The components.kuka.robotics is a set of libraries covering the product portfolio of the robotics systems from the vendor Kuka for the target PLC platform Siemens AX and AxOpen framework.
The package consists of a PLC library providing control logic and its .NET twin counterpart aimed at the visualization part. This package currently covers robots driven by the KRC4 and KRC5 controllers. Both controller families expose the same AXOpen-compatible slot layout (slot 1 reserved, slot 2 = 512 DI / 512 DO, 64-byte cyclic I/O) and are exposed as two sibling proxy classes — AxoKrc4 and AxoKrc5 — sharing an identical public API. Only the GSDML and PROFINET device template differ between them.
| Component | Description |
|---|---|
AxoKrc4 |
KUKA KRC4 controller proxy (namespace AXOpen.Components.Kuka.Robotics.v_5_x_x) exposing programme/motion commands, safety state, tool/zone outputs, and hardware diagnostics. Derives from AxoComponent and implements IAxoRobotics. |
AxoKrc5 |
KUKA KRC5 controller proxy (namespace AXOpen.Components.Kuka.Robotics.v_5_x_x). Public API is identical to AxoKrc4; only the GSDML and PROFINET device template differ. |
Each controller class ships its own set of supporting types in the same namespace. They are structurally identical between KRC4 and KRC5 — only the type-name prefix differs.
| Type (per class) | Role |
|---|---|
AxoKrc{4,5}_Config |
Configuration: InfoTime, ErrorTime, TaskTimeout, HWIDs. |
AxoKrc{4,5}_HWIDs |
Hardware identifiers: HwID_Device, HwID_None, HwID_512_DI_DO. |
AxoKrc{4,5}_State |
Input image (RC_RDY1, ALARM_STOP, USER_SAF, PERI_RDY, ROB_CAL, I_O_ACTCONF, STOPMESS, ROB_STOPPED, mode, position/zone, tool feedback, coordinates). |
AxoKrc{4,5}_Control |
Output image (EXT_START, MOVE_ENABLE, CONF_MESS, DRIVES_OFF, DRIVES_ON, I_O_ACT, START_AT_MAIN, master mode, tool commands, action/speed/tool/point numbers, coordinates). |
AxoKrc{4,5}_Component_Status |
Runtime status (extends AxoRobot_Status). |
| Package | Purpose |
|---|---|
@inxton/axopen.components.kuka.robotics |
PLC library (apax) |
AXOpen.Components.Kuka.Robotics |
.NET twin |
AXOpen.Components.Kuka.Robotics.blazor |
Blazor rendering assets |
The library ships GSDMLs and ready-to-apply PROFINET device templates for
both KRC4 and KRC5, so either controller can be dropped into a
plc_line.hwl.yml without vendor-side configuration:
| Controller | Asset | Path | Purpose |
|---|---|---|---|
| KRC4 | GSDML | ctrl/assets/kuka_krc4/GSDML-V2.33-KUKA-KRC4-ProfiNet_5.0-20181102.xml |
Vendor GSDML (KUKA KRC4 ProfiNet 5.0, 2018-11-02) for Siemens hardware catalog import. |
| KRC4 | HW template | ctrl/assets/kuka_krc4/kuka_krc4_dio512.hwl.yml |
PROFINET device template with slot 1 empty (safety) and slot 2 = 512_DI_DO (64-byte in / 64-byte out). Expected by AxoKrc4.Run(). |
| KRC5 | GSDML | ctrl/assets/kuka_krc5/GSDML-V2.4-KUKA-KR C5-20220704.xml |
Vendor GSDML (KUKA KR C5, 2022-07-04) — note the space in the filename. |
| KRC5 | HW template | ctrl/assets/kuka_krc5/kuka_krc5_dio512.hwl.yml |
PROFINET device template with the same slot 1 / slot 2 = 512_DI_DO layout as KRC4, using the newer hwc address schema (Type: IPv4/Profinet) and a 4-port switch interface. |
The showcase application copies both templates into
showcase/app/hwc/library_templates/kuka_krc4/ and .../kuka_krc5/ and
wires them into plc_line.hwl.yml under the <KukaKrc4Device> and
<KukaKrc5Device> regions respectively.
| Package | Purpose |
|---|---|
@inxton/axopen.components.robotics |
Shared robotics abstractions (AxoRobot_Status, task/messenger base types). |