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PTKu merged 3 commits into from
May 21, 2026
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[BUG] KUKA KRC5 #1151

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8d36c5b
Create draft PR for #1148
TomKovac May 21, 2026
7b2cdab
wip
TomKovac May 21, 2026
fa49793
feat: Enhance AxoKrc5 with raw data exchange capabilities and coordin…
PTKu May 21, 2026
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24 changes: 24 additions & 0 deletions CHANGELOG.md
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@@ -1,3 +1,27 @@
### [KUKA] KRC5 raw data exchange, coordinate-mirror diagnostics, and auto-mode severity fix ([#1151](https://github.com/Inxton/AXOpen/pull/1151))

**Note:** KRC5-only change in `src/components.kuka.robotics/`. `AxoKrc5` now diverges from `AxoKrc4` in three respects — `AxoKrc4` is intentionally left unchanged in this PR. Fixes #1148.

- feat: `AxoKrc5` exposes raw application-defined passthrough members `DataFromPlcToRobot : ARRAY[0..19] OF BYTE` (PLC → robot, output bytes `_data[44..63]`) and `DataFromRobotToPlc : ARRAY[0..15] OF BYTE` (robot → PLC, input bytes `_data[48..63]`). Both carry `RenderIgnore`; `Run()` transports them verbatim without interpretation. Wrapped in the new `<AxoKrc5DataExchangeDeclaration>` source region.
- feat: `AxoKrc5` adds per-axis coordinate-mirror task-`potential` identifiers `1501–1506` (`StartMotorsProgramAndMovements`) and `1511–1516` (`StartMovements`), raised via `TaskMessenger` while waiting for each `Inputs.Coordinates.{X,Y,Z,Rx,Ry,Rz}` to mirror the commanded value within `0.01` tolerance. Matching `.NET` twin entries added to both the `TaskMessenger` text list and `errorDescriptionDict` in `AxoKrc5.cs`.
- fix: `AxoKrc5` safety message `20002` (`Inputs.Automatic = FALSE` while a task is busy) is now raised as category `Info` instead of `Error` — losing auto mode mid-task is informational on KRC5, not a hard fault.
- feat: Showcase `AxoKrc5_v_5_x_x_Showcase.st` gained an "Exchange raw data with the robot" sequencer step (in `//<DataExchange>` markers); `Steps` widened `[0..19]` → `[0..20]`, `_lastByteFromRobot` status field added.
- docs: `AxoKrc5.md` relaxed the "identical public API to `AxoKrc4`" wording, added a **Data exchange** section (library declaration + showcase usage refs), and a note listing the three KRC5-only differences. `TROUBLES.md` flags the per-class differences (1501–1516, 20002 severity split). Appended `0.54.0` entry to `src/components.kuka.robotics/docs/CHANGELOG.md`.

**Impact:**
- Applications driving a KRC5 can now push and pull arbitrary byte payloads alongside the structured motion interface, without a library change.
- Operators see which specific axis is holding up a movement (per-coordinate `potential` IDs) rather than a single "coordinates not mirrored" wait.
- Dropping out of automatic mode mid-task no longer latches a KRC5 error state.

**Risks/Review:**
- `AxoKrc4` and `AxoKrc5` are no longer API/behaviour-identical. Documentation now states the divergence explicitly; if a follow-up backports these changes to `AxoKrc4`, the "KRC5-only" wording in `AxoKrc5.md` / `TROUBLES.md` must be reverted.
- The PLC→robot (`44..63`) and robot→PLC (`48..63`) windows overlap on the same physical I/O block in opposite directions — verify the controller-side mapping matches before relying on the passthrough.

**Testing:**
- `apax ib` in `src/showcase/app/` — the new KRC5 data-exchange sequencer step builds and runs through to `CompleteSequence`.
- `dotnet build` on `src/showcase/app/ix-blazor/showcase.blazor/` — the `AxoKrc5.cs` messenger/error-dictionary additions compile.
- `scripts/_build_documentation.ps1` — the new `[!code-pascal[]]` (showcase `DataExchange`) and `[!code-smalltalk[]]` (`AxoKrc5DataExchangeDeclaration`) directives resolve.

