[BUG] KUKA KRC5

[TomKovac]

Summary

• KRC5-only fix for [BUG] missing alarms when coordinate mismatch, superfluous alarm not-in-auto, user-defined bytes #1148. AxoKrc5 gains raw application-defined passthrough members (DataFromPlcToRobot / DataFromRobotToPlc), per-axis coordinate-mirror diagnostics (task-potential IDs 1501–1506 / 1511–1516), and message 20002 (auto-mode lost mid-task) is downgraded Error → Info.
• Showcase gains an "Exchange raw data with the robot" sequencer step; docs (AxoKrc5.md, TROUBLES.md, per-library + root CHANGELOG.md) updated to document the new surface and behaviour.
• AxoKrc4 is intentionally left unchanged — KRC4 and KRC5 are no longer API/behaviour-identical, and the docs now state that divergence explicitly.

Changes from CHANGELOG

Workspace

[KUKA] KRC5 raw data exchange, coordinate-mirror diagnostics, and auto-mode severity fix

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.

Commits

Other

• 8d36c5b68 Create draft PR for [BUG] missing alarms when coordinate mismatch, superfluous alarm not-in-auto, user-defined bytes #1148
• 7b2cdab7b wip

Diff stat

 CHANGELOG.md                                       | 24 ++++++
 .../ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st            | 97 +++++++++++++++++++++-
 src/components.kuka.robotics/docs/AxoKrc5.md       | 56 +++++++++++--
 src/components.kuka.robotics/docs/CHANGELOG.md     | 44 ++++++++++
 src/components.kuka.robotics/docs/TROUBLES.md      | 31 +++++--
 .../AxoKrc5/v_5_x_x/AxoKrc5.cs                     | 30 +++++++
 .../Documentation/AxoKrc5_v_5_x_x_Showcase.st      | 36 ++++++--
 7 files changed, 295 insertions(+), 23 deletions(-)

Note: the AxoKrc5.st / AxoKrc5.cs source fix is committed; the docs, showcase, and CHANGELOG changes above are currently in the working tree and still need to be committed and pushed before they appear in this PR.

Test plan

• PLC code compiles via apax build; affected sequences exercised in PLCSIM Advanced
• CHANGELOG entry covers all branch commits and flags breaking changes

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Generated by /pr-description-update. Last regenerated: 2026-05-21.

[TomKovac]

Freely configurable user byte array added.