motion-master-client 0.0.113 → 0.0.115

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Files changed (6) hide show
  1. package/package.json +1 -1
  2. package/src/lib/integro-encoder-calibration.d.ts +2 -0
  3. package/src/lib/integro-encoder-calibration.js +38 -11
  4. package/src/lib/integro-encoder-calibration.js.map +1 -1
  5. package/src/lib/product.js +12 -6
  6. package/src/lib/product.js.map +1 -1
package/package.json CHANGED
@@ -1,6 +1,6 @@
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  {
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  "name": "motion-master-client",
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- "version": "0.0.113",
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+ "version": "0.0.115",
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  "type": "commonjs",
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  "description": "A library and CLI program used for communicating with Motion Master.",
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  "dependencies": {
package/src/lib/integro-encoder-calibration.d.ts CHANGED
@@ -27,5 +27,7 @@ export declare class IntegroEncoderCalibration {
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  * Write encoder register value and validate response.
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  */
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  writeEncoderRegisterValueAndValidateResponse(address: number, value: number, length?: number): Promise<void>;
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+ notifyParameterValue(index: number, subindex: number): Promise<void>;
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+ notifyExtendedErrorStatus(): Promise<void>;
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  }
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  export {};
package/src/lib/integro-encoder-calibration.js CHANGED
@@ -8,6 +8,7 @@ const cia402_1 = require("./cia402");
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  const os_command_1 = require("./os-command");
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  const util_1 = require("./util");
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  const product_1 = require("./product");
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+ const parameter_1 = require("./parameter");
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  class IntegroEncoderCalibration {
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  constructor(client, deviceRef) {
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  this.client = client;
@@ -58,7 +59,7 @@ class IntegroEncoderCalibration {
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  let osCommandResponse = yield (0, rxjs_1.lastValueFrom)((0, rxjs_1.defer)(() => this.client.request.runKublerEncoderRegisterCommunicationOsCommand(this.deviceRef, 0, 0x24, 1, 0, 10000, 1000, false).pipe((0, rxjs_1.repeat)({ count: 14, delay: 500 }), (0, rxjs_1.takeWhile)(osCommandResponse => {
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  var _a;
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  if (debug) {
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- this.notifications$.next(`Value read from the encoder register 0x24 is: 0x${(_a = osCommandResponse.kublerRegisterValue) === null || _a === void 0 ? void 0 : _a.toString(16).toUpperCase()}`);
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+ this.notifications$.next(`Value read from the encoder register 0x24 is 0x${(_a = osCommandResponse.kublerRegisterValue) === null || _a === void 0 ? void 0 : _a.toString(16).toUpperCase()}.`);
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  }
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  return (osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.kublerRegisterValue) !== 0x11;
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  }, true))));
@@ -75,19 +76,18 @@ class IntegroEncoderCalibration {
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  yield this.writeEncoderRegisterValueAndValidateResponse(0x25, 0x05);
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  }
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  // Lookup table learning.
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- this.notifications$.next('Disabling the POA active compensation by writing 0x00 to the encoder register 0x25.');
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- yield this.writeEncoderRegisterValueAndValidateResponse(0x25, 0x00);
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  this.notifications$.next('Running the motor at a constant speed in one direction.');
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  // Run the motor at constant speed in one direction.
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  this.setVelocityProfile(this.lookupTableVelocityProfileDirection1, 2);
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- yield (0, util_1.resolveAfter)(500);
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+ yield (0, util_1.resolveAfter)(2000);
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+ this.notifyParameterValue(0x606C, 0); // Velocity actual value
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  this.notifications$.next('Writing 0x00C2 to the encoder register 0x50.');
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  yield this.writeEncoderRegisterValueAndValidateResponse(0x50, 0x00C2, 2);
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  // Read the value of the encoder register 0x52 until its value satisfies the following condition (bit 6 = 1) & (bit 8 = 0) or until 8 seconds have passed.
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  osCommandResponse = yield (0, rxjs_1.lastValueFrom)((0, rxjs_1.defer)(() => this.client.request.runKublerEncoderRegisterCommunicationOsCommand(this.deviceRef, 0, 0x52, 2, 0, 10000, 1000, false).pipe((0, rxjs_1.repeat)({ count: 16, delay: 500 }), (0, rxjs_1.takeWhile)(osCommandResponse => {
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  var _a;
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  if (debug) {
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- this.notifications$.next(`Value read from the encoder register 0x52 is: 0x${(_a = osCommandResponse.kublerRegisterValue) === null || _a === void 0 ? void 0 : _a.toString(16).toUpperCase()}`);
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+ this.notifications$.next(`Value read from the encoder register 0x52 is 0x${(_a = osCommandResponse.kublerRegisterValue) === null || _a === void 0 ? void 0 : _a.toString(16).toUpperCase()}.`);
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  }
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  return ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.kublerRegisterValue) & 0b101000000) !== 0x40;
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  }, true))));
@@ -98,18 +98,23 @@ class IntegroEncoderCalibration {
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  this.notifications$.next(`The last value retrieved from register 0x52 is 0x${(_b = osCommandResponse.kublerRegisterValue) === null || _b === void 0 ? void 0 : _b.toString(16).toUpperCase()}`);
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  }
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  yield this.client.request.download(this.deviceRef, 0x60FF, 0, 0);
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- yield (0, util_1.resolveAfter)(500);
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+ yield (0, util_1.resolveAfter)(1000);
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  this.notifications$.next('Reversing the rotation direction.');
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  // Reverse the rotation direction.
