@synapticon/motion-master-client 6.0.0-alpha.90 → 6.0.0-alpha.91

package/dist/generated/Api.d.ts

@@ -376,6 +376,41 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
          */
         error: string;
     }>>;
+    /**
+     * @description Compares the bus with the last scan. Two changes make that scan wrong. A device that resets, for example after a power cycle, loses the station address the scan gave it, and no longer answers at it. A device added to or removed from the chain changes the number of devices on the wire, even when every known device still answers. The server reads the AL state of every scanned device, as `GET /api/devices/state` does, and with SOEM it counts the devices on the wire with one broadcast read. A device that lost its station address still answers a broadcast, so it is counted. Before the first scan, `devicesScanned` is 0, so any device on the wire makes `required` true. A device swapped for another at the same position without a reset is not detected, because it keeps the old address and answers normally.
+     *
+     * @name GetScanStatus
+     * @summary Read whether the bus needs a new scan
+     * @request GET:/api/scan
+     */
+    getScanStatus: (params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<{
+        /**
+         * True when `unreachable` is not empty, or when `devicesOnWire` is not null and differs from `devicesScanned`.
+         * @example true
+         */
+        required: boolean;
+        /**
+         * The number of devices on the wire now. Null over SPoE, which cannot count them.
+         * @example 3
+         */
+        devicesOnWire: number | null;
+        /**
+         * The number of devices the last scan found
+         * @example 2
+         */
+        devicesScanned: number;
+        /**
+         * Positions whose `reachability` is not `answering`, in position order. `GET /api/devices/state` tells why for each one.
+         * @example [2]
+         */
+        unreachable: number[];
+    }, {
+        /**
+         * Human-readable error message from the driver
+         * @example "FPRD slave 1: wkc=0"
+         */
+        error: string;
+    }>>;
     /**
      * @description Scans the fieldbus for slaves and configures their sync managers and FMMUs. Must be called after a successful POST /api/init. With SOEM, slaves remain in INIT state after this call, and state transitions are driven by subsequent API calls. An SPoE drive starts in OP. When a scan finds a device already in SAFE-OP or OP, it reads that device's object dictionary and publishes the process image, so the exchange starts with no state change. The dictionary comes from the parameter cache when the cache has it. Otherwise the first read of a drive model takes several seconds. If this step fails, the scan still returns 200 and the server logs a warning. A later state change to SAFE-OP or OP maps the image again. An empty bus is a successful scan returning 0 slaves, not an error: the master cannot distinguish a bus with no devices powered from a disconnected one, and the user recovers by powering devices on and scanning again. A 500 is returned only on a genuine driver failure (e.g. no driver initialised). A scan does not wait for work already in flight. A procedure that is running keeps running against the devices it started on, and fails at its next bus transfer. Retained procedure snapshots are discarded, because a position may name different hardware after a scan. A scan frees the recording, the retained process images and the previous device set, so it first waits up to 200 ms for the real-time loop to leave the cycle it is in. If the loop is stalled — a cyclic task that overruns, or severe CPU contention — the scan fails with 500 and changes nothing, rather than freeing memory the loop is still reading. `GET /api/game-loop` shows the stall. The same applies to `POST /api/process-data`, which re-allocates the recorder. `POST /api/reset` never fails this way: it holds the memory back instead and reclaims it later.
      *
@@ -660,7 +695,7 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
         error: string;
     }>>;
     /**
-     * @description Writes one parameter of the device at `slavePosition`. The value is coerced to the parameter's declared data type, then routed: staged into the process image when the device is exchanging and the object is output (RxPDO) mapped — sent on the next cycle — otherwise written via an SDO download, otherwise held in the cache as pending until the device is back online. This is the endpoint to set a target (e.g. target torque 0x6071) or the modes of operation: it knows which objects are PDO-mapped and stages them into the process data, falling back to SDO transparently. Returns the updated `DeviceParameter` (with the coerced value and resulting sync state). Both `index` and `subindex` accept decimal or hexadecimal notation; prefix with `0x` for hex.
