motion-master-client 0.0.179 → 0.0.181

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.179",
+  "version": "0.0.181",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/lib/ethernet.d.ts

@@ -117,6 +117,8 @@ export declare class EthernetDevice {
      * Retrieves and caches PDO entries, including index, subindex, bit length, and data type,
      * for efficient reuse in operations like sending and receiving PDO values.
      *
+     * Note that requests to NetX must be made sequentially; otherwise, a fetch call in Node.js may time out, resulting in a 'ConnectTimeoutError'.
+     *
      * @param key - Specifies which PDO entries to retrieve ('rxPdoEntries' or 'txPdoEntries').
      * @returns A promise that resolves to an array of cached PDO entries.
      */

package/src/lib/ethernet.js

@@ -102,11 +102,13 @@ class EthernetDevice {
      * Retrieves and caches PDO entries, including index, subindex, bit length, and data type,
      * for efficient reuse in operations like sending and receiving PDO values.
      *
+     * Note that requests to NetX must be made sequentially; otherwise, a fetch call in Node.js may time out, resulting in a 'ConnectTimeoutError'.
+     *
      * @param key - Specifies which PDO entries to retrieve ('rxPdoEntries' or 'txPdoEntries').
      * @returns A promise that resolves to an array of cached PDO entries.
      */
     getCachedPdoEntries(key) {
-        var _a;
+        var _a, _b;
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
             if (this[key]) {
                 return (_a = this[key]) !== null && _a !== void 0 ? _a : [];
@@ -114,20 +116,16 @@ class EthernetDevice {
             const matcherFn = key === 'rxPdoEntries' ? parameter_1.isRxPdoIndex : parameter_1.isTxPdoIndex;
             const allParameters = yield this.getCachedParameters();
             const pdoParameters = allParameters.filter(({ index, subindex }) => matcherFn(index) && subindex !== 0);
-            const promises = pdoParameters.map((p) => tslib_1.__awaiter(this, void 0, void 0, function* () { return yield this.upload(p.index, p.subindex); }));
-            if (promises) {
-                const values = yield Promise.all(promises);
-                const entries = values.map(value => {
-                    var _a;
-                    const [index, subindex, bitLen] = (0, device_parameter_1.parsePdoSubItemValue)(value);
-                    const parameter = allParameters.find(p => p.index === index && p.subindex === subindex);
-                    const dataType = (0, ethercat_1.findBaseDataTypeByIndex)((_a = parameter === null || parameter === void 0 ? void 0 : parameter.valueType) !== null && _a !== void 0 ? _a : 0); // Ignoring potentially undefined base data type.
-                    return { index, subindex, bitLen, dataType };
-                });
-                this[key] = entries;
-                return entries;
+            const entries = [];
+            for (const pdoParameter of pdoParameters) {
+                const value = yield this.upload(pdoParameter.index, pdoParameter.subindex);
+                const [index, subindex, bitLen] = (0, device_parameter_1.parsePdoSubItemValue)(value);
+                const parameter = allParameters.find(p => p.index === index && p.subindex === subindex);
+                const dataType = (0, ethercat_1.findBaseDataTypeByIndex)((_b = parameter === null || parameter === void 0 ? void 0 : parameter.valueType) !== null && _b !== void 0 ? _b : 0); // Ignoring potentially undefined base data type.
+                entries.push({ index, subindex, bitLen, dataType });
             }
-            return [];
+            this[key] = entries;
+            return entries;
         });
     }
     /**

package/src/lib/ethernet.js.map

@@ -1 +1 @@
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package/src/lib/firmware.js

