motion-master-client 0.0.19 → 0.0.20

package/package.json

@@ -1,20 +1,20 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.19",
+  "version": "0.0.20",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {
     "fast-deep-equal": "^3.1.3",
     "lodash": "^4.17.21",
-    "long": "5.2.1",
+    "papaparse": "^5.4.1",
     "protobufjs": "^7.2.3",
-    "roarr": "^7.14.1",
-    "rxjs": "~7.5.0",
-    "semver": "7.3.8",
+    "roarr": "^7.15.0",
+    "rxjs": "^7.8.1",
+    "semver": "7.4.0",
     "uuid": "^9.0.0"
   },
   "peerDependencies": {
-    "tslib": "^2.4.0"
+    "tslib": "2.5.2"
   },
   "main": "./src/index.js",
   "types": "./src/index.d.ts"

package/src/index.d.ts

@@ -1,6 +1,8 @@
 export * from './lib/cia402';
+export * from './lib/config-file';
 export * from './lib/device-log-line';
 export * from './lib/device-parameter';
+export * from './lib/device';
 export * from './lib/hardware-description';
 export * from './lib/monitoring-config';
 export * from './lib/monitoring-entry';

package/src/index.js

@@ -2,8 +2,10 @@
 Object.defineProperty(exports, "__esModule", { value: true });
 const tslib_1 = require("tslib");
 tslib_1.__exportStar(require("./lib/cia402"), exports);
+tslib_1.__exportStar(require("./lib/config-file"), exports);
 tslib_1.__exportStar(require("./lib/device-log-line"), exports);
 tslib_1.__exportStar(require("./lib/device-parameter"), exports);
+tslib_1.__exportStar(require("./lib/device"), exports);
 tslib_1.__exportStar(require("./lib/hardware-description"), exports);
 tslib_1.__exportStar(require("./lib/monitoring-config"), exports);
 tslib_1.__exportStar(require("./lib/monitoring-entry"), exports);

package/src/index.js.map

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

package/src/lib/cia402.d.ts

@@ -1,38 +1,119 @@
 export declare const statuswordBits: string[];
-export declare enum StatuswordState {
-    NOT_READY_TO_SWITCH_ON = 0,
-    SWITCH_ON_DISABLED = 1,
-    READY_TO_SWITCH_ON = 2,
-    SWITCHED_ON = 3,
-    OPERATION_ENABLED = 4,
-    QUICK_STOP_ACTIVE = 5,
-    FAULT_REACTION_ACTIVE = 6,
-    FAULT = 7
+/**
+ * CIA402 refers to the CANopen application profile for drives and motion control.
+ * It defines various states that a CiA402-compliant device, such as a motor drive, can be in.
+ *
+ * @enum
+ */
+export declare enum Cia402State {
+    /**
+     * Not ready to switch on (NRS).
+     *
+     * This is the initial state where the drive is not ready to be switched on.
+     * In this state, the drive is not powered or initialized.
+     */
+    NOT_READY_TO_SWITCH_ON = "NOT_READY_TO_SWITCH_ON",
+    /**
+     * Switch on disabled (SOD).
+     *
+     * In this state, the drive is powered and initialized but cannot be switched on.
+     * This state is usually used for safety purposes or when certain conditions need to be met before enabling the drive.
+     */
+    SWITCH_ON_DISABLED = "SWITCH_ON_DISABLED",
+    /**
+     * Ready to switch on (RTS).
+     *
+     * In this state, the drive is ready to be switched on.
+     * It has been powered and initialized, and it is waiting for the switch-on command.
+     */
+    READY_TO_SWITCH_ON = "READY_TO_SWITCH_ON",
+    /**
+     * Switched on (SWO).
+     *
+     * When the switch-on command is received, the drive enters this state.
+     * In this state, the drive is energized and ready to start motion.
+     */
+    SWITCHED_ON = "SWITCHED_ON",
+    /**
+     * Operation enabled (OP).
+     *
+     * This state indicates that the drive is enabled and ready to perform its intended operation.
+     * It can receive motion commands and execute them.
+     */
+    OPERATION_ENABLED = "OPERATION_ENABLED",
+    /**
+     * Quick stop active (QSA).
