npm - motion-master-client - Versions diffs - 0.0.149 → 0.0.151 - Mend

motion-master-client 0.0.149 → 0.0.151

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (6) hide show

package/package.json +1 -1
package/src/lib/integro-encoder-calibration.js +20 -18
package/src/lib/integro-encoder-calibration.js.map +1 -1
package/src/lib/motion-master-req-res-client.d.ts +39 -5
package/src/lib/motion-master-req-res-client.js +50 -6
package/src/lib/motion-master-req-res-client.js.map +1 -1

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.149",
+  "version": "0.0.151",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

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

@@ -64,12 +64,17 @@ class IntegroEncoderCalibration {
             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=${encoderFirmwareVersion.value}.`);
+            try {
+                yield this.client.request.resetFault(this.deviceRef);
+            }
+            catch (_a) { } // ignore
             // Retrieve the encoder configuration index assigned to Port 1.
             const encoder1ConfigurationSensorPort = yield this.client.request.upload(this.deviceRef, 0x2110, 1);
             const encoderConfigurationIndex = encoder1ConfigurationSensorPort === 1 ? 0x2110 : 0x2112;
             this.notifications$.next(`Setting the integrated encoder sampling frequency to 16 kHz (${hex(encoderConfigurationIndex)}:28 = 1).`);
             yield this.client.request.download(this.deviceRef, encoderConfigurationIndex, 28, 1);
             yield (0, util_1.resolveAfter)(200);
+            yield this.client.request.reloadDeviceStateMachine(this.deviceRef);
             this.notifications$.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);
@@ -208,14 +213,6 @@ class IntegroEncoderCalibration {
             this.notifications$.next('Requesting Quick stop from device.');
             this.client.request.quickStop(this.deviceRef).catch();
             this.revertVelocityParameterValues();
-            try {
-                yield this.notifyEncoderSpeeds();
-            }
-            catch (err) {
-                if (err instanceof Error) {
-                    this.notifications$.next(`Failed to notify the encoder speeds: ${err.message}`);
-                }
-            }
         });
     }
     /**
@@ -363,18 +360,10 @@ class IntegroEncoderCalibration {
             this.originalSiUnitVelocity = yield this.client.request.upload(this.deviceRef, 0x60A9, 0);
             let velocityWindow = (0, device_1.convertVelocityAffectedValue)(120, 0x00B44700, this.originalSiUnitVelocity, 0xFFFFFFFF, this.originalFeedConstantFeed);
             const velocityWindowTime = 500;
-            if (velocityWindow > 65535) { // switch to RPM
+            const switchToRpm = velocityWindow > 65535;
+            if (switchToRpm) {
                 this.notifications$.next('The user defined velocity units interfere with the maximum value of the calibration profile Velocity Window. Temporarily switching all units to RPM.');
                 velocityWindow = 120;
-                this.siUnitVelocity = 0x00B44700;
-                this.notifications$.next(`Setting the SI unit velocity (0x60A9:00) to ${this.siUnitVelocity}.`);
-                yield this.client.request.download(this.deviceRef, 0x60A9, 0, this.siUnitVelocity);