@@ -301,11 +301,6 @@ function resolveInstallableFirmwares(filenames, firmwareIdOrDevice, sortByVersio
         try {
             if (isFirmwarePackageFilenameCompatibleWithDevice(packageFilename, firmwareIdOrDevice)) {
                 const version = extractFirmwareVersionFromFirmwarePackageFilename(packageFilename);
-                let firmwareId;
-                try {
-                    firmwareId = extractFirmwareId(packageFilename);
-                }
-                catch (err) { }
                 firmwares.push({ packageFilename, version });
             }
         }

package/src/lib/firmware.js.map

@@ -1 +1 @@
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+{"version":3,"file":"firmware.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/firmware.ts"],"names":[],"mappings":";;;AAAA,iEAAiI;AACjI,mCAAiD;AAepC,QAAA,gBAAgB,GAAG,6BAA6B,CAAC;AACjD,QAAA,gCAAgC,GAAG,kBAAkB,CAAC;AACtD,QAAA,gCAAgC,GAAG,+BAA+B,CAAC;AA8EhF;;;;GAIG;AACH,SAAgB,eAAe,CAAC,IAAY;IAC1C,IAAI,CAAC,wBAAgB,CAAC,IAAI,CAAC,IAAI,CAAC,EAAE;QAChC,MAAM,IAAI,KAAK,CAAC,sBAAsB,IAAI,wCAAwC,CAAC,CAAC;KACrF;IACD,MAAM,CAAC,SAAS,EAAE,cAAc,EAAE,KAAK,EAAE,gBAAgB,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,CAAC,QAAQ,CAAC,IAAI,CAAC,CAAC,CAAC;IACzG,OAAO,EAAE,SAAS,EAAE,cAAc,EAAE,KAAK,EAAE,gBAAgB,EAAE,CAAC;AAChE,CAAC;AAND,0CAMC;AAED;;GAEG;AACH,SAAgB,4BAA4B,CAAC,QAAgB;IAC3D,OAAO,wCAAgC,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AACzD,CAAC;AAFD,oEAEC;AAED;;;;GAIG;AACH,SAAgB,4BAA4B,CAAC,QAAgB;IAC3D,OAAO,wCAAgC,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AACzD,CAAC;AAFD,oEAEC;AAED;;;;;GAKG;AACH,SAAgB,+BAA+B,CAAC,QAAgB;IAC9D,IAAI,CAAC,4BAA4B,CAAC,QAAQ,CAAC,EAAE;QAC3C,MAAM,IAAI,KAAK,CAAC,0BAA0B,QAAQ,wCAAwC,CAAC,CAAC;KAC7F;IAED,MAAM,aAAa,GAAG,QAAQ,CAAC,OAAO,CAAC,WAAW,EAAE,EAAE,CAAC,CAAC;IACxD,MAAM,CAAC,WAAW,EAAE,YAAY,EAAE,UAAU,EAAE,YAAY,EAAE,eAAe,CAAC,GAAG,aAAa,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;IACxG,uBACE,WAAW;QACX,YAAY;QACZ,UAAU;QACV,YAAY;QACZ,eAAe,IACZ,CAAC,eAAe,CAAC,UAAU,CAAC,CAAC,EAChC;AACJ,CAAC;AAfD,0EAeC;AAED;;;;;;;;;;;GAWG;AACH,SAAgB,qDAAqD,CAAC,QAAgB;IACpF,IAAI,CAAC,4BAA4B,CAAC,QAAQ,CAAC,EAAE;QAC3C,MAAM,IAAI,KAAK,CAAC,0BAA0B,QAAQ,wCAAwC,CAAC,CAAC;KAC7F;IAED,IAAI,QAAQ,CAAC,KAAK,CAAC,4BAA4B,CAAC,EAAE;QAChD,OAAO,QAAQ;aACZ,KAAK,CAAC,GAAG,CAAC;aACV,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC;aACX,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE;YACT,MAAM,CAAC,GAAG,CAAC,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,2BAA2B;YACnD,OAAO;gBACL,IAAI,EAAE,CAAC,CAAC,CAAC,CAAC;gBACV,YAAY,EAAE,EAAE;gBAChB,OAAO,EAAE,CAAC,CAAC,CAAC,CAAC;aACK,CAAC;QACvB,CAAC,CAAC,CAAC;KACN;IAED,OAAO,EAAE,CAAC;AACZ,CAAC;AApBD,sHAoBC;AAED;;;;;GAKG;AACH,SAAgB,+BAA+B,CAAC,QAAgB;;IAC9D,IAAI,CAAC,4BAA4B,CAAC,QAAQ,CAAC,EAAE;QAC3C,MAAM,IAAI,KAAK,CAAC,0BAA0B,QAAQ,wCAAwC,CAAC,CAAC;KAC7F;IAED,MAAM,KAAK,GAAG,QAAQ,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;IAClC,MAAM,UAAU,GAAG,qDAAqD,CAAC,QAAQ,CAAC,CAAC;IACnF,OAAO;QACL,WAAW,EAAE,KAAK,CAAC,CAAC,CAAC;QACrB,UAAU;QACV,eAAe,EAAE,MAAA,MAAA,KAAK,aAAL,KAAK,uBAAL,KAAK,CAAE,EAAE,CAAC,CAAC,CAAC,CAAC,0CAAE,OAAO,CAAC,MAAM,EAAE,EAAE,CAAC,mCAAI,EAAE;KAC1D,CAAC;AACJ,CAAC;AAZD,0EAYC;AAED;;GAEG;AACH,SAAgB,WAAW,CAAC,KAAU;IACpC,OAAO,KAAK,CAAC,OAAO,CAAC,KAAK,aAAL,KAAK,uBAAL,KAAK,CAAE,MAAM,CAAC,CAAC;AACtC,CAAC;AAFD,kCAEC;AAED;;;;;;;;;;;;GAYG;AACH,SAAgB,6CAA6C,CAAC,QAAgB,EAAE,kBAAiG;IAC/K,IAAI,4BAA4B,CAAC,QAAQ,CAAC,EAAE;QAC1C,IAAI,OAAO,kBAAkB,KAAK,QAAQ,EAAE;YAC1C,MAAM,IAAI,KAAK,CAAC,wHAAwH,CAAC,CAAC;SAC3I;aAAM,IAAI,CAAC,kBAAkB,CAAC,SAAS,EAAE;YACxC,MAAM,IAAI,KAAK,CAAC,wIAAwI,CAAC,CAAC;SAC3J;KACF;IAED,IAAI,4BAA4B,CAAC,QAAQ,CAAC,IAAI,OAAO,kBAAkB,KAAK,QAAQ,IAAI,CAAC,kBAAkB,CAAC,mBAAmB,EAAE;QAC/H,MAAM,IAAI,KAAK,CAAC,gJAAgJ,CAAC,CAAC;KACnK;IAED,IAAI,OAAO,kBAAkB,KAAK,QAAQ,EAAE;QAC1C,OAAO,kBAAkB,KAAK,iBAAiB,CAAC,QAAQ,CAAC,CAAC;KAC3D;SAAM,IAAI,kBAAkB,CAAC,SAAS,EAAE;QACvC,MAAM,uCAAuC,GAAG,qDAAqD,CAAC,QAAQ,CAAC,CAAC;QAChH,MAAM,yBAAyB,GAAG,IAAA,2DAAoC,EAAC,kBAAkB,CAAC,SAAS,CAAC,CAAC;QACrG,OAAO,IAAA,4CAAqB,EAAC,uCAAuC,EAAE,yBAAyB,CAAC,CAAC;KAClG;SAAM;QACL,MAAM,iCAAiC,GAAG,iBAAiB,CAAC,QAAQ,CAAC,CAAC;QACtE,MAAM,6BAA6B,GAAG,iBAAiB,CAAC,kBAAkB,CAAC,CAAC;QAC5E,OAAO,iCAAiC,KAAK,6BAA6B,CAAC;KAC5E;AACH,CAAC;AAxBD,sGAwBC;AAED;;;;;;;;;;;;;;;GAeG;AACH,SAAgB,iBAAiB,CAAC,+BAAgG;;IAChI,IAAI,OAAO,+BAA+B,KAAK,QAAQ,EAAE;QACvD,MAAM,uBAAuB,GAAG,+BAA+B,CAAC;QAChE,IAAI,4BAA4B,CAAC,uBAAuB,CAAC,EAAE;YACzD,MAAM,GAAG,GAAG,+BAA+B,CAAC,uBAAuB,CAAC,CAAC;YACrE,OAAO,GAAG,aAAH,GAAG,uBAAH,GAAG,CAAE,UAAU,CAAC;SACxB;aAAM;YACL,MAAM,IAAI,KAAK,CAAC,0BAA0B,uBAAuB,wCAAwC,CAAC,CAAC;SAC5G;KACF;SAAM;QACL,MAAM,MAAM,GAAG,+BAA+B,CAAC;QAE/C,IAAI,IAAI,GAAG,CAAA,MAAA,MAAM,CAAC,mBAAmB,0CAAE,QAAQ;YAC7C,CAAC,CAAC,GAAG,MAAA,MAAM,CAAC,mBAAmB,0CAAE,QAAQ,CAAC,EAAE,IAAI,MAAA,MAAM,CAAC,mBAAmB,0CAAE,QAAQ,CAAC,OAAO,EAAE;YAC9F,CAAC,CAAC,GAAG,MAAA,MAAM,CAAC,mBAAmB,0CAAE,MAAM,CAAC,EAAE,IAAI,MAAA,MAAM,CAAC,mBAAmB,0CAAE,MAAM,CAAC,OAAO,EAAE,CAAC;QAE7F,IAAI,MAAA,MAAM,CAAC,mBAAmB,0CAAE,MAAM,CAAC,KAAK,EAAE;YAC5C,IAAI,IAAI,IAAI,MAAA,MAAM,CAAC,mBAAmB,0CAAE,MAAM,CAAC,KAAK,EAAE,CAAC;SACxD;QAED,IAAI,MAAM,CAAC,cAAc,EAAE;YACzB,MAAM,gBAAgB,GAAG,MAAM,CAAC,cAAc,CAAC,gBAAgB,CAAC,kBAAkB,CAAC,CAAC;YACpF,IAAI,IAAI,IAAI,gBAAgB,EAAE,CAAC;SAChC;QAED,OAAO,IAAI,CAAC;KACb;AACH,CAAC;AA3BD,8CA2BC;AAED;;;;;;;GAOG;AACH,SAAgB,iDAAiD,CAAC,QAAgB;IAChF,IAAI,4BAA4B,CAAC,QAAQ,CAAC,EAAE;QAC1C,MAAM,MAAM,GAAG,+BAA+B,CAAC,QAAQ,CAAC,CAAC;QACzD,OAAO,MAAM,CAAC,eAAe,CAAC;KAC/B;SAAM,IAAI,4BAA4B,CAAC,QAAQ,CAAC,EAAE;QACjD,MAAM,MAAM,GAAG,+BAA+B,CAAC,QAAQ,CAAC,CAAC;QACzD,OAAO,MAAM,CAAC,eAAe,CAAC;KAC/B;SAAM;QACL,MAAM,IAAI,KAAK,CAAC,0BAA0B,QAAQ,wCAAwC,CAAC,CAAC;KAC7F;AACH,CAAC;AAVD,8GAUC;AAED;;;;;;;GAOG;AACH,SAAgB,qBAAqB,CAAC,OAAgB;;IACpD,OAAO,MAAA,OAAO,aAAP,OAAO,uBAAP,OAAO,CAAE,QAAQ,CAAC,aAAa,CAAC,mCAAI,KAAK,CAAC;AACnD,CAAC;AAFD,sDAEC;AAED;;;GAGG;AACH,SAAgB,6CAA6C,CAAC,OAAe;IAC3E,OAAO,OAAO,CA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package/src/lib/homing.d.ts

