ctrlXdrive

GitVersion.yml

@@ -1,5 +1,5 @@
 mode: ContinuousDeployment
-next-version: 0.56.3
+next-version: 0.56.4
 branches:
   main:
     regex: ^master$|^main$
@@ -15,7 +15,7 @@ branches:
     pre-release-weight: 55000
   develop:
     regex: ^dev(elop)?(ment)?$
-    mode: ManualDeployment
+    mode: ContinuousDelivery
     label: alpha
     increment: Minor
     prevent-increment:

src/components.kuka.robotics/ctrl/test/KukaRoboticsTests.st

@@ -21,3 +21,8 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.Tests
         END_METHOD
     END_CLASS    
 END_NAMESPACE
+
+
+
+
+

src/components.rexroth.drives/components.rexroth.drives.sln

@@ -1,4 +1,4 @@
-Microsoft Visual Studio Solution File, Format Version 12.00
+Microsoft Visual Studio Solution File, Format Version 12.00
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "this", "this.proj", "{C91BAA51-7B27-48BF-BE13-DED526D007B3}"
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "inxton_axopen_abstractions", "..\abstractions\src\AXOpen.Abstractions\inxton_axopen_abstractions.csproj", "{26B3BB63-88A9-4CDF-8F04-8E78F3284F6F}"

src/components.rexroth.drives/ctrl/assets/rexroth_ctrlx_drive/rexroth_ctrlx_drive_xcs.hwl.yml

@@ -1,3 +1,4 @@
+#<RexrothCtrlxDriveTemplate>
 Templates:
   Devices:
   - Name: 'rexroth_ctrlx_drive_xcs'
@@ -151,3 +152,4 @@ Templates:
                 FileName: 'GSDML-V2.41-BOSCH REXROTH AG-CTRLX DRIVE-20241107.XML'
                 GsdId: 'ID_SM_Operating_status_STO_P_0_0106_0_0_prod'
               Slot: 8
+#</RexrothCtrlxDriveTemplate>

src/components.rexroth.drives/ctrl/assets/rexroth_indradrive/rexroth_indradrive.hwl.yml

@@ -1,3 +1,4 @@
+#<RexrothIndraDriveTemplate>
 Templates:
   Devices:
   - Name: 'rexroth_indradrive'
@@ -72,3 +73,4 @@ Templates:
             GsdId: ID_OutMod_13Words
             FileName: GSDML-V2.1-BOSCH REXROTH AG-011F-INDRADRIVE_01V01-20110705.XML
           Slot: 4
+#</RexrothIndraDriveTemplate>

src/components.rexroth.drives/ctrl/src/AxoCtrlxDriveXsc/TypesStructuresAndEnums/AxoCtrlxDriveXscSignalControlWord_S_0_0145_0_0.st

@@ -27,8 +27,8 @@ NAMESPACE AXOpen.Components.Rexroth.Drives
             SwitchTo0M  :	BOOL;                                                                   //  Bit 0 of the Subdevice STM: C0200 Activate operation mode (S-0-0422) !!! must be set in drive !!!				
             {#ix-set:AttributeName = "<#CancelReferencePoint#>"}                                    
             CancelReferencePoint        :	BOOL;		                                            // Homing function: C1500 Command cancel reference point (0x2500:01 / S-0-0191 / --) !!! must be set in drive !!!
-            {#ix-set:AttributeName = "<#_bit11_Reserve#>"}
-            _bit11_Reserve 				:	BOOL;		
+            {#ix-set:AttributeName = "<#Device reboot#>"}
+            DeviceReboot 				:	BOOL;		
             {#ix-set:AttributeName = "<#_bit12_Reserve#>"}
             _bit12_Reserve 				:	BOOL;		
             {#ix-set:AttributeName = "<#_bit13_Reserve#>"}

src/components.rexroth.drives/docs/AxoCtrlxDriveXsc.md

@@ -39,7 +39,7 @@ View the .NET twin source at [`AXOpen.Components.Rexroth.Drives`](https://github
 
 # [BLAZOR](#tab/blazor)
 
-`AxoCtrlxDriveXsc` 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.
+`AxoCtrlxDriveXsc` ships a dedicated Blazor view, `AxoCtrlxDriveXscView`, with `Status`, `Command`, and `Spot` derivatives. `RenderableContentControl` automatically resolves and renders this dedicated view at runtime based on the selected `Presentation`, so the markup below renders the dedicated view without importing it explicitly.
 
