[KUKA] Remove unnecessary & annoying tasks throwing errors at timeout when proper message from the component is present

CHANGELOG.md

@@ -1,3 +1,16 @@
+### [FIX] `AxoKrc5` no longer throws spurious task-timeout errors
+
+**Note:** PLC bug fix in `src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st`. KRC5-only — `AxoKrc4` is unchanged. No public-API change. Branch: `1165-bug-kuka-issue-with-robot-reset` ([#1167](https://github.com/Inxton/AXOpen/pull/1167)).
+
+- fix: Removed the `ThrowWhen` watchdog calls (`_errorTimer.output` and `Duration >= Config.TaskTimeout`) from every `AxoKrc5` task — `StartAtMain`, `StartMotors`, `StartProgram`, `StartMotorsAndProgram`, `StartMotorsProgramAndMovements`, `StartMovements`, `StopMotors`, and `StopMovementsAndProgram`. A stalled task now surfaces through the component's own status message instead of an additional, redundant task-timeout error that fired even when the component had already reported the proper condition.
+- docs: `src/components.kuka.robotics/docs/AxoKrc5.md` and `TROUBLES.md` record the divergence (a 4th KRC5-only difference; `ErrorTime` / `TaskTimeout` no longer abort KRC5 tasks; the `TaskTimeout` watchdog troubleshooting bullet is now flagged KRC4-only). Library CHANGELOG bumped to `0.61.1`.
+
+**Impact:** Operating a KRC5 robot no longer produces nuisance task-timeout errors on top of the component's genuine status message. `AxoKrc4` retains both watchdogs.
+
+**Risks/Review:** KRC5 tasks no longer self-abort on duration; long-running or stuck tasks rely on the component status message and operator intervention rather than the `TaskTimeout` watchdog.
+
+**Testing:** `apax ibt` in `src/components.kuka.robotics` — build + AxUnit suite green.
+
 ### [FIX] `axdev` password guard contradicted the secrets complexity policy
 
 **Note:** Bug fix in `src/axopen.dev`. Branch: `feat/axdev-user-secrets-loader`.

GitVersion.yml

@@ -1,5 +1,5 @@
 mode: ContinuousDeployment
-next-version: 0.61.0
+next-version: 0.61.1
 branches:
   main:
     regex: ^master$|^main$

src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st

@@ -496,9 +496,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                 END_IF;
 
                 THIS.CallTimers(TRUE);
-                StartAtMainTask.ThrowWhen(_errorTimer.output );
                 Status.Action.Id := TO_UINT(_power_progress);
-                StartAtMainTask.ThrowWhen(StartAtMainTask.Duration >= Config.TaskTimeout AND Config.TaskTimeout > T#0s ,'<#StartAtMainTask timeout.#>');
             END_IF;
             IF StartAtMainTask.DoneReached() THEN
                 Status.Action.Id :=  UINT#101;
@@ -648,9 +646,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                 END_IF;	              
 
                 THIS.CallTimers(TRUE);
-                StartMotorsAndProgramTask.ThrowWhen(_errorTimer.output);
                 Status.Action.Id := TO_UINT(_power_progress);
-                StartMotorsAndProgramTask.ThrowWhen(StartMotorsAndProgramTask.Duration >= Config.TaskTimeout AND Config.TaskTimeout > T#0s ,'<#StartMotorsAndProgramTask timeout.#>');
             END_IF;
             IF StartMotorsAndProgramTask.DoneReached() THEN
                 Status.Action.Id :=  UINT#111;
@@ -933,9 +929,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                 END_IF;	
 
                 THIS.CallTimers(NOT _movementExecuting);
-                StartMotorsProgramAndMovementsTask.ThrowWhen(_errorTimer.output);
                 Status.Action.Id := TO_UINT(_power_progress);
-                StartMotorsProgramAndMovementsTask.ThrowWhen(StartMotorsProgramAndMovementsTask.Duration >= Config.TaskTimeout AND Config.TaskTimeout > T#0s ,'<#StartMotorsProgramAndMovementsTask timeout.#>');
             END_IF;
             IF StartMotorsProgramAndMovementsTask.IsFirstExecutionCycle() THEN
                 MovementParameters := Status.CurrentMovementParameters;
@@ -1025,7 +1019,6 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                 END_IF;	              
 
