motion-master-client 0.0.118 → 0.0.120

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.118",
+  "version": "0.0.120",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/api.js

@@ -1,4 +1,5 @@
 "use strict";
+var _a;
 Object.defineProperty(exports, "__esModule", { value: true });
 const tslib_1 = require("tslib");
 const debug_1 = tslib_1.__importDefault(require("debug"));
@@ -9,18 +10,20 @@ const motion_master_client_1 = require("./lib/motion-master-client");
 Object.assign(globalThis, { WebSocket: require('ws') });
 const log = (0, debug_1.default)('mmapi');
 const app = (0, express_1.default)();
-const port = 63526;
+const port = (_a = process.env['PORT']) !== null && _a !== void 0 ? _a : 63526;
 let client;
 function errmsg(err) {
     return err instanceof Error ? err.message : 'Unknown error';
 }
+// Middleware to parse raw binary data
+app.use(express_1.default.raw({ type: 'application/octet-stream', limit: '10mb' }));
 // Middleware to handle a non-existing instance of a client
 app.use((req, res, next) => {
     if (req.path.startsWith('/api/connect') || req.path === '/api/disconnect') {
         return next();
     }
     if (!client) {
-        res.status(400).send('Client has not been created. Please connect using GET /api/connect/:hostname? before making requests to Motion Master.');
+        res.status(400).send({ error: 'Client has not been created. Please connect using GET /api/connect/:hostname? before making requests to Motion Master.' });
         return;
     }
     next();
@@ -39,12 +42,12 @@ const asyncHandler = (fn) => (req, res, next) => tslib_1.__awaiter(void 0, void
     }
 });
 app.get('/api/connect/:hostname?', (req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _a;
+    var _b;
     if (client) {
-        res.status(400).send('Client has already been created. Please disconnect (GET /api/disconnect) before creating a new client.');
+        res.status(409).send({ error: 'Client has already been created. Please disconnect (GET /api/disconnect) before creating a new client.' });
         return;
     }
-    const hostname = (_a = req.params['hostname']) !== null && _a !== void 0 ? _a : '127.0.0.1';
+    const hostname = (_b = req.params['hostname']) !== null && _b !== void 0 ? _b : '127.0.0.1';
     log(`Creating an instance of Motion Master client and connecting to ${hostname}.`);
     client = (0, motion_master_client_1.createMotionMasterClient)(hostname);
     try {
@@ -62,23 +65,14 @@ app.get('/api/disconnect', (_req, res) => {
     client = undefined;
     res.status(204).send();
 });
-app.get('/api/get-system-version', asyncHandler((_req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+app.get('/api/system-version', asyncHandler((_req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.getSystemVersion(5000));
-    res.send(status);
-})));
-app.get('/api/get-device-info', asyncHandler((_req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getDeviceInfo(5000));
-    res.send(status);
+    res.send({ version: status.version });
 })));
 app.get('/api/devices', asyncHandler((_req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
     const devices = yield (0, rxjs_1.lastValueFrom)(client.request.getDevices(10000));
     res.send(devices);
 })));
-app.get('/api/devices/:deviceRef/get-device-file-list', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    const deviceRefObj = (0, device_1.makeDeviceRefObj)(req.params['deviceRef']);
-    const status = yield (0, rxjs_1.lastValueFrom)(client.request.getDeviceFileList(deviceRefObj, 5000));
-    res.send(status);
-})));
 app.get('/api/devices/:deviceRef/upload/:index/:subindex', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const index = parseInt(req.params['index'], 16);
@@ -94,6 +88,31 @@ app.get('/api/devices/:deviceRef/download/:index/:subindex/:value', asyncHandler
     yield client.request.download(deviceRef, index, subindex, value);
     res.status(204).send();
 })));
+app.get('/api/devices/:deviceRef/files', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const value = yield (0, rxjs_1.lastValueFrom)(client.request.getFiles(deviceRef));
+    res.send(value);
+})));
+app.get('/api/devices/:deviceRef/files/:filename', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const filename = req.params['filename'];
+    const value = yield (0, rxjs_1.lastValueFrom)(client.request.getDecodedFile(deviceRef, filename));
+    res.send(value);
+})));
+app.post('/api/devices/:deviceRef/files/:filename', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const filename = req.params['filename'];
+    const buffer = req.body;
+    const content = new Uint8Array(buffer);
+    yield (0, rxjs_1.lastValueFrom)(client.request.setFile(deviceRef, filename, content, true, 30000));
+    res.send();
+})));
+app.delete('/api/devices/:deviceRef/files/:filename', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const filename = req.params['filename'];
+    yield (0, rxjs_1.lastValueFrom)(client.request.deleteFile(deviceRef, filename));
+    res.send();
+})));
 app.listen(port, () => {
     log(`API server is now running on port ${port}.`);
 });