+     *
+     * This state is used to bring the drive to an immediate stop.
+     * It is typically triggered by an emergency stop or a quick stop command.
+     */
+    QUICK_STOP_ACTIVE = "QUICK_STOP_ACTIVE",
+    /**
+     * Fault reaction active (FRA).
+     *
+     * When a fault or error condition occurs, the drive enters this state.
+     * It indicates that the drive is responding to the fault by taking appropriate actions,
+     * such as shutting down or entering a safe state.
+     */
+    FAULT_REACTION_ACTIVE = "FAULT_REACTION_ACTIVE",
+    /**
+     * Fault (FLT).
+     *
+     * This state signifies that a fault condition has been detected and the drive is no longer operational.
+     * It requires manual intervention or troubleshooting to resolve the fault
+     * and bring the drive back to a functional state.
+     */
+    FAULT = "FAULT"
 }
-export declare const statuswordStateLabels: string[];
-export declare const statuswordStateMap: Map<number, StatuswordState>;
-export declare function getStatuswordState(value: number): StatuswordState | undefined;
+export declare const cia402StateMap: Map<number, Cia402State>;
+export declare function getCia402State(value: number): Cia402State;
 export declare function isInternalLimitActive(statusword: number): boolean;
 export declare const controlwordBits: string[];
-export declare enum ControlwordState {
-    SHUTDOWN = 0,
-    SWITCH_ON = 1,
-    SWITCH_ON_ENABLE_OPERATION = 2,
-    DISABLE_VOLTAGE = 3,
-    QUICK_STOP = 4,
-    DISABLE_OPERATION = 5,
-    ENABLE_OPERATION = 6,
-    FAULT = 7
+/**
+ * In the CiA402 standard for drives and motion control, the controlword is a key component
+ * used to command and control the operation of a CiA402-compliant device, such as a motor drive.
+ * The controlword is typically a 16-bit value,
+ * and it consists of several bits that represent different control commands.
+ *
+ * @enum
+ */
+export declare enum ControlwordCommand {
+    SHUTDOWN = "SHUTDOWN",
+    SWITCH_ON = "SWITCH_ON",
+    SWITCH_ON_ENABLE_OPERATION = "SWITCH_ON_ENABLE_OPERATION",
+    DISABLE_VOLTAGE = "DISABLE_VOLTAGE",
+    /**
+     * Quick Stop.
+     *
+     * This command initiates a quick stop of the drive.
+     * When this bit is set to 1, the drive enters the "Quick stop active" state,
+     * causing the motor to decelerate and come to a stop as quickly as possible.
+     */
+    QUICK_STOP = "QUICK_STOP",
+    DISABLE_OPERATION = "DISABLE_OPERATION",
+    /**
+     * Enable Operation.
+     *
+     * This command enables the drive to perform its intended operation.
+     * When this bit is set to 1, the drive transitions from the "Ready to switch on" state to the "Operation enabled" state.
+     */
+    ENABLE_OPERATION = "ENABLE_OPERATION",
+    /**
+     * Fault Reset.
+     *
+     * This command resets a fault condition and clears any fault flags or errors that may have occurred.
+     * When this bit is set to 1, the drive attempts to recover from a fault and return to an operational state.
+     */
+    FAULT_RESET = "FAULT_RESET"
 }
-export declare const controlwordStateLabels: string[];
 /**
- * Return one of the controlword states based its value.
+ * Return one of the controlword commands based its value.
  *
  * NOTE: DISABLE_OPERATION and ENABLE_OPERATION are never returned.
  * Their values are the same as SWITCH_ON and SWITCH_ON_ENABLE_OPERATION.
  * What controlword is commanded depends on the transition.