### [CORE] AxoToggleTaskView aligned with AxoTaskView ([#1143](https://github.com/Inxton/AXOpen/pull/1143))

**Note:** Blazor UI-only change in `src/core/src/AXOpen.Core.Blazor/AxoToggleTask/`. The PLC `AxoToggleTask` class and its public API (`SwitchOn()`, `SwitchOff()`, `Toggle()`, `IsSwitchOn()`, `IsSwitchOff()`, event-like overrides) are unchanged. Bundled with the AxoCmmtAs view expansion under the same PR; the toggle-view refactor is the core-library portion.
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97 changes: 96 additions & 1 deletion src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
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Expand Up @@ -138,6 +138,15 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
HardwareDiagnosticsTask : AXOpen.Io.AxoHardwareDiagnostics;
END_VAR

// <AxoKrc5DataExchangeDeclaration>
VAR PUBLIC //Data
{#ix-attr:[RenderIgnore()]}
DataFromPlcToRobot : ARRAY[0..19] OF BYTE;
{#ix-attr:[RenderIgnore()]}
DataFromRobotToPlc : ARRAY[0..15] OF BYTE;
END_VAR
// </AxoKrc5DataExchangeDeclaration>

///<summary>
/// Runs tasks and logic of this component.
/// >[!IMPORTANT] This method must or one of its overloads be called cyclically.
Expand Down Expand Up @@ -388,6 +397,23 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
_dword.%B2 := _data[46];
_dword.%B3 := _data[47];
Inputs.EventId := TO_UDINT(_dword);

DataFromRobotToPlc[0] := _data[48];
DataFromRobotToPlc[1] := _data[49];
DataFromRobotToPlc[2] := _data[50];
DataFromRobotToPlc[3] := _data[51];
DataFromRobotToPlc[4] := _data[52];
DataFromRobotToPlc[5] := _data[53];
DataFromRobotToPlc[6] := _data[54];
DataFromRobotToPlc[7] := _data[55];
DataFromRobotToPlc[8] := _data[56];
DataFromRobotToPlc[9] := _data[57];
DataFromRobotToPlc[10] := _data[58];
DataFromRobotToPlc[11] := _data[59];
DataFromRobotToPlc[12] := _data[60];
DataFromRobotToPlc[13] := _data[61];
DataFromRobotToPlc[14] := _data[62];
DataFromRobotToPlc[15] := _data[63];
//*******************************************
_context := THIS.GetContext();

Expand Down Expand Up @@ -819,6 +845,30 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
TaskMessenger.Activate( UINT#533, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#533;//<#Waiting for Inputs.UserSpecSpeed2 to be equal to MovementParameters.UserSpecSpeed2!
END_IF;
IF NOT AXOpen.Components.Robotics.IsNearlyEqual(Inputs.Coordinates.X,Status.CurrentMovementParameters.Coordinates.X,REAL#0.01) THEN
TaskMessenger.Activate( UINT#1501, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#1501;//<#Waiting for Inputs.Coordinates.X to be equal to MovementParameters.Coordinates.X!
END_IF;
IF NOT AXOpen.Components.Robotics.IsNearlyEqual(Inputs.Coordinates.Y,Status.CurrentMovementParameters.Coordinates.Y,REAL#0.01) THEN
TaskMessenger.Activate( UINT#1502, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#1502;//<#Waiting for Inputs.Coordinates.Y to be equal to MovementParameters.Coordinates.Y!
END_IF;
IF NOT AXOpen.Components.Robotics.IsNearlyEqual(Inputs.Coordinates.Z,Status.CurrentMovementParameters.Coordinates.Z,REAL#0.01) THEN
TaskMessenger.Activate( UINT#1503, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#1503;//<#Waiting for Inputs.Coordinates.Z to be equal to MovementParameters.Coordinates.Z!
END_IF;
IF NOT AXOpen.Components.Robotics.IsNearlyEqual(Inputs.Coordinates.Rx,Status.CurrentMovementParameters.Coordinates.Rx,REAL#0.01) THEN
TaskMessenger.Activate( UINT#1504, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#1504;//<#Waiting for Inputs.Coordinates.Rx to be equal to MovementParameters.Coordinates.Rx!
END_IF;
IF NOT AXOpen.Components.Robotics.IsNearlyEqual(Inputs.Coordinates.Ry,Status.CurrentMovementParameters.Coordinates.Ry,REAL#0.01) THEN
TaskMessenger.Activate( UINT#1505, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#1505;//<#Waiting for Inputs.Coordinates.Ry to be equal to MovementParameters.Coordinates.Ry!
END_IF;
IF NOT AXOpen.Components.Robotics.IsNearlyEqual(Inputs.Coordinates.Rz,Status.CurrentMovementParameters.Coordinates.Rz,REAL#0.01) THEN
TaskMessenger.Activate( UINT#1506, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#1506;//<#Waiting for Inputs.Coordinates.Rz to be equal to MovementParameters.Coordinates.Rz!
END_IF;
END_IF;

