1115 new feature update gsdml for kuka robots

CHANGELOG.md

@@ -1,3 +1,25 @@
+### [KUKA] KRC4 documentation refresh and GSDML/hw template callouts ([#TBD](https://github.com/Inxton/AXOpen/pulls))
+
+**Note:** Documentation-only change for `components.kuka.robotics`. No runtime behavior modified.
+
+- docs: Added `<AxoKukaRoboticsConfigDeclaration>` and `<AxoKukaRoboticsHWIDsDeclaration>` tagged regions in `AxoKukaRobotics_Config.st` / `AxoKukaRobotics_HWIDs.st` so docs can reference them via `[!code-smalltalk[]]`.
+- docs: Rewrote `docs/AxoKrc4_v_5_x_x.md` with full CONTROLLER / .NET TWIN / BLAZOR / HARDWARE tabs wired to the showcase and library source; added Capabilities + Configuration parameter table and an "Alternative example" block referencing `AxoKrc4_v_5_x_x_Showcase2.st`.
+- docs: Expanded `docs/TROUBLES.md` with an error-ID reference covering the bring-up (700, 702, 710, 720–726, 1130–1133), cyclic I/O (1201, 1231), runtime-safety (20001–20005), and 500-range task *potential* identifiers; added component-specific diagnostics and known-limitations sections.
+- docs: Updated `docs/README.md` with a "Hardware assets" table pointing at the library-shipped KRC4 GSDML (`ctrl/assets/kuka_krc4/GSDML-V2.33-KUKA-KRC4-ProfiNet_5.0-20181102.xml`) and the PROFINET hw template (`kuka_krc4_dio512.hwl.yml`); mirrored the callout in the `AxoKrc4_v_5_x_x.md` HARDWARE tab with GitHub links.
+- docs: Repointed stale GitHub source links from branch `3-unify-showcase` to `dev`; appended `0.50.0` / `0.50.1` entries to `src/components.kuka.robotics/docs/CHANGELOG.md`.
+
+**Impact:**
+- Integrators see the shipped GSDML and hw template path directly from the library docs, without vendor round-trips.
+- Troubleshooting KRC4 cells on-site is driven from a per-error-ID table instead of generic advice.
+- `[!code-smalltalk[]]` refs in the component doc now render the live `Config` / `HWIDs` declarations from the library source.
+
+**Risks/Review:**
+- The new tagged regions must be preserved in future edits of `AxoKukaRobotics_Config.st` / `AxoKukaRobotics_HWIDs.st` — removing them breaks the doc references.
+- PR number in this entry is `#TBD`; update once the PR is opened.
+
+**Testing:**
+- Build docs locally via `scripts/_build_documentation.ps1` and confirm the KRC4 pages render, the `[!code-*]` directives resolve, and the new GitHub links on the HARDWARE tab / README resolve to existing files.
+
 ### [CORE] Controller logger updates ([#1054](https://github.com/Inxton/AXOpen/pull/1054))
 
 **Note:** Enhanced logging and messaging capabilities with new message categories and requalification features.

src/components.kuka.robotics/ctrl/src/AxoKukaRobotics_Datatypes_v_5_x_x/AxoKukaRobotics_Config.st

@@ -1,16 +1,18 @@
 NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
+    // <AxoKukaRoboticsConfigDeclaration>
     {#ix-attr:[Container(Layout.Stack)]}
     {S7.extern=ReadWrite}
     CLASS PUBLIC AxoKukaRobotics_Config
-        VAR PUBLIC 
+        VAR PUBLIC
             {#ix-set:AttributeName = "<#Info time#>"}
             InfoTime : LTIME := LT#2S;
             {#ix-set:AttributeName = "<#Error time#>"}
             ErrorTime : LTIME := LT#5S;
             {#ix-set:AttributeName = "<#Task timeout#>"}
             TaskTimeout : LTIME := LT#50S;
             {#ix-set:AttributeName = "<#Hardware IDs#>"}
-            HWIDs : AxoKukaRobotics_HWIDs;            
-        END_VAR 
-    END_CLASS    
+            HWIDs : AxoKukaRobotics_HWIDs;
+        END_VAR
+    END_CLASS
+    // </AxoKukaRoboticsConfigDeclaration>
 END_NAMESPACE

src/components.kuka.robotics/ctrl/src/AxoKukaRobotics_Datatypes_v_5_x_x/AxoKukaRobotics_HWIDs.st