@@ -18,22 +18,22 @@ export interface HomingProcedureConfig {
      * The homing method to be used (0x6098:00).
      * This value specifies the technique employed for homing.
      */
-    method?: number;
+    method?: number | null;
     /**
      * The speed during the search for the switch (0x6099:01).
      * This value defines how quickly the system will search for the limit switch during the homing process.
      */
-    speedDuringSearchForSwitch?: number;
+    speedDuringSearchForSwitch?: number | null;
     /**
      * The speed during the search for the zero position (0x6099:02).
      * This value indicates the speed at which the system searches for the zero reference point.
      */
-    speedDuringSearchForZero?: number;
+    speedDuringSearchForZero?: number | null;
     /**
      * The acceleration used during the homing procedure (0x609A:00).
      * This value specifies the rate of acceleration applied during the homing process.
      */
-    acceleration?: number;
+    acceleration?: number | null;
 }
 /**
  * Represents the status of the homing procedure emitted during its execution.
@@ -53,6 +53,10 @@ export interface HomingProcedureStatus {
      * A descriptive message that provides additional context about the current status.
      */
     statusMessage: string;
+    /**
+     * The statusword value used to derive the homing status.
+     */
+    statusword: number;
 }
 /**
  * Generates a homing procedure status object based on the provided operation status value.
@@ -69,15 +73,15 @@ export interface HomingProcedureStatus {
  * - 100: failed (Error detected, motor still turning) - The device does not stop automatically; it must be stopped by the master.
  * - 101: failed (Error during homing, motor at a standstill).
  *
- * @param status - The operation status value used to determine the homing procedure status.
- * @returns An object representing the homing procedure status, including the request status, the original status value, and a corresponding status message.
+ * @param statusword - The statusword used to determine the homing procedure status.
+ * @returns An object that represents the determined status of the homing procedure.
  */
-export declare function createHomingProcedureStatus(status: number): HomingProcedureStatus;
+export declare function createHomingProcedureStatus(statusword: number): HomingProcedureStatus;
 /**
  * Converts a statusword value to the corresponding homing status number.
  * The homing status is derived from specific bits of the statusword.
  *
  * @param statusword - The statusword from which to extract the homing status.
- * @returns The homing status number, calculated from bits 10 to 12 of the statusword.
+ * @returns The homing status number, calculated from bits 10, 12 and 13 of the statusword.
  */
 export declare function statuswordToHomingStatus(statusword: number): number;