package/src/api.js.map

@@ -1 +1 @@
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package/src/index.d.ts

@@ -25,6 +25,7 @@ export * from './lib/os-command';
 export * from './lib/parameter';
 export * from './lib/product';
 export * from './lib/request-status-resolver';
+export * from './lib/sii';
 export * from './lib/system-log-line';
 export * from './lib/types';
 export * from './lib/urls';

package/src/index.js

@@ -28,6 +28,7 @@ tslib_1.__exportStar(require("./lib/os-command"), exports);
 tslib_1.__exportStar(require("./lib/parameter"), exports);
 tslib_1.__exportStar(require("./lib/product"), exports);
 tslib_1.__exportStar(require("./lib/request-status-resolver"), exports);
+tslib_1.__exportStar(require("./lib/sii"), exports);
 tslib_1.__exportStar(require("./lib/system-log-line"), exports);
 tslib_1.__exportStar(require("./lib/types"), exports);
 tslib_1.__exportStar(require("./lib/urls"), exports);

package/src/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../libs/motion-master-client/src/index.ts"],"names":[],"mappings":";;;AAAA,uDAA6B;AAC7B,4DAAkC;AAClC,gEAAsC;AACtC,uDAA6B;AAC7B,gEAAsC;AACtC,iEAAuC;AACvC,wDAA8B;AAC9B,qEAA2C;AAC3C,gEAAsC;AACtC,4EAAkD;AAClD,kEAAwC;AACxC,iEAAuC;AACvC,qEAA2C;AAC3C,6EAAmD;AACnD,6EAAmD;AACnD,iFAAuD;AACvD,oFAA0D;AAC1D,6EAAmD;AACnD,6EAAmD;AACnD,iFAAuD;AACvD,oFAA0D;AAC1D,0DAAgC;AAChC,wDAA8B;AAC9B,2DAAiC;AACjC,0DAAgC;AAChC,wDAA8B;AAC9B,wEAA8C;AAC9C,oDAA0B;AAC1B,gEAAsC;AACtC,sDAA4B;AAC5B,qDAA2B;AAC3B,qDAA2B;AAC3B,kFAAwD"}

package/src/lib/encoder.d.ts

@@ -19,7 +19,7 @@ export interface CirculoEncoderBatteryMode {
     maxCurrent: number;
     value: number;
 }
-export declare const circuloEncoderBatteryModeMap: Map<"Node 400" | "Node 1000" | "Node 2000" | "Circulo 7" | "Circulo 9" | "Integro 60" | "Integro 80", CirculoEncoderBatteryMode[]>;
+export declare const circuloEncoderBatteryModeMap: Map<"Node 400" | "Node 1000" | "Node 2000" | "Circulo 7" | "Circulo 9" | "Integro 60" | "Integro 80" | "Actilink 60" | "Actilink 80", CirculoEncoderBatteryMode[]>;
 export type EncoderShaft = 'motor' | 'driving';
 export declare function getCirculoEncoderBatteryModeOptions(productId: string | number, shaft?: EncoderShaft): {
     key: string;

