motion-master-client 0.0.189 → 0.0.191

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.189",
+  "version": "0.0.191",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

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

@@ -7,7 +7,7 @@ import { MotionMasterReqResSocket } from "./motion-master-req-res-socket";
 import { SystemLogLine } from "./system-log-line";
 import { MotionMasterMessage, ParameterValueType, ParameterTypeValue, DeviceParameterValuesStatus, ParameterTypeValueKey, DeviceRefObj, DeviceRef, FullAutoTuningStatus, SystemVersionStatus, DeviceInfoStatus, DeviceParameterInfoStatus, GetDeviceParameterInfoRequest, GetDeviceParameterValuesRequest, GetMultiDeviceParameterValuesRequest, MultiDeviceParameterValuesStatus, SetDeviceParameterValuesRequest, SetMultiDeviceParameterValuesRequest, GetDeviceFileListRequest, DeviceFileListStatus, GetDeviceFileRequest, DeviceFileStatus, SetDeviceFileRequest, DeleteDeviceFileRequest, ResetDeviceFaultRequest, DeviceFaultResetStatus, StopDeviceRequest, DeviceStopStatus, StartDeviceFirmwareInstallationRequest, DeviceFirmwareInstallationStatus, GetDeviceLogRequest, DeviceLogStatus, StartCoggingTorqueRecordingRequest, CoggingTorqueRecordingStatus, GetCoggingTorqueDataRequest, CoggingTorqueDataStatus, StartOffsetDetectionRequest, OffsetDetectionStatus, StartPlantModelIdentificationRequest, PlantIdentificationStatus, ComputeAutoTuningGainsRequest, AutoTuningStatus, SetMotionControllerParametersRequest, MotionControllerStatus, EnableMotionControllerRequest, SetSignalGeneratorParametersRequest, SignalGeneratorStatus, StopSignalGeneratorRequest, StartMonitoringDeviceParameterValuesRequest, MonitoringParameterValuesStatus, StopMonitoringDeviceParameterValuesRequest, GetEthercatNetworkStateRequest, EthercatNetworkStateStatus, SetEthercatNetworkStateRequest, StartNarrowAngleCalibrationRequest, NarrowAngleCalibrationStatus, SetSystemClientTimeoutRequest, StartSystemIdentificationRequest, SystemIdentificationStatus, CirculoEncoderMagnetDistanceStatus, StartCirculoEncoderNarrowAngleCalibrationProcedureRequest, CirculoEncoderNarrowAngleCalibrationProcedureStatus, GetDeviceCiA402StateRequest, DeviceCiA402StateStatus, SetDeviceCiA402StateRequest, SystemLogStatus, StartDeviceSiiRestoreRequest, DeviceSiiRestoreStatus, StartOpenLoopFieldControlRequest, OpenLoopFieldControlStatus, ComputeFullAutoTuningGainsRequest, StartFullAutoTuningRequest, StopFullAutoTuningRequest, StartCirculoEncoderConfigurationRequest, CirculoEncoderConfigurationStatus, StopCirculoEncoderNarrowAngleCalibrationProcedureRequest, StartOsCommandRequest, OsCommandStatus, RestoreDefaultParametersType, DeviceParameterAddressValue, DeviceParameterIds, DeviceParameterInfo, RequestStatusMessage } from "./types";
 import { Cia402State, ModesOfOperation } from "./cia402";
-import { EncoderRegisterCommunicationOsCommandResponse, MotorPhaseOrderDetectionOsCommandResponse, OpenPhaseDetectionOsCommandResponse, OsCommandMode, OsCommandResponse, PhaseResistanceMeasurementOsCommandResponse, PhaseInductanceMeasurementOsCommandResponse, PolePairDetectionOsCommandResponse, CommutationOffsetMeasurementOsCommandResponse, IcMuCalibrationModeOsCommandResponse, OpenLoopFieldModeOsCommandResponse, HrdStreamingOsCommandResponse, TorqueConstantMeasurementOsCommandResponse, SkippedCyclesCounterOsCommandResponse, IgnoreBissStatusBitsOsCommandResponse, SystemIdentificationOsCommandResponse, KublerEncoderCommandOsCommandResponse, UseInternalEncoderVelocityOsCommandResponse, KublerEncoderRegisterCommunicationOsCommandResponse, SmmAcyclicHandlerOsCommandResponse } from "./os-command";
+import { EncoderRegisterCommunicationOsCommandResponse, MotorPhaseOrderDetectionOsCommandResponse, OpenPhaseDetectionOsCommandResponse, OsCommandMode, OsCommandResponse, PhaseResistanceMeasurementOsCommandResponse, PhaseInductanceMeasurementOsCommandResponse, PolePairDetectionOsCommandResponse, CommutationOffsetMeasurementOsCommandResponse, IcMuCalibrationModeOsCommandResponse, OpenLoopFieldModeOsCommandResponse, HrdStreamingOsCommandResponse, TorqueConstantMeasurementOsCommandResponse, SkippedCyclesCounterOsCommandResponse, IgnoreBissStatusBitsOsCommandResponse, SystemIdentificationOsCommandResponse, KublerEncoderCommandOsCommandResponse, UseInternalEncoderVelocityOsCommandResponse, KublerEncoderRegisterCommunicationOsCommandResponse, SmmAcyclicHandlerOsCommandResponse, HrdStreamingOsCommandAction, HrdStreamingOsCommandDataIndex } from "./os-command";
