Kollmorgen UDFBs

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 is a pre-defined function block created by Kollmorgen to simplify certain tasks or demonstrate a particular function.

A Kollmorgen UDFB must be instantiated before it can be used.
The code inside a Kollmorgen UDFB can be modified by creating an unlocked copy in the subprogram section in the project tree.

These are the UDFB functions and function blocks:

Common
Pipe Network
PLCopen
PLC

Common

Name	Description
FB_AKDFltRpt	Outputs AKD drive fault information.
FB_AxisPlsPosModulo	Used for any position of a modulo axis in both directions.
FB_AxisPlsPosNoModulo	Used for any position of a non-modulo axis in both directions.
FB_Cylinder	Used to control a cylinder and the Limit Switches.
FB_S700FltRpt	Outputs S700 "Servostar 700 drive" See Servo Drive in Glossary drive fault Information.

Pipe Network

Name	Description
MLFB_DriveFault	Returns the fault status, number, and description of the requested axis mapped to a Kollmorgen drive.
MLFB_ECATRestart	Reinitializes the EtherCAT ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs network and the motion engine.
MLFB_HomeFindHomeFastInput	Fast homing to a home switch.
MLFB_HomeFindHomeFastInputModulo	Fast homing to a home switch: Modulo mode.
MLFB_HomeFindHomeInput	Homing The 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	Homing to a home switch plus zero angle.
MLFB_HomeFindLimitFastInput	Fast homing to a limit switch.
MLFB_HomeFindLimitFastInputModulo	Fast homing to a limit switch: Modulo mode.
MLFB_HomeFindLimitInput	Homing to a limit switch.
MLFB_HomeFindLimitInputThenZeroAngle	Homing to a limit switch plus zero angle.
MLFB_HomeFindZeroAngle	Homing to zero angle reference.
MLFB_HomeMoveUntilPosErrExceeded	Homing to the position error is exceeded.
MLFB_HomeMoveUntilPosErrExceededThenZeroAngle	Homing to the position error is exceeded plus zero angle.
MLFB_HomeUsingCurrentPosition	Homing using current position.
MLFB_Jog	Define to jog an axis in the 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.

PLCopen

Name	Description
MCFB_AKDFault	Outputs AKD drive fault information.
MCFB_AKDFaultLookup	String message of the corresponding AKD drive fault number.
MCFB_DriveFault	Returns the fault status, number, and description of the requested axis mapped to a Kollmorgen drive.
MCFB_ECATRestart	Reinitializes the EtherCAT network and the motion engine.
MCFB_GearedWebTension	Facilitates dancer and tension control in an electronic geared master/slave machine design.
MCFB_Jog	Define to jog an axis in the selected direction at a defined speed.
MCFB_StepAbsolutes	Homing by setting Actual Position to the position of the feedback.
MCFB_StepAbsSwitch	Homing to a home switch.
MCFB_StepAbsSwitchFastInput	Fast homing to a home switch.
MCFB_StepBlock	Homing to a physical object, mechanically blocking the movement.
MCFB_StepLimitSwitch	Homing to a limit switch.
MCFB_StepLimitSwitchFastInput	Fast homing to a limit switch.
MCFB_StepRefPulse	Homing to a zero angle reference.

PLC

Name	Description
FB_ElapseTime	Keeps track of the time (oTotalOnTime) a Boolean input variable is on.
FB_FirstOrderDigitalFilter	Defined to filter an Analog signal.
FB_PWDutyOutput	Accepts an input value between the minimum and maximum input range and converts this to a duty cycle percentage.
FB_ScaleInput - Scaling Analog IO	Converts un-scaled DINT values from Analog Inputs into user units of type LREAL.
FB_ScaleOutput - Scaling Analog IO	Converts un-scaled LREAL values from a PLC program into units of type DINT.
FB_TemperaturePID	Provides 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.
PipeNetwork_FFLD - Special FFLD Function	Calls the PNCode function block in FFLD POUs.
ProfilesCode_FFLD - Special FFLD Function	Calls the Profiles Code Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. in FFLD POUs.

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