+     * @description Writes one parameter of the device at `slavePosition`. The value is converted to the parameter's declared data type, then routed: staged into the process image when the device is exchanging and the object is output (RxPDO) mapped — sent on the next cycle — otherwise written via an SDO download, otherwise held in the cache as pending until the device is back online. This is the endpoint to set a target (e.g. target torque 0x6071) or the modes of operation: it knows which objects are PDO-mapped and stages them into the process data, falling back to SDO transparently. Returns the updated `DeviceParameter` (with the converted value and resulting sync state). A value the data type cannot hold is refused with 400, and nothing is written. That is a number outside the limits of an integer type (300 or -1 for an UNSIGNED8), a number with a fraction for an integer type, or a number outside the range of a REAL32. Every value that fits the data type is sent unchanged, even one outside the object's documented range, because the drive decides whether a value is valid. To send arbitrary bytes, use `sdoDownload`. Both `index` and `subindex` accept decimal or hexadecimal notation; prefix with `0x` for hex.
      *
      * @name WriteParameter
      * @summary Write a single parameter value (PDO-aware)
@@ -668,7 +703,7 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
      */
     writeParameter: (slavePosition: number, index: number, subindex: number, data: {
         /**
-         * The value to set, coerced to the parameter's declared type. A number for integer/real objects, a string for string objects, or an array of bytes for octet/domain objects.
+         * The value to set, converted to the parameter's declared type. A number for integer/real objects, a string for string objects, or an array of bytes for octet/domain objects.
          * @example 100
          */
         value: number | string | number[];
@@ -1047,7 +1082,7 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
         filename: string;
     }, params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<FirmwareCompatibility, void>>;
     /**
-     * @description Sends an FoE read request for `filename` to the device at `slavePosition` and returns the raw file bytes.  FoE is available in Boot, Pre-Op, Safe-Op, and Op states (device-dependent); the caller is responsible for ensuring the device is in a suitable state before calling.  The call blocks until the full file has been received or a per-packet timeout of 700 ms is exceeded.
+     * @description Sends an FoE read request for `filename` to the device at `slavePosition` and returns the raw file bytes.  FoE is available in Boot, Pre-Op, Safe-Op, and Op states (device-dependent); the caller is responsible for ensuring the device is in a suitable state before calling.  The call blocks until the full file has been received. Over EtherCAT it waits up to 6 s for the device's answer and tries a read that gets no answer up to 3 times, so a device that never answers takes about 18 s to fail. A refusal from the device is not tried again. After a failure without an answer, Motion Master aborts the transfer on the device, so that the next request works. Over SPoE it waits the configured file timeout for each packet. When the device refuses the read, the error names the FoE error code it sent and its meaning, and the device's error text when that adds anything, e.g. `FOEread slave 1 'x.bin' failed (FoE error 0x8001: Not found)`. A device that never answered gives `(no response)`.
      *
      * @name FoeReadFile
      * @summary Read a file from a device via FoE (File over EtherCAT)
@@ -1061,7 +1096,7 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
         error: string;
     }>>;
     /**
-     * @description Sends an FoE write request for `filename` to the device at `slavePosition`, streaming the raw request body as the file contents.  FoE is available in Boot, Pre-Op, Safe-Op, and Op states (device-dependent); the caller is responsible for ensuring the device is in a suitable state before calling.
+     * @description Sends an FoE write request for `filename` to the device at `slavePosition`, streaming the raw request body as the file contents.  FoE is available in Boot, Pre-Op, Safe-Op, and Op states (device-dependent); the caller is responsible for ensuring the device is in a suitable state before calling. Over EtherCAT it waits up to 10 s for the device to acknowledge each packet. A write that fails without an answer is aborted on the device and is not tried again.