 ## Status display
 
@@ -61,7 +61,7 @@ Available `Presentation` values: `Status-Display`, `Command-Control`, `Service-C
 
 ## Source
 
-View the Blazor package at [`AXOpen.Components.Rexroth.Drives.blazor`](https://github.com/Inxton/AXOpen/tree/3-unify-showcase/src/components.rexroth.drives/src/AXOpen.Components.Rexroth.Drives.blazor/).
+View the dedicated view at [`AxoCtrlxDriveXscView.razor`](https://github.com/Inxton/AXOpen/tree/3-unify-showcase/src/components.rexroth.drives/src/AXOpen.Components.Rexroth.Drives.blazor/AxoCtrlxDriveXsc/AxoCtrlxDriveXscView.razor), or the whole Blazor package at [`AXOpen.Components.Rexroth.Drives.blazor`](https://github.com/Inxton/AXOpen/tree/3-unify-showcase/src/components.rexroth.drives/src/AXOpen.Components.Rexroth.Drives.blazor/).
 
 # [HARDWARE](#tab/hardware)
 
@@ -77,4 +77,66 @@ PROFINET hardware template at `showcase/app/hwc/library_templates/rexroth_ctrlx_
 
 [!code-yaml[](../../showcase/app/hwc/plc_line.hwl.yml?name=RexrothCtrlxDriveIoSystem)]
 
+## Drive commissioning (ctrlX DRIVE Engineering)
+
+Before the controller can exchange cyclic process data with `AxoCtrlxDriveXsc`,
+the drive must be parameterized in the **ctrlX DRIVE Engineering** commissioning
+tool. The cyclic Consumer/Producer telegram and the signal control/status words
+configured here must match the layout the component expects on its
+`AxisRefExt` inputs and outputs. Perform the steps in order.
+
+### 1. Master communication — PROFINET + FSP Drive profile
+
+Under **Master communication → Master communication settings**, set the
+protocol to **PROFINET®** and the application profile to **FSP Drive profile**.
+Confirm the master communication is active (e.g. `AR established`) and note the
+assigned PROFINET device name, which must match the device entry in
+`plc_line.hwl.yml`.
+
+![Master communication settings — PROFINET and FSP Drive profile](pics/rexroth_ctrlx_drive/001_FSP_DRIVE_PROFILE.png)
+
+### 2. Consumer — cyclic setpoint data (controller → drive)
+
+Configure the **Consumer** telegram (Slot 0) with the cyclic data the drive
+receives from the controller: the servodrive-profile control word and the
+drive-controlled-positioning command values (target position, velocity,
+acceleration profile). This is the process data the component writes through
+`AxisRefExt.Outputs`.
+
+![Consumer cyclic data configuration](pics/rexroth_ctrlx_drive/002_CONSUMER.png)
+
+### 3. Producer — cyclic actual/status data (drive → controller)
+
+Configure the **Producer** telegram (Slot 1) with the cyclic data the drive
+sends back: the servodrive-profile status word, position feedback, torque/force
+actual value, velocity, and the diagnostic message. This is the process data
+the component reads through `AxisRefExt.Inputs` / `AxisRefExt.Status`.
+
+![Producer cyclic data configuration](pics/rexroth_ctrlx_drive/003_PRODUCER.png)
+
+### 4. Signal control word
+
+Map the **Signal control word** bits to the drive parameters the component
+drives (control word and field-bus control bits). The bit assignments must
+match the order the component expects in its outgoing control word.
+
+![Signal control word bit mapping](pics/rexroth_ctrlx_drive/004_SignalControlWord.png)
+
+### 5. Signal status word
+
+Map the **Signal status word** bits to the source parameters reported back
+(status word, position-feedback status, field-bus status, actual values). The
+component decodes these bits to derive its `eAxoDriveState`.
+
+![Signal status word bit mapping](pics/rexroth_ctrlx_drive/005_SignalStatusWord.png)
+
+### 6. Operation mode selection
+
+Under **Operation modes / Drive Halt → Operation mode selection**, set the
+**primary operation mode** to **Drive-controlled positioning** and the
+secondary operation modes (e.g. **Torque/force control**, **Velocity control**)
+to match the motion tasks you intend to use from `AxoCtrlxDriveXsc`.
+
+![Operation mode selection](pics/rexroth_ctrlx_drive/006_OperationMode.png)
+
 ---