  */
-export declare function getControlwordState(value: number): ControlwordState | undefined;
+export declare function getCommandFromControlword(value: number): ControlwordCommand | undefined;
 export declare const controlwordOptions: {
     Shutdown: number;
     'Switch on': number;
@@ -41,8 +122,37 @@ export declare const controlwordOptions: {
     'Quick stop': number;
     'Disable operation': number;
     'Enable operation': number;
-    Fault: number;
+    'Fault reset': number;
 };
+export declare const controlwordCommandOptions: ControlwordCommand[];
+export declare const controlwordCommandBitmasks: {
+    SHUTDOWN: number[];
+    SWITCH_ON: number[];
+    SWITCH_ON_ENABLE_OPERATION: number[];
+    DISABLE_VOLTAGE: number[];
+    QUICK_STOP: number[];
+    DISABLE_OPERATION: number[];
+    ENABLE_OPERATION: number[];
+    FAULT_RESET: number[];
+};
+export declare function createControlwordCommand(value: number, command: ControlwordCommand): number;
+/**
+ * CiA402 transitions.
+ *
+ * List of allowed transitions with controlword command.
+ *
+ * The following transitions are automatic:
+ * - 0: START -> NOT_READY_TO_SWITCH_ON
+ * - 1: NOT_READY_TO_SWITCH_ON -> SWITCH_ON_DISABLED
+ * - 13: ANY -> FAULT_REACTION_ACTIVE
+ * - 14: FAULT_REACTION_ACTIVE -> FAULT
+ */
+export declare const cia402Transitions: {
+    from: Cia402State;
+    to: Cia402State;
+    transitions: number[];
+    command: ControlwordCommand;
+}[];
 export declare enum ModesOfOperation {
     OPEN_LOOP_FIELD_MODE = -3,
     DIAGNOSTICS_MODE = -2,

package/src/lib/cia402.js

@@ -1,9 +1,6 @@
 "use strict";
-////////////////
-// STATUSWORD //
-////////////////
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.supportedDriveModesBits = exports.modesOfOperationOptions = exports.ModesOfOperation = exports.controlwordOptions = exports.getControlwordState = exports.controlwordStateLabels = exports.ControlwordState = exports.controlwordBits = exports.isInternalLimitActive = exports.getStatuswordState = exports.statuswordStateMap = exports.statuswordStateLabels = exports.StatuswordState = exports.statuswordBits = void 0;
+exports.supportedDriveModesBits = exports.modesOfOperationOptions = exports.ModesOfOperation = exports.cia402Transitions = exports.createControlwordCommand = exports.controlwordCommandBitmasks = exports.controlwordCommandOptions = exports.controlwordOptions = exports.getCommandFromControlword = exports.ControlwordCommand = exports.controlwordBits = exports.isInternalLimitActive = exports.getCia402State = exports.cia402StateMap = exports.Cia402State = exports.statuswordBits = void 0;
 exports.statuswordBits = [
     'rtso = ready to switch on',
     'so = switched on',
@@ -22,49 +19,93 @@ exports.statuswordBits = [
     'ms = manufacturer-specific',
     'ms = manufacturer-specific',
 ];
-var StatuswordState;
-(function (StatuswordState) {
-    StatuswordState[StatuswordState["NOT_READY_TO_SWITCH_ON"] = 0] = "NOT_READY_TO_SWITCH_ON";
-    StatuswordState[StatuswordState["SWITCH_ON_DISABLED"] = 1] = "SWITCH_ON_DISABLED";
-    StatuswordState[StatuswordState["READY_TO_SWITCH_ON"] = 2] = "READY_TO_SWITCH_ON";
-    StatuswordState[StatuswordState["SWITCHED_ON"] = 3] = "SWITCHED_ON";
-    StatuswordState[StatuswordState["OPERATION_ENABLED"] = 4] = "OPERATION_ENABLED";
-    StatuswordState[StatuswordState["QUICK_STOP_ACTIVE"] = 5] = "QUICK_STOP_ACTIVE";
-    StatuswordState[StatuswordState["FAULT_REACTION_ACTIVE"] = 6] = "FAULT_REACTION_ACTIVE";
-    StatuswordState[StatuswordState["FAULT"] = 7] = "FAULT";
-})(StatuswordState = exports.StatuswordState || (exports.StatuswordState = {}));
-exports.statuswordStateLabels = [
-    'NOT READY TO SWITCH ON',
-    'SWITCH ON DISABLED',
-    'READY TO SWITCH ON',
-    'SWITCHED ON',
-    'OPERATION ENABLED',
-    'QUICK STOP ACTIVE',
-    'FAULT REACTION ACTIVE',
-    'FAULT',
-];
-exports.statuswordStateMap = new Map([
-    [0b00000000, StatuswordState.NOT_READY_TO_SWITCH_ON],
-    [0b01000000, StatuswordState.SWITCH_ON_DISABLED],
-    [0b00100001, StatuswordState.READY_TO_SWITCH_ON],
-    [0b00100011, StatuswordState.SWITCHED_ON],
-    [0b00100111, StatuswordState.OPERATION_ENABLED],
-    [0b00000111, StatuswordState.QUICK_STOP_ACTIVE],
-    [0b00001111, StatuswordState.FAULT_REACTION_ACTIVE],
-    [0b00001000, StatuswordState.FAULT],
+/**
+ * CIA402 refers to the CANopen application profile for drives and motion control.