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+ if (debug) {
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+ yield this.notifyExtendedErrorStatus();
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+ }
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+ yield (0, util_1.resolveAfter)(1000);
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  this.setVelocityProfile(this.lookupTableVelocityProfileDirection2, 2);
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- yield (0, util_1.resolveAfter)(500);
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+ yield (0, util_1.resolveAfter)(2000);
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+ this.notifyParameterValue(0x606C, 0); // Velocity actual value
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  this.notifications$.next('Writing 0x00C2 to the encoder register 0x50.');
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  yield this.writeEncoderRegisterValueAndValidateResponse(0x50, 0x00C2, 2);
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  // Read the value of the encoder register 0x52 until its value satisfies the following condition (bit 6 = 1) & (bit 8 = 0) or until 8 seconds have passed.
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  osCommandResponse = yield (0, rxjs_1.lastValueFrom)((0, rxjs_1.defer)(() => this.client.request.runKublerEncoderRegisterCommunicationOsCommand(this.deviceRef, 0, 0x52, 2, 0, 10000, 1000, false).pipe((0, rxjs_1.repeat)({ count: 16, delay: 500 }), (0, rxjs_1.takeWhile)(osCommandResponse => {
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  var _a;
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  if (debug) {
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- this.notifications$.next(`Value read from the encoder register 0x52 is: 0x${(_a = osCommandResponse.kublerRegisterValue) === null || _a === void 0 ? void 0 : _a.toString(16).toUpperCase()}`);
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+ this.notifications$.next(`Value read from the encoder register 0x52 is 0x${(_a = osCommandResponse.kublerRegisterValue) === null || _a === void 0 ? void 0 : _a.toString(16).toUpperCase()}.`);
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  }
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  return ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.kublerRegisterValue) & 0b101000000) !== 0x40;
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  }, true))));
@@ -121,13 +126,14 @@ class IntegroEncoderCalibration {
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  }
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  yield this.client.request.download(this.deviceRef, 0x60FF, 0, 0);
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  yield (0, util_1.resolveAfter)(500);
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- this.notifications$.next('Re-enabling POA by writing 0x01 to the encoder register 0x25.');
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- yield this.writeEncoderRegisterValueAndValidateResponse(0x25, 0x01);
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- yield (0, util_1.resolveAfter)(200);
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  this.notifications$.next('Saving the correction table by writing 0x00D0 to the encoder register 0x50.');
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  yield this.writeEncoderRegisterValueAndValidateResponse(0x50, 0x00D0, 2);
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  this.notifications$.next('Requesting Quick stop from device.');
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  yield this.client.request.quickStop(this.deviceRef);
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+ yield (0, util_1.resolveAfter)(1000);
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+ if (debug) {
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+ yield this.notifyExtendedErrorStatus();
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+ }
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  });
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  }
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  /**
@@ -236,6 +242,27 @@ class IntegroEncoderCalibration {
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  }
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  });
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  }
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+ notifyParameterValue(index, subindex) {
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+ return tslib_1.__awaiter(this, void 0, void 0, function* () {
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+ const id = (0, parameter_1.makeParameterId)(index, subindex);
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+ const value = yield this.client.request.upload(this.deviceRef, index, subindex);
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+ this.notifications$.next(`Value of ${id} is ${value}`);
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+ });
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+ }
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+ notifyExtendedErrorStatus() {
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+ return tslib_1.__awaiter(this, void 0, void 0, function* () {