src/components.rexroth.drives/docs/AxoIndraDrive.md

@@ -39,7 +39,7 @@ View the .NET twin source at [`AXOpen.Components.Rexroth.Drives`](https://github
 
 # [BLAZOR](#tab/blazor)
 
-`AxoIndraDrive` 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.
+`AxoIndraDrive` ships a dedicated Blazor view, `AxoIndraDriveView`, with `Status`, `Command`, and `Spot` derivatives. `RenderableContentControl` automatically resolves and renders this dedicated view at runtime based on the selected `Presentation`, so the markup below renders the dedicated view without importing it explicitly.
 
 ## Status display
 
@@ -61,7 +61,7 @@ Available `Presentation` values: `Status-Display`, `Command-Control`, `Service-C
 
 ## Source
 
-View the Blazor package at [`AXOpen.Components.Rexroth.Drives.blazor`](https://github.com/Inxton/AXOpen/tree/3-unify-showcase/src/components.rexroth.drives/src/AXOpen.Components.Rexroth.Drives.blazor/).
+View the dedicated view at [`AxoIndraDriveView.razor`](https://github.com/Inxton/AXOpen/tree/3-unify-showcase/src/components.rexroth.drives/src/AXOpen.Components.Rexroth.Drives.blazor/AxoIndraDrive/AxoIndraDriveView.razor), or the whole Blazor package at [`AXOpen.Components.Rexroth.Drives.blazor`](https://github.com/Inxton/AXOpen/tree/3-unify-showcase/src/components.rexroth.drives/src/AXOpen.Components.Rexroth.Drives.blazor/).
 
 # [HARDWARE](#tab/hardware)
 

src/components.rexroth.drives/docs/CHANGELOG.md

@@ -23,6 +23,26 @@
     on every run.
 -->
 
+### 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/`.
+- Added a step-by-step "Drive commissioning (ctrlX DRIVE Engineering)" section to `AxoCtrlxDriveXsc.md` (PROFINET/FSP profile, Consumer/Producer telegrams, signal control/status word mapping, operation-mode selection) with screenshots under `docs/pics/rexroth_ctrlx_drive/`.
+- 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.
+
 ### 0.43.0
 
 **Other:**

src/components.rexroth.drives/docs/README.md

@@ -2,9 +2,27 @@
 
 The **components.rexroth.drives** is a set of libraries covering the product portfolio of motion systems from the vendor [Rexroth](https://www.boschrexroth.com/en/dc/) for the target PLC platform [Siemens AX](https://www.siemens.com/global/en/products/automation/industry-software/automation-software/simatic-ax.html) and [AxOpen](https://github.com/inxton/AXOpen?tab=readme-ov-file) framework.
 