package/src/lib/homing.js

@@ -33,11 +33,12 @@ exports.homingProcedureStatusMessages = [
  * - 100: failed (Error detected, motor still turning) - The device does not stop automatically; it must be stopped by the master.
  * - 101: failed (Error during homing, motor at a standstill).
  *
- * @param status - The operation status value used to determine the homing procedure status.
- * @returns An object representing the homing procedure status, including the request status, the original status value, and a corresponding status message.
+ * @param statusword - The statusword used to determine the homing procedure status.
+ * @returns An object that represents the determined status of the homing procedure.
  */
-function createHomingProcedureStatus(status) {
+function createHomingProcedureStatus(statusword) {
     let request;
+    const status = statuswordToHomingStatus(statusword);
     if (status === 0) {
         request = 'running';
     }
@@ -54,6 +55,7 @@ function createHomingProcedureStatus(status) {
         request,
         status,
         statusMessage: exports.homingProcedureStatusMessages[status],
+        statusword,
     };
 }
 exports.createHomingProcedureStatus = createHomingProcedureStatus;
@@ -62,10 +64,12 @@ exports.createHomingProcedureStatus = createHomingProcedureStatus;
  * The homing status is derived from specific bits of the statusword.
  *
  * @param statusword - The statusword from which to extract the homing status.
- * @returns The homing status number, calculated from bits 10 to 12 of the statusword.
+ * @returns The homing status number, calculated from bits 10, 12 and 13 of the statusword.
  */
 function statuswordToHomingStatus(statusword) {
-    return ((statusword >> 10) & 0b1101) - 8;
+    const bit_10 = (statusword & 0b10000000000) >> 10;
+    const bits_12_13 = (statusword & 0b11000000000000) >> 11;
+    return bits_12_13 | bit_10;
 }
 exports.statuswordToHomingStatus = statuswordToHomingStatus;
 //# sourceMappingURL=homing.js.map