package/src/lib/hardware-description.d.ts

@@ -30,6 +30,14 @@ export interface HardwareDescription {
     device: HardwareDevice;
 }
 export declare function getIdFromHardwareDescription(hd: HardwareDescription): string;
+/**
+ * Constructs the API ID from the hardware description file.
+ * The API ID is a combination of the assembly or device ID, version, and optionally a Key ID, which is used for encrypting firmware binaries.
+ * Note: In the "Hardware Description File Format" document, the API ID is now referred to as FWID for clarity.
+ * @param hd The hardware description object.
+ * @param skipKeyId If true, assembles the API ID without including the Key ID.
+ * @returns An API identifier, such as "9600-02" or "9600-02-2423".
+ */
 export declare function getApiIdentifierFromHardwareDescription(hd: HardwareDescription, skipKeyId?: boolean): string;
 export declare function getNameFromHardwareDescription(hd: HardwareDescription): string;
 export declare function getSerialNumberFromHardwareDescription(hd: HardwareDescription): string;

package/src/lib/hardware-description.js

@@ -10,6 +10,14 @@ function getIdFromHardwareDescription(hd) {
         : hd.device.id;
 }
 exports.getIdFromHardwareDescription = getIdFromHardwareDescription;
+/**
+ * Constructs the API ID from the hardware description file.
+ * The API ID is a combination of the assembly or device ID, version, and optionally a Key ID, which is used for encrypting firmware binaries.
+ * Note: In the "Hardware Description File Format" document, the API ID is now referred to as FWID for clarity.
+ * @param hd The hardware description object.
+ * @param skipKeyId If true, assembles the API ID without including the Key ID.
+ * @returns An API identifier, such as "9600-02" or "9600-02-2423".
+ */
 function getApiIdentifierFromHardwareDescription(hd, skipKeyId = false) {
     let apiId = hd.assembly
         ? `${hd.assembly.id}-${hd.assembly.version}`

package/src/lib/hardware-description.js.map

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package/src/lib/integro-encoder-calibration.d.ts

@@ -6,13 +6,24 @@ interface VelocityProfile {
     acceleration: number;
     deceleration: number;
 }
+export declare function parseIntegroEncoderFirmwareVersion(value: number): {
+    value: number;
+    major: string;
+    minor: string;
+    datestamp: string;
+    year: string;
+    month: string;
+    day: string;
+};
 export declare class IntegroEncoderCalibration {
     private client;
     readonly deviceRef: DeviceRef;
     readonly notifications$: Subject<string>;
-    private readonly poeCalibrationVelocityProfile;
-    private readonly lookupTableVelocityProfileDirection1;
-    private readonly lookupTableVelocityProfileDirection2;
+    feedConstant: number;
+    maxMotorSpeed: number;
+    siUnitVelocity: number;
+    private readonly ccwVelocityProfile;
+    private readonly cwVelocityProfile;
     constructor(client: MotionMasterClient, deviceRef: DeviceRef);
     start(debug?: boolean): Promise<void>;
     /**
@@ -22,13 +33,15 @@ export declare class IntegroEncoderCalibration {
     /**
      * Set velocity profile.
      */
-    setVelocityProfile(velocityProfile: VelocityProfile, accelerationConstant?: number): Promise<void>;
+    setVelocityProfile(velocityProfile: VelocityProfile, accelerationConstant?: number): Promise<VelocityProfile>;
+    setVelocityWindow(value: number): Promise<number>;
+    setVelocityWindowTime(value: number): Promise<number>;
     /**
      * Write encoder register value and validate response.
      */
     writeEncoderRegisterValueAndValidateResponse(address: number, value: number, length?: number): Promise<void>;
     notifyParameterValue(index: number, subindex: number): Promise<void>;
-    notifyExtendedErrorStatus(): Promise<void>;
+    notifyExtendedErrorStatusAndGetErrorCodes(): Promise<number[]>;
     notifyEncoderSpeeds(): Promise<void>;
 }
 export {};

