1115 new feature update gsdml for kuka robots

CHANGELOG.md

@@ -1,3 +1,55 @@
+### [KUKA] KRC5 showcase, docs, and central changelog ([#1117](https://github.com/Inxton/AXOpen/pull/1117))
+
+**Note:** Extends the KRC5 library assets landed in [#1116](https://github.com/Inxton/AXOpen/pull/1116) with full showcase and documentation coverage. No runtime behavior change in `AxoKrc4` — the existing class drives both KRC4 and KRC5 because the slot 1 / slot 2 = `DIO512` layout is identical.
+
+- feat: Copied `kuka_krc5_dio512.hwl.yml` into `showcase/app/hwc/library_templates/kuka_krc5/`.
+- feat: Added `<KukaKrc5Device>` (IP `192.168.100.106`, `kuka_rb2`) and `<KukaKrc5IoSystem>` regions to `showcase/app/hwc/plc_line.hwl.yml`.
+- feat: Added third showcase ST file `AxoKrc4_v_5_x_x_Krc5Showcase.st` demonstrating the same `AxoKrc4` proxy driving a KRC5 device via `kuka_rb2_HwID`.
+- feat: Wired the KRC5 instance (`axoKrc4_v_5_x_x_krc5`) into `KukaRobotics.st` documentation context.
+- feat: Added `AxoKrc4 on KRC5` tab to the Blazor showcase page with live `RenderableContentControl`, code-reference, hardware-configuration, and example-sequence sub-tabs; registered KRC5 DocFX snippet markers (`Krc5GenericComponent*`).
+- feat: Updated `ShowcasePageRegistry.cs` `SourceFilePaths` with the new KRC5 showcase, hwl template, and library assets; tags extended with `KRC4`/`KRC5`.
+- docs: `src/components.kuka.robotics/docs/README.md` — Hardware-assets table extended with KRC5 rows; intro updated to state both KRC4 and KRC5 are supported.
+- docs: `src/components.kuka.robotics/docs/AxoKrc4_v_5_x_x.md` — subtitle + intro updated; HARDWARE tab split per controller; new "KRC5 example" code-reference block; KRC5 device instantiation + IO system `[!code-yaml[]]` directives.
+- docs: Appended `0.51.0` entry to `src/components.kuka.robotics/docs/CHANGELOG.md` covering the KRC5 library + showcase + docs work.
+
+**Impact:**
+- Application engineers can drop a KUKA KRC5 cell into their `plc_line.hwl.yml` using the shipped `kuka_krc5_dio512` template and use the existing `AxoKrc4` proxy — no library code changes required on consumer side.
+- Showcase demonstrates the KRC5 integration live, side-by-side with two KRC4 variants.
+- Central search index surfaces KRC5 documentation when users search for "KRC5" or "KUKA".
+
+**Risks/Review:**
+- New template uses the updated hwc address schema (`Type: IPv4/Profinet` split). Verify the showcase `apax hwc && apax hwfd` run regenerates `HwIdentifiers.st` with a `kuka_rb2_HwID` constant; if the generated name differs, update `AxoKrc4_v_5_x_x_Krc5Showcase.st` `Run()` argument.
+- The KRC5 GSDML filename contains a space (`GSDML-V2.4-KUKA-KR C5-20220704.xml`) — any tooling that splits on whitespace must quote the path.
+- Per-library CHANGELOG version bumped to `0.51.0` (minor — new feature).
+
+**Testing:**
+- `apax ib` in `src/showcase/app/` after `apax hwc && apax hwfd` to verify the KRC5 device wires through to the ST showcase.
+- `dotnet build` on `src/showcase/app/ix-blazor/showcase.blazor/` to verify the razor page + search registry + HwIdentifiers reference compile.
+- Load the "KUKA Robotics" page in the Blazor app and confirm all three tabs (KRC4 Example 1, KRC4 Example 2, AxoKrc4 on KRC5) render; on a connected PLC, verify the KRC5 sequencer step-logic cards populate.
+- `scripts/_build_documentation.ps1` to verify the new `[!code-yaml]` / `[!code-pascal]` directives resolve against the new tagged regions.
+
+### [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

