@synapticon/motion-master-client 6.0.0-alpha.49 → 6.0.0-alpha.51

package/dist/generated/Api.d.ts

@@ -1,4 +1,4 @@
-import { AlStatusCode, DcSyncStatus, DeviceDiagnostics, DeviceParameter, EscRegister, FoeErrorCode, GameLoopHealth, MailboxErrorCode, Monitoring, ObjectDataTypeInfo, OutputStageResult, ParameterCacheEntry, PdoMapping, PdoMappingRequest, ProcessDataWatchdog, ProcessImageObject, SdoAbortCode, SlaveConfig, SlaveInformationInterface } from "./data-contracts.js";
+import { AlStatusCode, Cia402Status, DcSyncStatus, DeviceDiagnostics, DeviceParameter, EscRegister, FoeErrorCode, GameLoopHealth, MailboxErrorCode, Monitoring, ObjectDataTypeInfo, OutputStageResult, ParameterCacheEntry, PdoMapping, PdoMappingRequest, ProcessDataWatchdog, ProcessImageObject, SdoAbortCode, SlaveConfig, SlaveInformationInterface } from "./data-contracts.js";
 import { HttpClient, RequestParams } from "./http-client.js";
 export declare class Api<SecurityDataType = unknown> extends HttpClient<SecurityDataType> {
     /**
@@ -249,10 +249,15 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
          */
         slavePosition: number;
         /**
-         * Human-readable device name from SII EEPROM
-         * @example "SOMANET Node"
+         * Human-readable device name from SII EEPROM. For SOMANET drives this is the generic group name "SOMANET"; use productName to distinguish products.
+         * @example "SOMANET"
          */
         name: string;
+        /**
+         * Canonical product name, independent of the SII EEPROM. For a recognised SOMANET product this distinguishes the product (e.g. "SOMANET Circulo"); otherwise it falls back to name.
+         * @example "SOMANET Node"
+         */
+        productName: string;
         /**
          * Vendor ID from EEPROM
          * @format int64
@@ -277,6 +282,11 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
          * @example 12345
          */
         serialNumber: number;
+        /**
+         * Whether the device implements the CiA402 drive profile (both controlword 0x6040 and statusword 0x6041 present in its object dictionary). Gates the CiA402 motion-control endpoints under /api/devices/{slavePosition}/cia402.
+         * @example true
+         */
+        isCia402: boolean;
     }, void>>;
     /**
      * @description Constructs the requested fieldbus driver, opens the network interface, and makes the driver available for subsequent calls to /api/scan. The driver defaults to SOEM when omitted. SOEM has no adapter auto-detect: a network adapter must be supplied, otherwise init fails.
@@ -592,6 +602,61 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
          */
         error: string;
     }>>;
+    /**
+     * @description Returns the drive's current control state — the decoded state-machine state, the raw status (0x6041) and control (0x6040) words, and the active operation mode (display object 0x6061). The values are read live (from the process image when the device is exchanging, else over SDO), so poll this to drive a motion UI. Only valid for a CiA402 device (see the isCia402 flag on GET /api/devices).
+     *
+     * @name GetCia402Status
+     * @summary Read a device's CiA402 control snapshot
+     * @request GET:/api/devices/{slavePosition}/cia402
+     */
+    getCia402Status: (slavePosition: number, params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<Cia402Status, void>>;
+    /**
+     * @description Writes the requested operation mode to 0x6060 and returns the resulting control snapshot. The drive reflects the accepted mode in 0x6061 (the modeOfOperation of the response) once it takes effect.
+     *
+     * @name SetCia402OperationMode
+     * @summary Set a device's CiA402 operation mode
+     * @request POST:/api/devices/{slavePosition}/cia402/mode
+     */
+    setCia402OperationMode: (slavePosition: number, data: {
+        /**
+         * CiA402 operation mode (0x6060 value): 0 NoMode, 1 Profile Position, 3 Profile Velocity, 4 Profile Torque, 6 Homing, 8 Cyclic Sync Position, 9 Cyclic Sync Velocity, 10 Cyclic Sync Torque.
+         * @example 9
+         */
+        mode: number;
+    }, params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<Cia402Status, void>>;
+    /**