@@ -1,14 +1,16 @@
-NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x 
+NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
+    // <AxoKukaRoboticsHWIDsDeclaration>
     {S7.extern=ReadWrite}
     {#ix-attr:[Container(Layout.Stack)]}
-    CLASS PUBLIC AxoKukaRobotics_HWIDs  
+    CLASS PUBLIC AxoKukaRobotics_HWIDs
         VAR PUBLIC
             {#ix-set:AttributeName = "<#Hardware ID of the device#>"}
             HwID_Device            :   UINT;
             {#ix-set:AttributeName = "<#Hardware ID of the 'None' submodule#>"}
             HwID_None                :   UINT;
             {#ix-set:AttributeName = "<#Hardware ID of the '512_DI_DO' submodule#>"}
             HwID_512_DI_DO                                   :   UINT;
-        END_VAR 
-    END_CLASS    
+        END_VAR
+    END_CLASS
+    // </AxoKukaRoboticsHWIDsDeclaration>
 END_NAMESPACE

src/components.kuka.robotics/docs/AxoKrc4_v_5_x_x.md

@@ -2,7 +2,49 @@
 
 _KUKA KRC4 industrial robot controller_
 
-Generated documentation for the `AxoKrc4_v_5_x_x` component.
+`AxoKrc4` (namespace `AXOpen.Components.Kuka.Robotics.v_5_x_x`) is the
+controller proxy for robots driven by a KUKA KRC4. It extends
+`AXOpen.Core.AxoComponent` and implements
+`AXOpen.Components.Abstractions.Robotics.IAxoRobotics`, exposing all programme
+and motion commands as `AxoTask` instances that advance their state machine
+inside the component's `Run()` call.
+
+## Capabilities
+
+- Programme control — `StartAtMain`, `StartProgram`, `StopProgram`, `StartMotorsAndProgram`, `StopMovementsAndProgram`.
+- Motor control — `StartMotors`, `StopMotors`.
+- Motion commands — `StartMovements(movementParams)`, `StopMovements`,
+  and a combined `StartMotorsProgramAndMovements(movementParams)`.
+- Safety-interlocked task execution — every task checks `Inputs.Manual`,
+  `Inputs.Automatic`, `Inputs.AlarmStopActive`, `Inputs.UserSafetySwitchClosed`,
+  and `Inputs.Error` while busy (error IDs 20001–20005).
+- Hardware wiring — consumes a PROFINET device identifier; the `Run()`
+  method auto-resolves the child slot layout (slot 1 safety-module = empty,
+  slot 2 = 512 DI / 512 DO) via `ReadSlotFromHardwareID` and
+  `ReadHardwareIOAddress` during first cycle.
+- Cyclic I/O transfer — `Siemens.Simatic.DistributedIO.ReadData`/`WriteData`
+  on slot 2 each cycle (error IDs 1201 / 1231 on transport failure).
+- Tool / area / position / coordinate outputs driven from `MovementParameters`.
+- Hardware diagnostics task (`HardwareDiagnosticsTask`) and two on-delay
+  info/error timers (`Config.InfoTime`, `Config.ErrorTime`,
+  `Config.TaskTimeout`).
+
+## Configuration
+
+The component is configured via the nested `Config : AxoKukaRobotics_Config`
+member. Adjust these before invoking `Run()`; they can also be set from the
+commissioning UI.
+
+| Parameter | Type | Default | Purpose |
+|-----------|------|---------|---------|
+| `Config.InfoTime` | `LTIME` | `LT#2S` | Delay before a task publishes a *potential* (waiting-for-signal) message. Controls how long the component waits silently on an expected input before surfacing progress via `TaskMessenger`. |
+| `Config.ErrorTime` | `LTIME` | `LT#5S` | Delay before `_errorTimer.output` throws the currently-executing task. Acts as a per-step watchdog on KRC4 responses. |
+| `Config.TaskTimeout` | `LTIME` | `LT#50S` | Hard upper bound for a task's total duration. `0s` disables the timeout (used in the showcase so commissioning demos never self-abort). |
+| `Config.HWIDs` | `AxoKukaRobotics_HWIDs` | — | Device hardware identifiers, auto-populated on first `Run()` from the `hwID` argument and the slot layout. |
+
+[!code-smalltalk[](../ctrl/src/AxoKukaRobotics_Datatypes_v_5_x_x/AxoKukaRobotics_Config.st?name=AxoKukaRoboticsConfigDeclaration)]
+
+[!code-smalltalk[](../ctrl/src/AxoKukaRobotics_Datatypes_v_5_x_x/AxoKukaRobotics_HWIDs.st?name=AxoKukaRoboticsHWIDsDeclaration)]
 