IF Inputs.GlobalSpeed = Status.CurrentMovementParameters.GlobalSpeed AND
Expand Down Expand Up @@ -1098,6 +1148,30 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
TaskMessenger.Activate( UINT#559, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#559;//<#Waiting for Inputs.UserSpecSpeed2 to be equal to MovementParameters.UserSpecSpeed2!
END_IF;
IF NOT AXOpen.Components.Robotics.IsNearlyEqual(Inputs.Coordinates.X,Status.CurrentMovementParameters.Coordinates.X,REAL#0.01) THEN
TaskMessenger.Activate( UINT#1511, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#1511;//<#Waiting for Inputs.Coordinates.X to be equal to MovementParameters.Coordinates.X!
END_IF;
IF NOT AXOpen.Components.Robotics.IsNearlyEqual(Inputs.Coordinates.Y,Status.CurrentMovementParameters.Coordinates.Y,REAL#0.01) THEN
TaskMessenger.Activate( UINT#1512, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#1512;//<#Waiting for Inputs.Coordinates.Y to be equal to MovementParameters.Coordinates.Y!
END_IF;
IF NOT AXOpen.Components.Robotics.IsNearlyEqual(Inputs.Coordinates.Z,Status.CurrentMovementParameters.Coordinates.Z,REAL#0.01) THEN
TaskMessenger.Activate( UINT#1513, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#1513;//<#Waiting for Inputs.Coordinates.Z to be equal to MovementParameters.Coordinates.Z!
END_IF;
IF NOT AXOpen.Components.Robotics.IsNearlyEqual(Inputs.Coordinates.Rx,Status.CurrentMovementParameters.Coordinates.Rx,REAL#0.01) THEN
TaskMessenger.Activate( UINT#1514, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#1514;//<#Waiting for Inputs.Coordinates.Rx to be equal to MovementParameters.Coordinates.Rx!
END_IF;
IF NOT AXOpen.Components.Robotics.IsNearlyEqual(Inputs.Coordinates.Ry,Status.CurrentMovementParameters.Coordinates.Ry,REAL#0.01) THEN
TaskMessenger.Activate( UINT#1515, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#1515;//<#Waiting for Inputs.Coordinates.Ry to be equal to MovementParameters.Coordinates.Ry!
END_IF;
IF NOT AXOpen.Components.Robotics.IsNearlyEqual(Inputs.Coordinates.Rz,Status.CurrentMovementParameters.Coordinates.Rz,REAL#0.01) THEN
TaskMessenger.Activate( UINT#1516, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#1516;//<#Waiting for Inputs.Coordinates.Rz to be equal to MovementParameters.Coordinates.Rz!
END_IF;
END_IF;

IF Inputs.GlobalSpeed = Status.CurrentMovementParameters.GlobalSpeed AND
Expand Down Expand Up @@ -1702,7 +1776,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
Status.Error.Id := UINT#20001;
END_IF;
IF(NOT Inputs.Automatic) THEN
Messenger.Activate(UINT#20002,eAxoMessageCategory#Error);
Messenger.Activate(UINT#20002,eAxoMessageCategory#Info);
Status.Error.Id := UINT#20002;
END_IF;
IF(NOT Inputs.AlarmStopActive) THEN
Expand Down Expand Up @@ -1814,6 +1888,27 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
_data[42] := _dword.%B2;
_data[43] := _dword.%B3;

_data[44] := DataFromPlcToRobot[0];
_data[45] := DataFromPlcToRobot[1];
_data[46] := DataFromPlcToRobot[2];
_data[47] := DataFromPlcToRobot[3];
_data[48] := DataFromPlcToRobot[4];
_data[49] := DataFromPlcToRobot[5];
_data[50] := DataFromPlcToRobot[6];
_data[51] := DataFromPlcToRobot[7];
_data[52] := DataFromPlcToRobot[8];
_data[53] := DataFromPlcToRobot[9];
_data[54] := DataFromPlcToRobot[10];
_data[55] := DataFromPlcToRobot[11];
_data[56] := DataFromPlcToRobot[12];
_data[57] := DataFromPlcToRobot[13];
_data[58] := DataFromPlcToRobot[14];
_data[59] := DataFromPlcToRobot[15];
_data[60] := DataFromPlcToRobot[16];
_data[61] := DataFromPlcToRobot[17];
_data[62] := DataFromPlcToRobot[18];
_data[63] := DataFromPlcToRobot[19];

_retVal := Siemens.Simatic.DistributedIO.WriteData((Config.HWIDs.HwID_512_DI_DO),_data);
IF _retVal > WORD#0 THEN
Messenger.Activate(UINT#1231, eAxoMessageCategory#Error);
Expand Down
56 changes: 48 additions & 8 deletions src/components.kuka.robotics/docs/AxoKrc5.md
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Expand Up @@ -11,19 +11,32 @@ inside the component's `Run()` call.