      *
      * @name FoeWriteFile
      * @summary Write a file to a device via FoE (File over EtherCAT)
@@ -1078,7 +1113,7 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
         error: string;
     }>>;
     /**
-     * @description Deletes `filename` from the flash of the device at `slavePosition`. **Vendor-specific despite reading like a filesystem operation.** FoE has no delete, so SOMANET firmware acts on a pseudo-file instead: reading the name `fs-remove=<filename>` removes that file. This endpoint exists so no client has to know that, and a device that is not a SOMANET drive is refused rather than probed. **A file that was not there answers 200.** The caller asked for the file to be gone, and it is. Every other FoE failure is a 500 naming the reason. The file is gone from flash immediately. Deleting `config.csv` discards the stored parameter values, so the drive falls back to its defaults on the next power cycle.
+     * @description Deletes `filename` from the flash of the device at `slavePosition`. Motion Master waits up to 10 s for the device to answer, and 30 s for the ESI (`SOMANET_CiA_402.xml.zip`), because the device answers only after it has erased the file. **Vendor-specific despite reading like a filesystem operation.** FoE has no delete, so SOMANET firmware acts on a pseudo-file instead: reading the name `fs-remove=<filename>` removes that file. This endpoint exists so no client has to know that, and a device that is not a SOMANET drive is refused rather than probed. **A file that was not there answers 200.** The caller asked for the file to be gone, and it is. Every other FoE failure is a 500 naming the reason. The file is gone from flash immediately. Deleting `config.csv` discards the stored parameter values, so the drive falls back to its defaults on the next power cycle.
      *
      * @name DeleteDeviceFile
      * @summary Delete a file from a device
@@ -1276,10 +1311,10 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
          */
         alStatus: number;
         /**
-         * Current AL state decoded from alStatus (ETG.1000.6 encoding): 1 = Init, 2 = PreOp, 3 = Boot, 4 = SafeOp, 8 = Op.
+         * Current AL state decoded from alStatus (ETG.1000.6 encoding): 1 = Init, 2 = PreOp, 3 = Boot, 4 = SafeOp, 8 = Op. 0 when the device does not answer (see `reachability`).
          * @example 1
          */
-        alState: 1 | 2 | 3 | 4 | 8;
+        alState: 0 | 1 | 2 | 3 | 4 | 8;
         /**
          * True when the AL Status error indicator bit (bit 4) is set
          * @example true
@@ -1290,6 +1325,11 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
          * @example 20
          */
         alStatusCode: number;
+        /**
+         * Whether the device answers at the station address the master gave it. `addressLost`: nothing answers at that address, but a device answers at its wire position. A reset, such as a power cycle, clears the address. Run `POST /api/scan` to command it again. `notAnswering`: nothing answers at that address or at its wire position. Check the cabling and the power. If devices were removed from the chain, run a scan. The wire position is checked by position only, so after a change to the chain the device that answers there can be a different one. When the value is not `answering`, the state of the device is unknown, and `alStatus`, `alState` and `alStatusCode` are 0.
+         * @example "answering"
+         */
+        reachability: "answering" | "addressLost" | "notAnswering";
     }[], void | {
         /**
          * Human-readable error message from the driver
@@ -1298,7 +1338,7 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
         error: string;
     }>>;
     /**
-     * @description Commands one or more devices to the requested EtherCAT Application Layer state and blocks until all targeted devices arrive or the timeout elapses. The settled state of every targeted device is then read back and returned in `devices`, each with a `reached` flag; `ok` is true only when every device reached the target. A device that did not reach it carries an `alStatusCode` explaining why. Omit `positions` or pass an empty array to target all discovered devices. State values are the standard AL state register encodings from ETG.1000.6: 1 (Init), 2 (PreOp), 3 (Boot), 4 (SafeOp), 8 (Op).
