Kollmorgen UDFBs

A Kollmorgen 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 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 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 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 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 in FFLD POUs.

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