 # [CONTROLLER](#tab/controller)
 
@@ -26,20 +68,31 @@ Generated documentation for the `AxoKrc4_v_5_x_x` component.
 
 [!code-pascal[](../../showcase/app/src/components.kuka.robotics/Documentation/AxoKrc4_v_5_x_x_Showcase.st?name=Usage)]
 
+## Alternative example
+
+A second wired-up instance (`AxoKrc4_v_5_x_x_Showcase2`) is available and is
+rendered side-by-side on the showcase Blazor page. It reuses the same
+hardware identifier `kuka_rb1_HwID` and differs only in that it keeps
+`Config.ErrorTime` at the library default (live error watchdog) instead of
+zeroing it out for commissioning.
+
+[!code-pascal[](../../showcase/app/src/components.kuka.robotics/Documentation/AxoKrc4_v_5_x_x_Showcase2.st?name=ComponentDeclaration)]
+[!code-pascal[](../../showcase/app/src/components.kuka.robotics/Documentation/AxoKrc4_v_5_x_x_Showcase2.st?name=Initialization)]
+
 ## Source
 
-View the library source at [`AxoKrc4_v_5_x_x.st`](https://github.com/Inxton/AXOpen/tree/3-unify-showcase/src/components.kuka.robotics/ctrl/src/AxoKrc4_v_5_x_x/AxoKrc4_v_5_x_x.st).
+View the library source at [`AxoKrc4_v_5_x_x.st`](https://github.com/Inxton/AXOpen/tree/dev/src/components.kuka.robotics/ctrl/src/AxoKrc4_v_5_x_x.st).
 
 # [.NET TWIN](#tab/twin)
 
 
 ## Source
 
-View the .NET twin source at [`AXOpen.Components.Kuka.Robotics`](https://github.com/Inxton/AXOpen/tree/3-unify-showcase/src/components.kuka.robotics/src/AXOpen.Components.Kuka.Robotics/).
+View the .NET twin source at [`AXOpen.Components.Kuka.Robotics`](https://github.com/Inxton/AXOpen/tree/dev/src/components.kuka.robotics/src/AXOpen.Components.Kuka.Robotics/).
 
 # [BLAZOR](#tab/blazor)
 
-`AxoKrc4_v_5_x_x` does not ship a dedicated Blazor view. It renders via the generic `AxoComponent` pattern using `RenderableContentControl`, which inspects the component type at runtime and selects the matching rendering based on the `Presentation` attribute.
+`AxoKrc4` does not ship a dedicated Blazor view. It renders via the generic `AxoComponent` pattern using `RenderableContentControl`, which inspects the component type at runtime and selects the matching rendering based on the `Presentation` attribute.
 
 ## Status display
 
@@ -61,13 +114,54 @@ Available `Presentation` values: `Status-Display`, `Command-Control`, `Service-C
 
 ## Source
 
-View the Blazor package at [`AXOpen.Components.Kuka.Robotics.blazor`](https://github.com/Inxton/AXOpen/tree/3-unify-showcase/src/components.kuka.robotics/src/AXOpen.Components.Kuka.Robotics.blazor/).
+View the Blazor package at [`AXOpen.Components.Kuka.Robotics.blazor`](https://github.com/Inxton/AXOpen/tree/dev/src/components.kuka.robotics/src/AXOpen.Components.Kuka.Robotics.blazor/).
 
