motion-master-client 0.0.194 → 0.0.196

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.194",
+  "version": "0.0.196",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/lib/integro-variant.d.ts

@@ -11,15 +11,13 @@ import { Buffer } from 'buffer';
  * - 2B: Operation Mode (Passive=0x51, Trial=0x53, Prod=0x55, Live=0x57)
  * - 10B: Reserved
  *
- * Variant data section (up to 64 bytes):
+ * Variant data section:
  * - 2B: (Reserved for sw use)
  * - 2B: Number of options
  * - 2B: option code 1
  * - 2B: option code 2
  * - 2B: for each following option code...
  *
- * Total maximum (192 bytes).
- *
  * All options are specified as 'H' (unsigned short, 2 bytes).
  * Number 'H' added to the format depends on the size of Integro Variant buffer.
  */

package/src/lib/integro-variant.js

@@ -13,15 +13,13 @@ const python_struct_1 = require("python-struct");
  * - 2B: Operation Mode (Passive=0x51, Trial=0x53, Prod=0x55, Live=0x57)
  * - 10B: Reserved
  *
- * Variant data section (up to 64 bytes):
+ * Variant data section:
  * - 2B: (Reserved for sw use)
  * - 2B: Number of options
  * - 2B: option code 1
  * - 2B: option code 2
  * - 2B: for each following option code...
  *
- * Total maximum (192 bytes).
- *
  * All options are specified as 'H' (unsigned short, 2 bytes).
  * Number 'H' added to the format depends on the size of Integro Variant buffer.
  */
@@ -436,5 +434,126 @@ exports.integroVariantOptions = [
         mpnSegmentCodes: [],
         key: 'dcClock',
     },
+    {
+        category: 'Digital IOs allowed',
+        id: 28,
+        meaning: 'Disable DI1',
+        socVariables: [
+            'di_allowed_bitmap',
+        ],
+        incompatibleOptionIds: [],
+        mpnSegmentCodes: [],
+        key: 'digitalIOsAllowed',
+    },
+    {
+        category: 'Digital IOs allowed',
+        id: 29,
+        meaning: 'Disable DO1',
+        socVariables: [
+            'do_allowed_bitmap',
+        ],
+        incompatibleOptionIds: [],
+        mpnSegmentCodes: [],
+        key: 'digitalIOsAllowed',
+    },
+    {
+        category: 'Digital IOs allowed',
+        id: 30,
+        meaning: 'Disable DI2',
+        socVariables: [
+            'di_allowed_bitmap',
+        ],
+        incompatibleOptionIds: [],
+        mpnSegmentCodes: [],
+        key: 'digitalIOsAllowed',
+    },
+    {
+        category: 'Digital IOs allowed',
+        id: 31,
+        meaning: 'Disable DO2',
+        socVariables: [
+            'do_allowed_bitmap',
+        ],
+        incompatibleOptionIds: [],
+        mpnSegmentCodes: [],
+        key: 'digitalIOsAllowed',
+    },
+    {
+        category: 'Digital IOs allowed',
+        id: 32,
+        meaning: 'Disable DI3',
+        socVariables: [
+            'di_allowed_bitmap',
+        ],
+        incompatibleOptionIds: [],
+        mpnSegmentCodes: [],
+        key: 'digitalIOsAllowed',
+    },
+    {
+        category: 'Digital IOs allowed',
+        id: 33,
+        meaning: 'Disable DI4',
+        socVariables: [
+            'di_allowed_bitmap',
+        ],
+        incompatibleOptionIds: [],
+        mpnSegmentCodes: [],
+        key: 'digitalIOsAllowed',
+    },
+    {
+        category: 'Encoder connectors allowed',
+        id: 34,
+        meaning: 'Disable encoder connector 1 (Integrated encoder)',
+        socVariables: [
+            'encoder_allowed_bitmap',
+        ],
+        incompatibleOptionIds: [],
+        mpnSegmentCodes: [],
+        key: 'encoderConnectorsAllowed',
+    },
+    {
+        category: 'Encoder connectors allowed',
+        id: 35,
+        meaning: 'Disable encoder connector 2 (External encoder)',
+        socVariables: [
+            'encoder_allowed_bitmap',
+        ],
+        incompatibleOptionIds: [],
+        mpnSegmentCodes: [],
+        key: 'encoderConnectorsAllowed',
+    },
+    {
+        category: 'Analog inputs allowed',
+        id: 36,
+        meaning: 'Disable AI Internal (Motor temperature sensor)',
+        socVariables: [
+            'analog_inputs_allowed_bitmap',
+        ],
+        incompatibleOptionIds: [],
+        mpnSegmentCodes: [],
+        key: 'analogInputsAllowed',
+    },
+    {
+        category: 'Analog inputs allowed',
+        id: 37,
+        meaning: 'Disable AI 1',
+        socVariables: [
+            'analog_inputs_allowed_bitmap',
+        ],
+        incompatibleOptionIds: [],
+        mpnSegmentCodes: [],
+        key: 'analogInputsAllowed',
+    },
+    {
+        category: 'Analog inputs allowed',
+        id: 38,
+        meaning: 'Disable AI 2',
+        socVariables: [
+            'analog_inputs_allowed_bitmap',
+        ],
+        incompatibleOptionIds: [],
+        mpnSegmentCodes: [],
+        key: 'analogInputsAllowed',
+    },
 ];
 //# sourceMappingURL=integro-variant.js.map

