motion-master-client 0.0.141 → 0.0.142

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.141",
+  "version": "0.0.142",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/api.js

@@ -9,6 +9,7 @@ const device_1 = require("./lib/device");
 const motion_master_client_1 = require("./lib/motion-master-client");
 const parameter_1 = require("./lib/parameter");
 const types_1 = require("./lib/types");
+const integro_encoder_calibration_1 = require("./lib/integro-encoder-calibration");
 Object.assign(globalThis, { WebSocket: require('ws') });
 const log = (0, debug_1.default)('mmapi');
 const app = (0, express_1.default)();
@@ -23,6 +24,45 @@ function asBoolean(value) {
     }
     return value.toLowerCase() === 'true' || value === '1';
 }
+function createDefaultDataMonitoringParameterIds(deviceRef) {
+    return [
+        // 0x1600: RxPDO Mapping 1
+        [deviceRef, 0x6040, 0x00],
+        [deviceRef, 0x6060, 0x00],
+        [deviceRef, 0x6071, 0x00],
+        [deviceRef, 0x607a, 0x00],
+        [deviceRef, 0x60ff, 0x00],
+        [deviceRef, 0x60b2, 0x00],
+        [deviceRef, 0x2701, 0x00],
+        // 0x1601: RxPDO Mapping 2
+        [deviceRef, 0x60fe, 0x01],
+        [deviceRef, 0x60fe, 0x02],
+        // 0x1602: RxPDO Mapping 3
+        [deviceRef, 0x2703, 0x00],
+        [deviceRef, 0x60b1, 0x00],
+        // 0x1A00: TxPDO Mapping 1
+        [deviceRef, 0x6041, 0x00],
+        [deviceRef, 0x6061, 0x00],
+        [deviceRef, 0x6064, 0x00],
+        [deviceRef, 0x606c, 0x00],
+        [deviceRef, 0x6077, 0x00],
+        [deviceRef, 0x60f4, 0x00],
+        // 0x1A01: TxPDO Mapping 2
+        [deviceRef, 0x2401, 0x00],
+        [deviceRef, 0x2402, 0x00],
+        [deviceRef, 0x2403, 0x00],
+        [deviceRef, 0x2404, 0x00],
+        [deviceRef, 0x2702, 0x00],
+        // 0x1A02: TxPDO Mapping 3
+        [deviceRef, 0x60fd, 0x00],
+        // 0x1A03: TxPDO Mapping 4
+        [deviceRef, 0x2704, 0x00],
+        [deviceRef, 0x20f0, 0x00],
+        [deviceRef, 0x60fc, 0x00],
+        [deviceRef, 0x606b, 0x00],
+        [deviceRef, 0x6074, 0x00], // Torque demand
+    ];
+}
 // 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
@@ -169,24 +209,25 @@ app.get('/api/devices/:deviceRef/log', asyncHandler((req, res) => tslib_1.__awai
     res.send(status.content);
 })));
 app.get('/api/devices/:deviceRef/start-cogging-torque-recording', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _c;
+    var _c, _d;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const response = yield (0, rxjs_1.lastValueFrom)(client.request.startCoggingTorqueRecording(deviceRefObj, 120000));
-    if (response.success) {
-        const value = yield (0, rxjs_1.lastValueFrom)(client.request.getCoggingTorqueData(deviceRefObj, 120000));
-        res.send((_c = value.table) === null || _c === void 0 ? void 0 : _c.data);
+    const skipAutoTuning = asBoolean(req.query['skip-auto-tuning']);
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startCoggingTorqueRecording(Object.assign(Object.assign({}, deviceRefObj), { skipAutoTuning }), 180000));
+    if (status.request === 'succeeded') {
+        const value = yield (0, rxjs_1.lastValueFrom)(client.request.getCoggingTorqueData(deviceRefObj, 10000));
+        res.send((_d = (_c = value.table) === null || _c === void 0 ? void 0 : _c.data) !== null && _d !== void 0 ? _d : []);
     }
     else {
-        res.send();
+        res.status(500).send(status.error);
     }
 })));
 app.get('/api/devices/:deviceRef/cogging-torque-data', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _d, _e;
+    var _e, _f;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.getCoggingTorqueData(deviceRefObj, 10000));
-    res.send({ data: (_e = (_d = status.table) === null || _d === void 0 ? void 0 : _d.data) !== null && _e !== void 0 ? _e : [] });
+    res.send((_f = (_e = status.table) === null || _e === void 0 ? void 0 : _e.data) !== null && _f !== void 0 ? _f : []);
 })));
 app.get('/api/devices/:deviceRef/start-offset-detection', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
@@ -201,13 +242,13 @@ app.get('/api/devices/:deviceRef/start-offset-detection', asyncHandler((req, res
     }
 })));
 app.get('/api/devices/:deviceRef/start-system-identification', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _f, _g, _h, _j;
+    var _g, _h, _j, _k;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
-    const durationSeconds = parseFloat(((_f = req.query['duration-seconds']) !== null && _f !== void 0 ? _f : '3.0'));
-    const torqueAmplitude = parseInt(((_g = req.query['torque-amplitude']) !== null && _g !== void 0 ? _g : '300'));
-    const startFrequency = parseInt(((_h = req.query['start-frequency']) !== null && _h !== void 0 ? _h : '2'));
-    const endFrequency = parseInt(((_j = req.query['end-frequency']) !== null && _j !== void 0 ? _j : '60'));
+    const durationSeconds = parseFloat(((_g = req.query['duration-seconds']) !== null && _g !== void 0 ? _g : '3.0'));
+    const torqueAmplitude = parseInt(((_h = req.query['torque-amplitude']) !== null && _h !== void 0 ? _h : '300'));
+    const startFrequency = parseInt(((_j = req.query['start-frequency']) !== null && _j !== void 0 ? _j : '2'));
+    const endFrequency = parseInt(((_k = req.query['end-frequency']) !== null && _k !== void 0 ? _k : '60'));
     const props = Object.assign(Object.assign({}, deviceRefObj), { durationSeconds,
         torqueAmplitude,
         startFrequency,
@@ -222,9 +263,9 @@ app.get('/api/devices/:deviceRef/start-system-identification', asyncHandler((req
     }
 })));
 app.get('/api/devices/:deviceRef/set-modes-of-operation/:modesOfOperation', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _k;
+    var _l;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const modesOfOperation = parseInt((_k = req.params['modesOfOperation']) !== null && _k !== void 0 ? _k : '0');