package/src/lib/homing.js.map

@@ -1 +1 @@
-{"version":3,"file":"homing.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/homing.ts"],"names":[],"mappings":";;;AAEA;;;;;;;;GAQG;AACU,QAAA,6BAA6B,GAAG;IAC3C,qBAAqB;IACrB,sCAAsC;IACtC,8CAA8C;IAC9C,kBAAkB;IAClB,qCAAqC;IACrC,0CAA0C;CAC3C,CAAC;AAsDF;;;;;;;;;;;;;;;;;GAiBG;AACH,SAAgB,2BAA2B,CAAC,MAAc;IACxD,IAAI,OAAsB,CAAC;IAE3B,IAAI,MAAM,KAAK,CAAC,EAAE;QAChB,OAAO,GAAG,SAAS,CAAC;KACrB;SAAM,IAAI,MAAM,KAAK,CAAC,EAAE;QACvB,OAAO,GAAG,QAAQ,CAAC;KACpB;SAAM,IAAI,MAAM,KAAK,CAAC,IAAI,MAAM,KAAK,CAAC,EAAE;QACvC,OAAO,GAAG,WAAW,CAAC;KACvB;SAAM;QACL,OAAO,GAAG,QAAQ,CAAC;KACpB;IAED,OAAO;QACL,OAAO;QACP,MAAM;QACN,aAAa,EAAE,qCAA6B,CAAC,MAAM,CAAC;KACrD,CAAC;AACJ,CAAC;AAlBD,kEAkBC;AAED;;;;;;GAMG;AACH,SAAgB,wBAAwB,CAAC,UAAkB;IACzD,OAAO,CAAC,CAAC,UAAU,IAAI,EAAE,CAAC,GAAG,MAAM,CAAC,GAAG,CAAC,CAAC;AAC3C,CAAC;AAFD,4DAEC"}
+{"version":3,"file":"homing.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/homing.ts"],"names":[],"mappings":";;;AAEA;;;;;;;;GAQG;AACU,QAAA,6BAA6B,GAAG;IAC3C,qBAAqB;IACrB,sCAAsC;IACtC,8CAA8C;IAC9C,kBAAkB;IAClB,qCAAqC;IACrC,0CAA0C;CAC3C,CAAC;AA2DF;;;;;;;;;;;;;;;;;GAiBG;AACH,SAAgB,2BAA2B,CAAC,UAAkB;IAC5D,IAAI,OAAsB,CAAC;IAE3B,MAAM,MAAM,GAAG,wBAAwB,CAAC,UAAU,CAAC,CAAC;IAEpD,IAAI,MAAM,KAAK,CAAC,EAAE;QAChB,OAAO,GAAG,SAAS,CAAC;KACrB;SAAM,IAAI,MAAM,KAAK,CAAC,EAAE;QACvB,OAAO,GAAG,QAAQ,CAAC;KACpB;SAAM,IAAI,MAAM,KAAK,CAAC,IAAI,MAAM,KAAK,CAAC,EAAE;QACvC,OAAO,GAAG,WAAW,CAAC;KACvB;SAAM;QACL,OAAO,GAAG,QAAQ,CAAC;KACpB;IAED,OAAO;QACL,OAAO;QACP,MAAM;QACN,aAAa,EAAE,qCAA6B,CAAC,MAAM,CAAC;QACpD,UAAU;KACX,CAAC;AACJ,CAAC;AArBD,kEAqBC;AAED;;;;;;GAMG;AACH,SAAgB,wBAAwB,CAAC,UAAkB;IACzD,MAAM,MAAM,GAAG,CAAC,UAAU,GAAG,aAAa,CAAC,IAAI,EAAE,CAAA;IACjD,MAAM,UAAU,GAAG,CAAC,UAAU,GAAG,gBAAgB,CAAC,IAAI,EAAE,CAAA;IACxD,OAAO,UAAU,GAAG,MAAM,CAAC;AAC7B,CAAC;AAJD,4DAIC"}