+ * It defines various states that a CiA402-compliant device, such as a motor drive, can be in.
+ *
+ * @enum
+ */
+var Cia402State;
+(function (Cia402State) {
+    /**
+     * Not ready to switch on (NRS).
+     *
+     * This is the initial state where the drive is not ready to be switched on.
+     * In this state, the drive is not powered or initialized.
+     */
+    Cia402State["NOT_READY_TO_SWITCH_ON"] = "NOT_READY_TO_SWITCH_ON";
+    /**
+     * Switch on disabled (SOD).
+     *
+     * In this state, the drive is powered and initialized but cannot be switched on.
+     * This state is usually used for safety purposes or when certain conditions need to be met before enabling the drive.
+     */
+    Cia402State["SWITCH_ON_DISABLED"] = "SWITCH_ON_DISABLED";
+    /**
+     * Ready to switch on (RTS).
+     *
+     * In this state, the drive is ready to be switched on.
+     * It has been powered and initialized, and it is waiting for the switch-on command.
+     */
+    Cia402State["READY_TO_SWITCH_ON"] = "READY_TO_SWITCH_ON";
+    /**
+     * Switched on (SWO).
+     *
+     * When the switch-on command is received, the drive enters this state.
+     * In this state, the drive is energized and ready to start motion.
+     */
+    Cia402State["SWITCHED_ON"] = "SWITCHED_ON";
+    /**
+     * Operation enabled (OP).
+     *
+     * This state indicates that the drive is enabled and ready to perform its intended operation.
+     * It can receive motion commands and execute them.
+     */
+    Cia402State["OPERATION_ENABLED"] = "OPERATION_ENABLED";
+    /**
+     * Quick stop active (QSA).
+     *
+     * This state is used to bring the drive to an immediate stop.
+     * It is typically triggered by an emergency stop or a quick stop command.
+     */
+    Cia402State["QUICK_STOP_ACTIVE"] = "QUICK_STOP_ACTIVE";
+    /**
+     * Fault reaction active (FRA).
+     *
+     * When a fault or error condition occurs, the drive enters this state.
+     * It indicates that the drive is responding to the fault by taking appropriate actions,
+     * such as shutting down or entering a safe state.
+     */
+    Cia402State["FAULT_REACTION_ACTIVE"] = "FAULT_REACTION_ACTIVE";
+    /**
+     * Fault (FLT).
+     *
+     * This state signifies that a fault condition has been detected and the drive is no longer operational.
+     * It requires manual intervention or troubleshooting to resolve the fault
+     * and bring the drive back to a functional state.