## Relationship to `AxoKrc4`

`AxoKrc5` exposes the **same public API** as [`AxoKrc4`](AxoKrc4.md) — the
tasks, configuration members, status type, error catalogue, and `Run(inParent,
hwID)` signature are identical, and so is the AXOpen slot layout (slot 1
reserved/empty, slot 2 = `DIO512` with 64-byte cyclic I/O). Refer to the
[`AxoKrc4`](AxoKrc4.md) page for:
`AxoKrc5` shares **almost all** of its public API with
[`AxoKrc4`](AxoKrc4.md) — the tasks, configuration members, status type,
`Run(inParent, hwID)` signature, and the AXOpen slot layout (slot 1
reserved/empty, slot 2 = `DIO512` with 64-byte cyclic I/O) are the same.
Refer to the [`AxoKrc4`](AxoKrc4.md) page for:

- The full capabilities list, configuration parameter table, and Config /
HWIDs declarations.
- The .NET twin and Blazor wiring patterns (the patterns transfer 1:1 — only
the type name changes).
- The error-state semantics (programming errors 700/701, hardware bring-up
errors 702/710/720–726/1130–1133, transport errors 1201/1231, runtime
safety errors 20001–20005, task-`potential` IDs in the 500-range).
- The shared error-state semantics (programming errors 700/701, hardware
bring-up errors 702/710/720–726/1130–1133, transport errors 1201/1231,
runtime safety errors 20001–20005, task-`potential` IDs in the 500-range).

> [!NOTE]
> Since the KRC5 fix in **#1148**, `AxoKrc5` has diverged from `AxoKrc4` in
> three KRC5-only respects (none of these are present on `AxoKrc4`):
>
> - It exposes the raw byte-array data-exchange members
> `DataFromPlcToRobot` / `DataFromRobotToPlc` (see [Data exchange](#data-exchange)).
> - It raises additional coordinate-mirror task-`potential` identifiers
> **1501–1506** and **1511–1516** (see the
> [TROUBLES error reference](TROUBLES.md#task-potential-waiting-on-input-identifiers)).
> - Safety message **20002** (`Inputs.Automatic = FALSE` while a task is busy)
> is raised as `Info` on `AxoKrc5`, where `AxoKrc4` still raises it as
> `Error`.

The differences between KRC4 and KRC5 are confined to:

Expand All @@ -48,6 +61,33 @@ each field.

[!code-smalltalk[](../ctrl/src/AxoKrc5/v_5_x_x/TypesStructuresAndEnums/AxoKrc5_HWIDs.st?name=AxoKrc5HWIDsDeclaration)]

## Data exchange

`AxoKrc5` reserves part of the 64-byte cyclic I/O block for raw,
application-defined payloads that pass through the component untouched
(both members carry `RenderIgnore`, so they are excluded from the proxy
view). This is a KRC5-only addition — `AxoKrc4` does not expose these
members.

| Member | Direction | Mapped onto |
|--------|-----------|-------------|
| `DataFromPlcToRobot : ARRAY[0..19] OF BYTE` | PLC → robot | Output bytes `_data[44..63]`, written each cycle in the output-pack phase of `Run()`. |
| `DataFromRobotToPlc : ARRAY[0..15] OF BYTE` | robot → PLC | Input bytes `_data[48..63]`, copied each cycle after the input-unpack phase of `Run()`. |

Write to `DataFromPlcToRobot` and read from `DataFromRobotToPlc` from
application code; the component transports the bytes verbatim and does not
interpret them. The two ranges overlap on the wire because the PLC→robot
window (`44..63`) is wider than the robot→PLC window (`48..63`) — they occupy
the same physical I/O block in opposite directions.

[!code-smalltalk[](../ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st?name=AxoKrc5DataExchangeDeclaration)]

The showcase demonstrates the round-trip — writing an application payload to
`DataFromPlcToRobot` and reading the robot's published bytes from
`DataFromRobotToPlc`:

[!code-pascal[](../../showcase/app/src/components.kuka.robotics/Documentation/AxoKrc5_v_5_x_x_Showcase.st?name=DataExchange)]

# [CONTROLLER](#tab/controller)

## Declare component
Expand Down
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