+     * @description Commands one or more devices to the requested EtherCAT Application Layer state and blocks until all targeted devices arrive or the timeout elapses. The settled state of every targeted device is then read back and returned in `devices`, each with a `reached` flag; `ok` is true only when every device reached the target. A device that did not reach it carries an `alStatusCode` explaining why. A device that does not answer at its address is not commanded, so the request does not wait out the timeout for it. Its `reachability` says why, and the other devices are still commanded. Omit `positions` or pass an empty array to target all discovered devices. State values are the standard AL state register encodings from ETG.1000.6: 1 (Init), 2 (PreOp), 3 (Boot), 4 (SafeOp), 8 (Op).
      *
      * @name TransitionToState
      * @summary Transition devices to an EtherCAT AL state
@@ -1340,10 +1380,10 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
              */
             alStatus: number;
             /**
-             * Current AL state decoded from alStatus (ETG.1000.6 encoding): 1 = Init, 2 = PreOp, 3 = Boot, 4 = SafeOp, 8 = Op.
+             * Current AL state decoded from alStatus (ETG.1000.6 encoding): 1 = Init, 2 = PreOp, 3 = Boot, 4 = SafeOp, 8 = Op. 0 when the device does not answer (see `reachability`).
              * @example 2
              */
-            alState: 1 | 2 | 3 | 4 | 8;
+            alState: 0 | 1 | 2 | 3 | 4 | 8;
             /**
              * True when the AL Status error indicator bit (bit 4) is set
              * @example false
@@ -1354,6 +1394,11 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
              * @example 0
              */
             alStatusCode: number;
+            /**
+             * Whether the device answers at the station address the master gave it. `addressLost`: nothing answers at that address, but a device answers at its wire position. A reset, such as a power cycle, clears the address. Run `POST /api/scan` to command it again. `notAnswering`: nothing answers at that address or at its wire position. Check the cabling and the power. If devices were removed from the chain, run a scan. The wire position is checked by position only, so after a change to the chain the device that answers there can be a different one. When the value is not `answering`, the state of the device is unknown, and `alStatus`, `alState` and `alStatusCode` are 0.
+             * @example "answering"
+             */
+            reachability: "answering" | "addressLost" | "notAnswering";
             /**
              * True when this device reached the requested target state (error clear and alState equal to the requested state).
              * @example true
@@ -1467,7 +1512,7 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
          */
         inputBytes: number;
         /**
-         * Working counter expected from the devices currently exchanging
+         * Working counter expected from the devices currently exchanging. A device in SAFE-OP or OP counts 2 for mapped outputs and 1 for mapped inputs. A device below SAFE-OP, or with the AL error flag set, counts 0.
          * @example 3
          */
         expectedWkc: number;
@@ -1573,7 +1618,7 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
         error: string;
     }>>;
     /**
-     * @description Stages many output (RxPDO) objects at once — the "send all" action of the Process Data page. Each value is coerced to the object's declared data type and, when the object is output-mapped and its device is exchanging (SAFE-OP/OP), written into the output image so it is sent on the next real-time cycle and re-sent every cycle thereafter (set-once, sent-continuously). The batch is best-effort atomic: values are staged sequentially, so a batch can straddle two consecutive ~1 ms cycles. The request never fails as a whole — each object gets its own result, so the client can flag any object that was not cyclically staged (unknown device, coercion failure, object not output-mapped, or bus not exchanging; in the last two cases the value is still written via SDO/cache, just not cyclically driven).
+     * @description Stages many output (RxPDO) objects at once — the "send all" action of the Process Data page. Each value is converted to the object's declared data type and, when the object is output-mapped and its device is exchanging (SAFE-OP/OP), written into the output image so it is sent on the next real-time cycle and re-sent every cycle thereafter (set-once, sent-continuously). The batch is best-effort atomic: values are staged sequentially, so a batch can straddle two consecutive ~1 ms cycles. The request never fails as a whole — each object gets its own result, so the client can flag any object that was not cyclically staged (unknown device, a value the data type cannot hold, object not output-mapped, or bus not exchanging; in the last two cases the value is still written via SDO/cache, just not cyclically driven). A value the data type cannot hold is refused in its own result and nothing is written for it, by the same rule as `writeParameter`.
