From 9d2a5ec988f6cb627c079d31295c0121f8a23c83 Mon Sep 17 00:00:00 2001
From: "blazej.kuhajda" <blazej.kuhajda@mts.sk>
Date: Tue, 2 Jun 2026 08:25:49 +0200
Subject: [PATCH 01/14] remove task timeout

---
 .../ctrl/src/AxoKrc4/v_5_x_x/AxoKrc4.st       | 21 -------------------
 1 file changed, 21 deletions(-)

diff --git a/src/components.kuka.robotics/ctrl/src/AxoKrc4/v_5_x_x/AxoKrc4.st b/src/components.kuka.robotics/ctrl/src/AxoKrc4/v_5_x_x/AxoKrc4.st
index 198e1120a..fb8eb0975 100644
--- a/src/components.kuka.robotics/ctrl/src/AxoKrc4/v_5_x_x/AxoKrc4.st
+++ b/src/components.kuka.robotics/ctrl/src/AxoKrc4/v_5_x_x/AxoKrc4.st
@@ -470,9 +470,7 @@ 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;
@@ -622,9 +620,7 @@ 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;
@@ -883,9 +879,7 @@ 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;
@@ -975,7 +969,6 @@ 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
@@ -1164,9 +1157,7 @@ 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;
@@ -1318,9 +1309,7 @@ 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;
@@ -1381,9 +1370,7 @@ 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;
@@ -1453,9 +1440,7 @@ 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;
@@ -1513,9 +1498,7 @@ 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;
@@ -1572,9 +1555,7 @@ 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;
@@ -1665,9 +1646,7 @@ 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;

From ff23939cafe0ce437716ec814b275f6fccea401f Mon Sep 17 00:00:00 2001
From: "blazej.kuhajda" <blazej.kuhajda@mts.sk>
Date: Wed, 3 Jun 2026 07:37:17 +0200
Subject: [PATCH 02/14] wip

---
 .../ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st       | 25 +++++++++++++------
 1 file changed, 18 insertions(+), 7 deletions(-)

diff --git a/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st b/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
index 4886e1e76..4d33e4be9 100644
--- a/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
+++ b/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
@@ -99,6 +99,11 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Config  :   AxoKrc5_Config;
         END_VAR
 
+        VAR CONSTANT INTERNAL
+            BLINKER_TIME : TIME := T#1S;
+        END_VAR    
+       
+
         VAR PUBLIC //STATUS
             {#ix-attr:[Container(Layout.Stack)]}
             {#ix-attr:[ComponentDetails("Status")]}
@@ -462,13 +467,14 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#100,StartAtMainTask.IsBusy(), eAxoMessageCategory#Info);
             Messenger.ActivateOnCondition(ULINT#101,StartAtMainTask.IsDone(), eAxoMessageCategory#Info);
             IF StartAtMainTask.Execute(THIS) THEN
-                _blink.Blink(Context := _context, inOnTime:=T#500MS,inOffTime:=T#500MS);
+                _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
                 IF _power_progress = 0 THEN
                     Status.Error.Id :=  UINT#0;
                     TaskMessenger.Restore();
                     THIS.CallTimers(FALSE);
                     _power_progress := 300;
                 END_IF;
+
                 // Start at main running: waiting for the program pointer changed.
                 IF _power_progress = 300 THEN  
                     IF _infoTimer.output THEN
@@ -480,6 +486,8 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                     Outputs.DrivesOff := TRUE;
                     Outputs.ActionNo := BYTE#255;
 
+                    Outputs.ErrorConfirmation := Inputs.StopMess AND NOT _blink.output;	// try to ack error
+
                     Outputs.StartAtMain := NOT Inputs.PpMoved  AND _blink.output;
                             
                     IF Inputs.PpMoved  THEN
@@ -526,7 +534,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#110,StartMotorsAndProgramTask.IsBusy(), eAxoMessageCategory#Info);
             Messenger.ActivateOnCondition(ULINT#111,StartMotorsAndProgramTask.IsDone(), eAxoMessageCategory#Info);
             IF StartMotorsAndProgramTask.Execute(THIS) THEN
-                _blink.Blink(Context := _context, inOnTime:=T#500MS,inOffTime:=T#500MS);
+                _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
 
                 IF _power_progress = 0 THEN
                     Status.Error.Id :=  UINT#0;
@@ -543,6 +551,8 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                     Outputs.MoveEnable := TRUE;
                     Outputs.DrivesOff := TRUE;
                     Outputs.ActionNo := BYTE#255;
+                    
+                    Outputs.ErrorConfirmation := Inputs.StopMess AND NOT _blink.output;	// try to ack error
 
                     IF Inputs.UserSafetySwitchClosed THEN
                         THIS.CallTimers(FALSE);
@@ -571,6 +581,8 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                     Outputs.DrivesOff:=TRUE;		
                     Outputs.DrivesOn:=_blink.output;	
 
+                    Outputs.ErrorConfirmation := Inputs.StopMess AND NOT _blink.output;	// try to ack error
+
                     IF Inputs.DrivesReady THEN
                         Outputs.DrivesOn:=FALSE;
                         THIS.CallTimers(FALSE);
@@ -675,7 +687,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#120,StartMotorsProgramAndMovementsTask.IsBusy(), eAxoMessageCategory#Info);
             Messenger.ActivateOnCondition(ULINT#121,StartMotorsProgramAndMovementsTask.IsDone(), eAxoMessageCategory#Info);
             IF StartMotorsProgramAndMovementsTask.Execute(THIS) THEN
-                _blink.Blink(Context := _context, inOnTime:=T#500MS,inOffTime:=T#500MS);
+                _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
 
                 IF _power_progress = 0 THEN
                     Status.Error.Id :=  UINT#0;
@@ -961,7 +973,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#140,StartMotorsTask.IsBusy(), eAxoMessageCategory#Info);
             Messenger.ActivateOnCondition(ULINT#141,StartMotorsTask.IsDone(), eAxoMessageCategory#Info);
             IF StartMotorsTask.Execute(THIS) THEN
-                _blink.Blink(Context := _context, inOnTime:=T#500MS,inOffTime:=T#500MS);
+                _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
 
                 IF _power_progress = 0 THEN
                     Status.Error.Id := UINT#0;
@@ -1263,7 +1275,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#170,StartAtMainTask.IsBusy(), eAxoMessageCategory#Info);
             Messenger.ActivateOnCondition(ULINT#171,StartAtMainTask.IsDone(), eAxoMessageCategory#Info);
             IF StartProgramTask.Execute(THIS) THEN
-                _blink.Blink(Context := _context, inOnTime:=T#500MS,inOffTime:=T#500MS);
+                _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
 
                 IF _power_progress = 0 THEN
                     Status.Error.Id :=  UINT#0;
@@ -1412,7 +1424,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#180,StartAtMainTask.IsBusy(), eAxoMessageCategory#Info);
             Messenger.ActivateOnCondition(ULINT#181,StartAtMainTask.IsDone(), eAxoMessageCategory#Info);
             IF StopMotorsTask.Execute(THIS) THEN
-                _blink.Blink(Context := _context, inOnTime:=T#500MS,inOffTime:=T#500MS);
+                _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
 
                 IF _power_progress = 0 THEN
                     Status.Error.Id :=  UINT#0;
@@ -1998,4 +2010,3 @@ END_NAMESPACE
 
 
 