-The package consists of a PLC library providing control logic and its .NET twin counterpart aimed at the visualization part. This package currently covers the IndraDrive drives family.
+The package consists of a PLC library providing control logic and its .NET twin counterpart aimed at the visualization part. This package currently covers the IndraDrive and ctrlX DRIVE families.
+
+### Components
+
+| Component | Description |
+|-----------|-------------|
+| `AxoCtrlxDriveXsc` | Rexroth ctrlX DRIVE XSC servo drive. Extends `AxoDrive` with ctrlX-specific axis reference (`AxisRefExt`) and scaling constants. |
+| `AxoIndraDrive` | Rexroth IndraDrive servo drive. Extends `AxoDrive` with IndraDrive fieldbus/parameter axis reference (`AxisRef`). |
+
+Both components derive from `AXOpen.Components.Drives.AxoDrive` and follow the PLCopen-style motion state machine (`eAxoDriveState`).
+
+### Dependencies
+
+| Package | Purpose |
+|---------|---------|
+| `@inxton/axopen.components.drives` | Provides the `AxoDrive` base component and the shared `eAxoDriveState` motion state machine. |
+| `@ax/simatic-1500-distributedio` | SIMATIC S7-1500 distributed I/O support for PROFINET device communication. |
 
 ### Links to documentation
 [Siemens AX-documentation](https://developer.siemens.com/simatic-ax/developer.html) 
 
 [AxOpen-documentation](https://inxton.github.io/AXOpen/)
+
+[Bosch Rexroth documentation](https://www.boschrexroth.com/en/dc/)