+     * @description Drives the CiA402 device-control state machine. "enable" walks every intermediate transition to Operation Enabled (clearing a fault first if needed); "disable" goes to Switch On Disabled; "quickStop" triggers a quick stop; "faultReset" clears a latched fault. The device must be exchanging process data for "enable" to make progress. Returns the resulting control snapshot.
+     *
+     * @name RunCia402Command
+     * @summary Run a CiA402 state-machine command
+     * @request POST:/api/devices/{slavePosition}/cia402/command
+     */
+    runCia402Command: (slavePosition: number, data: {
+        /**
+         * The state-machine action to perform.
+         * @example "enable"
+         */
+        command: "enable" | "disable" | "quickStop" | "faultReset";
+    }, params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<Cia402Status, void>>;
+    /**
+     * @description Writes the one setpoint that matches the active operation mode — target position (0x607A, INTEGER32) in PP/CSP, target velocity (0x60FF, INTEGER32) in PV/CSV, or target torque (0x6071, INTEGER16, per-mille of rated) in PT/CST. All are signed: negative values command reverse motion or regenerative torque. Routes through the live process image when the object is PDO-mapped and the device is exchanging, else an SDO download.
+     *
+     * @name SetCia402Target
+     * @summary Set a CiA402 cyclic setpoint (target)
+     * @request POST:/api/devices/{slavePosition}/cia402/target
+     */
+    setCia402Target: (slavePosition: number, data: {
+        /**
+         * Which setpoint to write (pick the one matching the active mode).
+         * @example "velocity"
+         */
+        target: "position" | "velocity" | "torque";
+        /**
+         * The setpoint value in the object's own units (signed). For torque it is per-mille of rated and is narrowed to INTEGER16.
+         * @example 1000
+         */
+        value: number;
+    }, params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<void, void>>;
     /**
      * @description Performs a CoE SDO upload — reads the value of object `index:subindex` from the device at `slavePosition` and returns the raw bytes as a JSON array. Both `index` and `subindex` accept decimal or hexadecimal notation; prefix with `0x` for hex (e.g. `0x6064` or `24676` for object 0x6064).
      *
@@ -875,10 +940,15 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
          */
         slavePosition: number;
         /**
-         * Human-readable device name from SII EEPROM
-         * @example "SOMANET Node"
+         * Human-readable device name from SII EEPROM. For SOMANET drives this is the generic group name "SOMANET"; use productName to distinguish products.
+         * @example "SOMANET"
          */
         name: string;
+        /**
+         * Canonical product name, independent of the SII EEPROM. For a recognised SOMANET product this distinguishes the product (e.g. "SOMANET Circulo"); otherwise it falls back to name.
+         * @example "SOMANET Node"
+         */
+        productName: string;
         /**
          * Vendor ID from EEPROM
          * @format int64
@@ -903,6 +973,11 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
          * @example 12345
          */
         serialNumber: number;
+        /**
+         * Whether the device implements the CiA402 drive profile (both controlword 0x6040 and statusword 0x6041 present in its object dictionary). Gates the CiA402 motion-control endpoints under /api/devices/{slavePosition}/cia402.
+         * @example true
+         */
+        isCia402: boolean;
     }[], any>>;
     /**
      * @description Returns the whole-bus process image: the byte sizes of each direction, the expected and last working counters and overall health, the number of retained image generations (one per re-map since the last reset), and every mapped object resolved to its absolute bit offset. While an image is live `configured` is true and the layout describes it. When no image is published (no device is in SAFE-OP/OP) but at least one generation has been mapped, `configured` is false and the layout describes the most recent retained generation — the last-known mapping — so a bus that has dropped out of SAFE-OP/OP stays inspectable; `lastWkc` then holds the final exchange value and working-counter health does not apply. The object lists are empty only before any image has ever been mapped. Object `name` is populated only for devices whose object dictionary has been enumerated.