package/src/lib/motion-master-client.d.ts

@@ -78,12 +78,12 @@ export declare class MotionMasterClient {
      */
     startMonitoringDeviceParameters(ids: DeviceParameterIds, monitoringInterval: number, config?: MonitoringConfig, requestTimeout?: number): Observable<DeviceParameter[]>;
     startMonitoringValue<T extends ParameterValueType = number>(id: string | [DeviceRef, number, number], monitoringInterval: number, config?: MonitoringConfig, requestTimeout?: number): Observable<T>;
+    trackStatusword(deviceRef: DeviceRef, monitoringInterval?: number): Observable<number>;
     trackTargetReached(deviceRef: DeviceRef, monitoringInterval?: number): Observable<boolean>;
     waitUntilTargetReached(deviceRef: DeviceRef, monitoringInterval?: number, requestTimeout?: number): Observable<true>;
     whenTargetReached(deviceRef: DeviceRef, monitoringInterval?: number, requestTimeout?: number): Promise<true>;
     waitUntilParameterValueEquals(id: string | [DeviceRef, number, number], value: number, window?: number, monitoringInterval?: number, requestTimeout?: number): Observable<true>;
     whenParameterValueEquals(id: string | [DeviceRef, number, number], value: number, window?: number, monitoringInterval?: number, requestTimeout?: number): Promise<true>;
-    trackHomingProcedureStatus(deviceRef: DeviceRef, monitoringInterval?: number): Observable<number>;
     /**
      * Executes a torque profile on the specified device based on the provided configuration.
      *
@@ -121,8 +121,14 @@ export declare class MotionMasterClient {
      */
     runPositionProfile(deviceRef: DeviceRef, config: PositionProfileConfig): Promise<void>;
     /**
-     * Prototype function for running the homing procedure. Currently non-functional.
-     * @todo Implement the functionality to ensure the homing procedure works correctly.
+     * Executes the homing procedure to locate the home position value (0x2005:01).
+     *
+     * You can optionally provide a configuration object that specifies acceleration, method, and speeds;
+     * if not provided, the parameter values already set on the device will be used.
+     *
+     * The function will first emit a "running" status, followed by either "succeeded" or "failed".
+     * After completion, the device will remain in the Operation Enabled state.
+     *
      * @param deviceRef - Reference to the device being homed.
      * @param config - Optional configuration for the homing procedure.
      * @param requestTimeout - Timeout for the homing request in milliseconds (default: 300,000 ms).