 # [HARDWARE](#tab/hardware)
 
+## Library-shipped assets
+
+The raw KRC4 GSDML and the matching PROFINET device template live inside
+the library package so `AxoKrc4` can be wired up without fetching files
+from the vendor:
+
+- GSDML — [`ctrl/assets/kuka_krc4/GSDML-V2.33-KUKA-KRC4-ProfiNet_5.0-20181102.xml`](https://github.com/Inxton/AXOpen/tree/dev/src/components.kuka.robotics/ctrl/assets/kuka_krc4/GSDML-V2.33-KUKA-KRC4-ProfiNet_5.0-20181102.xml)
+  — vendor GSDML for Siemens hardware-catalog import.
+- HW template — [`ctrl/assets/kuka_krc4/kuka_krc4_dio512.hwl.yml`](https://github.com/Inxton/AXOpen/tree/dev/src/components.kuka.robotics/ctrl/assets/kuka_krc4/kuka_krc4_dio512.hwl.yml)
+  — PROFINET device template expected by `Run()` (slot 1 empty, slot 2 = `512_DI_DO`, 64-byte cyclic I/O).
+
+The showcase copies the template into `showcase/app/hwc/library_templates/kuka_krc4/`
+so application builds do not need a catalog round-trip.
+
 ## Device template
 
-PROFINET hardware template at `showcase/app/hwc/library_templates/kuka_krc4/`.
+PROFINET hardware template at `showcase/app/hwc/library_templates/kuka_krc4/kuka_krc4_dio512.hwl.yml`.
+
+The template provisions a KRC4 as a PROFINET device with two slots:
+
+| Slot | Module | Purpose |
+|------|--------|---------|
+| 1 | *(safety module, left empty by the template)* | Reserved — `AxoKrc4.Run()` verifies this slot resolves to `HwID_None = 0`. |
+| 2 | `512_DI_DO` | 64-byte in / 64-byte out PROFINET I/O cyclically transferred by the component. |
+
+## I/O mapping
+
+`Run()` takes a single `hwID : UINT` that identifies the KRC4 device in the
+configured hardware layout. The component then:
+
+1. Calls `ReadSlotFromHardwareID(hwID)` to obtain the device's geographic
+   address.
+2. Reads the hardware ID of slot 1 and asserts it is `0` (no safety module
+   wired — error 710 otherwise).
+3. Reads the hardware ID of slot 2 (the 512 DI / 512 DO module) and caches
+   it in `Config.HWIDs.HwID_512_DI_DO`.
+4. Calls `ReadHardwareIOAddress` on slot 2 and asserts it exposes exactly
+   64 input and 64 output bytes (error 726 otherwise).
+5. Each cycle thereafter: `Siemens.Simatic.DistributedIO.ReadData` /
+   `WriteData` transfer the 64-byte blocks bound to `Inputs` / `Outputs`.
+
+Use the `AXOpen.Showcase.HwIdentifiers#{device}_HwID` constants to supply
+`hwID` from application code (as the showcase does with
+`kuka_rb1_HwID`).
 
