Outputs AKD drive fault Information.
MCFB_AKDFaultLookup	String message of the corresponding AKD drive fault number
MCFB_GearedWebTension	Facilitates dancer and tension control in an electronic geared master/slave machine design
MCFB_Jog	Jog an axis in the selected direction at a defined speed
MCFB_StepAbsolute	Performs a static homing function by setting Actual Position to the position of an absolute encoder
MCFB_StepAbsSwitch	Performs a homing function by searching for an absolute positioned external physical switch
MCFB_StepAbsSwitchFastInput	Performs a homing function by searching for an absolute positioned external physical switch
MCFB_StepBlock	Performs homing against a physical object, mechanically blocking the movement
MCFB_StepLimitSwitch	Performs a single-axis home to a limit switch
MCFB_StepLimitSwitchFastInput	Performs a homing function by searching for an external physical switch
MCFB_StepRefPulse	Performs homing by searching for Zero pulseOutput once per turn from incremental encoders, used to zero the machine, Marker, or reference pulse in encoder
MLFB_HomeFindHomeFastInput	Performs a single-axis home to a limit switch connected to a High Speed Input
MLFB_HomeFindHomeFastInputModulo	Performs a single-axis home to a limit switch connected to a High Speed Input
MLFB_HomeFindHomeInput	Fast HomingThe Homing procedure allows, based on a position measurement, to set a position offset to the motor in order to ensure it is physically at the home position to a home switch
MLFB_HomeFindHomeInputThenZeroAngle	Fast Homing to a home switch + Zero angleMechanical zero angle of the feedback = 0 degree.
MLFB_HomeFindLimitFastInput	Homing to a limit switch
MLFB_HomeFindLimitFastInputModulo	Homing to a limit switch: Modulo mode
MLFB_HomeFindLimitInput	Homing to a limit switch
MLFB_HomeFindLimitInputThenZeroAngle	Homing to a limit switch + Zero angle
MLFB_HomeFindZeroAngle	Homing to a zero-angle reference
MLFB_HomeMoveUntilPosErrExceeded	Homing until the position error is exceeded
MLFB_HomeMoveUntilPosErrExceededThenZeroAngle	Homing until the position error is exceeded + Zero angle
MLFB_HomeUsingCurrentPosition	Homing using the current position
MLFB_Jog	Jog in a selected direction at a defined speed
MLFB_PlsPosFw	Forward position range indicator
MLFB_PlsPosFwBw	Forward/Backward position range indicator
MLFB_PlsTimeFw	Forward/Backward position/time range indicator
PipeNetwork_FFLD	Used to call the PNCode function block in FFLD POUs
ProfilesCode_FFLD	Used to call the ProfilesCode function block in FFLD POUs

Table 11-53: List of System Kollmorgen UDFBs

How to create an instance

Open your PLC"Programmable Logic Controller" A Programmable Logic Controller, PLC, or Programmable Controller is a digital computer used for automation of industrial processes, such as control of machinery on factory assembly lines. Used to synchronize the flow of inputs from (physical) sensors and events with the flow of outputs to actuators and events code
Select the UDFB in the Library tree
Drag-and-drop the UDFB in the PLC editor to create the instance of the UDFB

An instance of the UDFB has now been created in Subprograms.

You cannot create the instance of the UDFB directly from the dictionary or from the PLC Editor.

Working with Kollmorgen UDFBs

By default all Kollmorgen UDFBs are protected, meaning they may not be modified or renamed. When a Kollmorgen UDFB is dropped into an instance it is not editable. There are two solutions to make it editable:

Right click on a Kollmorgen UDFB that has been dropped into an instance (in Subprograms) and select Unlock. This creates an unlocked version of the UDFB with the name "U<sequence number><UDFB name>".

Instead of dropping a Kollmorgen UDFB into an instance, right click on the UDFB and select Create unlocked copy in Subprograms. This creates an unlocked instance of the UDFB with the name "U<sequence number><Kollmorgen UDFB name>".

Once a Kollmorgen UDFB has been unlocked it may be renamed and exported by right-clicking on the UDFB. Renamed UDFBs must have unique names. Importing a saved UDFB will increment the UDFB's name.

In order for a UDFB to modify a structure or array based on the output, you must first define it as an input. The input is automatically set as an INOUT parameter. This is because OUTs are strictly simple types.

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