-

From 399344a06306e08a04ab68fb5d5b9906c400926b Mon Sep 17 00:00:00 2001
From: "blazej.kuhajda" <blazej.kuhajda@mts.sk>
Date: Wed, 3 Jun 2026 07:52:24 +0200
Subject: [PATCH 03/14] ack error krc5

---
 .../ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st              | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st b/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
index 4d33e4be9..0c5cc7029 100644
--- a/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
+++ b/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
@@ -535,7 +535,6 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#111,StartMotorsAndProgramTask.IsDone(), eAxoMessageCategory#Info);
             IF StartMotorsAndProgramTask.Execute(THIS) THEN
                 _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
-
                 IF _power_progress = 0 THEN
                     Status.Error.Id :=  UINT#0;
                     TaskMessenger.Restore();
@@ -706,6 +705,8 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                     Outputs.DrivesOff := TRUE;
                     Outputs.ActionNo := BYTE#255;
 
+                    Outputs.ErrorConfirmation := Inputs.StopMess AND NOT _blink.output;	// try to ack error
+
                     IF Inputs.UserSafetySwitchClosed THEN
                         THIS.CallTimers(FALSE);
                         _power_progress := 321;
@@ -974,7 +975,6 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#141,StartMotorsTask.IsDone(), eAxoMessageCategory#Info);
             IF StartMotorsTask.Execute(THIS) THEN
                 _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
-
                 IF _power_progress = 0 THEN
                     Status.Error.Id := UINT#0;
                     TaskMessenger.Restore();
@@ -990,6 +990,8 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                     Outputs.MoveEnable := TRUE;
                     Outputs.DrivesOff := TRUE;
 
+                    Outputs.ErrorConfirmation := Inputs.StopMess AND NOT _blink.output;	// try to ack error
+
                     IF Inputs.UserSafetySwitchClosed THEN
                         THIS.CallTimers(FALSE);
                         _power_progress := 341;
@@ -1060,6 +1062,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#150,StartMovementsTask.IsBusy(), eAxoMessageCategory#Info);
             Messenger.ActivateOnCondition(ULINT#151,StartMovementsTask.IsDone(), eAxoMessageCategory#Info);
             IF StartMovementsTask.Execute(THIS) THEN
+                 _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
                 IF _movement_progress = 0 THEN
                     Status.Error.Id := UINT#0;
                     TaskMessenger.Restore();
@@ -1075,6 +1078,8 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                     Outputs.MoveEnable := TRUE;
                     Outputs.DrivesOff := TRUE;
 
+                    Outputs.ErrorConfirmation := Inputs.StopMess AND NOT _blink.output;	// try to ack error
+
                     IF Inputs.ProActive THEN
                         THIS.CallTimers(FALSE);
                         _movement_progress := 351;
@@ -1276,7 +1281,6 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#171,StartAtMainTask.IsDone(), eAxoMessageCategory#Info);
             IF StartProgramTask.Execute(THIS) THEN
                 _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
-
                 IF _power_progress = 0 THEN
                     Status.Error.Id :=  UINT#0;
                     TaskMessenger.Restore();
@@ -1292,6 +1296,8 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                     Outputs.MoveEnable := TRUE;
                     Outputs.DrivesOff := TRUE;
                     Outputs.ActionNo := BYTE#255;
+
+                    Outputs.ErrorConfirmation := Inputs.StopMess AND NOT _blink.output;	// try to ack error
                     
                     IF  Inputs.UserSafetySwitchClosed THEN
                         THIS.CallTimers(FALSE);

From 01370f7e8dd2427d137e7823b1630087f6e5f987 Mon Sep 17 00:00:00 2001
From: "blazej.kuhajda" <blazej.kuhajda@mts.sk>
Date: Wed, 3 Jun 2026 13:41:05 +0200
Subject: [PATCH 04/14] revert task timeout krc5

---
 .../ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st       | 22 +++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st b/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
index 0c5cc7029..cf32fe20e 100644
--- a/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
+++ b/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
@@ -504,7 +504,9 @@ 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;
@@ -657,7 +659,9 @@ 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;
@@ -942,7 +946,9 @@ 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;
@@ -1033,6 +1039,7 @@ 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
@@ -1248,7 +1255,9 @@ 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;
@@ -1401,7 +1410,9 @@ 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;
@@ -1462,7 +1473,9 @@ 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;
@@ -1532,7 +1545,9 @@ 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;
@@ -1590,7 +1605,9 @@ 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;
@@ -1647,7 +1664,9 @@ 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;
@@ -1738,7 +1757,9 @@ 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;
@@ -2016,3 +2037,4 @@ END_NAMESPACE
 
 
 
+

From 1adbe10c97b7cb012ebdd3f0f82a7f9698abf888 Mon Sep 17 00:00:00 2001
From: "blazej.kuhajda" <blazej.kuhajda@mts.sk>
Date: Wed, 3 Jun 2026 13:45:20 +0200
Subject: [PATCH 05/14] revert krc4

---
 .../ctrl/src/AxoKrc4/v_5_x_x/AxoKrc4.st       | 21 +++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/src/components.kuka.robotics/ctrl/src/AxoKrc4/v_5_x_x/AxoKrc4.st b/src/components.kuka.robotics/ctrl/src/AxoKrc4/v_5_x_x/AxoKrc4.st
index fb8eb0975..198e1120a 100644
--- a/src/components.kuka.robotics/ctrl/src/AxoKrc4/v_5_x_x/AxoKrc4.st
+++ b/src/components.kuka.robotics/ctrl/src/AxoKrc4/v_5_x_x/AxoKrc4.st
@@ -470,7 +470,9 @@ 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;
@@ -620,7 +622,9 @@ 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;
@@ -879,7 +883,9 @@ 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;
@@ -969,6 +975,7 @@ 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
@@ -1157,7 +1164,9 @@ 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;
@@ -1309,7 +1318,9 @@ 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;
@@ -1370,7 +1381,9 @@ 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;
@@ -1440,7 +1453,9 @@ 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;
@@ -1498,7 +1513,9 @@ 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;
@@ -1555,7 +1572,9 @@ 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;
@@ -1646,7 +1665,9 @@ 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;

From d7744ea5741ae9a1c142819c3a2736ca68fb5c8e Mon Sep 17 00:00:00 2001
From: "blazej.kuhajda" <blazej.kuhajda@mts.sk>
Date: Wed, 3 Jun 2026 14:05:31 +0200
Subject: [PATCH 06/14] error time and time out = 0

---
 .../ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st          | 16 +++++++++-------
 .../TypesStructuresAndEnums/AxoKrc5_Config.st    |  4 ++--
 2 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st b/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
index cf32fe20e..fdb67d58e 100644
--- a/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
+++ b/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
@@ -459,6 +459,8 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             END_IF;
             //****************************************
 