+    const modesOfOperation = parseInt((_l = req.params['modesOfOperation']) !== null && _l !== void 0 ? _l : '0');
     yield (0, rxjs_1.lastValueFrom)(client.request.setModesOfOperation(deviceRef, modesOfOperation));
     res.send();
 })));
@@ -252,16 +293,16 @@ app.put('/api/devices/:deviceRef/load-config', asyncHandler((req, res) => tslib_
     res.send();
 })));
 app.get('/api/devices/:deviceRef/start-full-auto-tuning/velocity', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _l, _m, _o;
+    var _m, _o, _p;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
     const type = types_1.MotionMasterMessage.Request.StartFullAutoTuning.Type.VELOCITY;
     const props = Object.assign(Object.assign({}, deviceRefObj), { type });
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.startFullAutoTuning(props, 60000));
     if (status.request === 'succeeded') {
-        const dampingRatio = (_l = status.dampingRatio) !== null && _l !== void 0 ? _l : 0;
-        const settlingTime = (_m = status.settlingTime) !== null && _m !== void 0 ? _m : 0;
-        const bandwidth = (_o = status.bandwidth) !== null && _o !== void 0 ? _o : 0;
+        const dampingRatio = (_m = status.dampingRatio) !== null && _m !== void 0 ? _m : 0;
+        const settlingTime = (_o = status.settlingTime) !== null && _o !== void 0 ? _o : 0;
+        const bandwidth = (_p = status.bandwidth) !== null && _p !== void 0 ? _p : 0;
         const pidObj = {};
         for (let subidx = 1; subidx < 5; subidx++) {
             pidObj[(0, parameter_1.makeParameterId)(0x2011, subidx)] = yield client.request.upload(deviceRef, 0x2011, subidx);
@@ -276,7 +317,7 @@ app.get('/api/devices/:deviceRef/start-full-auto-tuning/velocity', asyncHandler(
     }
 })));
 app.get('/api/devices/:deviceRef/start-full-auto-tuning/position/:controllerType', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _p, _q, _r;
+    var _q, _r, _s;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
     const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
     const type = types_1.MotionMasterMessage.Request.StartFullAutoTuning.Type.POSITION;
@@ -294,9 +335,9 @@ app.get('/api/devices/:deviceRef/start-full-auto-tuning/position/:controllerType
         controllerType });
     const status = yield (0, rxjs_1.lastValueFrom)(client.request.startFullAutoTuning(props, 60000));
     if (status.request === 'succeeded') {
-        const dampingRatio = (_p = status.dampingRatio) !== null && _p !== void 0 ? _p : 0;
-        const settlingTime = (_q = status.settlingTime) !== null && _q !== void 0 ? _q : 0;
-        const bandwidth = (_r = status.bandwidth) !== null && _r !== void 0 ? _r : 0;
+        const dampingRatio = (_q = status.dampingRatio) !== null && _q !== void 0 ? _q : 0;
+        const settlingTime = (_r = status.settlingTime) !== null && _r !== void 0 ? _r : 0;
+        const bandwidth = (_s = status.bandwidth) !== null && _s !== void 0 ? _s : 0;
         const pidObj = {};
         for (let subidx = 1; subidx < 9; subidx++) {
             pidObj[(0, parameter_1.makeParameterId)(0x2012, subidx)] = yield client.request.upload(deviceRef, 0x2012, subidx);
@@ -327,32 +368,98 @@ app.get('/api/devices/:deviceRef/set-halt-bit/:value', asyncHandler((req, res) =
     yield client.request.setHaltBit(deviceRef, value);
     res.send();
 })));
+/**
+ * @example curl "http://localhost:63500/api/devices/0/run-torque-profile?target=100&holding-duration=3000&skip-quick-stop=false&target-reach-timeout=5000&slope=50&window=30&window-time=1"
+ */
+app.get('/api/devices/:deviceRef/run-torque-profile', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _t, _u;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const target = parseInt(((_t = req.query['target']) !== null && _t !== void 0 ? _t : '1000'));
+    const holdingDuration = parseInt(req.query['holding-duration']) || undefined;
+    const skipQuickStop = asBoolean(req.query['skip-quick-stop']);
+    const targetReachTimeout = parseInt(req.query['target-reach-timeout']) || undefined;
+    const slope = parseInt(((_u = req.query['slope']) !== null && _u !== void 0 ? _u : '50'));
+    const window = parseInt(req.query['window']) || undefined;
+    const windowTime = parseInt(req.query['window-time']) || undefined;
+    const dataMonitoring = client.createDataMonitoring(createDefaultDataMonitoringParameterIds(deviceRef), 1);
+    dataMonitoring.start().subscribe();
+    try {
+        yield client.runTorqueProfile(deviceRef, {
+            target,
+            holdingDuration,
+            skipQuickStop,
+            targetReachTimeout,
+            slope,
+            window,
+            windowTime,
+        });
+        res.send(dataMonitoring.csv);
+    }
+    finally {
+        dataMonitoring.stop();
+    }
+})));
+/**
+ * @example curl "http://localhost:63500/api/devices/0/run-velocity-profile?acceleration=5000&target=1000&deceleration=5000&holding-duration=2000&skip-quick-stop=false&target-reach-timeout=5000&window=10&window-time=1"
+ */
 app.get('/api/devices/:deviceRef/run-velocity-profile', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
-    var _s, _t, _u, _v, _w, _x, _y;
+    var _v, _w, _x;
     const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
-    const acceleration = parseInt(((_s = req.query['acceleration']) !== null && _s !== void 0 ? _s : '2000'));
-    const amplitude = parseInt(((_t = req.query['amplitude']) !== null && _t !== void 0 ? _t : '1000'));
-    const deceleration = parseInt(((_u = req.query['deceleration']) !== null && _u !== void 0 ? _u : '2000'));
-    const holdingDuration = parseInt(((_v = req.query['holding-duration']) !== null && _v !== void 0 ? _v : '1000'));
+    const acceleration = parseInt(((_v = req.query['acceleration']) !== null && _v !== void 0 ? _v : '1000'));