+     */
+    Cia402State["FAULT"] = "FAULT";
+})(Cia402State = exports.Cia402State || (exports.Cia402State = {}));
+;
+exports.cia402StateMap = new Map([
+    [0b00000000, Cia402State.NOT_READY_TO_SWITCH_ON],
+    [0b01000000, Cia402State.SWITCH_ON_DISABLED],
+    [0b00100001, Cia402State.READY_TO_SWITCH_ON],
+    [0b00100011, Cia402State.SWITCHED_ON],
+    [0b00100111, Cia402State.OPERATION_ENABLED],
+    [0b00000111, Cia402State.QUICK_STOP_ACTIVE],
+    [0b00001111, Cia402State.FAULT_REACTION_ACTIVE],
+    [0b00001000, Cia402State.FAULT],
 ]);
-function getStatuswordState(value) {
-    var _a;
-    return (_a = exports.statuswordStateMap.get(value & 0b01101111)) !== null && _a !== void 0 ? _a : exports.statuswordStateMap.get(value & 0b01001111);
+function getCia402State(value) {
+    var _a, _b;
+    return (_b = ((_a = exports.cia402StateMap.get(value & 0b01101111)) !== null && _a !== void 0 ? _a : exports.cia402StateMap.get(value & 0b01001111))) !== null && _b !== void 0 ? _b : Cia402State.NOT_READY_TO_SWITCH_ON;
 }
-exports.getStatuswordState = getStatuswordState;
+exports.getCia402State = getCia402State;
 function isInternalLimitActive(statusword) {
     return (0x800 & statusword) === 0x800;
 }
 exports.isInternalLimitActive = isInternalLimitActive;
-/////////////////
-// CONTROLWORD //
-/////////////////
 exports.controlwordBits = [
     'so = switch on',
     'ev = enable voltage',
@@ -83,62 +124,79 @@ exports.controlwordBits = [
     'ms = manufacturer-specific',
     'ms = manufacturer-specific',
 ];
-var ControlwordState;
-(function (ControlwordState) {
-    ControlwordState[ControlwordState["SHUTDOWN"] = 0] = "SHUTDOWN";
-    ControlwordState[ControlwordState["SWITCH_ON"] = 1] = "SWITCH_ON";
-    ControlwordState[ControlwordState["SWITCH_ON_ENABLE_OPERATION"] = 2] = "SWITCH_ON_ENABLE_OPERATION";
-    ControlwordState[ControlwordState["DISABLE_VOLTAGE"] = 3] = "DISABLE_VOLTAGE";
-    ControlwordState[ControlwordState["QUICK_STOP"] = 4] = "QUICK_STOP";
-    ControlwordState[ControlwordState["DISABLE_OPERATION"] = 5] = "DISABLE_OPERATION";
-    ControlwordState[ControlwordState["ENABLE_OPERATION"] = 6] = "ENABLE_OPERATION";
-    ControlwordState[ControlwordState["FAULT"] = 7] = "FAULT";
-})(ControlwordState = exports.ControlwordState || (exports.ControlwordState = {}));
-exports.controlwordStateLabels = [
-    'SHUTDOWN',
-    'SWITCH ON',
-    'SWITCH ON + ENABLE OPERATION',
-    'DISABLE VOLTAGE',
-    'QUICK STOP',
-    'DISABLE OPERATION',
-    'ENABLE OPERATION',
-    'FAULT',
-];
 /**
- * Return one of the controlword states based its value.
+ * In the CiA402 standard for drives and motion control, the controlword is a key component
+ * used to command and control the operation of a CiA402-compliant device, such as a motor drive.
+ * The controlword is typically a 16-bit value,
+ * and it consists of several bits that represent different control commands.
+ *
+ * @enum
+ */
+var ControlwordCommand;
+(function (ControlwordCommand) {
+    ControlwordCommand["SHUTDOWN"] = "SHUTDOWN";
+    ControlwordCommand["SWITCH_ON"] = "SWITCH_ON";
+    ControlwordCommand["SWITCH_ON_ENABLE_OPERATION"] = "SWITCH_ON_ENABLE_OPERATION";
+    ControlwordCommand["DISABLE_VOLTAGE"] = "DISABLE_VOLTAGE";
+    /**
+     * Quick Stop.
+     *
+     * This command initiates a quick stop of the drive.
+     * When this bit is set to 1, the drive enters the "Quick stop active" state,
+     * causing the motor to decelerate and come to a stop as quickly as possible.
+     */
+    ControlwordCommand["QUICK_STOP"] = "QUICK_STOP";
+    ControlwordCommand["DISABLE_OPERATION"] = "DISABLE_OPERATION";
+    /**
+     * Enable Operation.
+     *
+     * This command enables the drive to perform its intended operation.
+     * When this bit is set to 1, the drive transitions from the "Ready to switch on" state to the "Operation enabled" state.
+     */
+    ControlwordCommand["ENABLE_OPERATION"] = "ENABLE_OPERATION";
+    /**
+     * Fault Reset.