 import { IntegroVariant } from "./integro-variant";
 import { ConfigParameter } from './config-file';
 /**
@@ -1013,18 +1013,31 @@ export declare class MotionMasterReqResClient {
      */
     forceOnDemandParametersUpdate(deviceRef: DeviceRef): Promise<void>;
     /**
-     * Reset fault.
+     * Executes a reset fault on the specified device.
      *
      * Resetting a fault can only be done from the FAULT CiA402 state by transitioning to SWITCH_ON_DISABLED.
      * This function will do the rising edge, that is it will first set the controlword reset fault bit to 0, wait a bit, and then set it to 1.
+     * If the reset is successful, the fault reset bit will be set back to 0.
+     *
+     * @param {DeviceRef} deviceRef - Reference to the device for which the fault will be reset.
+     * @param [force=false] - Indicates whether to force the fault reset even if the device is not in the FAULT CiA402 state.
+     * @returns {Promise<void>} Resolves when the reset fault operation is complete.
      */
-    resetFault(deviceRef: DeviceRef): Promise<void>;
+    resetFault(deviceRef: DeviceRef, force?: boolean): Promise<void>;
     /**
-     * Quick stop.
+     * Executes a quick stop on the specified device.
+     *
+     * A quick stop can only be initiated from the OPERATION_ENABLED state of the CiA402 state machine, transitioning to QUICK_STOP_ACTIVE.
+     *
+     * In CYCLIC_SYNC_TORQUE_MODE or TORQUE_PROFILE_MODE, the target torque and torque offset are set to 0 to prevent movement after the quick stop, as requested by the firmware team.
+     *
+     * @link https://www.wrike.com/open.htm?id=1452182434
      *
-     * Quickly stopping a drive can only be done from the OPERATION_ENABLED CiA402 state by transitioning to QUICK_STOP_ACTIVE.
+     * @param {DeviceRef} deviceRef - Reference to the device on which the quick stop will be performed.
+     * @param [force=false] - Indicates whether to force the quick stop even if the device is not in the OPERATION_ENABLED CiA402 state.
+     * @returns {Promise<void>} Resolves when the quick stop operation is complete.
      */
-    quickStop(deviceRef: DeviceRef): Promise<void>;
+    quickStop(deviceRef: DeviceRef, force?: boolean): Promise<void>;
     /**
      * Reset targets.
      *
@@ -1115,7 +1128,7 @@ export declare class MotionMasterReqResClient {
     runResetCirculoEncoderPositionOsCommand(deviceRef: DeviceRef, encoderOrdinal?: number, commandTimeout?: number, responsePollingInterval?: number, osCommandMode?: boolean): Observable<EncoderRegisterCommunicationOsCommandResponse>;
     runIcMuCalibrationModeOsCommand(deviceRef: DeviceRef, encoderOrdinal?: number, modeEnable?: number, commandTimeout?: number, responsePollingInterval?: number, osCommandMode?: boolean): Observable<IcMuCalibrationModeOsCommandResponse>;
     runOpenLoopFieldModeOsCommand(deviceRef: DeviceRef, parameterIndex?: number, parameterValue?: number, commandTimeout?: number, responsePollingInterval?: number, osCommandMode?: boolean): Observable<OpenLoopFieldModeOsCommandResponse>;
-    runHrdStreamingOsCommand(deviceRef: any, action?: number, dataIndex?: number, duration?: number, commandTimeout?: number, responsePollingInterval?: number, osCommandMode?: boolean): Observable<HrdStreamingOsCommandResponse>;
+    runHrdStreamingOsCommand(deviceRef: any, action?: HrdStreamingOsCommandAction, dataIndex?: HrdStreamingOsCommandDataIndex, duration?: number, commandTimeout?: number, responsePollingInterval?: number, osCommandMode?: boolean): Observable<HrdStreamingOsCommandResponse>;
     runMotorPhaseOrderDetectionOsCommand(deviceRef: DeviceRef, commandTimeout?: number, responsePollingInterval?: number, osCommandMode?: boolean): Observable<MotorPhaseOrderDetectionOsCommandResponse>;
     runCommutationOffsetMeasurementOsCommand(deviceRef: DeviceRef, commandTimeout?: number, responsePollingInterval?: number, osCommandMode?: boolean): Observable<CommutationOffsetMeasurementOsCommandResponse>;
     runOpenPhaseDetectionOsCommand(deviceRef: DeviceRef, commandTimeout?: number, responsePollingInterval?: number, osCommandMode?: boolean): Observable<OpenPhaseDetectionOsCommandResponse>;