package/src/lib/integro-encoder-calibration.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.IntegroEncoderCalibration = void 0;
+exports.IntegroEncoderCalibration = exports.parseIntegroEncoderFirmwareVersion = void 0;
 const tslib_1 = require("tslib");
 const rxjs_1 = require("rxjs");
 const device_1 = require("./device");
@@ -12,22 +12,31 @@ const parameter_1 = require("./parameter");
 function hex(value) {
     return `0x${value.toString(16).toUpperCase()}`;
 }
+function parseIntegroEncoderFirmwareVersion(value) {
+    const str = String(value).padStart(10, '0');
+    const major = str.slice(0, 2);
+    const minor = str.slice(2, 4);
+    const datestamp = str.slice(4);
+    const year = datestamp.slice(0, 2);
+    const month = datestamp.slice(2, 4);
+    const day = datestamp.slice(4, 6);
+    return { value, major, minor, datestamp, year, month, day };
+}
+exports.parseIntegroEncoderFirmwareVersion = parseIntegroEncoderFirmwareVersion;
 class IntegroEncoderCalibration {
     constructor(client, deviceRef) {
         this.client = client;
         this.deviceRef = deviceRef;
         this.notifications$ = new rxjs_1.Subject();
-        this.poeCalibrationVelocityProfile = {
-            target: 1200,
-            acceleration: 4800,
-            deceleration: 4800, // RPM/s
-        };
-        this.lookupTableVelocityProfileDirection1 = {
+        this.feedConstant = 0;
+        this.maxMotorSpeed = 0;
+        this.siUnitVelocity = 0;
+        this.ccwVelocityProfile = {
             target: 3000,
             acceleration: 6000,
             deceleration: 6000, // RPM/s
         };
-        this.lookupTableVelocityProfileDirection2 = {
+        this.cwVelocityProfile = {
             target: -3000,
             acceleration: 6000,
             deceleration: 6000, // RPM/s
@@ -39,26 +48,46 @@ class IntegroEncoderCalibration {
             // Tuning of the control loop should be done by the user.
             this.notifications$.next(`Validating the device (${this.deviceRef}) before starting the Integro encoder calibration.`);
             yield this.validateDevice();
+            this.feedConstant = yield (0, rxjs_1.lastValueFrom)(this.client.request.getFeedConstant(this.deviceRef));
+            this.maxMotorSpeed = yield this.client.request.upload(this.deviceRef, 0x6080, 0);
+            this.siUnitVelocity = yield this.client.request.upload(this.deviceRef, 0x60A9, 0);
+            // Retrieve the encoder firmware version and display it.
+            let osCommandResponse = yield (0, rxjs_1.lastValueFrom)(this.client.request.runKublerEncoderRegisterCommunicationOsCommand(this.deviceRef, 0, 0x04, 4, 0, 10000, 1000, false));
+            const encoderFirmwareVersion = parseIntegroEncoderFirmwareVersion(osCommandResponse.kublerRegisterValue);
+            this.notifications$.next(`The firmware version of the Integro encoder (register 0x04) is: Major=${encoderFirmwareVersion.major}, Minor=${encoderFirmwareVersion.minor}, Date=${encoderFirmwareVersion.datestamp}, Value=${encoderFirmwareVersion.value}.`);
             // Retrieve the encoder configuration index assigned to Port 1.
             const encoder1ConfigurationSensorPort = yield this.client.request.upload(this.deviceRef, 0x2110, 1);
             const encoderConfigurationIndex = encoder1ConfigurationSensorPort === 1 ? 0x2110 : 0x2112;
             this.notifications$.next(`Setting the integrated encoder sampling frequency to 16 kHz (${hex(encoderConfigurationIndex)}:28 = 1).`);
             yield this.client.request.download(this.deviceRef, encoderConfigurationIndex, 28, 1);
-            yield (0, util_1.resolveAfter)(500);
+            yield (0, util_1.resolveAfter)(200);
+            // Configure the velocity profile window and time.
+            yield this.setVelocityWindow(120);
+            yield this.setVelocityWindowTime(500);
             this.notifications$.next('Switching the source of the velocity to the value provided by the encoder.');
             yield (0, rxjs_1.lastValueFrom)(this.client.request.runUseInternalEncoderVelocityOsCommand(this.deviceRef, 1, 10000, 1000, false));
             yield (0, util_1.resolveAfter)(200);
-            // Trigger the POA automatic calibration with an OS command.
-            this.notifications$.next('Triggering automatic calibration of the POA by setting register 0x25 to 0x09.');