package/src/lib/integro-variant.js.map

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

@@ -4,8 +4,9 @@ import { Device } from "./device";
 import { DeviceParameter } from "./device-parameter";
 import { HardwareDescription, StackInfo } from "./hardware-description";
 import { MotionMasterReqResSocket } from "./motion-master-req-res-socket";
+import { UIFeaturesConfig } from "./parameter";
 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, UIFeaturesConfig } from "./types";
+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, HrdStreamingOsCommandAction, HrdStreamingOsCommandDataIndex } from "./os-command";
 import { IntegroVariant } from "./integro-variant";

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

@@ -1221,7 +1221,15 @@ class MotionMasterReqResClient {
                 const stackInfo = hardwareDescription
                     ? undefined
                     : yield (0, rxjs_1.lastValueFrom)(this.getStackInfo(deviceAddress));
-                const integroVariant = yield (0, rxjs_1.lastValueFrom)(this.getIntegroVariant(deviceAddress));
+                let integroVariant = undefined;
+                try {
+                    integroVariant = yield (0, rxjs_1.lastValueFrom)(this.getIntegroVariant(deviceAddress));
+                }
+                catch (err) {
+                    if (err instanceof Error) {
+                        console.warn(`Unable to retrieve Integro variant for device ${id}: ${err.message}`);
+                    }
+                }
                 return Object.assign(Object.assign({}, device), { id, hardwareDescription, integroVariant, stackInfo });
             })));
         }));

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

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package/src/lib/parameter.d.ts

@@ -35,6 +35,10 @@ export interface Parameter extends MotionMasterMessage.Status.DeviceParameterInf
     options?: {
         [key: string]: number;
     };
+    /**
+     * Value of the parameter that is considered disabled.
+     */
+    disabledValue?: number;
 }
 export type ParameterIndexSubindex = Pick<Parameter, 'index' | 'subindex'>;
 /**
@@ -171,10 +175,36 @@ export declare function createPdoParameterValues(parameters: Array<{
  * @returns A tuple containing the index and subindex.
  */
 export declare function resolveParameterIndexAndSubindex(parameter: ParameterIndexSubindex | string | [number, number]): [number, number];
+/**
+ * Custom Parameter object for configuring UI features in the client library.
+ */
+export type UIFeaturesConfigParameter = Pick<Parameter, 'index' | 'subindex' | 'writeAccess'>;
+/**
+ * Represents the configuration options for UI applications using the client library.
+ * Defines available features, displayed elements, and editable parameters within the UI.
+ */
+export interface UIFeaturesConfig {
+    /**
+     * A list of configuration parameters with restricted access.
+     * Optional; defines parameters that are displayed but not editable.
+     */
+    parameters?: UIFeaturesConfigParameter[];
+    /**
+     * Specifies whether the encoder configuration is disabled.
+     * Optional: If undefined, the feature is treated as enabled.
+     */
+    encoderConfigurationDisabled?: boolean;
+    /**
+     * Specifies the type of Setup Wizard to be used.
+     * - `'actilink'`: Uses the Actilink Setup Wizard, which supports unit configuration, limits setup, and auto-tuning.
+     * - `'default'`: Uses the default Setup Wizard, which supports motor, brake, and encoder configuration.
+     */
+    setupWizard: 'actilink' | 'default';
+}
 /**
  * This array contains the list of parameters that are disabled by setting their value to a specific value.
  */
-export declare const disabledValueParameters: Pick<Parameter, 'index' | 'subindex' | 'value'>[];
+export declare const disabledValueParameters: Pick<Parameter, 'index' | 'subindex' | 'disabledValue'>[];
 /**
  * Determines if the value of the given parameter is considered disabled.
  *
@@ -184,3 +214,6 @@ export declare const disabledValueParameters: Pick<Parameter, 'index' | 'subinde
  * @returns `true` if the parameter is disabled, `false` otherwise.
  */
 export declare function isParameterValueDisabled<T extends Pick<Parameter, 'index' | 'subindex' | 'value'>>(parameter: T | [number, number, number]): boolean;
+export declare const parameterAddressToColor: {
+    [addr: string]: string;
+};