+     *
+     * This command resets a fault condition and clears any fault flags or errors that may have occurred.
+     * When this bit is set to 1, the drive attempts to recover from a fault and return to an operational state.
+     */
+    ControlwordCommand["FAULT_RESET"] = "FAULT_RESET";
+})(ControlwordCommand = exports.ControlwordCommand || (exports.ControlwordCommand = {}));
+/**
+ * Return one of the controlword commands based its value.
  *
  * NOTE: DISABLE_OPERATION and ENABLE_OPERATION are never returned.
  * Their values are the same as SWITCH_ON and SWITCH_ON_ENABLE_OPERATION.
  * What controlword is commanded depends on the transition.
  */
-function getControlwordState(value) {
+function getCommandFromControlword(value) {
     if ((value & 0b1000111) === 0b0000110) {
-        return ControlwordState.SHUTDOWN;
+        return ControlwordCommand.SHUTDOWN;
     }
     if ((value & 0b1001111) === 0b0000111) {
-        return ControlwordState.SWITCH_ON;
+        return ControlwordCommand.SWITCH_ON;
     }
     if ((value & 0b1001111) === 0b0001111) {
-        return ControlwordState.SWITCH_ON_ENABLE_OPERATION;
+        return ControlwordCommand.SWITCH_ON_ENABLE_OPERATION;
     }
     if ((value & 0b1000010) === 0b0000000) {
-        return ControlwordState.DISABLE_VOLTAGE;
+        return ControlwordCommand.DISABLE_VOLTAGE;
     }
     if ((value & 0b1000110) === 0b0000010) {
-        return ControlwordState.QUICK_STOP;
+        return ControlwordCommand.QUICK_STOP;
     }
     if ((value & 0b1001111) === 0b0000111) {
-        return ControlwordState.DISABLE_OPERATION;
+        return ControlwordCommand.DISABLE_OPERATION;
     }
     if ((value & 0b1001111) === 0b0001111) {
-        return ControlwordState.ENABLE_OPERATION;
+        return ControlwordCommand.ENABLE_OPERATION;
     }
     if ((value & 0b1000000) === 0b1000000) {
-        return ControlwordState.FAULT;
+        return ControlwordCommand.FAULT_RESET;
     }
     return;
 }
-exports.getControlwordState = getControlwordState;
+exports.getCommandFromControlword = getCommandFromControlword;
 exports.controlwordOptions = {
     'Shutdown': 0b00000110,
     'Switch on': 0b00000111,
@@ -147,11 +205,145 @@ exports.controlwordOptions = {
     'Quick stop': 0b00000010,
     'Disable operation': 0b00000111,
     'Enable operation': 0b00001111,
-    'Fault': 0b10000000, // fault reset 15
+    'Fault reset': 0b10000000, // fault reset 15
 };
-////////////////////////
-// MODES OF OPERATION //
-////////////////////////
+exports.controlwordCommandOptions = Object.values(ControlwordCommand);
+exports.controlwordCommandBitmasks = {
+    [ControlwordCommand.SHUTDOWN]: [
+        0b1111111101111110,
+        0b0000000000000110,
+    ],
+    [ControlwordCommand.SWITCH_ON]: [
+        0b1111111101110111,
+        0b0000000000000111,
+    ],
+    [ControlwordCommand.SWITCH_ON_ENABLE_OPERATION]: [
+        0b1111111101111111,
+        0b0000000000001111,
+    ],
+    [ControlwordCommand.DISABLE_VOLTAGE]: [
+        0b1111111101111101,
+        0b0000000000000000,
+    ],
+    [ControlwordCommand.QUICK_STOP]: [
+        0b1111111101111011,
+        0b0000000000000010,
+    ],
+    [ControlwordCommand.DISABLE_OPERATION]: [
+        0b1111111101110111,
+        0b0000000000000111,
+    ],
+    [ControlwordCommand.ENABLE_OPERATION]: [
+        0b1111111101111111,
+        0b0000000000001111,
+    ],
+    [ControlwordCommand.FAULT_RESET]: [
+        0b1111111111111111,
+        0b0000000010000000,
+    ],
+};
+function createControlwordCommand(value, command) {
+    const bitmasks = exports.controlwordCommandBitmasks[command];
+    return ((value & bitmasks[0]) | bitmasks[1]);
+}
+exports.createControlwordCommand = createControlwordCommand;
+/**
+ * CiA402 transitions.
