motion-master-client 0.0.211 → 0.0.213

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Files changed (3) hide show
  1. package/package.json +1 -1
  2. package/src/lib/integro-encoder-calibration.js +9 -8
  3. package/src/lib/integro-encoder-calibration.js.map +1 -1
package/package.json CHANGED
@@ -1,6 +1,6 @@
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  {
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  "name": "motion-master-client",
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- "version": "0.0.211",
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+ "version": "0.0.213",
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  "type": "commonjs",
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  "description": "A library and CLI program used for communicating with Motion Master.",
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  "dependencies": {
package/src/lib/integro-encoder-calibration.js CHANGED
@@ -10,7 +10,7 @@ const util_1 = require("./util");
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  const product_1 = require("./product");
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  const parameter_1 = require("./parameter");
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  function hex(value) {
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- return `0x${value.toString(16).toUpperCase()}`;
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+ return `0x${value === null || value === void 0 ? void 0 : value.toString(16).toUpperCase()}`;
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  }
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  function parseIntegroEncoderFirmwareVersion(value) {
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  const str = String(value).padStart(10, '0');
@@ -71,13 +71,13 @@ class IntegroEncoderCalibration {
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  }
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  // The calibration procedure should be performed after the drive is fully commissioned, and thus, the drive should be fully operational in Velocity mode.
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  // Tuning of the control loop should be done by the user.
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- this.notifications$.next(`Validating the device (${this.deviceRef}) before starting the Integro encoder calibration.`);
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+ this.notifications$.next(`Validating the device (${this.deviceRef}) before starting the encoder calibration.`);
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  yield this.validateDevice();
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  yield this.updateVelocityParameterValues();
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  // Retrieve the encoder firmware version and display it.
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  let osCommandResponse = yield (0, rxjs_1.lastValueFrom)(this.client.request.runKublerEncoderRegisterCommunicationOsCommand(this.deviceRef, 0, 0x04, 4, 0, 10000, 1000, false));
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  const encoderFirmwareVersion = parseIntegroEncoderFirmwareVersion(osCommandResponse.kublerRegisterValue);
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- this.notifications$.next(`The firmware version of the Integro encoder (register 0x04) is: Major=${encoderFirmwareVersion.major}, Minor=${encoderFirmwareVersion.minor}, Date=${encoderFirmwareVersion.datestamp}, Value=${encoderFirmwareVersion.value}.`);
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+ this.notifications$.next(`The firmware version of the integrated encoder (register 0x04) is: Major=${encoderFirmwareVersion.major}, Minor=${encoderFirmwareVersion.minor}, Date=${encoderFirmwareVersion.datestamp}, Value=${encoderFirmwareVersion.value}.`);
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  try {
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  yield this.client.request.resetFault(this.deviceRef);
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  }
@@ -224,9 +224,10 @@ class IntegroEncoderCalibration {
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  }
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  }
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  yield (0, util_1.resolveAfter)(500);
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- this.notifications$.next('Requesting Quick stop from device.');
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+ this.notifications$.next('Sending a Quick Stop request to the device.');
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  this.client.request.quickStop(this.deviceRef).catch();
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- this.revertVelocityParameterValues();
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+ yield this.revertVelocityParameterValues();
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+ this.notifications$.next('The encoder calibration has been successfully completed.');
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  });
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  }
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  /**
@@ -238,7 +239,7 @@ class IntegroEncoderCalibration {
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  const device = yield (0, rxjs_1.lastValueFrom)(this.client.request.resolveDevice(this.deviceRef));
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  // The device must exist.
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  if (!device) {
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- throw new Error('No device was found when starting the Integro encoder calibration.');
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+ throw new Error('No device was found when starting the encoder calibration.');
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  }
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  // The device must be Integro.
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  const productId = (_b = (_a = device.hardwareDescription) === null || _a === void 0 ? void 0 : _a.device) === null || _b === void 0 ? void 0 : _b.id;
@@ -280,12 +281,12 @@ class IntegroEncoderCalibration {
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  // The commutation offset must be set.
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  const commutationOffsetState = yield this.client.request.upload(this.deviceRef, 0x2009, 1);
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  if (commutationOffsetState !== 2) {
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- throw new Error('The commutation offset state must be valid before starting the Integro encoder calibration.');
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+ throw new Error('The commutation offset state must be valid before starting the encoder calibration.');
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  }
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  // The velocity controller must be tuned.
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  const velocityControllerKp = yield this.client.request.upload(this.deviceRef, 0x2011, 1);
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  if (velocityControllerKp <= 0) {
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- throw new Error('Velocity controller must be tuned before starting the Integro encoder calibration.');
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+ throw new Error('Velocity controller must be tuned before starting the encoder calibration.');
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  }
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  });
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  }
package/src/lib/integro-encoder-calibration.js.map CHANGED
@@ -1 +1 @@
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