package/src/lib/parameter.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.isParameterValueDisabled = exports.disabledValueParameters = exports.resolveParameterIndexAndSubindex = exports.createPdoParameterValues = exports.valueTypeToParameterTypeValueKeyMap = exports.mapValueTypeToBitSize = exports.mapParameterToPdoSubItemValue = exports.fillPdoParametersWithMappingEntries = exports.filterTxPdoParameters = exports.filterRxPdoParameters = exports.isPdoIndex = exports.isTxPdoIndex = exports.isRxPdoIndex = exports.isSmmIndex = exports.mapParameterTypeValueToObject = exports.parseParameterValue = exports.getParameterValue = exports.getParameterTypeValue = exports.getParameterTypeValueDefault = exports.compareParameters = exports.intersectionParametersWithDifferentValues = exports.intersectionParameters = exports.differenceParameters = exports.parametersCompareFn = exports.isParameterId = exports.splitParameterId = exports.parameterIdRegExp = exports.makeParameterId = void 0;
+exports.parameterAddressToColor = exports.isParameterValueDisabled = exports.disabledValueParameters = exports.resolveParameterIndexAndSubindex = exports.createPdoParameterValues = exports.valueTypeToParameterTypeValueKeyMap = exports.mapValueTypeToBitSize = exports.mapParameterToPdoSubItemValue = exports.fillPdoParametersWithMappingEntries = exports.filterTxPdoParameters = exports.filterRxPdoParameters = exports.isPdoIndex = exports.isTxPdoIndex = exports.isRxPdoIndex = exports.isSmmIndex = exports.mapParameterTypeValueToObject = exports.parseParameterValue = exports.getParameterValue = exports.getParameterTypeValue = exports.getParameterTypeValueDefault = exports.compareParameters = exports.intersectionParametersWithDifferentValues = exports.intersectionParameters = exports.differenceParameters = exports.parametersCompareFn = exports.isParameterId = exports.splitParameterId = exports.parameterIdRegExp = exports.makeParameterId = void 0;
 const types_1 = require("./types");
 const lodash_1 = require("lodash");
 function makeParameterId(a, b) {
@@ -419,47 +419,47 @@ exports.disabledValueParameters = [
      * Protection: Undervoltage setpoint.
      * Beside 0, negative values are also considered disabled. We could introduce a range check here.
      */
-    { index: 0x2006, subindex: 1, value: 0 },
+    { index: 0x2006, subindex: 1, disabledValue: 0 },
     /**
      * Protection: Overvoltage setpoint.
      */
-    { index: 0x2006, subindex: 2, value: 2147483647 },
+    { index: 0x2006, subindex: 2, disabledValue: 2147483647 },
     /**
      * Protection: Overcurrent setpoint.
      */
-    { index: 0x2006, subindex: 3, value: 2147483647 },
+    { index: 0x2006, subindex: 3, disabledValue: 2147483647 },
     /**
      * Torque window: Value.
      */
-    { index: 0x2014, subindex: 1, value: 65535 },
+    { index: 0x2014, subindex: 1, disabledValue: 65535 },
     /**
      * Velocity feed forward: Gain.
      */
-    { index: 0x2015, subindex: 1, value: 0 },
+    { index: 0x2015, subindex: 1, disabledValue: 0 },
     /**
      * Velocity following error: Window.
      */
-    { index: 0x2018, subindex: 1, value: 65535 },
+    { index: 0x2018, subindex: 1, disabledValue: 65535 },
     /**
      * Velocity feedback filter: Cutoff frequency.
      */
-    { index: 0x2021, subindex: 2, value: 0 },
+    { index: 0x2021, subindex: 2, disabledValue: 0 },
     /**
      * Position feedback filter: Cutoff frequency.
      */
-    { index: 0x2022, subindex: 2, value: 0 },
+    { index: 0x2022, subindex: 2, disabledValue: 0 },
     /**
      * Following error window.
      */
-    { index: 0x6065, subindex: 0, value: 4294967295 },
+    { index: 0x6065, subindex: 0, disabledValue: 4294967295 },
     /**
      * Position window.
      */
-    { index: 0x6067, subindex: 0, value: 4294967295 },
+    { index: 0x6067, subindex: 0, disabledValue: 4294967295 },
     /**
      * Velocity window.
      */
-    { index: 0x606d, subindex: 0, value: 65535 },
+    { index: 0x606d, subindex: 0, disabledValue: 65535 },
 ];
 /**
  * Determines if the value of the given parameter is considered disabled.
@@ -471,7 +471,22 @@ exports.disabledValueParameters = [
  */
 function isParameterValueDisabled(parameter) {
     const [index, subindex, value] = Array.isArray(parameter) ? parameter : [parameter.index, parameter.subindex, parameter.value];
-    return exports.disabledValueParameters.some((p) => p.index === index && p.subindex === subindex && p.value === value);
+    return exports.disabledValueParameters.some((p) => p.index === index && p.subindex === subindex && p.disabledValue === value);
 }
 exports.isParameterValueDisabled = isParameterValueDisabled;
+exports.parameterAddressToColor = {
+    '0x20F0:00': '#FFFFFF',
+    '0x6041:00': '#CCCCCC',
+    '0x6064:00': '#B82698',
+    '0x607A:00': '#FF7F2A',
+    '0x6062:00': '#FF7F2A',
+    '0x60FC:00': '#FF7F2A',
+    '0x606C:00': '#A2CD39',
+    '0x60FF:00': '#FF5555',
+    '0x6077:00': '#FFDD55',
+    '0x6071:00': '#C8BEB7',
+    '0x60F40000:01': '#DC5361',
+    '0x60F40000:02': '#D19147',
+    '0x60F40000:03': '#E4CE86', // Torque following error
+};
 //# sourceMappingURL=parameter.js.map