@@ -1,8 +1,55 @@
 # AxoKrc4_v_5_x_x
 
-_KUKA KRC4 industrial robot controller_
-
-Generated documentation for the `AxoKrc4_v_5_x_x` component.
+_KUKA KRC4 / KRC5 industrial robot controller_
+
+`AxoKrc4` (namespace `AXOpen.Components.Kuka.Robotics.v_5_x_x`) is the
+controller proxy for robots driven by a KUKA **KRC4 or KRC5** controller.
+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.
+
+Both controller families share an identical AXOpen slot layout (slot 1
+reserved, slot 2 = `DIO512` with 64-byte cyclic I/O). The component source
+and API are therefore **identical** for KRC4 and KRC5 — only the GSDML and
+PROFINET device template differ at hardware configuration time.
+
+## 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 +73,42 @@ 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)]
+
+## KRC5 example
+
+A third wired-up instance (`AxoKrc4_v_5_x_x_Krc5Showcase`) drives a **KUKA
+KRC5** cell using the same `AxoKrc4` proxy. The only difference at
+application level is the hardware identifier — it points at `kuka_rb2`
+which is provisioned by the `kuka_krc5_dio512` template in
+`plc_line.hwl.yml`.
+
+[!code-pascal[](../../showcase/app/src/components.kuka.robotics/Documentation/AxoKrc4_v_5_x_x_Krc5Showcase.st?name=ComponentDeclaration)]
+[!code-pascal[](../../showcase/app/src/components.kuka.robotics/Documentation/AxoKrc4_v_5_x_x_Krc5Showcase.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
 
@@ -61,20 +130,79 @@ 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 GSDMLs and matching PROFINET device templates for both KRC4 and
+KRC5 live inside the library package so `AxoKrc4` can be wired up without
+fetching files from the vendor:
+
+### KRC4
+
+- 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).
+
+### KRC5
+
+- GSDML — [`ctrl/assets/kuka_krc5/GSDML-V2.4-KUKA-KR C5-20220704.xml`](<https://github.com/Inxton/AXOpen/tree/dev/src/components.kuka.robotics/ctrl/assets/kuka_krc5/GSDML-V2.4-KUKA-KR C5-20220704.xml>)
+  — vendor GSDML for KR C5 (2022-07-04). The filename contains a space.
+- HW template — [`ctrl/assets/kuka_krc5/kuka_krc5_dio512.hwl.yml`](https://github.com/Inxton/AXOpen/tree/dev/src/components.kuka.robotics/ctrl/assets/kuka_krc5/kuka_krc5_dio512.hwl.yml)
+  — same slot 1 / slot 2 = `DIO512` layout as KRC4, using the newer hwc
+  address schema (`Type: IPv4/Profinet`) and a 4-port switch interface.
+
+The showcase copies both templates into `showcase/app/hwc/library_templates/kuka_krc4/`
+and `.../kuka_krc5/` 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 or KRC5 device
+in the configured hardware layout. The component then:
 
-## Device instantiation
+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`
+for the KRC4 instance and `kuka_rb2_HwID` for the KRC5 instance).
+
+## KRC4 device instantiation
 
 [!code-yaml[](../../showcase/app/hwc/plc_line.hwl.yml?name=KukaKrc4Device)]
 
-## IO system wiring
+## KRC4 IO system wiring
 
 [!code-yaml[](../../showcase/app/hwc/plc_line.hwl.yml?name=KukaKrc4IoSystem)]
 
+## KRC5 device instantiation
+
+[!code-yaml[](../../showcase/app/hwc/plc_line.hwl.yml?name=KukaKrc5Device)]
+
+## KRC5 IO system wiring
+
+[!code-yaml[](../../showcase/app/hwc/plc_line.hwl.yml?name=KukaKrc5IoSystem)]
+
 ---