-                this.feedConstantFeed = 0xFFFFFFFF;
-                this.notifications$.next(`Setting the Feed constant Feed (0x6092:01) to ${this.feedConstantFeed}.`);
-                yield this.client.request.download(this.deviceRef, 0x6092, 1, this.feedConstantFeed);
-                this.feedConstantShaftRevolutions = 1;
-                this.notifications$.next(`Setting the Feed constant Shaft revolutions (0x6092:02) to ${this.feedConstantShaftRevolutions}.`);
-                yield this.client.request.download(this.deviceRef, 0x6092, 2, this.feedConstantShaftRevolutions);
                 this.feedConstant = this.feedConstantFeed / this.feedConstantShaftRevolutions;
                 this.maxMotorSpeed = (0, device_1.convertVelocityAffectedValue)(this.originalMaxMotorSpeed, this.originalSiUnitVelocity, this.siUnitVelocity, this.originalFeedConstant, this.feedConstant);
                 this.notifications$.next(`Setting the Max motor speed (0x6080:00) to ${this.maxMotorSpeed}.`);
@@ -395,6 +384,18 @@ class IntegroEncoderCalibration {
             yield this.client.request.download(this.deviceRef, 0x606D, 0, velocityWindow);
             this.notifications$.next(`Setting the Velocity window time (0x606E:00) to ${velocityWindowTime}.`);
             yield this.client.request.download(this.deviceRef, 0x606E, 0, velocityWindowTime);
+            if (switchToRpm) {
+                this.siUnitVelocity = 0x00B44700;
+                this.notifications$.next(`Setting the SI unit velocity (0x60A9:00) to ${this.siUnitVelocity}.`);
+                yield this.client.request.download(this.deviceRef, 0x60A9, 0, this.siUnitVelocity);
+                this.feedConstantFeed = 0xFFFFFFFF;
+                this.notifications$.next(`Setting the Feed constant Feed (0x6092:01) to ${this.feedConstantFeed}.`);
+                yield this.client.request.download(this.deviceRef, 0x6092, 1, this.feedConstantFeed);
+                this.feedConstantShaftRevolutions = 1;
+                this.notifications$.next(`Setting the Feed constant Shaft revolutions (0x6092:02) to ${this.feedConstantShaftRevolutions}.`);
+                yield this.client.request.download(this.deviceRef, 0x6092, 2, this.feedConstantShaftRevolutions);
+                yield this.client.request.reloadDeviceStateMachine(this.deviceRef);
+            }
         });
     }
     revertVelocityParameterValues() {
@@ -405,6 +406,7 @@ class IntegroEncoderCalibration {
             yield this.client.request.download(this.deviceRef, 0x6092, 1, this.originalFeedConstantFeed);
             this.notifications$.next(`Reverting the Feed constant Shaft revolutions (0x6092:02) to ${this.originalFeedConstantShaftRevolutions}.`);
             yield this.client.request.download(this.deviceRef, 0x6092, 2, this.originalFeedConstantShaftRevolutions);
+            yield this.client.request.reloadDeviceStateMachine(this.deviceRef);
             this.notifications$.next(`Reverting the Max motor speed (0x6080:00) to ${this.originalMaxMotorSpeed}.`);
             yield this.client.request.download(this.deviceRef, 0x6080, 0, this.originalMaxMotorSpeed);
             this.notifications$.next(`Reverting the Quick stop deceleration (0x6085:00) to ${this.originalQuickStopDeceleration}.`);