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+ const ec1Response = yield (0, rxjs_1.lastValueFrom)(this.client.request.runKublerEncoderRegisterCommunicationOsCommand(this.deviceRef, 0x00, 0x66, 0x04));
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+ if (ec1Response.kublerRegisterValue !== undefined) {
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+ this.notifications$.next(`The value of register 0x66 (Error code 1) is ${ec1Response.kublerRegisterValue}.`);
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+ }
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+ const ec2Response = yield (0, rxjs_1.lastValueFrom)(this.client.request.runKublerEncoderRegisterCommunicationOsCommand(this.deviceRef, 0x00, 0x6A, 0x04));
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+ if (ec2Response.kublerRegisterValue !== undefined) {
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+ this.notifications$.next(`The value of register 0x6A (Error code 2) is ${ec2Response.kublerRegisterValue}.`);
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+ }
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+ this.notifications$.next(`Clearing the encoder errors by writing the value 0x02 to register 0x61.`);
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+ yield (0, rxjs_1.lastValueFrom)(this.client.request.runKublerEncoderRegisterCommunicationOsCommand(this.deviceRef, 0x01, 0x61, 0x01, 0x02));
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+ });
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+ }
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  }
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  exports.IntegroEncoderCalibration = IntegroEncoderCalibration;
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  //# sourceMappingURL=integro-encoder-calibration.js.map
package/src/lib/integro-encoder-calibration.js.map CHANGED
@@ -1 +1 @@
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package/src/lib/product.js CHANGED
@@ -39,6 +39,12 @@ exports.somanetProducts = [
39
39
  { category: 'SOMANET', family: 'Circulo', group: 'Circulo 9', id: 8511, mpns: [], name: 'Circulo 9 - 1800, Magnetic Rings (pos.1&2), with single brake' },
40
40
  { category: 'SOMANET', family: 'Circulo', group: 'Circulo 7', id: 8512, mpns: ['ECDN', 'ECDL'], name: 'Circulo 7 - 700, Magnetic Rings (pos.1&2), no external encoders' },
41
41
  { category: 'SOMANET', family: 'Circulo', group: 'Circulo 9', id: 8513, mpns: ['ECDN', 'ECDL'], name: 'Circulo 9 - 1800, Magnetic Rings (pos.1&2), no external encoders' },
42
+ { category: 'SOMANET', family: 'Circulo', group: 'Circulo 7', id: 8514, mpns: ['ECNN'], name: 'Circulo 7 32A - No internal encoder' },
43
+ { category: 'SOMANET', family: 'Circulo', group: 'Circulo 7', id: 8516, mpns: ['ECDN-E1'], name: 'Circulo 7 - 32A, Magnetic Rings (pos.1&2), with port 2 transceivers' },
44
+ { category: 'SOMANET', family: 'Circulo', group: 'Circulo 7', id: 8518, mpns: ['ECAN'], name: 'Circulo 7 - 32A, Magnetic Ring (pos.1) ' },
45
+ { category: 'SOMANET', family: 'Circulo', group: 'Circulo 7', id: 8520, mpns: ['ECBN'], name: 'Circulo 7 - 32A, Magnetic Ring (pos.2) ' },
46
+ { category: 'SOMANET', family: 'Circulo', group: 'Circulo 7', id: 8522, mpns: ['ECDB-E1'], name: 'Circulo 7 - 32A, Magnetic Rings (pos.1&2), with port 2 transceivers, 3rd BiSS interface' },
47
+ { category: 'SOMANET', family: 'Circulo', group: 'Circulo 7', id: 8524, mpns: ['ECDL'], name: 'Circulo 7 - 32A, Magnetic Rings (pos.1&2), no external encoders' },
42
48
  { category: 'SOMANET', family: 'Circulo', group: 'Circulo 7', id: 8600, mpns: ['ECNNSM'], name: 'Circulo 7 Safe Motion - 700, Safe Motion' },
43
49
  { category: 'SOMANET', family: 'Circulo', group: 'Circulo 9', id: 8601, mpns: ['ECNNSM'], name: 'Circulo 9 Safe Motion - 1800, Safe Motion' },
44
50
  { category: 'SOMANET', family: 'Circulo', group: 'Circulo 7', id: 8602, mpns: ['ECDNSM-E1'], name: 'Circulo 7 Safe Motion - 700, Safe Motion, Magnetic Rings (pos.1&2), with port 2 transceivers' },
@@ -117,12 +123,12 @@ function isSomanetProductIdInRange(productId, rangeName) {
117
123
  }
118
124
  }
119
125
  exports.isSomanetProductIdInRange = isSomanetProductIdInRange;
120
- exports.ECDN_E1_IDS = [8502, 8503, 8602, 8603, 8616];
121
- exports.ECAN_IDS = [8504, 8505, 8604, 8605, 8618];
122
- exports.ECBN_IDS = [8506, 8507, 8606, 8607, 8620];
123
- exports.ECNN_IDS = [8500, 8501, 8600, 8601, 8614];
124
- exports.ECDL_IDS = [8512, 8513, 8612, 8613, 8624];
125
- exports.ECDB_E1_IDS = [8508, 8509, 8608, 8609, 8622];
126
+ exports.ECDN_E1_IDS = [8502, 8503, 8602, 8603, 8516, 8616];
127
+ exports.ECAN_IDS = [8504, 8505, 8604, 8605, 8518, 8618];
128
+ exports.ECBN_IDS = [8506, 8507, 8606, 8607, 8520, 8620];
129
+ exports.ECNN_IDS = [8500, 8501, 8600, 8601, 8514, 8614];
130
+ exports.ECDL_IDS = [8512, 8513, 8612, 8613, 8524, 8624];
131
+ exports.ECDB_E1_IDS = [8508, 8509, 8608, 8609, 8522, 8622];
126
132
  exports.usableCirculoEncoderPortProductIds = [
127
133
  [...exports.ECDN_E1_IDS, ...exports.ECAN_IDS, ...exports.ECDL_IDS, ...exports.ECDB_E1_IDS],
128
134
  [...exports.ECDN_E1_IDS, ...exports.ECBN_IDS, ...exports.ECDL_IDS, ...exports.ECDB_E1_IDS],
package/src/lib/product.js.map CHANGED
@@ -1 +1 @@
1
- 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