+    const target = parseInt(((_w = req.query['target']) !== null && _w !== void 0 ? _w : '1000'));
+    const deceleration = parseInt(((_x = req.query['deceleration']) !== null && _x !== void 0 ? _x : '1000'));
+    const holdingDuration = parseInt(req.query['holding-duration']) || undefined;
     const skipQuickStop = asBoolean(req.query['skip-quick-stop']);
-    const targetReachedTimeout = parseInt(((_w = req.query['target-reached-timeout']) !== null && _w !== void 0 ? _w : '5000'));
-    const window = parseInt(((_x = req.query['window']) !== null && _x !== void 0 ? _x : '10'));
-    const windowTime = parseInt(((_y = req.query['window-time']) !== null && _y !== void 0 ? _y : '5'));
-    const dataMonitoring = client.createDataMonitoring([
-        [deviceRef, 0x20F0, 0],
-        [deviceRef, 0x606B, 0],
-        [deviceRef, 0x606C, 0],
-        [deviceRef, 0x60FF, 0], // Target velocity
-    ], 1);
+    const targetReachTimeout = parseInt(req.query['target-reach-timeout']) || undefined;
+    const window = parseInt(req.query['window']) || undefined;
+    const windowTime = parseInt(req.query['window-time']) || undefined;
+    const dataMonitoring = client.createDataMonitoring(createDefaultDataMonitoringParameterIds(deviceRef), 1);
     dataMonitoring.start().subscribe({ error: () => { } }); // ignore error
     try {
         yield client.runVelocityProfile(deviceRef, {
             acceleration,
-            amplitude,
+            target,
+            deceleration,
+            holdingDuration,
+            skipQuickStop,
+            targetReachTimeout,
+            window,
+            windowTime,
+        });
+        res.send(dataMonitoring.csv);
+    }
+    finally {
+        dataMonitoring.stop();
+    }
+})));
+/**
+ * @example curl "http://localhost:63500/api/devices/0/run-position-profile?acceleration=5000&target=10000&deceleration=5000&holding-duration=2000&relative=true&skip-quick-stop=false&target-reach-timeout=5000&velocity=2000&window=10&window-time=1"
+ */
+app.get('/api/devices/:deviceRef/run-position-profile', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _y, _z, _0, _1;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const acceleration = parseInt(((_y = req.query['acceleration']) !== null && _y !== void 0 ? _y : '1000'));
+    const target = parseInt(((_z = req.query['target']) !== null && _z !== void 0 ? _z : '1000'));
+    const deceleration = parseInt(((_0 = req.query['deceleration']) !== null && _0 !== void 0 ? _0 : '1000'));
+    const holdingDuration = parseInt(req.query['holding-duration']) || undefined;
+    const relative = asBoolean(req.query['relative']);
+    const skipQuickStop = asBoolean(req.query['skip-quick-stop']);
+    const targetReachTimeout = parseInt(req.query['target-reach-timeout']) || undefined;
+    const velocity = parseInt(((_1 = req.query['velocity']) !== null && _1 !== void 0 ? _1 : '100'));
+    const window = parseInt(req.query['window']) || undefined;
+    const windowTime = parseInt(req.query['window-time']) || undefined;
+    const dataMonitoring = client.createDataMonitoring(createDefaultDataMonitoringParameterIds(deviceRef), 1);
+    dataMonitoring.start().subscribe();
+    try {
+        yield client.runPositionProfile(deviceRef, {
+            acceleration,
+            target,
             deceleration,
             holdingDuration,
+            relative,
             skipQuickStop,
-            targetReachedTimeout,
+            targetReachTimeout,
+            velocity,
             window,
             windowTime,
         });
@@ -362,6 +469,43 @@ app.get('/api/devices/:deviceRef/run-velocity-profile', asyncHandler((req, res)
         dataMonitoring.stop();
     }
 })));
+app.get('/api/devices/:deviceRef/apply-set-point', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    yield client.request.applySetPoint(deviceRef);
+    res.send();
+})));
+app.get('/api/devices/:deviceRef/start-circulo-encoder-narrow-angle-calibration', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _2;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const encoderOrdinal = parseInt(((_2 = req.query['encoder-ordinal']) !== null && _2 !== void 0 ? _2 : '1'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startCirculoEncoderNarrowAngleCalibrationProcedure(Object.assign(Object.assign({}, deviceRefObj), { encoderOrdinal }), 120000));
+    if (status.request === 'succeeded') {
+        res.send();
+    }
+    else {
+        res.status(500).send(status.error);
+    }
+})));
+app.get('/api/devices/:deviceRef/start-circulo-encoder-configuration', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    var _3, _4;
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    const deviceRefObj = (0, device_1.makeDeviceRefObj)(deviceRef);
+    const encoderOrdinal = parseInt(((_3 = req.query['encoder-ordinal']) !== null && _3 !== void 0 ? _3 : '1'));
+    const batteryModeMaxAcceleration = parseInt(((_4 = req.query['battery-mode-max-acceleration']) !== null && _4 !== void 0 ? _4 : '0'));
+    const status = yield (0, rxjs_1.lastValueFrom)(client.request.startCirculoEncoderConfiguration(Object.assign(Object.assign({}, deviceRefObj), { encoderOrdinal, batteryModeMaxAcceleration }), 30000));
+    if (status.request === 'succeeded') {
+        res.send();
+    }
+    else {
+        res.status(500).send(status.error);
+    }
+})));
+app.get('/api/devices/:deviceRef/start-integro-encoder-calibration', asyncHandler((req, res) => tslib_1.__awaiter(void 0, void 0, void 0, function* () {
+    const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
+    yield new integro_encoder_calibration_1.IntegroEncoderCalibration(client, deviceRef).start();
+    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/lib/data-monitoring.d.ts