src/components.rexroth.drives/docs/TROUBLES.md

@@ -1,5 +1,159 @@
 # Troubleshooting
 
-Unfortunately, we don't have a direct solution to your problem at the moment. If you encounter any issues, please [file a report on our GitHub](https://github.com/inxton/AXOpen/issues/new/choose). We appreciate your feedback and patience.
+This guide covers the most common issues encountered when integrating the
+`AxoCtrlxDriveXsc` and `AxoIndraDrive` components, the drive state machine,
+and the diagnostics surface exposed by both components.
+
+---
+
+## Common Issues
+
+### The drive values never update / the view stays blank
+
+**What you observe**: `DriveState`, `ActualPosition`, `ActualVelocity` and
+`ActualTorque` never change, motion tasks never complete.
+
+**Why it happens**: the component advances its internal logic and its task
+state machines only while its `Run(...)` method is being called cyclically.
+If `Run(...)` stops being called, every value and task freezes in place.
+
+**What to check**: ensure the component's `Run(...)` method is called on every
+cycle from within the call tree of your `AxoContext.Main()` method. It does
+**not** have to be called directly in `Main()` — calling it from any object,
+station, or method reachable through the `Main()` call chain is sufficient, as
+long as the call executes on every scan.
+
+### A motion task only works once, then does nothing
+
+**What you observe**: the first invocation of a motion/parameter task succeeds,
+but invoking it again has no effect or immediately reports the previous result.
+
+**Why it happens**: tasks (`AxoTask`) latch their result. A completed task must
+be restored before it can run again.
+
+**What to check**: call `Restore()` on the task (the Blazor task views expose a
+Restore button for this) before re-invoking it, and keep calling `Run(...)`
+while the task executes. Only one motion task is serviced at a time — do not
+expect two motion commands to run concurrently.
+
+### The drive will not leave `Disabled` / will not enable
+
+**What you observe**: `DriveState` stays at `Disabled` and motion commands are
+ignored.
+
+**Why it happens**: the drive must be powered/enabled before it transitions to
+`Standstill` and accepts motion. A pending error also blocks enabling.
+
+**What to check**: use the Power/enable task in the Operate panel, confirm the
+drive is not in `Errorstop` (see Error States below), and verify the I/O
+mapping so the component actually exchanges process data with the physical
+drive.
+
+### Manual control panel is missing in the UI
+
+**What you observe**: the Blazor view shows the read-only Monitor/STATE panel
+instead of the interactive Operate/CONFIGURATION panel.
+
+**Why it happens**: the container view branches on
+`_isManuallyControllable.Cyclic`. When it is `false`, only the monitor and
+state views are shown.
+
+**What to check**: activate manual control on the component so
+`_isManuallyControllable` becomes `true`; the Operate commands and
+CONFIGURATION panel then render.
+
+---
+
+## Hardware vs. Configuration vs. Application
+
+Both `AxoCtrlxDriveXsc` and `AxoIndraDrive` control physical PROFINET devices.
+When data exchange fails, isolate the layer before changing code:
+
+- **Communication issues** — device unreachable, link down, watchdog timeout.
+  Check the physical connection, the device IP address, and the PROFINET device
+  name. The drive will not reach `Standstill` if process data is not exchanged.
+- **Configuration issues** — GSDML/template mismatch, wrong slot or module
+  assignment, parameter error. Check the device entry in
+  `showcase/app/hwc/plc_line.hwl.yml` and the device template under
+  `ctrl/assets/` (`rexroth_ctrlx_drive` / `rexroth_indradrive`).
+- **Application issues** — wrong `hwID`, missing or swapped I/O references,
+  incorrect `Run(...)` arguments. Check the ST wiring that passes the hardware
+  identifier and the axis reference (`AxisRefExt` for ctrlX,
+  `AxisRef` for IndraDrive) into the component.
+
+---
+
+## Error States
+
+Both components expose their motion state through `DriveState`, typed as
+`eAxoDriveState` (defined in `AXOpen.Components.Drives`). The states follow the
+PLCopen motion state model:
+
+| State | Meaning |
+|-------|---------|
+| `Disabled` | Drive is not powered/enabled. No motion is possible. |
+| `Standstill` | Drive is enabled and holding position, ready to accept a motion command. |
+| `Homing` | A homing/reference task is in progress. |
+| `Stopping` | A stop has been commanded; the drive is decelerating to standstill. |
+| `DiscreteMotion` | A point-to-point move (absolute/relative/additive) is active. |
+| `ContinuousMotion` | A velocity move is active. |
+| `SynchronizedMotion` | A synchronized/coordinated move is active. |
+| `Errorstop` | The drive has faulted and stopped. **This is the error state.** |
+
+### Recovering from `Errorstop`
+
+**Possible causes**: drive-side fault (over-current, following error, limit
+switch, communication loss), an invalid motion target, or a hardware/safety
+condition reported by the physical drive.
+
+**Resolution**:
+1. Read `DriveState` to confirm `Errorstop`, and inspect the component's alarm
+   messenger (`_Messenger`, surfaced as the alarm badge/panel in the Blazor
+   view) for the specific fault text.
+2. Clear the originating condition (acknowledge the drive fault, remove the
+   limit/safety condition, correct an out-of-range target).
+3. Invoke the reset task to clear the error, then re-enable the drive. On
+   success the drive returns to `Standstill`.
+4. If the drive immediately re-enters `Errorstop`, the underlying hardware fault
+   is still present — diagnose at the physical drive before retrying.
+
+---
+
+## Diagnostics
+
+Read these members to understand the component's runtime state (all are exposed
+read-only in the STATE / Monitor panel of the Blazor view):
+
+| Member | Meaning |
+|--------|---------|
+| `DriveState` | Current `eAxoDriveState` motion state (see table above). |
+| `ActualPosition` | Live position feedback. |
+| `ActualVelocity` | Live velocity feedback. |
+| `ActualTorque` | Live torque feedback. |
+| `DriveStatus` | Aggregated status readout of the drive. |
+| `DriveConfig` | Active configuration parameters (writable in the CONFIGURATION panel). |
+| `_Messenger` | Alarm/message source; populated faults appear in the header alarm badge. |
+
+For `AxoCtrlxDriveXsc`, additionally inspect the `AxisRefExt`
+(Inputs/Outputs/Status) and the scaling constants. For `AxoIndraDrive`, inspect
+`AxisRef` (FieldBus_In/FieldBus_Out, Parameter_In/Parameter_Out, Status, Data).
+
+---
+
+## Known Limitations
+
+- A component services a single active motion task at a time; motion commands
+  are not executed concurrently.
+- The component reflects the capabilities reported by the physical drive over
+  PROFINET — features not supported by the connected drive firmware cannot be
+  exercised from the component.
+
+---
+
+## Support
+
+If you encounter an issue not covered here, please
+[file a report on our GitHub](https://github.com/inxton/AXOpen/issues/new/choose).
+We appreciate your feedback and patience.
 
 ---