-            yield this.writeEncoderRegisterValueAndValidateResponse(0x25, 0x09);
             // Convert the POE calibration velocity profile values and update the device.
-            yield this.setVelocityProfile(this.poeCalibrationVelocityProfile, 4);
+            let velocityProfile = yield this.setVelocityProfile(this.ccwVelocityProfile, 2);
             this.notifications$.next('Setting modes of operation to Profile velocity mode and transitioning to Operation enabled CiA402 state.');
             yield (0, rxjs_1.lastValueFrom)(this.client.request.setModesOfOperation(this.deviceRef, cia402_1.ModesOfOperation.PROFILE_VELOCITY_MODE));
             yield this.client.request.transitionToCia402State(this.deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
-            this.notifications$.next('Polling the encoder register 0x24 until its value equals 0x11 or until 5 seconds have passed.');
-            // Read the value of the encoder register 0x24 until its value equals 0x11 or until 5 seconds have passed.
-            let osCommandResponse = yield (0, rxjs_1.lastValueFrom)((0, rxjs_1.defer)(() => this.client.request.runKublerEncoderRegisterCommunicationOsCommand(this.deviceRef, 0, 0x24, 1, 0, 10000, 1000, false).pipe((0, rxjs_1.repeat)({ count: 14, delay: 500 }), (0, rxjs_1.takeWhile)(osCommandResponse => {
+            try {
+                yield this.client.whenTargetReached(this.deviceRef, 500, 5000);
+                yield this.notifyParameterValue(0x606C, 0); // Velocity actual value
+                // Trigger the POA automatic calibration with an OS command.
+                this.notifications$.next('Triggering automatic calibration of the POA by setting register 0x25 to 0x09.');
+                yield this.writeEncoderRegisterValueAndValidateResponse(0x25, 0x09);
+                yield (0, util_1.resolveAfter)(500);
+            }
+            catch (_err) {
+                this.client.request.quickStop(this.deviceRef).catch();
+                this.notifications$.next(`Target velocity ${velocityProfile.target} can't be reached. Aborting the calibration procedure.`);
+                return;
+            }
+            this.notifications$.next('Polling the encoder register 0x24 until its value equals 0x11 or until 8 seconds have passed.');
+            // Read the value of the encoder register 0x24 until its value equals 0x11 or until 8 seconds have passed.
+            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: 16, delay: 500 }), (0, rxjs_1.takeWhile)(osCommandResponse => {
                 if (debug) {
                     this.notifications$.next(`Value read from the encoder register 0x24 is ${hex(osCommandResponse.kublerRegisterValue)}.`);
                 }
@@ -70,20 +99,27 @@ class IntegroEncoderCalibration {
             else if (osCommandResponse.request === 'succeeded') {
                 this.notifications$.next(`The last value retrieved from register 0x24 is ${osCommandResponse.kublerRegisterValue}: ${os_command_1.kublerEncoderRegisterValueMeaning[0x24][osCommandResponse.kublerRegisterValue]}`);
             }
-            yield this.client.request.download(this.deviceRef, 0x60FF, 0, 0);
-            yield (0, util_1.resolveAfter)(500);
-            if (osCommandResponse.kublerRegisterValue === 0x09) {
-                this.notifications$.next('The calibration of the integrated encoder analogue gains cannot converge. Writing 0x05 to the encoder register 0x25.');
-                yield this.writeEncoderRegisterValueAndValidateResponse(0x25, 0x05);
+            if (osCommandResponse.kublerRegisterValue !== 0x11) {
+                this.notifications$.next('The analogue gains calibration did not converge. Please repeat the procedure.');
+                this.client.request.quickStop(this.deviceRef).catch();
+                return;
             }
+            yield (0, util_1.resolveAfter)(500);
             // Lookup table learning.
             this.notifications$.next('Running the motor at a constant speed in one direction.');
             // Run the motor at constant speed in one direction.
-            this.setVelocityProfile(this.lookupTableVelocityProfileDirection1, 2);
-            yield (0, util_1.resolveAfter)(2000);