+            _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
+
             //*************StartAtMainTask************
             StartAtMainTask.SetIsDisabled(_stopTasksAreActive);
             IF StartAtMainTask.StartTriggered() THEN
@@ -467,7 +469,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#100,StartAtMainTask.IsBusy(), eAxoMessageCategory#Info);
             Messenger.ActivateOnCondition(ULINT#101,StartAtMainTask.IsDone(), eAxoMessageCategory#Info);
             IF StartAtMainTask.Execute(THIS) THEN
-                _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
+                //_blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
                 IF _power_progress = 0 THEN
                     Status.Error.Id :=  UINT#0;
                     TaskMessenger.Restore();
@@ -536,7 +538,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#110,StartMotorsAndProgramTask.IsBusy(), eAxoMessageCategory#Info);
             Messenger.ActivateOnCondition(ULINT#111,StartMotorsAndProgramTask.IsDone(), eAxoMessageCategory#Info);
             IF StartMotorsAndProgramTask.Execute(THIS) THEN
-                _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
+                //_blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
                 IF _power_progress = 0 THEN
                     Status.Error.Id :=  UINT#0;
                     TaskMessenger.Restore();
@@ -690,7 +692,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#120,StartMotorsProgramAndMovementsTask.IsBusy(), eAxoMessageCategory#Info);
             Messenger.ActivateOnCondition(ULINT#121,StartMotorsProgramAndMovementsTask.IsDone(), eAxoMessageCategory#Info);
             IF StartMotorsProgramAndMovementsTask.Execute(THIS) THEN
-                _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
+                //_blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
 
                 IF _power_progress = 0 THEN
                     Status.Error.Id :=  UINT#0;
@@ -980,7 +982,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#140,StartMotorsTask.IsBusy(), eAxoMessageCategory#Info);
             Messenger.ActivateOnCondition(ULINT#141,StartMotorsTask.IsDone(), eAxoMessageCategory#Info);
             IF StartMotorsTask.Execute(THIS) THEN
-                _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
+                //_blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
                 IF _power_progress = 0 THEN
                     Status.Error.Id := UINT#0;
                     TaskMessenger.Restore();
@@ -1069,7 +1071,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#150,StartMovementsTask.IsBusy(), eAxoMessageCategory#Info);
             Messenger.ActivateOnCondition(ULINT#151,StartMovementsTask.IsDone(), eAxoMessageCategory#Info);
             IF StartMovementsTask.Execute(THIS) THEN
-                 _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
+                // _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
                 IF _movement_progress = 0 THEN
                     Status.Error.Id := UINT#0;
                     TaskMessenger.Restore();
@@ -1289,7 +1291,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#170,StartAtMainTask.IsBusy(), eAxoMessageCategory#Info);
             Messenger.ActivateOnCondition(ULINT#171,StartAtMainTask.IsDone(), eAxoMessageCategory#Info);
             IF StartProgramTask.Execute(THIS) THEN
-                _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
+                //_blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
                 IF _power_progress = 0 THEN
                     Status.Error.Id :=  UINT#0;
                     TaskMessenger.Restore();
@@ -1441,7 +1443,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             Messenger.ActivateOnCondition(ULINT#180,StartAtMainTask.IsBusy(), eAxoMessageCategory#Info);
             Messenger.ActivateOnCondition(ULINT#181,StartAtMainTask.IsDone(), eAxoMessageCategory#Info);
             IF StopMotorsTask.Execute(THIS) THEN
-                _blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
+                //_blink.Blink(Context := _context, inOnTime:=BLINKER_TIME,inOffTime:=BLINKER_TIME);
 
                 IF _power_progress = 0 THEN
                     Status.Error.Id :=  UINT#0;
diff --git a/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/TypesStructuresAndEnums/AxoKrc5_Config.st b/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/TypesStructuresAndEnums/AxoKrc5_Config.st
index bab3bfe4f..374275332 100644
--- a/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/TypesStructuresAndEnums/AxoKrc5_Config.st
+++ b/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/TypesStructuresAndEnums/AxoKrc5_Config.st
@@ -8,9 +8,9 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             {#ix-set:AttributeName = "<#Info time#>"}
             InfoTime : LTIME := LT#2S;
             {#ix-set:AttributeName = "<#Error time#>"}
-            ErrorTime : LTIME := LT#5S;
+            ErrorTime : LTIME := LT#0S;
             {#ix-set:AttributeName = "<#Task timeout#>"}
-            TaskTimeout : LTIME := LT#50S;
+            TaskTimeout : LTIME := LT#0S;
             {#ix-set:AttributeName = "<#Hardware IDs#>"}
             HWIDs : AxoKrc5_HWIDs;
         END_VAR

From 3feb8593f215774387d46f4f2e0fc0af876714e9 Mon Sep 17 00:00:00 2001
From: "blazej.kuhajda" <blazej.kuhajda@mts.sk>
Date: Wed, 3 Jun 2026 14:22:40 +0200
Subject: [PATCH 07/14] estop signal

---
 .../ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st                  | 9 +++++++--
 .../v_5_x_x/TypesStructuresAndEnums/AxoKrc5_State.st     | 4 ++--
 .../AxoKrc5/v_5_x_x/AxoKrc5.cs                           | 2 ++
 3 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st b/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
index fdb67d58e..ded846389 100644
--- a/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
+++ b/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
@@ -311,7 +311,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
 
             Inputs.InHome                   := _data[1].%X0;
             Inputs.Manual                   := _data[1].%X1;
-            Inputs.Automatic                := _data[1].%X2;
+            Inputs.LocalEstopOk             := _data[1].%X2;
             Inputs.ExternalAutomatic        := _data[1].%X3;
             Inputs.ProActive                := _data[1].%X4;
             Inputs.PpMoved                  := _data[1].%X5;
@@ -1795,7 +1795,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                     Messenger.Activate(UINT#20001,eAxoMessageCategory#Error);
                     Status.Error.Id := UINT#20001;
                 END_IF;
-                IF(NOT Inputs.Automatic) THEN
+                IF(NOT Inputs.ExternalAutomatic) THEN
                     Messenger.Activate(UINT#20002,eAxoMessageCategory#Info);
                     Status.Error.Id := UINT#20002;
                 END_IF;
@@ -1813,6 +1813,11 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                 END_IF;
             END_IF;
 
+            IF(NOT Inputs.LocalEstopOk) THEN
+                Messenger.Activate(UINT#20006,eAxoMessageCategory#Error);
+                Status.Error.Id := UINT#20006;
+            END_IF;
+
             //***********UPDATE**OUTPUTS*****************
             //SYSTEM OUTPUTS
             _data[0].%X0	     := Outputs.ExternalStart;     
diff --git a/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/TypesStructuresAndEnums/AxoKrc5_State.st b/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/TypesStructuresAndEnums/AxoKrc5_State.st
index 1ccd655be..a9c3841a0 100644
--- a/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/TypesStructuresAndEnums/AxoKrc5_State.st
+++ b/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/TypesStructuresAndEnums/AxoKrc5_State.st
@@ -29,8 +29,8 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
             InHome : BOOL;					
             {#ix-set:AttributeName = "<#Manual [T1]#>"}
             Manual : BOOL;					
-            {#ix-set:AttributeName = "<#Automatic [AUT]#>"}
-            Automatic : BOOL;				
+            {#ix-set:AttributeName = "<#Local Emergency Stop OK#>"}
+            LocalEstopOk : BOOL;				
             {#ix-set:AttributeName = "<#ExternalAutomatic [EXT]#>"}
             ExternalAutomatic : BOOL;		
             {#ix-set:AttributeName = "<#ProcesActive [PRO_ACT]#>"}
diff --git a/src/components.kuka.robotics/src/AXOpen.Components.Kuka.Robotics/AxoKrc5/v_5_x_x/AxoKrc5.cs b/src/components.kuka.robotics/src/AXOpen.Components.Kuka.Robotics/AxoKrc5/v_5_x_x/AxoKrc5.cs
index 17a32b5d3..ddd968f4c 100644
--- a/src/components.kuka.robotics/src/AXOpen.Components.Kuka.Robotics/AxoKrc5/v_5_x_x/AxoKrc5.cs
+++ b/src/components.kuka.robotics/src/AXOpen.Components.Kuka.Robotics/AxoKrc5/v_5_x_x/AxoKrc5.cs
@@ -133,6 +133,7 @@ private void InitializeMessenger()
                 new KeyValuePair<ulong, AxoMessengerTextItem>(20003, new AxoMessengerTextItem("Waiting for signal 'Inputs.AlarmStopActive' to be set!","Check the signal.")),
                 new KeyValuePair<ulong, AxoMessengerTextItem>(20004, new AxoMessengerTextItem("Waiting for signal 'Inputs.UserSafetySwitchClosed' to be set!","Check the signal.")),
                 new KeyValuePair<ulong, AxoMessengerTextItem>(20005, new AxoMessengerTextItem("Waiting for signal 'Inputs.Error' to be reseted!","Check the signal.")),
+                new KeyValuePair<ulong, AxoMessengerTextItem>(20006, new AxoMessengerTextItem("Waiting for signal 'Inputs.LocalEstopOk' to be set!","Check the signal.")),
 