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

@@ -1840,39 +1840,63 @@ class MotionMasterReqResClient {
         });
     }
     /**
-     * Reset fault.
+     * Executes a reset fault on the specified device.
      *
      * Resetting a fault can only be done from the FAULT CiA402 state by transitioning to SWITCH_ON_DISABLED.
      * This function will do the rising edge, that is it will first set the controlword reset fault bit to 0, wait a bit, and then set it to 1.
+     * If the reset is successful, the fault reset bit will be set back to 0.
+     *
+     * @param {DeviceRef} deviceRef - Reference to the device for which the fault will be reset.
+     * @param [force=false] - Indicates whether to force the fault reset even if the device is not in the FAULT CiA402 state.
+     * @returns {Promise<void>} Resolves when the reset fault operation is complete.
      */
-    resetFault(deviceRef) {
+    resetFault(deviceRef, force = false) {
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            const currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
-            if (currentState !== cia402_1.Cia402State.FAULT) {
+            let currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
+            if (currentState !== cia402_1.Cia402State.FAULT && !force) {
                 throw new Error(`Device ${deviceRef} is not in FAULT CiA402 state.`);
             }
             let controlword = yield this.upload(deviceRef, 0x6040, 0);
-            controlword = controlword & 0xFF7F;
+            controlword = controlword & 0xFF7F; // set fault reset bit (7) to 0
             yield this.download(deviceRef, 0x6040, 0, controlword);
-            yield (0, util_1.resolveAfter)(25);
-            const command = (0, cia402_3.createControlwordCommand)(controlword, cia402_1.ControlwordCommand.FAULT_RESET);
-            yield this.download(deviceRef, 0x6040, 0, command);
+            yield (0, util_1.resolveAfter)(10);
+            controlword = (0, cia402_3.createControlwordCommand)(controlword, cia402_1.ControlwordCommand.FAULT_RESET); // set fault reset bit (7) to 1
+            yield this.download(deviceRef, 0x6040, 0, controlword);
+            yield (0, util_1.resolveAfter)(10);
+            currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
+            if (currentState === cia402_1.Cia402State.SWITCH_ON_DISABLED) {
+                controlword = controlword & 0xFF7F; // set fault reset bit (7) to 0
+                yield this.download(deviceRef, 0x6040, 0, controlword);
+            }
         });
     }
     /**
-     * Quick stop.
+     * Executes a quick stop on the specified device.
+     *
+     * A quick stop can only be initiated from the OPERATION_ENABLED state of the CiA402 state machine, transitioning to QUICK_STOP_ACTIVE.
      *
-     * Quickly stopping a drive can only be done from the OPERATION_ENABLED CiA402 state by transitioning to QUICK_STOP_ACTIVE.
+     * In CYCLIC_SYNC_TORQUE_MODE or TORQUE_PROFILE_MODE, the target torque and torque offset are set to 0 to prevent movement after the quick stop, as requested by the firmware team.
+     *
+     * @link https://www.wrike.com/open.htm?id=1452182434
+     *
+     * @param {DeviceRef} deviceRef - Reference to the device on which the quick stop will be performed.