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

@@ -184,6 +184,9 @@ class MotionMasterClient {
         const ids = typeof id === 'string' ? [id] : [id];
         return this.startMonitoring(ids, monitoringInterval, config, requestTimeout).pipe((0, rxjs_1.map)((parameters) => { var _a; return ((_a = parameters[0]) !== null && _a !== void 0 ? _a : 0); }));
     }
+    trackStatusword(deviceRef, monitoringInterval = 20) {
+        return this.startMonitoringValue([deviceRef, 0x6041, 0], monitoringInterval).pipe((0, rxjs_1.distinctUntilChanged)());
+    }
     trackTargetReached(deviceRef, monitoringInterval = 20) {
         return this.startMonitoringValue([deviceRef, 0x6041, 0], monitoringInterval).pipe((0, rxjs_1.map)((value) => (value & 0x0400) > 0), // tr = target reached bit
         (0, rxjs_1.distinctUntilChanged)());
@@ -202,9 +205,6 @@ class MotionMasterClient {
     whenParameterValueEquals(id, value, window = 0, monitoringInterval = 20, requestTimeout = 5000) {
         return (0, rxjs_1.firstValueFrom)(this.waitUntilParameterValueEquals(id, value, window, monitoringInterval, requestTimeout));
     }
-    trackHomingProcedureStatus(deviceRef, monitoringInterval = 100) {
-        return this.startMonitoringValue([deviceRef, 0x6041, 0], monitoringInterval).pipe((0, rxjs_1.map)(homing_1.statuswordToHomingStatus), (0, rxjs_1.distinctUntilChanged)());
-    }
     /**
      * Executes a torque profile on the specified device based on the provided configuration.
      *
@@ -330,15 +330,21 @@ class MotionMasterClient {
         });
     }
     /**
-     * Prototype function for running the homing procedure. Currently non-functional.
-     * @todo Implement the functionality to ensure the homing procedure works correctly.
+     * Executes the homing procedure to locate the home position value (0x2005:01).
+     *
+     * You can optionally provide a configuration object that specifies acceleration, method, and speeds;
+     * if not provided, the parameter values already set on the device will be used.
+     *
+     * The function will first emit a "running" status, followed by either "succeeded" or "failed".
+     * After completion, the device will remain in the Operation Enabled state.
+     *
      * @param deviceRef - Reference to the device being homed.
      * @param config - Optional configuration for the homing procedure.
      * @param requestTimeout - Timeout for the homing request in milliseconds (default: 300,000 ms).
      * @returns An Observable that emits the status of the homing procedure.
      */
     runHomingProcedure(deviceRef, config, requestTimeout = 300000) {
-        return (0, rxjs_1.concat)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.HOMING_MODE), (config === null || config === void 0 ? void 0 : config.acceleration) ? this.request.download(deviceRef, 0x609A, 0, config.acceleration) : rxjs_1.EMPTY, (config === null || config === void 0 ? void 0 : config.method) ? this.request.download(deviceRef, 0x6098, 0, config.method) : rxjs_1.EMPTY, (config === null || config === void 0 ? void 0 : config.speedDuringSearchForSwitch) ? this.request.download(deviceRef, 0x6099, 1, config.speedDuringSearchForSwitch) : rxjs_1.EMPTY, (config === null || config === void 0 ? void 0 : config.speedDuringSearchForZero) ? this.request.download(deviceRef, 0x6099, 2, config.speedDuringSearchForZero) : rxjs_1.EMPTY, this.request.forceOnDemandParametersUpdate(deviceRef), this.request.setControlwordForHoming(deviceRef), this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED), this.trackHomingProcedureStatus(deviceRef).pipe((0, rxjs_1.map)(homing_1.createHomingProcedureStatus), (0, rxjs_1.takeWhile)((status) => status.request === 'running', true), (0, rxjs_1.timeout)(requestTimeout)));
+        return (0, rxjs_1.concat)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.HOMING_MODE), (config === null || config === void 0 ? void 0 : config.acceleration) ? this.request.download(deviceRef, 0x609A, 0, config.acceleration) : rxjs_1.EMPTY, (config === null || config === void 0 ? void 0 : config.method) ? this.request.download(deviceRef, 0x6098, 0, config.method) : rxjs_1.EMPTY, (config === null || config === void 0 ? void 0 : config.speedDuringSearchForSwitch) ? this.request.download(deviceRef, 0x6099, 1, config.speedDuringSearchForSwitch) : rxjs_1.EMPTY, (config === null || config === void 0 ? void 0 : config.speedDuringSearchForZero) ? this.request.download(deviceRef, 0x6099, 2, config.speedDuringSearchForZero) : rxjs_1.EMPTY, config ? (0, rxjs_1.defer)(() => this.request.forceOnDemandParametersUpdate(deviceRef)) : rxjs_1.EMPTY, (0, rxjs_1.defer)(() => this.request.setControlwordForHoming(deviceRef)), (0, rxjs_1.defer)(() => this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED)), this.trackStatusword(deviceRef).pipe((0, rxjs_1.map)(homing_1.createHomingProcedureStatus), (0, rxjs_1.takeWhile)((status) => status.request === 'running', true), (0, rxjs_1.timeout)(requestTimeout))).pipe((0, rxjs_1.filter)(Boolean));
     }
     subscribeToSystemEvent() {
         this.systemEventSubscription = this.monitor.systemEvent$.subscribe(systemEvent => {

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

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