@@ -29,6 +29,13 @@ export declare class DataMonitoring {
      */
     private finalize$;
     constructor(client: MotionMasterClient, ids: DeviceParameterIds, monitoringInterval: number, config?: MonitoringConfig | undefined);
+    /**
+     * Generates a CSV header string using the provided device parameter IDs.
+     *
+     * @example
+     * 0x6040:00,0x6060:00,0x6071:00,0x607A:00,0x60FF:00
+     */
+    get header(): string;
     /**
      * Converts the collected data to CSV format.
      */

package/src/lib/data-monitoring.js

@@ -2,6 +2,8 @@
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.DataMonitoring = void 0;
 const rxjs_1 = require("rxjs");
+const device_parameter_1 = require("./device-parameter");
+const parameter_1 = require("./parameter");
 /**
  * The DataMonitoring class tracks and collects device parameter values.
  *
@@ -30,11 +32,29 @@ class DataMonitoring {
          */
         this.finalize$ = new rxjs_1.Subject();
     }
+    /**
+     * Generates a CSV header string using the provided device parameter IDs.
+     *
+     * @example
+     * 0x6040:00,0x6060:00,0x6071:00,0x607A:00,0x60FF:00
+     */
+    get header() {
+        return this.ids.map((value) => {
+            if (typeof value === 'string') {
+                const [, index, subindex] = (0, device_parameter_1.splitDeviceParameterId)(value);
+                return (0, parameter_1.makeParameterId)(index, subindex);
+            }
+            else {
+                return (0, parameter_1.makeParameterId)(value[1], value[2]);
+            }
+        }).join(',');
+    }
     /**
      * Converts the collected data to CSV format.
      */
     get csv() {
-        return this.data.map(values => values.join(',')).join('\n');
+        const rows = this.data.map(values => values.join(','));
+        return [this.header, ...rows].join('\n');
     }
     /**
      * Clears the previously collected data.