 
 
@@ -378,6 +379,7 @@ public string ErrorDescription
                     errorDescriptionDict.Add(20003, "Waiting for signal 'Inputs.AlarmStopActive' to be set!");
                     errorDescriptionDict.Add(20004, "Waiting for signal 'Inputs.UserSafetySwitchClosed' to be set!");
                     errorDescriptionDict.Add(20005, "Waiting for signal 'Inputs.Error' to be reseted!");
+                    errorDescriptionDict.Add(20006, "Waiting for signal 'Inputs.LocalEstopOk' to be set!");
                 }
                 string errorDescription = "   ";
 

From f9d827fb82d63c07b3503adc01d8e229d71fcc03 Mon Sep 17 00:00:00 2001
From: "blazej.kuhajda" <blazej.kuhajda@mts.sk>
Date: Wed, 3 Jun 2026 14:33:13 +0200
Subject: [PATCH 08/14] view

---
 .../AxoKrc5/v_5_x_x/AxoKrc5View.razor                     | 8 ++++----
 .../AxoKrc5/v_5_x_x/AxoKrc5View.razor.cs                  | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/components.kuka.robotics/src/AXOpen.Components.Kuka.Robotics.blazor/AxoKrc5/v_5_x_x/AxoKrc5View.razor b/src/components.kuka.robotics/src/AXOpen.Components.Kuka.Robotics.blazor/AxoKrc5/v_5_x_x/AxoKrc5View.razor
index 1492a0ddf..a441db47f 100644
--- a/src/components.kuka.robotics/src/AXOpen.Components.Kuka.Robotics.blazor/AxoKrc5/v_5_x_x/AxoKrc5View.razor
+++ b/src/components.kuka.robotics/src/AXOpen.Components.Kuka.Robotics.blazor/AxoKrc5/v_5_x_x/AxoKrc5View.razor
@@ -6,9 +6,9 @@
 <AxoComponentContainerView Component="@Component" ParentReference="this">
     <HeaderContent>
         <div class="flex items-center gap-2" @onclick:stopPropagation="true">
-            @if (Component.Inputs.Automatic.Cyclic)
+            @if (Component.Inputs.LocalEstopOk.Cyclic)
             {
-                <span class="badge badge-success">@Localizer["Automatic"]</span>
+                <span class="badge badge-success">@Localizer["EStop"]</span>
             }
             else if (Component.Inputs.ExternalAutomatic.Cyclic)
             {
@@ -236,8 +236,8 @@
                                 <span>@Localizer["Manual"]</span>
                             </div>
                             <div class="flex items-center gap-2">
-                                <span class="@(Component.Inputs.Automatic.Cyclic ? "badge badge-success badge-xs" : "badge badge-neutral badge-xs")"></span>
-                                <span>@Localizer["Automatic"]</span>
+                                <span class="@(Component.Inputs.LocalEstopOk.Cyclic ? "badge badge-success badge-xs" : "badge badge-danger badge-xs")"></span>
+                                <span>@Localizer["LocalEstopOk"]</span>
                             </div>
                             <div class="flex items-center gap-2">
                                 <span class="@(Component.Inputs.ExternalAutomatic.Cyclic ? "badge badge-success badge-xs" : "badge badge-neutral badge-xs")"></span>
diff --git a/src/components.kuka.robotics/src/AXOpen.Components.Kuka.Robotics.blazor/AxoKrc5/v_5_x_x/AxoKrc5View.razor.cs b/src/components.kuka.robotics/src/AXOpen.Components.Kuka.Robotics.blazor/AxoKrc5/v_5_x_x/AxoKrc5View.razor.cs
index f66e08a43..9461f81d1 100644
--- a/src/components.kuka.robotics/src/AXOpen.Components.Kuka.Robotics.blazor/AxoKrc5/v_5_x_x/AxoKrc5View.razor.cs
+++ b/src/components.kuka.robotics/src/AXOpen.Components.Kuka.Robotics.blazor/AxoKrc5/v_5_x_x/AxoKrc5View.razor.cs
@@ -19,7 +19,7 @@ public override void ConfigurePolling()
 
             this.StartPolling(Component.Inputs.InHome);
             this.StartPolling(Component.Inputs.Manual);
-            this.StartPolling(Component.Inputs.Automatic);
+            this.StartPolling(Component.Inputs.LocalEstopOk);
             this.StartPolling(Component.Inputs.ExternalAutomatic);
             this.StartPolling(Component.Inputs.ProActive);
             this.StartPolling(Component.Inputs.ProgramMoveActive);

From 57fa5bc420c92265c18954099147f3652eee8dd6 Mon Sep 17 00:00:00 2001
From: "blazej.kuhajda" <blazej.kuhajda@mts.sk>
Date: Wed, 3 Jun 2026 15:09:35 +0200
Subject: [PATCH 09/14] comment throwwhen error timer

---
 .../ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st       | 22 +++++++++----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st b/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
index ded846389..603c43eab 100644
--- a/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
+++ b/src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/AxoKrc5.st
@@ -506,7 +506,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                 END_IF;
 
                 THIS.CallTimers(TRUE);
-                StartAtMainTask.ThrowWhen(_errorTimer.output );
+                //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;
@@ -661,7 +661,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                 END_IF;	              
 
                 THIS.CallTimers(TRUE);
-                StartMotorsAndProgramTask.ThrowWhen(_errorTimer.output);
+                //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;
@@ -948,7 +948,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                 END_IF;	
 
                 THIS.CallTimers(NOT _movementExecuting);
-                StartMotorsProgramAndMovementsTask.ThrowWhen(_errorTimer.output);
+                //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;
@@ -1041,7 +1041,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                 END_IF;	              
 
                 THIS.CallTimers(TRUE);
-                StartMotorsTask.ThrowWhen(_errorTimer.output);
+                //StartMotorsTask.ThrowWhen(_errorTimer.output);
                 Status.Action.Id := TO_UINT(_power_progress);
             END_IF;
             IF StartMotorsTask.DoneReached() THEN
@@ -1257,7 +1257,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
 
 	            THIS.CallTimers(NOT _movementExecuting);
                 
-                StartMovementsTask.ThrowWhen(_errorTimer.output);
+                //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;
@@ -1412,7 +1412,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                 END_IF;	              
 