      *
      * @name StageProcessDataOutputs
      * @summary Stage a batch of output values into the process image

package/dist/generated/Api.js

@@ -129,6 +129,19 @@ export class Api extends HttpClient {
         format: "json",
         ...params,
     });
+    /**
+     * @description Compares the bus with the last scan. Two changes make that scan wrong. A device that resets, for example after a power cycle, loses the station address the scan gave it, and no longer answers at it. A device added to or removed from the chain changes the number of devices on the wire, even when every known device still answers. The server reads the AL state of every scanned device, as `GET /api/devices/state` does, and with SOEM it counts the devices on the wire with one broadcast read. A device that lost its station address still answers a broadcast, so it is counted. Before the first scan, `devicesScanned` is 0, so any device on the wire makes `required` true. A device swapped for another at the same position without a reset is not detected, because it keeps the old address and answers normally.
+     *
+     * @name GetScanStatus
+     * @summary Read whether the bus needs a new scan
+     * @request GET:/api/scan
+     */
+    getScanStatus = (params = {}) => this.request({
+        path: `/api/scan`,
+        method: "GET",
+        format: "json",
+        ...params,
+    });
     /**
      * @description Scans the fieldbus for slaves and configures their sync managers and FMMUs. Must be called after a successful POST /api/init. With SOEM, slaves remain in INIT state after this call, and state transitions are driven by subsequent API calls. An SPoE drive starts in OP. When a scan finds a device already in SAFE-OP or OP, it reads that device's object dictionary and publishes the process image, so the exchange starts with no state change. The dictionary comes from the parameter cache when the cache has it. Otherwise the first read of a drive model takes several seconds. If this step fails, the scan still returns 200 and the server logs a warning. A later state change to SAFE-OP or OP maps the image again. An empty bus is a successful scan returning 0 slaves, not an error: the master cannot distinguish a bus with no devices powered from a disconnected one, and the user recovers by powering devices on and scanning again. A 500 is returned only on a genuine driver failure (e.g. no driver initialised). A scan does not wait for work already in flight. A procedure that is running keeps running against the devices it started on, and fails at its next bus transfer. Retained procedure snapshots are discarded, because a position may name different hardware after a scan. A scan frees the recording, the retained process images and the previous device set, so it first waits up to 200 ms for the real-time loop to leave the cycle it is in. If the loop is stalled — a cyclic task that overruns, or severe CPU contention — the scan fails with 500 and changes nothing, rather than freeing memory the loop is still reading. `GET /api/game-loop` shows the stall. The same applies to `POST /api/process-data`, which re-allocates the recorder. `POST /api/reset` never fails this way: it holds the memory back instead and reclaims it later.
      *
@@ -366,7 +379,7 @@ export class Api extends HttpClient {
         ...params,
     });
     /**
-     * @description Writes one parameter of the device at `slavePosition`. The value is coerced to the parameter's declared data type, then routed: staged into the process image when the device is exchanging and the object is output (RxPDO) mapped — sent on the next cycle — otherwise written via an SDO download, otherwise held in the cache as pending until the device is back online. This is the endpoint to set a target (e.g. target torque 0x6071) or the modes of operation: it knows which objects are PDO-mapped and stages them into the process data, falling back to SDO transparently. Returns the updated `DeviceParameter` (with the coerced value and resulting sync state). Both `index` and `subindex` accept decimal or hexadecimal notation; prefix with `0x` for hex.