package/src/lib/data-monitoring.js.map

@@ -1 +1 @@
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+{"version":3,"file":"data-monitoring.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/data-monitoring.ts"],"names":[],"mappings":";;;AAAA,+BAA2D;AAI3D,yDAA4D;AAC5D,2CAA8C;AAE9C;;;;;GAKG;AACH,MAAa,cAAc;IAoBzB,YACkB,MAA0B,EAC1B,GAAuB,EACvB,kBAA0B,EAC1B,MAAyB;QAHzB,WAAM,GAAN,MAAM,CAAoB;QAC1B,QAAG,GAAH,GAAG,CAAoB;QACvB,uBAAkB,GAAlB,kBAAkB,CAAQ;QAC1B,WAAM,GAAN,MAAM,CAAmB;QAtB3C;;;;WAIG;QACa,SAAI,GAA2B,EAAE,CAAC;QAElD;;;WAGG;QACI,YAAO,GAAG,IAAI,CAAC;QAEtB;;WAEG;QACK,cAAS,GAAG,IAAI,cAAO,EAAQ,CAAC;IAOpC,CAAC;IAEL;;;;;OAKG;IACH,IAAI,MAAM;QACR,OAAO,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,KAAK,EAAE,EAAE;YAC5B,IAAI,OAAO,KAAK,KAAK,QAAQ,EAAE;gBAC7B,MAAM,CAAC,EAAE,KAAK,EAAE,QAAQ,CAAC,GAAG,IAAA,yCAAsB,EAAC,KAAK,CAAC,CAAC;gBAC1D,OAAO,IAAA,2BAAe,EAAC,KAAK,EAAE,QAAQ,CAAC,CAAC;aACzC;iBAAM;gBACL,OAAO,IAAA,2BAAe,EAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;aAC5C;QACH,CAAC,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;IACf,CAAC;IAED;;OAEG;IACH,IAAI,GAAG;QACL,MAAM,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,MAAM,CAAC,EAAE,CAAC,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC;QACvD,OAAO,CAAC,IAAI,CAAC,MAAM,EAAE,GAAG,IAAI,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAC3C,CAAC;IAED;;OAEG;IACH,KAAK;QACH,IAAI,CAAC,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC;IACvB,CAAC;IAED;;;;OAIG;IACH,KAAK;QACH,IAAI,IAAI,CAAC,OAAO,EAAE;YAChB,OAAO,IAAI,CAAC,MAAM,CAAC,eAAe,CAAC,IAAI,CAAC,GAAG,EAAE,IAAI,CAAC,kBAAkB,EAAE,IAAI,CAAC,MAAM,EAAE,IAAI,CAAC,CAAC,IAAI,CAC3F,IAAA,UAAG,EAAC,CAAC,MAAM,EAAE,EAAE,CAAC,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,EACvC,IAAA,gBAAS,EAAC,IAAI,CAAC,SAAS,CAAC,CAC1B,CAAC;SACH;aAAM;YACL,OAAO,IAAI,CAAC,MAAM,CAAC,eAAe,CAAC,IAAI,CAAC,GAAG,EAAE,IAAI,CAAC,kBAAkB,EAAE,IAAI,CAAC,MAAM,EAAE,IAAI,CAAC,CAAC,IAAI,CAC3F,IAAA,gBAAS,EAAC,IAAI,CAAC,SAAS,CAAC,CAC1B,CAAC;SACH;IACH,CAAC;IAAA,CAAC;IAEF;;OAEG;IACH,IAAI;QACF,IAAI,CAAC,SAAS,CAAC,IAAI,EAAE,CAAC;IACxB,CAAC;IAAA,CAAC;CAEH;AApFD,wCAoFC"}

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

@@ -1,11 +1,6 @@
 import { Subject } from "rxjs";
 import { MotionMasterClient } from "./motion-master-client";
-import { DeviceRef } from "./types";
-interface VelocityProfile {
-    target: number;
-    acceleration: number;
-    deceleration: number;
-}
+import { DeviceRef, VelocityProfileConfig } from "./types";
 export declare function parseIntegroEncoderFirmwareVersion(value: number): {
     value: number;
     major: string;
@@ -44,7 +39,7 @@ export declare class IntegroEncoderCalibration {
     /**
      * Set velocity profile.
      */
-    setVelocityProfile(velocityProfile: VelocityProfile, accelerationConstant?: number): Promise<VelocityProfile>;
+    setVelocityProfile(velocityProfileConfig: VelocityProfileConfig, accelerationConstant?: number): Promise<VelocityProfileConfig>;
     /**
      * Write encoder register value and validate response.
      */
@@ -55,4 +50,3 @@ export declare class IntegroEncoderCalibration {
     updateVelocityParameterValues(): Promise<void>;
     revertVelocityParameterValues(): Promise<void>;
 }
-export {};