                 THIS.CallTimers(TRUE);
-                StartProgramTask.ThrowWhen(_errorTimer.output);
+                //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;
@@ -1475,7 +1475,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
                 END_IF;	              
 
                 THIS.CallTimers(TRUE);
-                StopMotorsTask.ThrowWhen(_errorTimer.output);
+                //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;
@@ -1547,7 +1547,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
 
                 THIS.CallTimers(TRUE);
                 
-                StopMovementsAndProgramTask.ThrowWhen(_errorTimer.output);
+                //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;
@@ -1607,7 +1607,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
 
                 THIS.CallTimers(TRUE);
                 
-                StopMovementsTask.ThrowWhen(_errorTimer.output);
+                //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;
@@ -1666,7 +1666,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
 
                 THIS.CallTimers(TRUE);
                 
-                StopProgramTask.ThrowWhen(_errorTimer.output);
+                //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;
@@ -1759,7 +1759,7 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.v_5_x_x
 
                 THIS.CallTimers(TRUE);
                 
-                ResetAllOutputsTask.ThrowWhen(_errorTimer.output);
+                //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;

From c6f67221064e0bf5032b435682a1223b32e2b121 Mon Sep 17 00:00:00 2001
From: "blazej.kuhajda" <blazej.kuhajda@mts.sk>
Date: Thu, 4 Jun 2026 11:10:49 +0200
Subject: [PATCH 10/14] tuning

---
 src/core/ctrl/src/AxoTask/AxoTaskLight.st                       | 1 +
 .../AxoMessenger/Static/AxoIncidentBarView.razor                | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/core/ctrl/src/AxoTask/AxoTaskLight.st b/src/core/ctrl/src/AxoTask/AxoTaskLight.st
index 0cc75ce90..93cd9621f 100644
--- a/src/core/ctrl/src/AxoTask/AxoTaskLight.st
+++ b/src/core/ctrl/src/AxoTask/AxoTaskLight.st
@@ -361,6 +361,7 @@ NAMESPACE AXOpen.Core
             
             IF IsDisabled && (_stateKicking || Status = eAxoTaskState#Busy) THEN 
                 THIS.Abort();
+                ErrorDetails := 'Aborted - disabled during kicking and busy';   
             END_IF;
 
             
diff --git a/src/core/src/AXOpen.Core.Blazor/AxoMessenger/Static/AxoIncidentBarView.razor b/src/core/src/AXOpen.Core.Blazor/AxoMessenger/Static/AxoIncidentBarView.razor
index acdf0b7b7..06ef42076 100644
--- a/src/core/src/AXOpen.Core.Blazor/AxoMessenger/Static/AxoIncidentBarView.razor
+++ b/src/core/src/AXOpen.Core.Blazor/AxoMessenger/Static/AxoIncidentBarView.razor
@@ -18,7 +18,7 @@
     <div data-axo-incident-bar
          role="alert"
          aria-live="polite"
-         class="card w-full @AxoIncidentBarPresenter.GlowClass(sev) @AxoIncidentBarPresenter.BackgroundClass(sev) @pulse @Class">
+         class="card w-full @AxoIncidentBarPresenter.GlowClass(sev) @AxoIncidentBarPresenter.BackgroundClass(sev) @Class">
 
         <div class="card-title flex flex-wrap items-center justify-between gap-2 bg-background-light/40!">
             <div class="flex flex-wrap items-center gap-2">                

From 5bd7ef922c4972d6eec143be299a098187aa3bbf Mon Sep 17 00:00:00 2001
From: Peter Kormanak <peter.kormanak@mts.sk>
Date: Wed, 10 Jun 2026 15:23:41 +0200
Subject: [PATCH 11/14] translations

---
 .../Resources/Strings.sk-SK.resx              | 22 +++++++--------
 .../Resources/Strings.sk.resx                 | 28 +++++++++----------
 2 files changed, 25 insertions(+), 25 deletions(-)

diff --git a/src/components.elements/src/AXOpen.Components.Elements.blazor/Resources/Strings.sk-SK.resx b/src/components.elements/src/AXOpen.Components.Elements.blazor/Resources/Strings.sk-SK.resx
index b9b6ffdc3..d60523a1c 100644
--- a/src/components.elements/src/AXOpen.Components.Elements.blazor/Resources/Strings.sk-SK.resx
+++ b/src/components.elements/src/AXOpen.Components.Elements.blazor/Resources/Strings.sk-SK.resx
@@ -121,25 +121,25 @@
     <value>Požadovaná hodnota</value>
   </data>
   <data name="ExpectHigh" xml:space="preserve">
-    <value>Očakávajte HIGH</value>
+    <value>Očakávajte signál je prítomný</value>
   </data>
   <data name="ExpectLow" xml:space="preserve">
-    <value>Očakávajte nízku úroveň</value>
+    <value>Očakávajte signál je neprítomný</value>
   </data>
   <data name="HighCheck" xml:space="preserve">
-    <value>VYSOKÁ kontrola</value>
+    <value>Signál prítomný?</value>
   </data>
   <data name="LowCheck" xml:space="preserve">
-    <value>NÍZKA kontrola</value>
+    <value>Signál neprítomný?</value>
   </data>
   <data name="Signal" xml:space="preserve">
     <value>Signál</value>
   </data>
   <data name="SignalHigh" xml:space="preserve">
-    <value>Signál HIGH</value>
+    <value>Signál prítomný</value>
   </data>
   <data name="SignalLow" xml:space="preserve">
-    <value>Signál LOW</value>
+    <value>Signál neprítomný</value>
   </data>
   <data name="PositiveFeedbackPresent" xml:space="preserve">
     <value>Prítomná pozitívna spätná väzba</value>
@@ -154,16 +154,16 @@
     <value>Vstup je bez napätia</value>
   </data>
   <data name="SwitchOn" xml:space="preserve">
-    <value>Zapnutie spínača</value>
+    <value>Zapnúť</value>
   </data>
   <data name="SwitchOff" xml:space="preserve">
-    <value>Vypínač OFF</value>
+    <value>Vypnúť</value>
   </data>
   <data name="SignalOn" xml:space="preserve">
     <value>Zapnutý signál</value>
   </data>
   <data name="SignalOff" xml:space="preserve">
-    <value>Signál OFF</value>
+    <value>Signál vypnutý</value>
   </data>
   <data name="OutputIsActive" xml:space="preserve">
     <value>Výstup je aktívny</value>
@@ -269,10 +269,10 @@
     <value>Prepínať akustický výstup, keď je požadovaný zvukový alarm.</value>
   </data>
   <data name="HornOn" xml:space="preserve">
-    <value>Siréna ZAPNUTÁ</value>
+    <value>Siréna zapnutá</value>
   </data>
   <data name="HornOff" xml:space="preserve">
-    <value>Siréna VYPNUTÁ</value>
+    <value>Siréna vypnutá</value>
   </data>
   <data name="ManualOverride" xml:space="preserve">
     <value>Manuálne ovládanie</value>
diff --git a/src/components.elements/src/AXOpen.Components.Elements.blazor/Resources/Strings.sk.resx b/src/components.elements/src/AXOpen.Components.Elements.blazor/Resources/Strings.sk.resx
index 916b924b8..12804287f 100644
--- a/src/components.elements/src/AXOpen.Components.Elements.blazor/Resources/Strings.sk.resx
+++ b/src/components.elements/src/AXOpen.Components.Elements.blazor/Resources/Strings.sk.resx
@@ -118,31 +118,28 @@
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
   <data name="SignalOff" xml:space="preserve">
-    <value>Signál VYPNUTÝ</value>
+    <value>Signál vypnutý</value>
   </data>
   <data name="RequiredValue" xml:space="preserve">
     <value>Požadovaná hodnota</value>
   </data>
   <data name="ExpectHigh" xml:space="preserve">
-    <value>Očakávajte VYSOKÚ</value>
+    <value>Očakávajte signál je prítomný</value>
   </data>
   <data name="ExpectLow" xml:space="preserve">
-    <value>Očakávajte NÍZKU</value>
+    <value>Očakávajte signál je neprítomný</value>
   </data>
   <data name="HighCheck" xml:space="preserve">
-    <value>Kontrola HIGH</value>
-  </data>
-  <data name="LowCheck" xml:space="preserve">
-    <value>Kontrola LOW</value>
+    <value>Signál prítomný?</value>
   </data>
   <data name="Signal" xml:space="preserve">
     <value>Signál</value>
   </data>
   <data name="SignalHigh" xml:space="preserve">
-    <value>Signál HIGH</value>
+    <value>Signál prítomný</value>
   </data>
   <data name="SignalLow" xml:space="preserve">
-    <value>Signál LOW</value>
+    <value>Signál neprítomný</value>
   </data>
   <data name="PositiveFeedbackPresent" xml:space="preserve">
     <value>Prítomná pozitívna spätná väzba</value>
@@ -159,9 +156,6 @@
   <data name="SwitchOn" xml:space="preserve">
     <value>Zapnúť</value>
   </data>
-  <data name="SwitchOff" xml:space="preserve">
-    <value>Vypnúť</value>
-  </data>
   <data name="SignalOn" xml:space="preserve">
     <value>Signál zapnutý</value>
   </data>
@@ -269,10 +263,10 @@
     <value>Prepínať akustický výstup, keď je požadovaný zvukový alarm.</value>
   </data>
   <data name="HornOn" xml:space="preserve">
-    <value>Siréna ZAPNUTÁ</value>
+    <value>Siréna zapnutá</value>
   </data>
   <data name="HornOff" xml:space="preserve">
-    <value>Siréna VYPNUTÁ</value>
+    <value>Siréna vypnutá</value>
   </data>
   <data name="ManualOverride" xml:space="preserve">
     <value>Manuálne ovládanie</value>
@@ -313,4 +307,10 @@
   <data name="Blue" xml:space="preserve">
     <value>Modrá</value>
   </data>
+  <data name="SwitchOff" xml:space="preserve">
+    <value>Vypnúť</value>
+  </data>
+  <data name="LowCheck" xml:space="preserve">
+    <value>Signál neprítomný?</value>
+  </data>
 </root>
\ No newline at end of file