-            yield this.notifyParameterValue(0x606C, 0); // Velocity actual value
-            this.notifications$.next('Writing 0x00C2 to the encoder register 0x50.');
-            yield this.writeEncoderRegisterValueAndValidateResponse(0x50, 0x00C2, 2);
+            try {
+                yield this.client.whenTargetReached(this.deviceRef, 500, 5000);
+                yield this.notifyParameterValue(0x606C, 0); // Velocity actual value
+                this.notifications$.next('Writing 0x00C2 to the encoder register 0x50.');
+                yield this.writeEncoderRegisterValueAndValidateResponse(0x50, 0x00C2, 2);
+                yield (0, util_1.resolveAfter)(500);
+            }
+            catch (_err) {
+                this.client.request.quickStop(this.deviceRef).catch();
+                this.notifications$.next(`Target velocity ${velocityProfile.target} can't be reached. Aborting the calibration procedure.`);
+                return;
+            }
             // Read the value of the encoder register 0x52 until its value satisfies the following condition (bit 6 = 1) & (bit 8 = 0) or until 8 seconds have passed.
             osCommandResponse = yield (0, rxjs_1.lastValueFrom)((0, rxjs_1.defer)(() => this.client.request.runKublerEncoderRegisterCommunicationOsCommand(this.deviceRef, 0, 0x52, 2, 0, 10000, 1000, false).pipe((0, rxjs_1.repeat)({ count: 16, delay: 500 }), (0, rxjs_1.takeWhile)(osCommandResponse => {
                 if (debug) {
@@ -98,25 +134,35 @@ class IntegroEncoderCalibration {
                 this.notifications$.next(`The last value retrieved from register 0x52 is ${hex(osCommandResponse.kublerRegisterValue)}`);
             }
             yield this.client.request.download(this.deviceRef, 0x60FF, 0, 0);
-            yield (0, util_1.resolveAfter)(1000);
+            yield (0, util_1.resolveAfter)(200);
             this.notifications$.next('Reversing the rotation direction.');
             // Reverse the rotation direction.
-            if (debug) {
-                try {
-                    yield this.notifyExtendedErrorStatus();
+            try {
+                const [ec1, ec2] = yield this.notifyExtendedErrorStatusAndGetErrorCodes();
+                if ((((ec1 >> 16) & 0xFF) === 0x0F) || (((ec2 >> 16) & 0xFF) === 0x0F)) {
+                    this.notifications$.next('There was an error in recording the correction table. Please restart the procedure.');
+                    return;
                 }
-                catch (err) {
-                    if (err instanceof Error) {
-                        this.notifications$.next(`Failed to notify the extended error status: ${err.message}`);
-                    }
+            }
+            catch (err) {
+                if (err instanceof Error) {
+                    this.notifications$.next(`Failed to notify the extended error status: ${err.message}`);
                 }
             }
-            yield (0, util_1.resolveAfter)(1000);
-            this.setVelocityProfile(this.lookupTableVelocityProfileDirection2, 2);
-            yield (0, util_1.resolveAfter)(2000);
-            yield this.notifyParameterValue(0x606C, 0); // Velocity actual value
-            this.notifications$.next('Writing 0x00C2 to the encoder register 0x50.');
-            yield this.writeEncoderRegisterValueAndValidateResponse(0x50, 0x00C2, 2);
+            velocityProfile = yield this.setVelocityProfile(this.cwVelocityProfile, 2);
+            try {
+                yield this.client.whenTargetReached(this.deviceRef, 500, 5000);
+                yield this.notifyParameterValue(0x606C, 0); // Velocity actual value
+                // Trigger the POA automatic calibration with an OS command.
+                this.notifications$.next('Writing 0x00C2 to the encoder register 0x50.');
+                yield this.writeEncoderRegisterValueAndValidateResponse(0x50, 0x00C2, 2);
+                yield (0, util_1.resolveAfter)(500);
+            }
+            catch (_err) {
+                this.client.request.quickStop(this.deviceRef).catch();
+                this.notifications$.next(`Target velocity ${velocityProfile.target} can't be reached. Aborting the calibration procedure.`);
+                return;
+            }
             // Read the value of the encoder register 0x52 until its value satisfies the following condition (bit 6 = 1) & (bit 8 = 0) or until 8 seconds have passed.