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

	@@ -1 +1 @@
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package/src/lib/motion-master-req-res-client.d.ts CHANGED Viewed

@@ -913,20 +913,43 @@ export declare class MotionMasterReqResClient {
      */
     storeParameters(deviceRef: DeviceRef): Observable<void>;
     /**
-     * Restore default parameters.
+     * Restore all default parameters.
      *
-     * Command the device to restore the default parameters, then delay initially and subsequently check if the value of
-     * the Restore default parameters has changed to 1, indicating the successful completion.
+     * Sends a command to the device to restore all default parameters (0x1011:01 = 0x64616f6c).
+     * After issuing the command, the function briefly waits and then checks if the parameter
+     * 0x1011:01 is updated to 1, indicating that the restoration process has completed successfully.
      *
+     * The configuration is loaded in the following order: first from the .factory_config file, then from the config.csv file,
+     * and finally from the .assembly_config file. Values in later files override those in earlier ones.
+     *
+     * @throws Error if the device does not revert the value of 0x1011:04 to 1 after the specified number of retries.
+     *
+     * For more information, refer to the documentation:
+     * {@link https://www.synapticon.com/documentation/circulo/sw5.0/device_info/save_restore_config.html}
+     */
+    restoreAllDefaultParameters(deviceRef: DeviceRef, type?: RestoreDefaultParametersType, retryConfig?: RetryConfig): Observable<void>;
+    /**
+     * Restore manufacturer default parameters.
+     *
+     * Sends a command to the device to restore manufacturer default parameters (0x1011:04 = 0x64616f6c).
+     * After issuing the command, the function briefly waits and then checks if the parameter
+     * 0x1011:04 is updated to 1, indicating that the restoration process has completed successfully.
+     *
+     * The configuration is first loaded from the .factory_config file, followed by the .assembly_config file,
+     * with values in the latter overriding those in the former.
+     *
+     * @throws Error if the device does not revert the value of 0x1011:04 to 1 after the specified number of retries.
+     *
+     * For more information, refer to the documentation:
      * {@link https://www.synapticon.com/documentation/circulo/sw5.0/device_info/save_restore_config.html}
      */
-    restoreDefaultParameters(deviceRef: DeviceRef, type?: RestoreDefaultParametersType, retryConfig?: RetryConfig): Observable<void>;
+    restoreManufacturerDefaultParameters(deviceRef: DeviceRef, type?: RestoreDefaultParametersType, retryConfig?: RetryConfig): Observable<void>;
     /**
      * Match parameter value.
      *
      * This function will retrieve a parameter value from a device and compare it with the expected value.
      *
-     * @throws Will throw an error if the values do not match.
+     * @throws Error if the values do not match.
      */
     matchParameterValue(deviceRef: DeviceRef, index: number, subindex: number, expectedValue: number): Observable<void>;
     matchCia402States(deviceRef: DeviceRef, expectedStates: Cia402State[]): Observable<void>;
@@ -963,6 +986,11 @@ export declare class MotionMasterReqResClient {
      * This is necessary because the automatic transition from QSA to SOD can occur faster than the client's polling interval.
      */
     transitionToCia402State(deviceRef: DeviceRef, targetState: Cia402State): Promise<void>;
+    /**
+     * Reloads the device state machine by transitioning from the current CiA402 state to "Switch On Disabled" and then to "Ready to Switch On".
+     * This transition ensures that certain parameter values, which do not apply immediately, are correctly applied when the device is in the "Operation Enabled" state.
+     */
+    reloadDeviceStateMachine(deviceRef: DeviceRef): Promise<void>;
     /**
      * Reset fault.
      *
@@ -1115,6 +1143,12 @@ export declare class MotionMasterReqResClient {
     /**
      * Replace the contents of the config.csv file with the provided data and instruct the device to load the updated configuration.
      * The new configuration is loaded using the 0x1011: Restore Default Parameters object.
+     *
+     * {@link restoreAllDefaultParameters}
      */
     loadConfig(deviceRef: DeviceRef, content: Uint8Array | string, retryConfig?: RetryConfig): Observable<void>;
+    /**
+     * Checks if the device has firmware by reading the Manufacturer Software Version parameter (0x100A:00).
+     */
+    hasFirmware(deviceRef: DeviceRef): Observable<boolean>;
 }