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

@@ -284,30 +284,30 @@ class IntegroEncoderCalibration {
     /**
      * Set velocity profile.
      */
-    setVelocityProfile(velocityProfile, accelerationConstant = 2) {
+    setVelocityProfile(velocityProfileConfig, accelerationConstant = 2) {
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            const vp = Object.assign({}, velocityProfile); // make a copy
+            const config = Object.assign({}, velocityProfileConfig); // make a copy
             // 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) > this.maxMotorSpeed) {
-                const sgn = vp.target < 0 ? -1 : 1;
-                vp.target = sgn * this.maxMotorSpeed * 0.95;
-                vp.acceleration = Math.abs(vp.target) * accelerationConstant;
-                vp.deceleration = Math.abs(vp.target) * accelerationConstant;
+            if (Math.abs(config.target) > this.maxMotorSpeed) {
+                const sgn = config.target < 0 ? -1 : 1;
+                config.target = sgn * this.maxMotorSpeed * 0.95;
+                config.acceleration = Math.abs(config.target) * accelerationConstant;
+                config.deceleration = Math.abs(config.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.convertVelocityAffectedValue)(value, 0x00B44700, this.siUnitVelocity, 0xFFFFFFFF, this.feedConstantFeed);
-            }
+            config.target = (0, device_1.convertVelocityAffectedValue)(config.target, 0x00B44700, this.siUnitVelocity, 0xFFFFFFFF, this.feedConstantFeed);
+            config.acceleration = (0, device_1.convertVelocityAffectedValue)(config.acceleration, 0x00B44700, this.siUnitVelocity, 0xFFFFFFFF, this.feedConstantFeed);
+            config.deceleration = (0, device_1.convertVelocityAffectedValue)(config.deceleration, 0x00B44700, this.siUnitVelocity, 0xFFFFFFFF, this.feedConstantFeed);
             // Update the velocity target, and profile acceleration and deceleration values.
-            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 ${vp.deceleration}.`);
+            this.notifications$.next(`Setting velocity target value (0x60FF:00) to ${config.target}, with the velocity profile acceleration (0x6083:00) set to ${config.acceleration} and deceleration (0x6084:00) set to ${config.deceleration}.`);
             yield (0, rxjs_1.lastValueFrom)(this.client.request.setParameterValues([
-                [this.deviceRef, 0x6083, 0, vp.acceleration],
-                [this.deviceRef, 0x6084, 0, vp.deceleration],
+                [this.deviceRef, 0x6083, 0, config.acceleration],
+                [this.deviceRef, 0x6084, 0, config.deceleration],
                 [this.deviceRef, 0x6086, 0, 0],
-                [this.deviceRef, 0x60FF, 0, vp.target], // 0x60FF: Target velocity
+                [this.deviceRef, 0x60FF, 0, config.target], // 0x60FF: Target velocity
             ]));
-            return vp;
+            return config;
         });
     }
     /**

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

@@ -1 +1 @@
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package/src/lib/motion-master-client.d.ts

@@ -85,7 +85,7 @@ export declare class MotionMasterClient {
      * If no target reached timeout is specified, the device will remain in the Operation Enabled state.
      * If a timeout is provided, the function will optionally send a quick stop once the target is reached and the holding duration has elapsed.
      *
-     * @throws Error if the target is not reached within the specified targetReachedTimeout.
+     * @throws Error if the target is not reached within the specified targetReachTimeout.
      */
     runTorqueProfile(deviceRef: DeviceRef, config: TorqueProfileConfig): Promise<void>;
     /**
@@ -97,7 +97,7 @@ export declare class MotionMasterClient {
      * If no target reached timeout is specified, the device will remain in the Operation Enabled state.
      * If a timeout is provided, the function will optionally send a quick stop once the target is reached and the holding duration has elapsed.
      *
-     * @throws Error if the target is not reached within the specified targetReachedTimeout.
+     * @throws Error if the target is not reached within the specified targetReachTimeout.
      */
     runVelocityProfile(deviceRef: DeviceRef, config: VelocityProfileConfig): Promise<void>;
     /**
@@ -109,7 +109,7 @@ export declare class MotionMasterClient {
      * If no target reached timeout is specified, the device will remain in the Operation Enabled state.
      * If a timeout is provided, the function will optionally send a quick stop once the target is reached and the holding duration has elapsed.
      *
-     * @throws Error if the target is not reached within the specified targetReachedTimeout.
+     * @throws Error if the target is not reached within the specified targetReachTimeout.
      */
     runPositionProfile(deviceRef: DeviceRef, config: PositionProfileConfig): Promise<void>;
     subscribeToSystemEvent(): void;