             osCommandResponse = yield (0, rxjs_1.lastValueFrom)((0, rxjs_1.defer)(() => this.client.request.runKublerEncoderRegisterCommunicationOsCommand(this.deviceRef, 0, 0x52, 2, 0, 10000, 1000, false).pipe((0, rxjs_1.repeat)({ count: 16, delay: 500 }), (0, rxjs_1.takeWhile)(osCommandResponse => {
                 if (debug) {
@@ -131,30 +177,30 @@ class IntegroEncoderCalibration {
                 this.notifications$.next(`The last value retrieved from register 0x52 is ${hex(osCommandResponse.kublerRegisterValue)}`);
             }
             yield this.client.request.download(this.deviceRef, 0x60FF, 0, 0);
-            yield (0, util_1.resolveAfter)(500);
-            this.notifications$.next('Saving the correction table by writing 0x00D0 to the encoder register 0x50.');
-            yield this.writeEncoderRegisterValueAndValidateResponse(0x50, 0x00D0, 2);
-            this.notifications$.next('Requesting Quick stop from device.');
-            yield this.client.request.quickStop(this.deviceRef);
-            yield (0, util_1.resolveAfter)(1000);
-            if (debug) {
-                try {
-                    yield this.notifyExtendedErrorStatus();
-                }
-                catch (err) {
-                    if (err instanceof Error) {
-                        this.notifications$.next(`Failed to notify the extended error status: ${err.message}`);
-                    }
+            yield (0, util_1.resolveAfter)(200);
+            try {
+                const [ec1, ec2] = yield this.notifyExtendedErrorStatusAndGetErrorCodes();
+                if ((((ec1 >> 16) & 0xFF) === 0x0F) || (((ec2 >> 16) & 0xFF) === 0x0F)) {
+                    this.notifications$.next('There was an error in recording the correction table. Please restart the procedure.');
+                    return;
                 }
+                this.notifications$.next('Saving the correction table by writing 0x00D0 to the encoder register 0x50.');
+                yield this.writeEncoderRegisterValueAndValidateResponse(0x50, 0x00D0, 2);
             }
-            if (debug) {
-                try {
-                    yield this.notifyEncoderSpeeds();
+            catch (err) {
+                if (err instanceof Error) {
+                    this.notifications$.next(`Failed to notify the extended error status: ${err.message}`);
                 }
-                catch (err) {
-                    if (err instanceof Error) {
-                        this.notifications$.next(`Failed to notify the encoder speeds: ${err.message}`);
-                    }
+            }
+            yield (0, util_1.resolveAfter)(500);
+            this.notifications$.next('Requesting Quick stop from device.');
+            this.client.request.quickStop(this.deviceRef).catch();
+            try {
+                yield this.notifyEncoderSpeeds();
+            }
+            catch (err) {
+                if (err instanceof Error) {
+                    this.notifications$.next(`Failed to notify the encoder speeds: ${err.message}`);
                 }
             }
         });
@@ -228,30 +274,46 @@ class IntegroEncoderCalibration {
     setVelocityProfile(velocityProfile, accelerationConstant = 2) {
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
             const vp = Object.assign({}, velocityProfile); // make a copy
-            const maxMotorSpeed = yield this.client.request.upload(this.deviceRef, 0x6080, 0);
-            const siUnitVelocity = yield this.client.request.upload(this.deviceRef, 0x60A9, 0);
-            const feedConstant = yield (0, rxjs_1.lastValueFrom)(this.client.request.getFeedConstant(this.deviceRef));
             // The velocity target value should not exceed the maximum motor speed.
             // If it's higher than the maximum motor speed, set it to 95% of the maximum motor speed and update acceleration and deceleration accordingly.
-            if (Math.abs(vp.target) > maxMotorSpeed) {
+            if (Math.abs(vp.target) > this.maxMotorSpeed) {
                 const sgn = vp.target < 0 ? -1 : 1;
-                vp.target = sgn * maxMotorSpeed * 0.95;
+                vp.target = sgn * this.maxMotorSpeed * 0.95;