 ## Device instantiation
 

src/components.kuka.robotics/docs/CHANGELOG.md

@@ -6,3 +6,26 @@
 - Restructured documentation to class-name convention: added `AxoKrc4_v_5_x_x.md`; removed legacy `*_Showcase.md`, `*_Showcase2.md`, and `ComponentTemplate.md`.
 - Added CONTROLLER, .NET TWIN, BLAZOR, and HARDWARE tabs with DocFX source references wired to live showcase markers.
 - Initial CHANGELOG entry.
+
+### 0.50.0
+
+**Other:**
+- `README.md` — added Components, Configuration/state types, Packages, Dependencies tables and the KUKA vendor link.
+- `AxoKrc4_v_5_x_x.md` — added Capabilities and Configuration sections with a `Config` parameter table; wired `[!code-smalltalk[]]` references to new `AxoKukaRoboticsConfigDeclaration` / `AxoKukaRoboticsHWIDsDeclaration` regions in the library source; added an "Alternative example" block referencing `AxoKrc4_v_5_x_x_Showcase2.st`; expanded the HARDWARE tab with slot layout and `hwID` resolution flow.
+- `TROUBLES.md` — added component-specific common-issues, runtime-safety, and error-ID reference sections covering IDs 700, 701, 702, 710, 720–726, 1130–1133, 1201, 1231, 20001–20005, and the 500-range task *potential* identifiers; retained the existing Support pointer.
+- Repointed stale GitHub source links from branch `3-unify-showcase` to `dev`.
+
+**New regions:**
+- `AxoKukaRobotics_Config.st` — `<AxoKukaRoboticsConfigDeclaration>`.
+- `AxoKukaRobotics_HWIDs.st` — `<AxoKukaRoboticsHWIDsDeclaration>`.
+
+### 0.50.1
+
+**Other:**
+- `README.md` — added a "Hardware assets" table pointing at the
+  library-shipped GSDML (`ctrl/assets/kuka_krc4/GSDML-V2.33-KUKA-KRC4-ProfiNet_5.0-20181102.xml`)
+  and the PROFINET hw template (`ctrl/assets/kuka_krc4/kuka_krc4_dio512.hwl.yml`),
+  plus a note that the showcase re-uses the same template.
+- `AxoKrc4_v_5_x_x.md` — HARDWARE tab now opens with a "Library-shipped
+  assets" section linking the GSDML and hw template on GitHub, so
+  integrators see where the raw assets live inside this package.

src/components.kuka.robotics/docs/README.md

@@ -4,7 +4,55 @@ The **components.kuka.robotics** is a set of libraries covering the product port
 
 The package consists of a PLC library providing control logic and its .NET twin counterpart aimed at the visualization part. This package currently covers the robots driven by KRC4 controller.
 
+### Components
+
+| Component | Description |
+|-----------|-------------|
+| [`AxoKrc4`](AxoKrc4_v_5_x_x.md) | 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`. |
+
+### Configuration & state types
+
+| Type | Role |
+|------|------|
+| `AxoKukaRobotics_Config` | Configuration: `InfoTime`, `ErrorTime`, `TaskTimeout`, `HWIDs`. |
+| `AxoKukaRobotics_HWIDs` | Hardware identifiers: `HwID_Device`, `HwID_None`, `HwID_512_DI_DO`. |
+| `AxoKukaRobotics_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). |
+| `AxoKukaRobotics_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). |
+| `AxoKukaRobotics_Component_Status` | Runtime status (extends `AxoRobot_Status`). |
+
+### Packages
+
+| Package | Purpose |
+|---------|---------|
+| `@inxton/axopen.components.kuka.robotics` | PLC library (apax) |
+| `AXOpen.Components.Kuka.Robotics` | .NET twin |
+| `AXOpen.Components.Kuka.Robotics.blazor` | Blazor rendering assets |
+
+### Hardware assets
+
+The library ships the KRC4 GSDML and a ready-to-apply PROFINET device
+template so the robot can be dropped into a `plc_line.hwl.yml` without
+vendor-side configuration:
+
+| Asset | Path | Purpose |
+|-------|------|---------|
+| GSDML | [`ctrl/assets/kuka_krc4/GSDML-V2.33-KUKA-KRC4-ProfiNet_5.0-20181102.xml`](../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. |
+| HW template | [`ctrl/assets/kuka_krc4/kuka_krc4_dio512.hwl.yml`](../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()`. |
+
+The showcase application uses the same template via
+`showcase/app/hwc/library_templates/kuka_krc4/kuka_krc4_dio512.hwl.yml`
+and wires it into `plc_line.hwl.yml` under the `<KukaKrc4Device>` region.
+
+### Dependencies
+
+| Package | Purpose |
+|---------|---------|
+| `@inxton/axopen.components.robotics` | Shared robotics abstractions (`AxoRobot_Status`, task/messenger base types). |
+
 ### Links to documentation
-[Siemens AX-documentation](https://developer.siemens.com/simatic-ax/developer.html) 
+
+[Siemens AX-documentation](https://developer.siemens.com/simatic-ax/developer.html)
 
 [AxOpen-documentation](https://inxton.github.io/AXOpen/)
+
+[KUKA documentation](https://www.kuka.com/en-gb)