package/src/lib/motion-master-client.js

@@ -195,12 +195,12 @@ class MotionMasterClient {
      * If no target reached timeout is specified, the device will remain in the Operation Enabled state.
      * If a timeout is provided, the function will optionally send a quick stop once the target is reached and the holding duration has elapsed.
      *
-     * @throws Error if the target is not reached within the specified targetReachedTimeout.
+     * @throws Error if the target is not reached within the specified targetReachTimeout.
      */
     runTorqueProfile(deviceRef, config) {
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            yield this.request.download(deviceRef, 0x6071, 0, config.amplitude);
-            yield this.request.download(deviceRef, 0x6087, 0, config.torqueSlope);
+            yield this.request.download(deviceRef, 0x6071, 0, config.target);
+            yield this.request.download(deviceRef, 0x6087, 0, config.slope);
             if (config.window) {
                 yield this.request.download(deviceRef, 0x2014, 1, config.window);
             }
@@ -209,9 +209,9 @@ class MotionMasterClient {
             }
             yield (0, rxjs_1.lastValueFrom)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.TORQUE_PROFILE_MODE));
             yield this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
-            if (config.targetReachedTimeout && config.targetReachedTimeout > 0) {
+            if (config.targetReachTimeout && config.targetReachTimeout > 0) {
                 try {
-                    yield this.whenTargetReached(deviceRef, 1, config.targetReachedTimeout);
+                    yield this.whenTargetReached(deviceRef, 1, config.targetReachTimeout);
                     if (config.holdingDuration && config.holdingDuration > 0) {
                         yield (0, util_1.resolveAfter)(config.holdingDuration);
                     }
@@ -233,11 +233,11 @@ class MotionMasterClient {
      * If no target reached timeout is specified, the device will remain in the Operation Enabled state.
      * If a timeout is provided, the function will optionally send a quick stop once the target is reached and the holding duration has elapsed.
      *
-     * @throws Error if the target is not reached within the specified targetReachedTimeout.
+     * @throws Error if the target is not reached within the specified targetReachTimeout.
      */
     runVelocityProfile(deviceRef, config) {
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            yield this.request.download(deviceRef, 0x60FF, 0, config.amplitude);
+            yield this.request.download(deviceRef, 0x60FF, 0, config.target);
             yield this.request.download(deviceRef, 0x6083, 0, config.acceleration);
             yield this.request.download(deviceRef, 0x6084, 0, config.deceleration);
             if (config.window) {
@@ -248,9 +248,9 @@ class MotionMasterClient {
             }
             yield (0, rxjs_1.lastValueFrom)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.PROFILE_VELOCITY_MODE));
             yield this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
-            if (config.targetReachedTimeout && config.targetReachedTimeout > 0) {
+            if (config.targetReachTimeout && config.targetReachTimeout > 0) {
                 try {
-                    yield this.whenTargetReached(deviceRef, 1, config.targetReachedTimeout);
+                    yield this.whenTargetReached(deviceRef, 1, config.targetReachTimeout);
                     if (config.holdingDuration && config.holdingDuration > 0) {
                         yield (0, util_1.resolveAfter)(config.holdingDuration);
                     }
@@ -272,11 +272,17 @@ class MotionMasterClient {
      * If no target reached timeout is specified, the device will remain in the Operation Enabled state.
      * If a timeout is provided, the function will optionally send a quick stop once the target is reached and the holding duration has elapsed.
      *
-     * @throws Error if the target is not reached within the specified targetReachedTimeout.
+     * @throws Error if the target is not reached within the specified targetReachTimeout.
      */
     runPositionProfile(deviceRef, config) {
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            yield this.request.download(deviceRef, 0x607A, 0, config.amplitude);
+            if (config.relative) {
+                const positionActualValue = yield this.request.upload(deviceRef, 0x6064, 0);
+                yield this.request.download(deviceRef, 0x607A, 0, config.target + positionActualValue);
+            }
+            else {
+                yield this.request.download(deviceRef, 0x607A, 0, config.target);
+            }
             yield this.request.download(deviceRef, 0x6081, 0, config.velocity);
             yield this.request.download(deviceRef, 0x6083, 0, config.acceleration);
             yield this.request.download(deviceRef, 0x6084, 0, config.deceleration);
@@ -289,9 +295,9 @@ class MotionMasterClient {
             yield (0, rxjs_1.lastValueFrom)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.PROFILE_POSITION_MODE));
             yield this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
             yield this.request.applySetPoint(deviceRef);
-            if (config.targetReachedTimeout && config.targetReachedTimeout > 0) {
+            if (config.targetReachTimeout && config.targetReachTimeout > 0) {
                 try {
-                    yield this.whenTargetReached(deviceRef, 1, config.targetReachedTimeout);
+                    yield this.whenTargetReached(deviceRef, 1, config.targetReachTimeout);
                     if (config.holdingDuration && config.holdingDuration > 0) {
                         yield (0, util_1.resolveAfter)(config.holdingDuration);
                     }