                 THIS.CallTimers(TRUE);
-                StartMotorsTask.ThrowWhen(_errorTimer.output);
                 Status.Action.Id := TO_UINT(_power_progress);
             END_IF;
             IF StartMotorsTask.DoneReached() THEN
@@ -1238,9 +1231,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
 
 	            THIS.CallTimers(NOT _movementExecuting);
 
-                StartMovementsTask.ThrowWhen(_errorTimer.output);
                 Status.Action.Id := TO_UINT(_movement_progress);
-                StartMovementsTask.ThrowWhen(StartMovementsTask.Duration >= Config.TaskTimeout AND Config.TaskTimeout > T#0s ,'<#StartMovementsTask timeout.#>');
             END_IF;
             IF StartMovementsTask.IsFirstExecutionCycle() THEN
                 MovementParameters := Status.CurrentMovementParameters;
@@ -1392,9 +1383,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                 END_IF;	              
 
                 THIS.CallTimers(TRUE);
-                StartProgramTask.ThrowWhen(_errorTimer.output);
                 Status.Action.Id := TO_UINT(_power_progress);
-                StartProgramTask.ThrowWhen(StartProgramTask.Duration >= Config.TaskTimeout AND Config.TaskTimeout > T#0s ,'<#StartProgramTask timeout.#>');
             END_IF;
             IF StartProgramTask.DoneReached() THEN
                 Status.Action.Id :=  UINT#171;
@@ -1455,9 +1444,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                 END_IF;	              
 
                 THIS.CallTimers(TRUE);
-                StopMotorsTask.ThrowWhen(_errorTimer.output);
                 Status.Action.Id := TO_UINT(_power_progress);
-                StopMotorsTask.ThrowWhen(StopMotorsTask.Duration >= Config.TaskTimeout AND Config.TaskTimeout > T#0s ,'<#StopMotorsTask timeout.#>');
             END_IF;
             IF StopMotorsTask.DoneReached() THEN
                 Status.Action.Id :=  UINT#181;
@@ -1527,9 +1514,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
 
                 THIS.CallTimers(TRUE);
 
-                StopMovementsAndProgramTask.ThrowWhen(_errorTimer.output);
                 Status.Action.Id := TO_UINT(_power_progress);
-                StopMovementsAndProgramTask.ThrowWhen(StopMovementsAndProgramTask.Duration >= Config.TaskTimeout AND Config.TaskTimeout > T#0s ,'<#StopMovementsAndProgramTask timeout.#>');
             END_IF;
             IF StopMovementsAndProgramTask.DoneReached() THEN
                 Status.Action.Id :=  UINT#191;
@@ -1587,9 +1572,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
 
                 THIS.CallTimers(TRUE);
 
-                StopMovementsTask.ThrowWhen(_errorTimer.output);
                 Status.Action.Id := TO_UINT(_power_progress);
-                StopMovementsTask.ThrowWhen(StopMovementsTask.Duration >= Config.TaskTimeout AND Config.TaskTimeout > T#0s ,'<#StopMovementsTask timeout.#>');
             END_IF;
             IF StopMovementsTask.DoneReached() THEN
                 Status.Action.Id :=  UINT#201;
@@ -1646,9 +1629,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
 
                 THIS.CallTimers(TRUE);
 
-                StopProgramTask.ThrowWhen(_errorTimer.output);
                 Status.Action.Id := TO_UINT(_power_progress);
-                StopProgramTask.ThrowWhen(StopProgramTask.Duration >= Config.TaskTimeout AND Config.TaskTimeout > T#0s ,'<#StopProgramTask timeout.#>');
             END_IF;
             IF StopProgramTask.DoneReached() THEN
                 Status.Action.Id :=  UINT#911;
@@ -1739,9 +1720,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
 
                 THIS.CallTimers(TRUE);
 