+     * @description Writes one parameter of the device at `slavePosition`. The value is converted to the parameter's declared data type, then routed: staged into the process image when the device is exchanging and the object is output (RxPDO) mapped — sent on the next cycle — otherwise written via an SDO download, otherwise held in the cache as pending until the device is back online. This is the endpoint to set a target (e.g. target torque 0x6071) or the modes of operation: it knows which objects are PDO-mapped and stages them into the process data, falling back to SDO transparently. Returns the updated `DeviceParameter` (with the converted value and resulting sync state). A value the data type cannot hold is refused with 400, and nothing is written. That is a number outside the limits of an integer type (300 or -1 for an UNSIGNED8), a number with a fraction for an integer type, or a number outside the range of a REAL32. Every value that fits the data type is sent unchanged, even one outside the object's documented range, because the drive decides whether a value is valid. To send arbitrary bytes, use `sdoDownload`. Both `index` and `subindex` accept decimal or hexadecimal notation; prefix with `0x` for hex.
      *
      * @name WriteParameter
      * @summary Write a single parameter value (PDO-aware)
@@ -740,7 +753,7 @@ export class Api extends HttpClient {
         ...params,
     });
     /**
-     * @description Sends an FoE read request for `filename` to the device at `slavePosition` and returns the raw file bytes.  FoE is available in Boot, Pre-Op, Safe-Op, and Op states (device-dependent); the caller is responsible for ensuring the device is in a suitable state before calling.  The call blocks until the full file has been received or a per-packet timeout of 700 ms is exceeded.
+     * @description Sends an FoE read request for `filename` to the device at `slavePosition` and returns the raw file bytes.  FoE is available in Boot, Pre-Op, Safe-Op, and Op states (device-dependent); the caller is responsible for ensuring the device is in a suitable state before calling.  The call blocks until the full file has been received. Over EtherCAT it waits up to 6 s for the device's answer and tries a read that gets no answer up to 3 times, so a device that never answers takes about 18 s to fail. A refusal from the device is not tried again. After a failure without an answer, Motion Master aborts the transfer on the device, so that the next request works. Over SPoE it waits the configured file timeout for each packet. When the device refuses the read, the error names the FoE error code it sent and its meaning, and the device's error text when that adds anything, e.g. `FOEread slave 1 'x.bin' failed (FoE error 0x8001: Not found)`. A device that never answered gives `(no response)`.
      *
      * @name FoeReadFile
      * @summary Read a file from a device via FoE (File over EtherCAT)
@@ -752,7 +765,7 @@ export class Api extends HttpClient {
         ...params,
     });
     /**
-     * @description Sends an FoE write request for `filename` to the device at `slavePosition`, streaming the raw request body as the file contents.  FoE is available in Boot, Pre-Op, Safe-Op, and Op states (device-dependent); the caller is responsible for ensuring the device is in a suitable state before calling.
+     * @description Sends an FoE write request for `filename` to the device at `slavePosition`, streaming the raw request body as the file contents.  FoE is available in Boot, Pre-Op, Safe-Op, and Op states (device-dependent); the caller is responsible for ensuring the device is in a suitable state before calling. Over EtherCAT it waits up to 10 s for the device to acknowledge each packet. A write that fails without an answer is aborted on the device and is not tried again.
      *
      * @name FoeWriteFile
      * @summary Write a file to a device via FoE (File over EtherCAT)
@@ -766,7 +779,7 @@ export class Api extends HttpClient {
         ...params,
     });
     /**
-     * @description Deletes `filename` from the flash of the device at `slavePosition`. **Vendor-specific despite reading like a filesystem operation.** FoE has no delete, so SOMANET firmware acts on a pseudo-file instead: reading the name `fs-remove=<filename>` removes that file. This endpoint exists so no client has to know that, and a device that is not a SOMANET drive is refused rather than probed. **A file that was not there answers 200.** The caller asked for the file to be gone, and it is. Every other FoE failure is a 500 naming the reason. The file is gone from flash immediately. Deleting `config.csv` discards the stored parameter values, so the drive falls back to its defaults on the next power cycle.