package/src/lib/motion-master-client.js.map

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package/src/lib/types.d.ts

@@ -175,27 +175,27 @@ export interface TorqueProfileConfig {
     /**
      * Target torque (0x6071:00).
      */
-    amplitude: number;
+    target: number;
     /**
      * Delay, in milliseconds, before initiating a quick stop after the profile reaches the target.
-     * Note: This property is effective only if the targetReachedTimeout is set.
+     * Note: This property is effective only if the targetReachTimeout is set.
      */
     holdingDuration?: number;
-    /**
-     * Torque slope (0x6087:00).
-     */
-    torqueSlope: number;
     /**
      * Indicates whether to skip the quick stop request after reaching the target and the holding duration has passed.
      * If true, the device remains in the Operation Enabled CiA402 state without requesting a quick stop.
-     * Note: This property is effective only if the targetReachedTimeout is set.
+     * Note: This property is effective only if the targetReachTimeout is set.
      */
     skipQuickStop?: boolean;
     /**
      * Time, in milliseconds, to wait for the target reached bit to be set in the statusword (0x6041:00).
      * An error will be thrown if the target is not reached within this duration.
      */
-    targetReachedTimeout?: number;
+    targetReachTimeout?: number;
+    /**
+     * Torque slope (0x6087:00).
+     */
+    slope: number;
     /**
      * Torque window (0x2014:01).
      */
@@ -216,27 +216,27 @@ export interface VelocityProfileConfig {
     /**
      * Target velocity (0x60FF:00).
      */
-    amplitude: number;
+    target: number;
     /**
      * Profile deceleration (0x6084:00).
      */
     deceleration: number;
     /**
      * Delay, in milliseconds, before initiating a quick stop after the profile reaches the target.
-     * Note: This property is effective only if the targetReachedTimeout is set.
+     * Note: This property is effective only if the targetReachTimeout is set.
      */
     holdingDuration?: number;
     /**
      * Indicates whether to skip the quick stop request after reaching the target and the holding duration has passed.
      * If true, the device remains in the Operation Enabled CiA402 state without requesting a quick stop.
-     * Note: This property is effective only if the targetReachedTimeout is set.
+     * Note: This property is effective only if the targetReachTimeout is set.
      */
     skipQuickStop?: boolean;
     /**
      * Time, in milliseconds, to wait for the target reached bit to be set in the statusword (0x6041:00).
      * An error will be thrown if the target is not reached within this duration.
      */
-    targetReachedTimeout?: number;
+    targetReachTimeout?: number;
     /**
      * Velocity window (0x606D:00).
      */
@@ -257,27 +257,32 @@ export interface PositionProfileConfig {
     /**
      * Target position (0x607A:00).
      */
-    amplitude: number;
+    target: number;
     /**
      * Profile deceleration (0x6084:00).
      */
     deceleration: number;
     /**
      * Delay, in milliseconds, before initiating a quick stop after the profile reaches the target.
-     * Note: This property is effective only if the targetReachedTimeout is set.
+     * Note: This property is effective only if the targetReachTimeout is set.
      */
     holdingDuration?: number;
+    /**
+     * If `relative` is true, the provided target is added to the current position (0x6064) and the result is set as the target position (0x607A).
+     * If `relative` is false, the target is used as the absolute target position (0x607A).
+     */
+    relative?: boolean;
     /**
      * Indicates whether to skip the quick stop request after reaching the target and the holding duration has passed.
      * If true, the device remains in the Operation Enabled CiA402 state without requesting a quick stop.
-     * Note: This property is effective only if the targetReachedTimeout is set.
+     * Note: This property is effective only if the targetReachTimeout is set.
      */
     skipQuickStop?: boolean;
     /**
      * Time, in milliseconds, to wait for the target reached bit to be set in the statusword (0x6041:00).
      * An error will be thrown if the target is not reached within this duration.
      */
-    targetReachedTimeout?: number;
+    targetReachTimeout?: number;
     /**
      * Profile velocity (0x6081:00).
      */

package/src/lib/types.js.map

@@ -1 +1 @@
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+{"version":3,"file":"types.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/types.ts"],"names":[],"mappings":";;;AAAA,+DAAqD;AAEvC,QAAA,mBAAmB,GAAG,kCAAY,CAAC,mBAAmB,CAAC;AAkCrE,MAAa,YAAa,SAAQ,KAAK;CAAI;AAA3C,oCAA2C;AAgB1C,CAAC;AA0CF,6DAA6D;AAC/C,QAAA,oBAAoB,GAAG,2BAAmB,CAAC,OAAO,CAAC,uBAAuB,CAAC,KAAK,CAAC;AAE/F,6DAA6D;AAC/C,QAAA,cAAc,GAAG,2BAAmB,CAAC,OAAO,CAAC,sBAAsB,CAAC,cAAc,CAAC;AA8EjG,6DAA6D;AAC/C,QAAA,SAAS,GAAG,2BAAmB,CAAC,MAAM,CAAC,mBAAmB,CAAC,SAAS,CAAC,SAAS,CAAC;AAE7F,SAAgB,4BAA4B,CAAC,GAAuB;IAClE,OAAO,GAAG,CAAC,MAAM,GAAG,CAAC,IAAI,OAAO,GAAG,CAAC,CAAC,CAAC,KAAK,QAAQ,CAAC;AACtD,CAAC;AAFD,oEAEC;AAED,SAAgB,oCAAoC,CAAC,GAAwF;IAC3I,OAAO,CAAC,KAAK,CAAC,OAAO,CAAC,GAAG,CAAC,CAAC;AAC7B,CAAC;AAFD,oFAEC;AAED,IAAY,4BAGX;AAHD,WAAY,4BAA4B;IACtC,mIAAkC,CAAA;IAClC,qJAA2C,CAAA;AAC7C,CAAC,EAHW,4BAA4B,GAA5B,oCAA4B,KAA5B,oCAA4B,QAGvC;AA8CA,CAAC;AAiDD,CAAC;AA4DD,CAAC"}