-                ResetAllOutputsTask.ThrowWhen(_errorTimer.output);
                 Status.Action.Id := TO_UINT(_power_progress);
-                ResetAllOutputsTask.ThrowWhen(ResetAllOutputsTask.Duration >= Config.TaskTimeout AND Config.TaskTimeout > T#0s ,'<#ResetAllOutputsTask timeout.#>');
             END_IF;
             IF ResetAllOutputsTask.DoneReached() THEN
                 Status.Action.Id :=  UINT#921;

src/components.kuka.robotics/docs/AxoKrc5.md

@@ -37,6 +37,11 @@ Refer to the [`AxoKrc4`](AxoKrc4.md) page for:
 > - Safety message **20002** (`Inputs.Automatic = FALSE` while a task is busy)
 >   is raised as `Info` on `AxoKrc5`, where `AxoKrc4` still raises it as
 >   `Error`.
+> - Its tasks no longer self-abort on the duration/error-timer watchdog
+>   (#1167). `AxoKrc5` no longer calls `ThrowWhen` on `Config.TaskTimeout`
+>   or `Config.ErrorTime` (`_errorTimer.output`); a stalled task now surfaces
+>   through the component's own status message instead of a redundant
+>   task-timeout error. `AxoKrc4` still applies both watchdogs.
 
 The differences between KRC4 and KRC5 are confined to:
 
@@ -57,6 +62,12 @@ LT#2S`, `ErrorTime = LT#5S`, `TaskTimeout = LT#50S`) match KRC4 — see the
 [`AxoKrc4` configuration table](AxoKrc4.md#configuration) for the meaning of
 each field.
 
+> [!NOTE]
+> Since #1167, `ErrorTime` and `TaskTimeout` no longer abort `AxoKrc5` tasks
+> (the `ThrowWhen` watchdogs were removed). They are still applied by `AxoKrc4`.
+> On `AxoKrc5` a stalled task is reported through the component's status
+> message rather than raising a task-timeout error.
+
 [!code-smalltalk[](../ctrl/src/AxoKrc5/v_5_x_x/TypesStructuresAndEnums/AxoKrc5_Config.st?name=AxoKrc5ConfigDeclaration)]
 
 [!code-smalltalk[](../ctrl/src/AxoKrc5/v_5_x_x/TypesStructuresAndEnums/AxoKrc5_HWIDs.st?name=AxoKrc5HWIDsDeclaration)]

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

@@ -23,6 +23,25 @@
     on every run.
 -->
 
+### 0.61.1
+
+**Bug fixes:**
+- `AxoKrc5` no longer self-aborts its tasks on the duration/error-timer
+  watchdog (#1167). The `ThrowWhen` calls on `_errorTimer.output` and on
+  `Duration >= Config.TaskTimeout` were removed from every task
+  (`StartAtMain`, `StartMotors`, `StartProgram`, `StartMotorsAndProgram`,
+  `StartMotorsProgramAndMovements`, `StartMovements`, `StopMotors`,
+  `StopMovementsAndProgram`). A stalled task now surfaces through the
+  component's own status message instead of an extra, redundant
+  task-timeout error. `AxoKrc4` is unchanged and still applies both
+  watchdogs.
+
+**Other:**
+- `AxoKrc5.md` — added a 4th KRC5-only divergence note and a Configuration
+  note recording that `ErrorTime` / `TaskTimeout` no longer abort KRC5 tasks.
+- `TROUBLES.md` — the `TaskTimeout` watchdog bullet is now flagged KRC4-only,
+  with the KRC5 message-driven behaviour documented.
+
 ### 0.54.0
 
 **New features:**

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

@@ -66,8 +66,11 @@ They are not errors.
 - `Inputs.Error = TRUE` raises error 20005 while a task is busy; clear
   the KRC4-side fault, then call `ExampleRobot.ErrorConfirmation` via
   `Outputs.ErrorConfirmation` or run the `Restore` sequencer step.
-- `Config.TaskTimeout` has not elapsed (default `LT#50S`). Set to `0s`
-  during commissioning to disable the watchdog.
+- **(KRC4 only)** `Config.TaskTimeout` has not elapsed (default `LT#50S`).
+  Set to `0s` during commissioning to disable the watchdog. Since #1167
+  `AxoKrc5` no longer aborts tasks on `TaskTimeout` / `ErrorTime`; a stalled
+  KRC5 task is reported through the component status message instead, so
+  there is no task-timeout watchdog to disable on KRC5.
 
 ### Movement parameters never take effect