package/src/lib/parameter.js.map

@@ -1 +1 @@
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package/src/lib/types.d.ts

@@ -1,5 +1,4 @@
 import { motionmaster } from "./motion-master.proto";
-import { ConfigParameter } from "./config-file";
 export import MotionMasterMessage = motionmaster.MotionMasterMessage;
 export import IMotionMasterMessage = motionmaster.IMotionMasterMessage;
 export type StatusKey = keyof MotionMasterMessage.IStatus;
@@ -342,25 +341,3 @@ export interface MotionMasterConnectionConfig {
      */
     secure?: boolean;
 }
-/**
- * Represents the configuration options for UI applications using the client library.
- * Defines available features, displayed elements, and editable parameters within the UI.
- */
-export interface UIFeaturesConfig {
-    /**
-     * A list of configuration parameters with restricted access.
-     * Optional; defines parameters that are displayed but not editable.
-     */
-    parameters?: ConfigParameter[];
-    /**
-     * Specifies whether the encoder configuration is disabled.
-     * Optional: If undefined, the feature is treated as enabled.
-     */
-    encoderConfigurationDisabled?: boolean;
-    /**
-     * Specifies the type of Setup Wizard to be used.
-     * - `'actilink'`: Uses the Actilink Setup Wizard, which supports unit configuration, limits setup, and auto-tuning.
-     * - `'default'`: Uses the default Setup Wizard, which supports motor, brake, and encoder configuration.
-     */
-    setupWizard: 'actilink' | 'default';
-}

package/src/lib/types.js.map

@@ -1 +1 @@
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