package/src/lib/motion-master-req-res-client.js CHANGED Viewed

@@ -1629,14 +1629,40 @@ class MotionMasterReqResClient {
         (0, operators_1.delay)(2000), (0, operators_1.mergeMap)(() => this.matchParameterValue(deviceRef, 0x1010, 1, 1).pipe((0, operators_1.retry)({ count: 10, delay: 500 }))));
     }
     /**
-     * Restore default parameters.
+     * Restore all default parameters.
      *
-     * Command the device to restore the default parameters, then delay initially and subsequently check if the value of
-     * the Restore default parameters has changed to 1, indicating the successful completion.
+     * Sends a command to the device to restore all default parameters (0x1011:01 = 0x64616f6c).
+     * After issuing the command, the function briefly waits and then checks if the parameter
+     * 0x1011:01 is updated to 1, indicating that the restoration process has completed successfully.
      *
+     * The configuration is loaded in the following order: first from the .factory_config file, then from the config.csv file,
+     * and finally from the .assembly_config file. Values in later files override those in earlier ones.
+     *
+     * @throws Error if the device does not revert the value of 0x1011:04 to 1 after the specified number of retries.
+     *
+     * For more information, refer to the documentation:
      * {@link https://www.synapticon.com/documentation/circulo/sw5.0/device_info/save_restore_config.html}
      */
-    restoreDefaultParameters(deviceRef, type = types_1.RestoreDefaultParametersType.RESTORE_ALL_DEFAULT_PARAMETERS, retryConfig = { count: 10, delay: 500 }) {
+    restoreAllDefaultParameters(deviceRef, type = types_1.RestoreDefaultParametersType.RESTORE_ALL_DEFAULT_PARAMETERS, retryConfig = { count: 10, delay: 500 }) {
+        return this.setParameterValue(deviceRef, 0x1011, type, 0x64616f6c).pipe(// "daol"
+        (0, operators_1.delay)(2000), (0, operators_1.mergeMap)(() => this.matchParameterValue(deviceRef, 0x1011, type, 1).pipe((0, operators_1.retry)(retryConfig))));
+    }
+    /**
+     * Restore manufacturer default parameters.
+     *
+     * Sends a command to the device to restore manufacturer default parameters (0x1011:04 = 0x64616f6c).
+     * After issuing the command, the function briefly waits and then checks if the parameter
+     * 0x1011:04 is updated to 1, indicating that the restoration process has completed successfully.
+     *
+     * The configuration is first loaded from the .factory_config file, followed by the .assembly_config file,
+     * with values in the latter overriding those in the former.
+     *
+     * @throws Error if the device does not revert the value of 0x1011:04 to 1 after the specified number of retries.
+     *
+     * For more information, refer to the documentation:
+     * {@link https://www.synapticon.com/documentation/circulo/sw5.0/device_info/save_restore_config.html}
+     */
+    restoreManufacturerDefaultParameters(deviceRef, type = types_1.RestoreDefaultParametersType.RESTORE_ALL_DEFAULT_PARAMETERS, retryConfig = { count: 10, delay: 500 }) {
         return this.setParameterValue(deviceRef, 0x1011, type, 0x64616f6c).pipe(// "daol"
         (0, operators_1.delay)(2000), (0, operators_1.mergeMap)(() => this.matchParameterValue(deviceRef, 0x1011, type, 1).pipe((0, operators_1.retry)(retryConfig))));
     }
@@ -1645,7 +1671,7 @@ class MotionMasterReqResClient {
      *
      * This function will retrieve a parameter value from a device and compare it with the expected value.
      *
-     * @throws Will throw an error if the values do not match.
+     * @throws Error if the values do not match.
      */
     matchParameterValue(deviceRef, index, subindex, expectedValue) {
         return this.getParameterValue(deviceRef, index, subindex).pipe((0, operators_1.map)((value) => {
@@ -1745,6 +1771,16 @@ class MotionMasterReqResClient {
             })));
         });
     }
+    /**
+     * Reloads the device state machine by transitioning from the current CiA402 state to "Switch On Disabled" and then to "Ready to Switch On".
+     * This transition ensures that certain parameter values, which do not apply immediately, are correctly applied when the device is in the "Operation Enabled" state.
+     */
+    reloadDeviceStateMachine(deviceRef) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            yield this.transitionToCia402State(deviceRef, cia402_1.Cia402State.SWITCH_ON_DISABLED);
+            yield this.transitionToCia402State(deviceRef, cia402_1.Cia402State.READY_TO_SWITCH_ON);
+        });
+    }
     /**
      * Reset fault.
      *
@@ -2075,13 +2111,21 @@ class MotionMasterReqResClient {
     /**
      * Replace the contents of the config.csv file with the provided data and instruct the device to load the updated configuration.
      * The new configuration is loaded using the 0x1011: Restore Default Parameters object.
+     *
+     * {@link restoreAllDefaultParameters}
      */
     loadConfig(deviceRef, content, retryConfig = { count: 10, delay: 500 }) {
         if (typeof content === 'string') {
             const encoder = new TextEncoder();
             content = encoder.encode(content);
         }
-        return this.setFile(deviceRef, 'config.csv', content, true).pipe((0, operators_1.mergeMap)(() => this.restoreDefaultParameters(deviceRef, types_1.RestoreDefaultParametersType.RESTORE_ALL_DEFAULT_PARAMETERS, retryConfig)));
+        return this.setFile(deviceRef, 'config.csv', content, true).pipe((0, operators_1.mergeMap)(() => this.restoreAllDefaultParameters(deviceRef, types_1.RestoreDefaultParametersType.RESTORE_ALL_DEFAULT_PARAMETERS, retryConfig)));
+    }
+    /**
+     * Checks if the device has firmware by reading the Manufacturer Software Version parameter (0x100A:00).
+     */
+    hasFirmware(deviceRef) {
+        return this.getParameterValue(deviceRef, 0x100A, 0).pipe((0, operators_1.map)((value) => value ? true : false), (0, operators_1.catchError)(() => (0, rxjs_1.of)(false)));
     }
 }
 exports.MotionMasterReqResClient = MotionMasterReqResClient;

package/src/lib/motion-master-req-res-client.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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