                 vp.acceleration = Math.abs(vp.target) * accelerationConstant;
                 vp.deceleration = Math.abs(vp.target) * accelerationConstant;
             }
             // Convert the velocity profile values using the user-configured SI unit velocity and Feed constant.
             for (let [key, value] of Object.entries(vp)) {
-                vp[key] = (0, device_1.convertSiUnitVelocityAffectedValue)(value, 0x00B44700, siUnitVelocity);
-                vp[key] = (0, device_1.convertFeedConstantAffectedVelocityValue)(vp[key], 0xFFFFFFFF, feedConstant);
+                vp[key] = (0, device_1.convertSiUnitVelocityAffectedValue)(value, 0x00B44700, this.siUnitVelocity);
+                vp[key] = (0, device_1.convertFeedConstantAffectedVelocityValue)(vp[key], 0xFFFFFFFF, this.feedConstant);
             }
             // Update the velocity target, and profile acceleration and deceleration values.
-            this.notifications$.next(`Setting velocity target value to ${vp.target}, with velocity profile acceleration and deceleration set to ${vp.acceleration} and ${vp.deceleration}, respectively.`);
+            this.notifications$.next(`Setting velocity target value (0x60FF:00) to ${vp.target}, with the velocity profile acceleration (0x6083:00) set to ${vp.acceleration} and deceleration (0x6084:00) set to ${vp.deceleration}.`);
             yield (0, rxjs_1.lastValueFrom)(this.client.request.setParameterValues([
                 [this.deviceRef, 0x6083, 0, vp.acceleration],
                 [this.deviceRef, 0x6084, 0, vp.deceleration],
                 [this.deviceRef, 0x6086, 0, 0],
                 [this.deviceRef, 0x60FF, 0, vp.target], // 0x60FF: Target velocity
             ]));
+            return vp;
+        });
+    }
+    setVelocityWindow(value) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            value = (0, device_1.convertSiUnitVelocityAffectedValue)(value, 0x00B44700, this.siUnitVelocity);
+            value = (0, device_1.convertFeedConstantAffectedVelocityValue)(value, 0xFFFFFFFF, this.feedConstant);
+            this.notifications$.next(`Setting the velocity window (0x606D:00) to ${value}.`);
+            yield this.client.request.download(this.deviceRef, 0x606D, 0, value);
+            return value;
+        });
+    }
+    setVelocityWindowTime(value) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            value = (0, device_1.convertSiUnitVelocityAffectedValue)(value, 0x00B44700, this.siUnitVelocity);
+            value = (0, device_1.convertFeedConstantAffectedVelocityValue)(value, 0xFFFFFFFF, this.feedConstant);
+            this.notifications$.next(`Setting the velocity window time (0x606E:00) to ${value}.`);
+            yield this.client.request.download(this.deviceRef, 0x606E, 0, value);
+            return value;
         });
     }
     /**
@@ -269,10 +331,10 @@ class IntegroEncoderCalibration {
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
             const id = (0, parameter_1.makeParameterId)(index, subindex);
             const value = yield this.client.request.upload(this.deviceRef, index, subindex);
-            this.notifications$.next(`Value of ${id} is ${value}`);
+            this.notifications$.next(`Value of ${id} is ${value}.`);
         });
     }
-    notifyExtendedErrorStatus() {
+    notifyExtendedErrorStatusAndGetErrorCodes() {
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
             const ec1Response = yield (0, rxjs_1.lastValueFrom)(this.client.request.runKublerEncoderRegisterCommunicationOsCommand(this.deviceRef, 0x00, 0x66, 0x04, 0, 10000, 1000, false));
             this.notifications$.next(`The value of register 0x66 (Error code 1) is ${hex(ec1Response.kublerRegisterValue)}.`);
@@ -280,6 +342,7 @@ class IntegroEncoderCalibration {
             this.notifications$.next(`The value of register 0x6A (Error code 2) is ${hex(ec2Response.kublerRegisterValue)}.`);
             this.notifications$.next(`Clearing the encoder errors by writing the value 0x02 to register 0x61.`);
             yield (0, rxjs_1.lastValueFrom)(this.client.request.runKublerEncoderRegisterCommunicationOsCommand(this.deviceRef, 0x01, 0x61, 0x01, 0x02, 10000, 1000, false));
+            return [ec1Response.kublerRegisterValue, ec2Response.kublerRegisterValue];
         });
     }
     notifyEncoderSpeeds() {