+     * @param [force=false] - Indicates whether to force the quick stop even if the device is not in the OPERATION_ENABLED CiA402 state.
+     * @returns {Promise<void>} Resolves when the quick stop operation is complete.
      */
-    quickStop(deviceRef) {
+    quickStop(deviceRef, force = false) {
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
             const currentState = yield (0, rxjs_1.lastValueFrom)(this.getCia402State(deviceRef));
-            if (currentState !== cia402_1.Cia402State.OPERATION_ENABLED) {
+            if (currentState !== cia402_1.Cia402State.OPERATION_ENABLED && !force) {
                 throw new Error(`Device ${deviceRef} is not in OPERATION_ENABLED CiA402 state.`);
             }
             const controlword = yield this.upload(deviceRef, 0x6040, 0);
             const command = (0, cia402_3.createControlwordCommand)(controlword, cia402_1.ControlwordCommand.QUICK_STOP);
             yield this.download(deviceRef, 0x6040, 0, command);
+            const modesOfOperationDisplay = yield this.upload(deviceRef, 0x6061, 0);
+            if (modesOfOperationDisplay === cia402_1.ModesOfOperation.CYCLIC_SYNC_TORQUE_MODE || modesOfOperationDisplay === cia402_1.ModesOfOperation.TORQUE_PROFILE_MODE) {
+                yield this.download(deviceRef, 0x6071, 0, 0); // target torque
+                yield this.download(deviceRef, 0x60B2, 0, 0); // torque offset
+            }
         });
     }
     /**

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

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package/src/lib/os-command.d.ts

@@ -222,7 +222,41 @@ export declare const openLoopFieldModeParameters: {
 export interface OpenLoopFieldModeOsCommandResponse extends OsCommandResponse {
     openLoopFieldMode?: boolean;
 }
-export declare function createHrdStreamingOsCommand(action?: number, dataIndex?: number, duration?: number): Uint8Array;
+/**
+ * Enum for selecting the action to perform in HRD streaming.
+ */
+export declare enum HrdStreamingOsCommandAction {
+    /**
+     * Deletes all previous HRD files from the filesystem.
+     * The user then configures the stream duration and the variable to stream.
+     * File deletion may take up to approximately 5 seconds in the worst-case scenario.
+     */
+    CONFIGURE_STREAM = 0,
+    /**
+     * Starts the stream using the previously configured settings.
+     */
+    START_STREAM = 1
+}
+/**
+ * Enum for selecting the data to stream.
+ *
+ * This value is used only when the selected Action is Configure Stream (0).
+ */
+export declare enum HrdStreamingOsCommandDataIndex {
+    /**
+     * Record raw encoder data.
+     *
+     * The encoder must be set up first using OS command 1.
+     */
+    ENCODER_RAW_DATA = 0,
+    /**
+     * Record system identification data.
+     *
+     * The identification procedure must be configured with OS command 15 and started before recording.
+     */
+    SYSTEM_IDENTIFICATION_DATA = 1
+}
+export declare function createHrdStreamingOsCommand(action?: HrdStreamingOsCommandAction, dataIndex?: HrdStreamingOsCommandDataIndex, duration?: number): Uint8Array;
 export interface HrdStreamingOsCommandResponse extends OsCommandResponse {
     hrdStreamingComplete: true;
 }