From 87a7f0aba1e5e8fdc910843afe9bad11ae180ac2 Mon Sep 17 00:00:00 2001
From: Peter Kormanak <peter.kormanak@mts.sk>
Date: Wed, 10 Jun 2026 15:24:49 +0200
Subject: [PATCH 12/14] cylinder view

---
 .../AxoCylinder/AxoCylinderView.razor                       | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/components.pneumatics/src/AXOpen.Components.Pneumatics.blazor/AxoCylinder/AxoCylinderView.razor b/src/components.pneumatics/src/AXOpen.Components.Pneumatics.blazor/AxoCylinder/AxoCylinderView.razor
index 3059655a6..3e3512906 100644
--- a/src/components.pneumatics/src/AXOpen.Components.Pneumatics.blazor/AxoCylinder/AxoCylinderView.razor
+++ b/src/components.pneumatics/src/AXOpen.Components.Pneumatics.blazor/AxoCylinder/AxoCylinderView.razor
@@ -1,4 +1,4 @@
-@namespace AXOpen.Components.Pneumatics
+@namespace AXOpen.Components.Pneumatics
 @using AXOpen.Core.Blazor
 @inherits AxoComponentViewBase<AxoCylinder>
 
@@ -11,7 +11,7 @@
             }
             else if (IsInOuterPosition)
             {
-                <span class="badge badge-info">@Component.OutLabel</span>
+                <span class="badge badge-success">@Component.OutLabel</span>
             }
             else if (IsMoving)
             {
@@ -87,7 +87,7 @@
 
                             <!-- Outer Position with Label on Right -->
                             <div class="flex items-center gap-2 flex-shrink-0">
-                                <div class="sensor-indicator @(IsInOuterPosition ? "active bg-info text-info" : "bg-border/30 text-border")"></div>
+                            <div class="sensor-indicator @(IsInOuterPosition ? "active bg-success text-success" : "bg-border/30 text-border")"></div>
                                 <span class="text-xs font-medium text-text/70">@Component.OutLabel</span>
                             </div>
                         </div>

From e129aff85fff3e9d313894ab8c8ad9642a9aaa57 Mon Sep 17 00:00:00 2001
From: Peter Kurhajec <61538034+PTKu@users.noreply.github.com>
Date: Thu, 11 Jun 2026 10:17:18 +0200
Subject: [PATCH 13/14] docs(components.kuka.robotics): document KRC5 #1168
 changes, bump 0.63.0

Docs were stale after the KRC5 estop/watchdog rework:

- AxoKrc5.md: Inputs.LocalEstopOk on %X2 + unconditional error 20006,
  20002 rekeyed to ExternalAutomatic, TaskTimeout watchdog reinstated
  as opt-in (default LT#0S), auto ErrorConfirmation ack, 1s blinker
- TROUBLES.md: per-class 20002 keying split, 20006 entry, KRC4
  default-on vs KRC5 opt-in watchdog
- CHANGELOG.md: 0.63.0 entry; breaking Inputs.Automatic rename
  recorded for twin consumers
- GitVersion.yml: next-version 0.61.1 -> 0.63.0 (base 0.62.3 from
  origin/dev, minor bump)

StartMotorsTask lacks the reinstated ThrowWhen watchdog - suspected
source oversight, documented as-is.

Refs #1168
---
 GitVersion.yml                                |  2 +-
 src/components.kuka.robotics/docs/AxoKrc5.md  | 53 +++++++++++++------
 .../docs/CHANGELOG.md                         | 51 ++++++++++++++++++
 src/components.kuka.robotics/docs/TROUBLES.md | 42 ++++++++++-----
 4 files changed, 118 insertions(+), 30 deletions(-)

diff --git a/GitVersion.yml b/GitVersion.yml
index a4cb25032..9de7fea54 100644
--- a/GitVersion.yml
+++ b/GitVersion.yml
@@ -1,5 +1,5 @@
 mode: ContinuousDeployment
-next-version: 0.61.1
+next-version: 0.63.0
 branches:
   main:
     regex: ^master$|^main$
diff --git a/src/components.kuka.robotics/docs/AxoKrc5.md b/src/components.kuka.robotics/docs/AxoKrc5.md
index 48fef6a89..ce788134e 100644
--- a/src/components.kuka.robotics/docs/AxoKrc5.md
+++ b/src/components.kuka.robotics/docs/AxoKrc5.md
@@ -26,22 +26,36 @@ Refer to the [`AxoKrc4`](AxoKrc4.md) page for:
   runtime safety errors 20001–20005, task-`potential` IDs in the 500-range).
 
