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AxoKrc5

KUKA KRC5 industrial robot controller proxy

AxoKrc5 (namespace AXOpen.Components.Kuka.Robotics.v_5_x_x) is the controller proxy for robots driven by a KUKA 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.

Relationship to AxoKrc4

AxoKrc5 shares almost all of its public API with AxoKrc4 — 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 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 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 fixes in #1148 and #1168, AxoKrc5 has diverged from AxoKrc4 in the following KRC5-only respects (none of these are present on AxoKrc4):

  • It exposes the raw byte-array data-exchange members DataFromPlcToRobot / DataFromRobotToPlc (see Data exchange).
  • It raises additional coordinate-mirror task-potential identifiers 1501–1506 and 1511–1516 (see the TROUBLES error reference).
  • Input bit %X2 is Inputs.LocalEstopOk ("Local Emergency Stop OK", #1168) — on AxoKrc4 the same bit is still Inputs.Automatic. Whenever LocalEstopOk is FALSE, AxoKrc5 raises error 20006 unconditionally — every cycle, not only while a task is busy (unlike 20001–20005).
  • Safety message 20002 is keyed on Inputs.ExternalAutomatic = FALSE while a task is busy (#1168 — previously Inputs.Automatic, which no longer exists on KRC5) and is raised as Info, where AxoKrc4 raises its Inputs.Automatic-keyed 20002 as Error.
  • The task-duration watchdog is opt-in (#1168): every task except StartMotors calls ThrowWhen(Duration >= Config.TaskTimeout AND Config.TaskTimeout > T#0s, '{TaskName} timeout.'), and the default Config.TaskTimeout = LT#0S keeps it disabled. The Config.ErrorTime (_errorTimer.output) watchdog remains removed (#1167). AxoKrc4 still applies both watchdogs with non-zero defaults.
  • While a busy task is waiting and the robot reports Inputs.StopMess, AxoKrc5 automatically pulses Outputs.ErrorConfirmation (gated by the component blinker) to try to acknowledge the robot-side error (#1168).
  • The component blinker is ticked once per Run() cycle with a fixed BLINKER_TIME = T#1S on/off period (#1168 — previously each task ran its own 500 ms blink while executing).

The differences between KRC4 and KRC5 are confined to:

  • GSDML / vendor firmware version — KRC5 uses GSDML-V2.4-KUKA-KR C5-20220704.xml (KR C5, 2022-07-04, note the space in the filename) versus KRC4's GSDML-V2.33-KUKA-KRC4-ProfiNet_5.0-20181102.xml.
  • PROFINET device template — kuka_krc5_dio512.hwl.yml uses the newer hwc address schema (Type: IPv4/Profinet) and a 4-port switch interface; slot layout is otherwise identical to KRC4.
  • Showcase wiring — KRC5 is provisioned with kuka_rb2 (vs. kuka_rb1 for KRC4) and the application uses AXOpen.Showcase.HwIdentifiers#kuka_rb2_HwID.

Configuration

AxoKrc5 is configured via the nested Config : AxoKrc5_Config member (structurally identical to AxoKrc4_Config). See the AxoKrc4 configuration table for the meaning of each field, but note the KRC5 defaults differ since #1168: InfoTime = LT#2S matches KRC4, while ErrorTime = LT#0S and TaskTimeout = LT#0S (KRC4 defaults to LT#5S / LT#50S).

Note

On AxoKrc5 the task-duration watchdog is opt-in (#1168): with the default TaskTimeout = LT#0S it is disabled and a stalled task is reported through the component's status message only. Setting TaskTimeout > T#0s arms a per-task ThrowWhen that aborts the task with a '{TaskName} timeout.' error once Duration exceeds the configured value (every task except StartMotors). The ErrorTime watchdog remains removed on KRC5 (#1167) — the field only feeds the step timers — while AxoKrc4 still applies both watchdogs.

[!code-smalltalk]

[!code-smalltalk]

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]

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

[!code-pascal]

CONTROLLER

Declare component

[!code-pascal]

Declare initialization variables

Most of the initialization variables come from the I/O system. The example below is for demonstration purposes.

[!code-pascal]

Initialize & Run

[!code-pascal]

[!INCLUDE IntializeAndRun]

Use

[!code-pascal]

Source

View the library source at AxoKrc5.st.

.NET TWIN

The .NET twin for AxoKrc5 mirrors the AxoKrc4 layout — AxoKrc5.cs (partial class) under src/AXOpen.Components.Kuka.Robotics/AxoKrc5/v_5_x_x/ wires InitializeMessenger and InitializeTaskMessenger, and exposes ErrorDescription / ActionDescription on AxoKrc5_Component_Status.

Source

View the .NET twin source at AXOpen.Components.Kuka.Robotics/AxoKrc5.

BLAZOR

AxoKrc5 ships a dedicated Blazor view (AxoKrc5View.razor) inside AXOpen.Components.Kuka.Robotics.blazor, mirroring AxoKrc4View 1:1. When RenderableContentControl inspects an AxoKrc5 context, it picks this view automatically based on the Presentation attribute. Operator commands are grouped into two tabs — Movements (Start/Stop Movements, Restore, Reset All Outputs, with movement parameters inline) and Power & Program (motor and programme tasks) — laid out as a uniform 2-column grid. If you prefer the generic AxoComponent rendering, use RenderableContentControl directly.

Status display

[!code-html]

Command control

[!code-html]

Type-agnostic status view

[!code-html]

Type-agnostic command view

[!code-html]

Available Presentation values: Status-Display, Command-Control, Service-Control, Spot, Compact.

Source

View the Blazor view at AxoKrc5View.razor.

HARDWARE

Library-shipped assets

The raw GSDML and matching PROFINET device template for KRC5 live inside the library package so AxoKrc5 can be wired up without fetching files from the vendor:

The showcase copies the template into showcase/app/hwc/library_templates/kuka_krc5/ so application builds do not need a catalog round-trip.

Device template

PROFINET hardware template at showcase/app/hwc/library_templates/kuka_krc5/kuka_krc5_dio512.hwl.yml.

The template provisions a KRC5 as a PROFINET device with two slots:

Slot Module Purpose
1 (safety module, left empty by the template) Reserved — AxoKrc5.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 KRC5 device in the configured hardware layout. The slot-resolution flow and per-cycle I/O transfer are identical to KRC4 — see AxoKrc4 I/O mapping for the step-by-step breakdown. Use AXOpen.Showcase.HwIdentifiers#kuka_rb2_HwID to supply hwID from application code.

KRC5 device instantiation

[!code-yaml]

KRC5 IO system wiring

[!code-yaml]