package/dist/generated/Api.js

@@ -399,6 +399,63 @@ export class Api extends HttpClient {
         format: "json",
         ...params,
     });
+    /**
+     * @description Returns the drive's current control state — the decoded state-machine state, the raw status (0x6041) and control (0x6040) words, and the active operation mode (display object 0x6061). The values are read live (from the process image when the device is exchanging, else over SDO), so poll this to drive a motion UI. Only valid for a CiA402 device (see the isCia402 flag on GET /api/devices).
+     *
+     * @name GetCia402Status
+     * @summary Read a device's CiA402 control snapshot
+     * @request GET:/api/devices/{slavePosition}/cia402
+     */
+    getCia402Status = (slavePosition, params = {}) => this.request({
+        path: `/api/devices/${slavePosition}/cia402`,
+        method: "GET",
+        format: "json",
+        ...params,
+    });
+    /**
+     * @description Writes the requested operation mode to 0x6060 and returns the resulting control snapshot. The drive reflects the accepted mode in 0x6061 (the modeOfOperation of the response) once it takes effect.
+     *
+     * @name SetCia402OperationMode
+     * @summary Set a device's CiA402 operation mode
+     * @request POST:/api/devices/{slavePosition}/cia402/mode
+     */
+    setCia402OperationMode = (slavePosition, data, params = {}) => this.request({
+        path: `/api/devices/${slavePosition}/cia402/mode`,
+        method: "POST",
+        body: data,
+        type: ContentType.Json,
+        format: "json",
+        ...params,
+    });
+    /**
+     * @description Drives the CiA402 device-control state machine. "enable" walks every intermediate transition to Operation Enabled (clearing a fault first if needed); "disable" goes to Switch On Disabled; "quickStop" triggers a quick stop; "faultReset" clears a latched fault. The device must be exchanging process data for "enable" to make progress. Returns the resulting control snapshot.
+     *
+     * @name RunCia402Command
+     * @summary Run a CiA402 state-machine command
+     * @request POST:/api/devices/{slavePosition}/cia402/command
+     */
+    runCia402Command = (slavePosition, data, params = {}) => this.request({
+        path: `/api/devices/${slavePosition}/cia402/command`,
+        method: "POST",
+        body: data,
+        type: ContentType.Json,
+        format: "json",
+        ...params,
+    });
+    /**
+     * @description Writes the one setpoint that matches the active operation mode — target position (0x607A, INTEGER32) in PP/CSP, target velocity (0x60FF, INTEGER32) in PV/CSV, or target torque (0x6071, INTEGER16, per-mille of rated) in PT/CST. All are signed: negative values command reverse motion or regenerative torque. Routes through the live process image when the object is PDO-mapped and the device is exchanging, else an SDO download.
+     *
+     * @name SetCia402Target
+     * @summary Set a CiA402 cyclic setpoint (target)
+     * @request POST:/api/devices/{slavePosition}/cia402/target
+     */
+    setCia402Target = (slavePosition, data, params = {}) => this.request({
+        path: `/api/devices/${slavePosition}/cia402/target`,
+        method: "POST",
+        body: data,
+        type: ContentType.Json,
+        ...params,
+    });
     /**
      * @description Performs a CoE SDO upload — reads the value of object `index:subindex` from the device at `slavePosition` and returns the raw bytes as a JSON array. Both `index` and `subindex` accept decimal or hexadecimal notation; prefix with `0x` for hex (e.g. `0x6064` or `24676` for object 0x6064).
      *

package/dist/generated/data-contracts.d.ts

@@ -1,3 +1,36 @@
+/** A CiA402 drive's control snapshot — its state machine, control words, and mode. */
+export interface Cia402Status {
+    /**
+     * Decoded CiA402 state-machine state (from the statusword, 0x6041).
+     * @example "OperationEnabled"
+     */
+    state: "NotReadyToSwitchOn" | "SwitchOnDisabled" | "ReadyToSwitchOn" | "SwitchedOn" | "OperationEnabled" | "QuickStopActive" | "FaultReactionActive" | "Fault";
+    /**
+     * Raw statusword (0x6041), 0–65535.
+     * @example 4663
+     */
+    statusword: number;
+    /**
+     * Last-commanded controlword (0x6040), 0–65535.
+     * @example 15
+     */
+    controlword: number;
+    /**
+     * Active operation mode (display object 0x6061), as an INTEGER8 value.
+     * @example 9
+     */
+    modeOfOperation: number;
+    /**
+     * Human-readable name of the active operation mode.
+     * @example "CyclicSyncVelocity"
+     */
+    modeName: string;
+    /**
+     * The setpoint currently commanded for the active mode — target position 0x607A (PP/CSP), velocity 0x60FF (PV/CSV), or torque 0x6071 (PT/CST), widened to INTEGER32. 0 only when the active mode has no linear setpoint (NoMode / Homing).
+     * @example 100000
+     */
+    target: number;
+}
 /** Point-in-time health of the real-time game loop. Times are nanoseconds; rates are hertz. All fields are diagnostic (relaxed reads), not synchronised. */
 export interface GameLoopHealth {
     /**
@@ -382,10 +415,15 @@ export interface SlaveConfig {
      */
     slavePosition: number;
     /**
-     * Device name for this slave position, empty if unknown
-     * @example "SOMANET Node"
+     * SII device name for this slave position, empty if unknown. For SOMANET drives this is the generic group name "SOMANET"; use productName to distinguish products.
+     * @example "SOMANET"
      */
     deviceName: string;
+    /**
+     * Canonical product name, empty if unknown. For a recognised SOMANET product this distinguishes the product (e.g. "SOMANET Circulo"); otherwise it falls back to deviceName.
+     * @example "SOMANET Node"
+     */
+    productName: string;
     /**
      * Vendor ID from EEPROM (0 if the slave is unknown)
      * @format int64

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@synapticon/motion-master-client",
-  "version": "6.0.0-alpha.49",
+  "version": "6.0.0-alpha.51",
   "description": "Isomorphic TypeScript client for Motion Master: the generated HTTP API client, the WebSocket connection, and helpers.",
   "license": "MIT",
   "repository": {