 > [!NOTE]
-> Since the KRC5 fix in **#1148**, `AxoKrc5` has diverged from `AxoKrc4` in
-> three KRC5-only respects (none of these are present on `AxoKrc4`):
+> 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](#data-exchange)).
 > - It raises additional coordinate-mirror task-`potential` identifiers
 >   **1501–1506** and **1511–1516** (see the
 >   [TROUBLES error reference](TROUBLES.md#task-potential-waiting-on-input-identifiers)).
-> - 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.
+> - 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:
 
@@ -57,16 +71,21 @@ The differences between KRC4 and KRC5 are confined to:
 ## Configuration
 
 `AxoKrc5` is configured via the nested `Config : AxoKrc5_Config` member
-(structurally identical to `AxoKrc4_Config`). The defaults (`InfoTime =
-LT#2S`, `ErrorTime = LT#5S`, `TaskTimeout = LT#50S`) match KRC4 — see the
+(structurally identical to `AxoKrc4_Config`). See the
 [`AxoKrc4` configuration table](AxoKrc4.md#configuration) for the meaning of
-each field.
+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]
-> 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.
+> 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[](../ctrl/src/AxoKrc5/v_5_x_x/TypesStructuresAndEnums/AxoKrc5_Config.st?name=AxoKrc5ConfigDeclaration)]
 
diff --git a/src/components.kuka.robotics/docs/CHANGELOG.md b/src/components.kuka.robotics/docs/CHANGELOG.md
index 327d40b32..4e68e7daf 100644
--- a/src/components.kuka.robotics/docs/CHANGELOG.md
+++ b/src/components.kuka.robotics/docs/CHANGELOG.md
@@ -23,6 +23,57 @@
     on every run.
 -->
 
+### 0.63.0
+
+**New features:**
+- `AxoKrc5` now monitors the local emergency-stop circuit: input bit `%X2`
+  is `Inputs.LocalEstopOk` ("Local Emergency Stop OK"), and whenever it is
+  `FALSE` the component raises error **20006** (`Error`) — unconditionally,
+  every cycle, not only while a task is busy (#1168). Matching messenger
+  text and `errorDescriptionDict` entries were added to the .NET twin
+  (`AxoKrc5.cs`).
+- `AxoKrc5` task-duration watchdog reinstated as **opt-in** (#1168): every
+  task except `StartMotors` now calls
+  `ThrowWhen(Duration >= Config.TaskTimeout AND Config.TaskTimeout > T#0s, '{TaskName} timeout.')`.
+  With the new default `Config.TaskTimeout = LT#0S` the watchdog stays
+  disabled; the `Config.ErrorTime` (`_errorTimer`) watchdog remains removed
+  (#1167).
+- `AxoKrc5` automatically pulses `Outputs.ErrorConfirmation`
+  (`Inputs.StopMess AND NOT _blink.output`) during the waiting phases of
+  `StartAtMain`, `StartMotorsAndProgram`, `StartMotorsProgramAndMovements`,
+  `StartMotors`, `StartMovements`, and `StartProgram`, acknowledging
+  robot-side stop messages without operator action (#1168).
+
+**Bug fixes:**
+- `AxoKrc5` safety message **20002** is now keyed on
+  `Inputs.ExternalAutomatic = FALSE` (previously `Inputs.Automatic`, whose
+  bit `%X2` was repurposed to `LocalEstopOk`); still raised as `Info`
+  while a task is busy (#1168).
+
+**Other:**
+- `AxoKrc5` blinker centralised: `_blink.Blink()` is ticked once per `Run()`
+  cycle with a new `BLINKER_TIME : TIME := T#1S` internal constant — the
+  per-task 500 ms blink calls were removed (#1168).
+- `AxoKrc5_Config` defaults changed: `ErrorTime LT#5S → LT#0S`,
+  `TaskTimeout LT#50S → LT#0S` (watchdog disabled out of the box).
+- `AxoKrc5View.razor` — header badge and inputs panel now bind to
+  `Inputs.LocalEstopOk` (EStop badge, `badge-danger` when not OK) instead
+  of `Inputs.Automatic`; polling updated in `AxoKrc5View.razor.cs`.
+- `AxoKrc5.md` — divergence note rewritten for #1168 (LocalEstopOk / 20006,
+  20002 rekey, opt-in watchdog, auto error-ack, 1 s blinker); Configuration
+  section records the new `LT#0S` defaults.
+- `TROUBLES.md` — 20002 rows record the per-class keying input split;
+  new 20006 entry with the unconditional-gate note; task-timeout bullet
+  rewritten (KRC4 default-on vs KRC5 opt-in); auto error-ack documented.
+- `AxoKrc4` is unchanged in this release.
+
+**Breaking changes:**
+- `AxoKrc5` public input `Inputs.Automatic` was renamed to
+  `Inputs.LocalEstopOk` with new semantics (E-stop OK instead of AUT mode,
+  #1168). .NET twin consumers and Blazor bindings referencing
+  `Inputs.Automatic` on `AxoKrc5` must migrate; `AxoKrc4.Inputs.Automatic`
+  is unaffected.
+
 ### 0.61.1
 
 **Bug fixes:**
diff --git a/src/components.kuka.robotics/docs/TROUBLES.md b/src/components.kuka.robotics/docs/TROUBLES.md
index b516f38dd..4cebd7e17 100644
--- a/src/components.kuka.robotics/docs/TROUBLES.md
+++ b/src/components.kuka.robotics/docs/TROUBLES.md
@@ -9,13 +9,19 @@ otherwise it applies to both. Error identifiers are published through
 ID seen in a log or on the HMI always maps to one of the entries below.
 
 > [!NOTE]
-> Since the KRC5 fix in **#1148**, a few identifiers differ between the two
-> classes (the rest are identical):
+> Since the KRC5 fixes in **#1148** and **#1168**, a few identifiers differ
+> between the two classes (the rest are identical):
 >
 > - **1501–1506** and **1511–1516** (coordinate-mirror task-`potential` IDs)
 >   are raised by `AxoKrc5` only.
-> - **20002** (`Inputs.Automatic = FALSE` while a task is busy) is raised as
->   category `Info` on `AxoKrc5`, but as `Error` on `AxoKrc4`.
+> - **20002** (raised while a task is busy) is keyed on
+>   `Inputs.Automatic = FALSE` and category `Error` on `AxoKrc4`, but on
+>   `Inputs.ExternalAutomatic = FALSE` and category `Info` on `AxoKrc5`
+>   (`Inputs.Automatic` no longer exists on KRC5 — bit `%X2` is
+>   `Inputs.LocalEstopOk` since #1168).
+> - **20006** (`Inputs.LocalEstopOk = FALSE`, category `Error`) is raised by
+>   `AxoKrc5` only — and unconditionally, every cycle, not only while a task
+>   is busy.
 
 ## Common issues
 
@@ -65,12 +71,18 @@ They are not errors.
   these; if they never assert, inspect the E-stop chain on the robot cell.
 - `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.
-- **(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.
+  `Outputs.ErrorConfirmation` or run the `Restore` sequencer step. On
+  `AxoKrc5` (since #1168) the component already pulses
+  `Outputs.ErrorConfirmation` automatically while `Inputs.StopMess` is
+  active during a task's waiting phase, so a robot-side stop message is
+  acknowledged without operator action where possible.
+- `Config.TaskTimeout` has not elapsed. On `AxoKrc4` the watchdog is armed
+  by default (`LT#50S`) — set to `0s` during commissioning to disable it.
+  On `AxoKrc5` the watchdog is **opt-in** since #1168: the default is
+  `LT#0S` (disabled), and only a value `> T#0s` arms the per-task
+  `ThrowWhen` that aborts with `'{TaskName} timeout.'` (every task except
+  `StartMotors`). The `Config.ErrorTime` watchdog applies to `AxoKrc4`
+  only (#1167).
 