+     * @description Deletes `filename` from the flash of the device at `slavePosition`. Motion Master waits up to 10 s for the device to answer, and 30 s for the ESI (`SOMANET_CiA_402.xml.zip`), because the device answers only after it has erased the file. **Vendor-specific despite reading like a filesystem operation.** FoE has no delete, so SOMANET firmware acts on a pseudo-file instead: reading the name `fs-remove=<filename>` removes that file. This endpoint exists so no client has to know that, and a device that is not a SOMANET drive is refused rather than probed. **A file that was not there answers 200.** The caller asked for the file to be gone, and it is. Every other FoE failure is a 500 naming the reason. The file is gone from flash immediately. Deleting `config.csv` discards the stored parameter values, so the drive falls back to its defaults on the next power cycle.
      *
      * @name DeleteDeviceFile
      * @summary Delete a file from a device
@@ -947,7 +960,7 @@ export class Api extends HttpClient {
         ...params,
     });
     /**
-     * @description Commands one or more devices to the requested EtherCAT Application Layer state and blocks until all targeted devices arrive or the timeout elapses. The settled state of every targeted device is then read back and returned in `devices`, each with a `reached` flag; `ok` is true only when every device reached the target. A device that did not reach it carries an `alStatusCode` explaining why. Omit `positions` or pass an empty array to target all discovered devices. State values are the standard AL state register encodings from ETG.1000.6: 1 (Init), 2 (PreOp), 3 (Boot), 4 (SafeOp), 8 (Op).
+     * @description Commands one or more devices to the requested EtherCAT Application Layer state and blocks until all targeted devices arrive or the timeout elapses. The settled state of every targeted device is then read back and returned in `devices`, each with a `reached` flag; `ok` is true only when every device reached the target. A device that did not reach it carries an `alStatusCode` explaining why. A device that does not answer at its address is not commanded, so the request does not wait out the timeout for it. Its `reachability` says why, and the other devices are still commanded. Omit `positions` or pass an empty array to target all discovered devices. State values are the standard AL state register encodings from ETG.1000.6: 1 (Init), 2 (PreOp), 3 (Boot), 4 (SafeOp), 8 (Op).
      *
      * @name TransitionToState
      * @summary Transition devices to an EtherCAT AL state
@@ -1041,7 +1054,7 @@ export class Api extends HttpClient {
         ...params,
     });
     /**
-     * @description Stages many output (RxPDO) objects at once — the "send all" action of the Process Data page. Each value is coerced to the object's declared data type and, when the object is output-mapped and its device is exchanging (SAFE-OP/OP), written into the output image so it is sent on the next real-time cycle and re-sent every cycle thereafter (set-once, sent-continuously). The batch is best-effort atomic: values are staged sequentially, so a batch can straddle two consecutive ~1 ms cycles. The request never fails as a whole — each object gets its own result, so the client can flag any object that was not cyclically staged (unknown device, coercion failure, object not output-mapped, or bus not exchanging; in the last two cases the value is still written via SDO/cache, just not cyclically driven).
+     * @description Stages many output (RxPDO) objects at once — the "send all" action of the Process Data page. Each value is converted to the object's declared data type and, when the object is output-mapped and its device is exchanging (SAFE-OP/OP), written into the output image so it is sent on the next real-time cycle and re-sent every cycle thereafter (set-once, sent-continuously). The batch is best-effort atomic: values are staged sequentially, so a batch can straddle two consecutive ~1 ms cycles. The request never fails as a whole — each object gets its own result, so the client can flag any object that was not cyclically staged (unknown device, a value the data type cannot hold, object not output-mapped, or bus not exchanging; in the last two cases the value is still written via SDO/cache, just not cyclically driven). A value the data type cannot hold is refused in its own result and nothing is written for it, by the same rule as `writeParameter`.
      *
      * @name StageProcessDataOutputs
      * @summary Stage a batch of output values into the process image

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@synapticon/motion-master-client",
-  "version": "6.0.0-alpha.90",
+  "version": "6.0.0-alpha.91",
   "description": "Isomorphic TypeScript client for Motion Master: the generated HTTP API client, the WebSocket connection, and helpers.",
   "license": "MIT",
   "repository": {