package/src/lib/os-command.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.mapOsCommandResponse = exports.kublerEncoderSubcommands = exports.smmAcyclicHandlerSubcommands = exports.osCommands = exports.kublerEncoderRegisterValueMeaning = exports.kublerEncoderRegisterCommunicationWriteOsCommandErrors = exports.kublerEncoderRegisterCommunicationReadOsCommandErrors = exports.createKublerEncoderRegisterCommunicationOsCommand = exports.createUseInternalEncoderVelocityOsCommand = exports.kublerEncoderCommandOsCommandErrors = exports.createKublerEncoderCommandWriteFirmwareOsCommand = exports.createKublerEncoderCommandCheckFirmwareUpdateSizeOsCommand = exports.createKublerEncoderOsCommand = exports.KublerEncoderSubcommandId = exports.triggerErrorTypes = exports.createTriggerErrorOsCommand = exports.systemIdentificationParameters = exports.createSystemIdentificationOsCommand = exports.createIgnoreBissStatusBitsOsCommand = exports.createSkippedCyclesCounterOsCommand = exports.createSmmAcyclicHandlerReadSmmParameterOsCommand = exports.createSmmAcyclicHandlerOsCommand = exports.createTorqueConstantMeasurementOsCommand = exports.createPhaseInductanceMeasurementOsCommand = exports.createPhaseResistanceMeasurementOsCommand = exports.createPolePairDetectionOsCommand = exports.openPhaseDetectionErrors = exports.createOpenPhaseDetectionOsCommand = exports.createCommutationOffsetMeasurementOsCommand = exports.createMotorPhaseOrderDetectionOsCommand = exports.hrdStreamingOsCommandErrors = exports.createHrdStreamingOsCommand = exports.openLoopFieldModeParameters = exports.createOpenLoopFieldModeOsCommand = exports.createIcMuCalibrationModeOsCommand = exports.createEncoderRegisterCommunicationOsCommand = exports.createOsCommandTypedArray = exports.osCommandErrorCode = exports.SmmAcyclicHandlerSubcommandId = exports.OsCommandId = exports.OsCommandMode = exports.parseOsCommandResponse = exports.isOsCommandResponse = void 0;
+exports.mapOsCommandResponse = exports.kublerEncoderSubcommands = exports.smmAcyclicHandlerSubcommands = exports.osCommands = exports.kublerEncoderRegisterValueMeaning = exports.kublerEncoderRegisterCommunicationWriteOsCommandErrors = exports.kublerEncoderRegisterCommunicationReadOsCommandErrors = exports.createKublerEncoderRegisterCommunicationOsCommand = exports.createUseInternalEncoderVelocityOsCommand = exports.kublerEncoderCommandOsCommandErrors = exports.createKublerEncoderCommandWriteFirmwareOsCommand = exports.createKublerEncoderCommandCheckFirmwareUpdateSizeOsCommand = exports.createKublerEncoderOsCommand = exports.KublerEncoderSubcommandId = exports.triggerErrorTypes = exports.createTriggerErrorOsCommand = exports.systemIdentificationParameters = exports.createSystemIdentificationOsCommand = exports.createIgnoreBissStatusBitsOsCommand = exports.createSkippedCyclesCounterOsCommand = exports.createSmmAcyclicHandlerReadSmmParameterOsCommand = exports.createSmmAcyclicHandlerOsCommand = exports.createTorqueConstantMeasurementOsCommand = exports.createPhaseInductanceMeasurementOsCommand = exports.createPhaseResistanceMeasurementOsCommand = exports.createPolePairDetectionOsCommand = exports.openPhaseDetectionErrors = exports.createOpenPhaseDetectionOsCommand = exports.createCommutationOffsetMeasurementOsCommand = exports.createMotorPhaseOrderDetectionOsCommand = exports.hrdStreamingOsCommandErrors = exports.createHrdStreamingOsCommand = exports.HrdStreamingOsCommandDataIndex = exports.HrdStreamingOsCommandAction = exports.openLoopFieldModeParameters = exports.createOpenLoopFieldModeOsCommand = exports.createIcMuCalibrationModeOsCommand = exports.createEncoderRegisterCommunicationOsCommand = exports.createOsCommandTypedArray = exports.osCommandErrorCode = exports.SmmAcyclicHandlerSubcommandId = exports.OsCommandId = exports.OsCommandMode = exports.parseOsCommandResponse = exports.isOsCommandResponse = void 0;
