ctrlXdrive

[TomKovac]

Summary

• Adds the Rexroth ctrlX DRIVE XSC support to AxoCtrlxDriveXsc — reworked torque/velocity scaling (now in degrees), linear-actuator torque scaling, homing diagnostic handling, and message-timer resets.
• Ships dedicated Blazor proxy views for both Rexroth drives — AxoCtrlxDriveXscView and AxoIndraDriveView (each with Status, Command, Spot derivatives).
• Refreshes components.rexroth.drives documentation (BLAZOR tab, README, TROUBLES) and wires the showcase markers/registry; bumps the library to 0.56.4.
• Adds ctrlX servo-drive communication-configuration reference images for hardware commissioning.

Closes #1146

Changes from CHANGELOG

components.rexroth.drives (0.56.4)

New features:

• Added dedicated Blazor views AxoCtrlxDriveXscView and AxoIndraDriveView (with Status, Command, and Spot derivatives) for the Rexroth drive components.

Bug fixes:

• AxoCtrlxDriveXsc: reworked torque and velocity scaling calculations, switched torque/velocity parameters to degrees and adjusted scaling values, and fixed torque scaling for linear actuators.
• AxoCtrlxDriveXsc: retrigger scaling-parameter reading when leaving operation mode so scaling stays consistent.
• AxoCtrlxDriveXsc: added message-timer resets so diagnostic messages clear correctly.

Other:

• AxoCtrlxDriveXsc: filter the C00E2054 ("NOT HOMED") diagnostic message while homing is in progress.
• AxoCtrlxDriveXsc: added a debug message for the unknown error code F4035.
• AxoCtrlxDriveXsc: removed the homing (AxoHome) task timeout.
• Added ctrlX DRIVE servo-drive communication-configuration reference images under ctrl/assets/rexroth_ctrlx_drive/servodrive_communication_config/.
• Corrected the BLAZOR tab of AxoCtrlxDriveXsc and AxoIndraDrive docs to reflect the dedicated Blazor views (AxoCtrlxDriveXscView, AxoIndraDriveView) now resolved by RenderableContentControl, with source links.
• Enriched README.md with a Components table (ctrlX DRIVE XSC + IndraDrive), a Dependencies table, and the Bosch Rexroth vendor link.
• Populated TROUBLES.md with drive-specific common issues, the eAxoDriveState error states and Errorstop recovery, diagnostics, and known limitations.

Commits

• 8bf9452 Update documentation and changelog for AxoCtrlxDriveXsc and AxoIndraDrive components; reflect dedicated Blazor views and common troubleshooting issues.
• 7dc6af4 Add AxoCtrlxDriveXsc and AxoIndraDrive components with views and styles
• afa8503 Add template markers for Rexroth drive configurations and update paths in ShowcasePageRegistry
• feabc25 bakr
• bb7e28f ctrlxdrive axohome task timeout removed
• 5df711c ctrlxdrive e2054 filtered during homing
• dd4a9ad ctrlxdrive_reboot
• 6f2be0d switch_to_kuka
• c85c5b5 Add debug message for unknown error code F4035 in AxoCtrlxDriveXsc
• a4b7761 ctrlXdrive message timers resets added
• a49c5ce Update torque and velocity parameters to use degrees and adjust scaling values
• d8d65e5 Add logic to retrigger scaling parameter reading when leaving operation mode
• 34dad83 Refine torque and velocity scaling calculations in AxoCtrlxDriveXsc
• e12e461 ctrlx linear act torque scaling fixed
• 846de61 ctrXdrive scaling linear rdy2tst
• 9555156 config
• aa1d33e Create draft PR for ctrlXdrive #1146

Diff stat

 GitVersion.yml                                     |    4 +-
 .../ctrl/test/KukaRoboticsTests.st                 |    5 +
 .../components.rexroth.drives.sln                  |    2 +-
 .../rexroth_ctrlx_drive_xcs.hwl.yml                |    2 +
 .../001_FSP_DRIVE_PROFILE.png                      |  Bin 0 -> 225784 bytes
 .../002_CONSUMER.png                               |  Bin 0 -> 293061 bytes
 .../003_PRODUCER.png                               |  Bin 0 -> 290515 bytes
 .../004_SignalControlWord.png                      |  Bin 0 -> 300638 bytes
 .../005_SignalStatusWord.png                       |  Bin 0 -> 290122 bytes
 .../006_OperationMode.png                          |  Bin 0 -> 222621 bytes
 .../rexroth_indradrive/rexroth_indradrive.hwl.yml  |    2 +
 .../ctrl/src/AxoCtrlxDriveXsc/AxoCtrlxDriveXsc.st  | 1056 +++++++++++++------
 ...trlxDriveXscSignalControlWord_S_0_0145_0_0.st   |    4 +-
 .../docs/AxoCtrlxDriveXsc.md                       |    4 +-
 .../docs/AxoIndraDrive.md                          |    4 +-
 src/components.rexroth.drives/docs/CHANGELOG.md    |   19 +
 src/components.rexroth.drives/docs/README.md       |   20 +-
 src/components.rexroth.drives/docs/TROUBLES.md     |  156 ++-
 .../AxoCtrlxDriveXsc/AxoCtrlxDriveXscView.razor    |  506 ++++++++++
 .../AxoCtrlxDriveXsc/AxoCtrlxDriveXscView.razor.cs |   93 ++
 .../AxoCtrlxDriveXscView.razor.css                 |   37 +
 .../AxoIndraDrive/AxoIndraDriveView.razor          |  486 +++++++++
 .../AxoIndraDrive/AxoIndraDriveView.razor.cs       |   93 ++
 .../AxoIndraDrive/AxoIndraDriveView.razor.css      |   37 +
 .../AxoCtrlxDriveXsc/AxoCtrlxDriveXsc.cs           |   39 +-
 src/components.rexroth.drives/this.sln             |    2 +-
 .../AxoComponent/AxoComponentView.razor            |    5 +-
 .../Documentation/RexrothDrives.razor              |    4 +-
 .../Services/Search/ShowcasePageRegistry.cs        |    4 +-
 29 files changed, 2284 insertions(+), 300 deletions(-)

Test plan

• apax build compiles the PLC library; exercise the ctrlX drive sequences (scaling, homing) in PLCSIM Advanced
• dotnet build succeeds and dotnet ixc regenerates the .NET twin without errors
• Launch the showcase app, open the Rexroth Drives page, render AxoCtrlxDriveXsc / AxoIndraDrive in Status / Command / Spot — no console or runtime errors
• CHANGELOG entry (0.56.4) covers all branch commits and flags any breaking changes
• README renders correctly on GitHub (preview)

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Generated by /pr-description-update. Last regenerated: 2026-05-29.

[PTKu]

@kuh0005

• Add torque regulation
• Add velo regulation

@TomKovac we will transfer hw to Ouranos.