+ *
+ * List of allowed transitions with controlword command.
+ *
+ * The following transitions are automatic:
+ * - 0: START -> NOT_READY_TO_SWITCH_ON
+ * - 1: NOT_READY_TO_SWITCH_ON -> SWITCH_ON_DISABLED
+ * - 13: ANY -> FAULT_REACTION_ACTIVE
+ * - 14: FAULT_REACTION_ACTIVE -> FAULT
+ */
+exports.cia402Transitions = [
+    {
+        from: Cia402State.SWITCH_ON_DISABLED,
+        to: Cia402State.READY_TO_SWITCH_ON,
+        transitions: [2],
+        command: ControlwordCommand.SHUTDOWN,
+    },
+    {
+        from: Cia402State.READY_TO_SWITCH_ON,
+        to: Cia402State.SWITCHED_ON,
+        transitions: [3],
+        command: ControlwordCommand.SWITCH_ON,
+    },
+    {
+        from: Cia402State.READY_TO_SWITCH_ON,
+        to: Cia402State.OPERATION_ENABLED,
+        transitions: [3, 4],
+        command: ControlwordCommand.SWITCH_ON_ENABLE_OPERATION,
+    },
+    {
+        from: Cia402State.SWITCHED_ON,
+        to: Cia402State.OPERATION_ENABLED,
+        transitions: [4],
+        command: ControlwordCommand.ENABLE_OPERATION,
+    },
+    {
+        from: Cia402State.OPERATION_ENABLED,
+        to: Cia402State.SWITCHED_ON,
+        transitions: [5],
+        command: ControlwordCommand.DISABLE_OPERATION,
+    },
+    {
+        from: Cia402State.SWITCHED_ON,
+        to: Cia402State.READY_TO_SWITCH_ON,
+        transitions: [6],
+        command: ControlwordCommand.SHUTDOWN,
+    },
+    {
+        from: Cia402State.READY_TO_SWITCH_ON,
+        to: Cia402State.SWITCH_ON_DISABLED,
+        transitions: [7],
+        command: ControlwordCommand.DISABLE_VOLTAGE,
+    },
+    {
+        from: Cia402State.OPERATION_ENABLED,
+        to: Cia402State.READY_TO_SWITCH_ON,
+        transitions: [8],
+        command: ControlwordCommand.SHUTDOWN,
+    },
+    {
+        from: Cia402State.OPERATION_ENABLED,
+        to: Cia402State.SWITCH_ON_DISABLED,
+        transitions: [9],
+        command: ControlwordCommand.DISABLE_VOLTAGE,
+    },
+    {
+        from: Cia402State.SWITCHED_ON,
+        to: Cia402State.SWITCH_ON_DISABLED,
+        transitions: [10],
+        command: ControlwordCommand.DISABLE_VOLTAGE,
+    },
+    {
+        from: Cia402State.OPERATION_ENABLED,
+        to: Cia402State.QUICK_STOP_ACTIVE,
+        transitions: [11],
+        command: ControlwordCommand.QUICK_STOP,
+    },
+    {
+        from: Cia402State.QUICK_STOP_ACTIVE,
+        to: Cia402State.SWITCH_ON_DISABLED,
+        transitions: [12],
+        command: ControlwordCommand.DISABLE_VOLTAGE,
+    },
+    {
+        from: Cia402State.FAULT,
+        to: Cia402State.SWITCH_ON_DISABLED,
+        transitions: [15],
+        command: ControlwordCommand.FAULT_RESET,
+    },
+    {
+        from: Cia402State.QUICK_STOP_ACTIVE,
+        to: Cia402State.OPERATION_ENABLED,
+        transitions: [16],
+        command: ControlwordCommand.ENABLE_OPERATION,
+    },
+];
 var ModesOfOperation;
 (function (ModesOfOperation) {
     ModesOfOperation[ModesOfOperation["OPEN_LOOP_FIELD_MODE"] = -3] = "OPEN_LOOP_FIELD_MODE";