 ### Movement parameters never take effect
 
@@ -130,11 +142,16 @@ corresponding input asserts/deasserts:
 | Id | Condition | Meaning |
 |----|-----------|---------|
 | 20001 | `Inputs.Manual = TRUE` | KRC4 went to T1 while a task is executing — automation path invalid. |
-| 20002 | `Inputs.Automatic = FALSE` | Controller dropped out of auto. Raised as `Error` on `AxoKrc4`; raised as `Info` on `AxoKrc5` (#1148), since losing auto mode mid-task is treated as an informational condition there. |
+| 20002 | `Inputs.Automatic = FALSE` (KRC4) / `Inputs.ExternalAutomatic = FALSE` (KRC5, #1168) | Controller dropped out of auto. Raised as `Error` on `AxoKrc4`; raised as `Info` on `AxoKrc5` (#1148), since losing auto mode mid-task is treated as an informational condition there. |
 | 20003 | `Inputs.AlarmStopActive = FALSE` | Alarm-stop dropped, likely external E-stop. |
 | 20004 | `Inputs.UserSafetySwitchClosed = FALSE` | User safety gate opened during motion. |
 | 20005 | `Inputs.Error = TRUE` | KRC4 itself raised an error while the task was running. |
 
+On `AxoKrc5` only, error **20006** (`Inputs.LocalEstopOk = FALSE`, category
+`Error`) sits outside this task-busy gate — it is raised every cycle the
+local E-stop circuit reports not-OK, whether or not a task is executing
+(#1168). Restore the local E-stop chain on the robot cell to clear it.
+
 Resolution: bring the cell back into the safe automatic state, call the
 task's `Restore()` method so its state machine rewinds, then re-invoke the
 task.
@@ -173,10 +190,11 @@ task.
 | Id | Category | Raised when |
 |----|----------|-------------|
 | 20001 | Error | `Inputs.Manual = TRUE`. |
-| 20002 | Error (`AxoKrc4`) / Info (`AxoKrc5`) | `Inputs.Automatic = FALSE`. Severity differs per class — see the note at the top of this page. |
+| 20002 | Error (`AxoKrc4`) / Info (`AxoKrc5`) | `Inputs.Automatic = FALSE` on `AxoKrc4`; `Inputs.ExternalAutomatic = FALSE` on `AxoKrc5` (#1168). Severity and keying input differ per class — see the note at the top of this page. |
 | 20003 | Error | `Inputs.AlarmStopActive = FALSE`. |
 | 20004 | Error | `Inputs.UserSafetySwitchClosed = FALSE`. |
 | 20005 | Error | `Inputs.Error = TRUE`. |
+| 20006 *(KRC5 only)* | Error | `Inputs.LocalEstopOk = FALSE`. Raised unconditionally every cycle — not gated on a busy task (#1168). |
 
 ### Task "potential" (waiting-on-input) identifiers
 

From d661f93201c1ed019eab601ecff616a2b423b698 Mon Sep 17 00:00:00 2001
From: Peter Kurhajec <61538034+PTKu@users.noreply.github.com>
Date: Thu, 11 Jun 2026 10:21:02 +0200
Subject: [PATCH 14/14] docs: add central CHANGELOG entry for KRC5 #1168 rework

---
 CHANGELOG.md | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2196102d4..f88dc969f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,19 @@
+### [FIX] `AxoKrc5` local E-stop monitoring, 20002 rekey, opt-in task-timeout watchdog
+
+**Note:** PLC fix in `src/components.kuka.robotics/ctrl/src/AxoKrc5/v_5_x_x/`. KRC5-only — `AxoKrc4` is unchanged. **Breaking:** public input `Inputs.Automatic` renamed to `Inputs.LocalEstopOk`. Branch: `1168-bug-update-krc4-following-the-updates-on-krc5` ([#1177](https://github.com/Inxton/AXOpen/pull/1177), refs #1168).
+
+- fix!: Input bit `%X2` repurposed from `Inputs.Automatic` ("Automatic [AUT]") to `Inputs.LocalEstopOk` ("Local Emergency Stop OK"). Whenever `LocalEstopOk = FALSE` the component raises new error **20006** (`Error`) — unconditionally, every cycle, outside the task-busy safety gate that drives 20001–20005. Matching messenger text and `errorDescriptionDict` entries added to the .NET twin (`AxoKrc5.cs`); `AxoKrc5View.razor` header badge and inputs panel rebound to `LocalEstopOk` (polling updated in `AxoKrc5View.razor.cs`).
+- fix: Safety message **20002** rekeyed to `Inputs.ExternalAutomatic = FALSE` (previously `Inputs.Automatic`, whose bit was repurposed); still raised as `Info` while a task is busy.
+- fix: Task-duration watchdog reinstated as **opt-in** (partially reverting #1167): every task except `StartMotors` calls `ThrowWhen(Duration >= Config.TaskTimeout AND Config.TaskTimeout > T#0s, '{TaskName} timeout.')`. Config defaults changed `ErrorTime LT#5S → LT#0S`, `TaskTimeout LT#50S → LT#0S`, so the watchdog stays disabled out of the box; the `_errorTimer` (`ErrorTime`) watchdog remains removed.
+- feat: Robot-side stop messages are auto-acknowledged — `Outputs.ErrorConfirmation := Inputs.StopMess AND NOT _blink.output` pulses during the waiting phases of `StartAtMain`, `StartMotorsAndProgram`, `StartMotorsProgramAndMovements`, `StartMotors`, `StartMovements`, and `StartProgram`. Blinker centralised to a single 1 s `_blink.Blink()` tick per `Run()` cycle (`BLINKER_TIME : TIME := T#1S`); per-task 500 ms blink calls removed.
+- docs: `AxoKrc5.md` divergence note and Configuration section rewritten; `TROUBLES.md` records the per-class 20002 keying split, the new 20006 entry, and the KRC4 default-on vs KRC5 opt-in watchdog. Library CHANGELOG bumped to `0.63.0`; `GitVersion.yml` `next-version` `0.62.3 → 0.63.0` (minor — breaking rename recorded).
+
+**Impact:** A dropped local E-stop is now reported immediately and persistently (20006) instead of masquerading as a mode condition; stuck robot stop messages self-acknowledge; integrators can re-arm the task watchdog per application by setting `Config.TaskTimeout > 0s`.
+
+**Risks/Review:** Twin consumers and Blazor bindings referencing `AxoKrc5.Inputs.Automatic` must migrate to `Inputs.LocalEstopOk` (`AxoKrc4.Inputs.Automatic` unaffected). `StartMotorsTask` is the only task without the reinstated `ThrowWhen` — suspected oversight, documented as-is. Watchdog now defaults OFF (`LT#0S`) — applications relying on the old `LT#50S` self-abort must set it explicitly.
+
+**Testing:** `apax ib` in `src/components.kuka.robotics`; exercise KRC5 cell: 20006 on local E-stop drop, 20002 on external-auto drop, timeout abort with `TaskTimeout > 0s`, `ErrorConfirmation` pulse while `StopMess` active.
+
 ### [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)).