 const rxjs_1 = require("rxjs");
 /**
  * Type guard to determine if the provided value is a OS Command Response object.
@@ -239,6 +239,44 @@ exports.openLoopFieldModeParameters = [
     { parameterIndex: 6, parameterName: 'Increasing length rate [per thousand rated current / s]' },
 ];
 ;
+/**
+ * Enum for selecting the action to perform in HRD streaming.
+ */
+var HrdStreamingOsCommandAction;
+(function (HrdStreamingOsCommandAction) {
+    /**
+     * Deletes all previous HRD files from the filesystem.
+     * The user then configures the stream duration and the variable to stream.
+     * File deletion may take up to approximately 5 seconds in the worst-case scenario.
+     */
+    HrdStreamingOsCommandAction[HrdStreamingOsCommandAction["CONFIGURE_STREAM"] = 0] = "CONFIGURE_STREAM";
+    /**
+     * Starts the stream using the previously configured settings.
+     */
+    HrdStreamingOsCommandAction[HrdStreamingOsCommandAction["START_STREAM"] = 1] = "START_STREAM";
+})(HrdStreamingOsCommandAction = exports.HrdStreamingOsCommandAction || (exports.HrdStreamingOsCommandAction = {}));
+;
+/**
+ * Enum for selecting the data to stream.
+ *
+ * This value is used only when the selected Action is Configure Stream (0).
+ */
+var HrdStreamingOsCommandDataIndex;
+(function (HrdStreamingOsCommandDataIndex) {
+    /**
+     * Record raw encoder data.
+     *
+     * The encoder must be set up first using OS command 1.
+     */
+    HrdStreamingOsCommandDataIndex[HrdStreamingOsCommandDataIndex["ENCODER_RAW_DATA"] = 0] = "ENCODER_RAW_DATA";
+    /**
+     * Record system identification data.
+     *
+     * The identification procedure must be configured with OS command 15 and started before recording.
+     */
+    HrdStreamingOsCommandDataIndex[HrdStreamingOsCommandDataIndex["SYSTEM_IDENTIFICATION_DATA"] = 1] = "SYSTEM_IDENTIFICATION_DATA";
+})(HrdStreamingOsCommandDataIndex = exports.HrdStreamingOsCommandDataIndex || (exports.HrdStreamingOsCommandDataIndex = {}));
+;
 function createHrdStreamingOsCommand(action = 0, dataIndex = 0, duration = 10000) {
     let msb = (duration >> 8) & 0xFF;
     let lsb = duration & 0xFF;
@@ -462,10 +500,10 @@ function createSystemIdentificationOsCommand(parameterIndex = 0, parameterValue
 }
 exports.createSystemIdentificationOsCommand = createSystemIdentificationOsCommand;
 exports.systemIdentificationParameters = [
-    { parameterIndex: 0, parameterName: 'Starting frequency [mHz]' },
+    { parameterIndex: 0, parameterName: 'Start frequency [mHz]' },
     { parameterIndex: 1, parameterName: 'Target frequency [mHz]' },
-    { parameterIndex: 2, parameterName: 'Target amplitude [permils of rated torque]' },
-    { parameterIndex: 3, parameterName: 'Transition time [milliseconds]' },
+    { parameterIndex: 2, parameterName: 'Target amplitude [permilles of rated torque]' },
+    { parameterIndex: 3, parameterName: 'Transition time [ms]' },
 ];
 function createTriggerErrorOsCommand(firmwareService = 0, errorType = 11) {
     const elements = [OsCommandId.TRIGGER_ERROR, firmwareService, errorType];

package/src/lib/os-command.js.map

@@ -1 +1 @@
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