motion-master-client 0.0.269 → 0.0.271

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.269",
+  "version": "0.0.271",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/lib/device-parameter.d.ts

@@ -57,3 +57,36 @@ export declare function isDeviceParameterId(id: string): boolean;
 export declare function parsePdoSubItemValue(value: number): [number, number, number];
 export declare const defaultRxPdoGroupedValues: number[][];
 export declare const defaultTxPdoGroupedValues: number[][];
+/**
+ * Represents a register of the Circulo Integrated Encoder.
+ */
+export interface CirculoIntegratedEncoderRegister {
+    /**
+     * The EEPROM register address.
+     */
+    eepromAddress: number;
+    /**
+     * The name of the register.
+     */
+    name: string;
+    /**
+     * The RAM register address.
+     */
+    ramAddress: number;
+    /**
+     * The current value of the register.
+     */
+    value: number;
+}
+/**
+ * Array representing the EEPROM and RAM register values for the Circulo Integrated Encoder.
+ * Each entry contains an EEPROM address, a RAM address, and an associated value.
+ * The registers are initialized with default values of 0x00.
+ *
+ * @example
+ * // Access the EEPROM address and value for the first register
+ * const firstRegister = circuloIntegratedEncoderRegisters[0];
+ * console.log(firstRegister.eeprom); // 0x00
+ * console.log(firstRegister.value);  // 0x00
+ */
+export declare const circuloIntegratedEncoderRegisters: CirculoIntegratedEncoderRegister[];

package/src/lib/device-parameter.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.defaultTxPdoGroupedValues = exports.defaultRxPdoGroupedValues = exports.parsePdoSubItemValue = exports.isDeviceParameterId = exports.splitDeviceParameterId = exports.deviceParameterIdRegExp = exports.makeDeviceParameterId = void 0;
+exports.circuloIntegratedEncoderRegisters = exports.defaultTxPdoGroupedValues = exports.defaultRxPdoGroupedValues = exports.parsePdoSubItemValue = exports.isDeviceParameterId = exports.splitDeviceParameterId = exports.deviceParameterIdRegExp = exports.makeDeviceParameterId = void 0;
 const parameter_1 = require("./parameter");
 function makeDeviceParameterId(serialNumber, a, b) {
     const parameterId = (0, parameter_1.makeParameterId)(a, b);
@@ -67,4 +67,50 @@ exports.defaultTxPdoGroupedValues = [
     [0x1, 0x60fd0020],
     [0x5, 0x27040020, 0x20f00020, 0x60fc0020, 0x606b0020, 0x60740010],
 ];
+/**
+ * Array representing the EEPROM and RAM register values for the Circulo Integrated Encoder.
+ * Each entry contains an EEPROM address, a RAM address, and an associated value.
+ * The registers are initialized with default values of 0x00.
+ *
+ * @example
+ * // Access the EEPROM address and value for the first register
+ * const firstRegister = circuloIntegratedEncoderRegisters[0];
+ * console.log(firstRegister.eeprom); // 0x00
+ * console.log(firstRegister.value);  // 0x00
+ */
+exports.circuloIntegratedEncoderRegisters = [
+    { eepromAddress: 0x00, name: '', ramAddress: 0x00, value: 0x00 },
+    { eepromAddress: 0x01, name: '', ramAddress: 0x01, value: 0x00 },
+    { eepromAddress: 0x02, name: '', ramAddress: 0x02, value: 0x00 },
+    { eepromAddress: 0x03, name: '', ramAddress: 0x03, value: 0x00 },
+    { eepromAddress: 0x04, name: '', ramAddress: 0x04, value: 0x00 },
+    { eepromAddress: 0x05, name: '', ramAddress: 0x05, value: 0x00 },
+    { eepromAddress: 0x06, name: '', ramAddress: 0x06, value: 0x00 },
+    { eepromAddress: 0x07, name: '', ramAddress: 0x07, value: 0x00 },
+    { eepromAddress: 0x08, name: '', ramAddress: 0x08, value: 0x00 },
+    { eepromAddress: 0x09, name: '', ramAddress: 0x09, value: 0x00 },
+    { eepromAddress: 0x0a, name: '', ramAddress: 0x0a, value: 0x00 },
+    { eepromAddress: 0x0b, name: '', ramAddress: 0x0b, value: 0x00 },
+    { eepromAddress: 0x0c, name: '', ramAddress: 0x0c, value: 0x00 },
+    { eepromAddress: 0x0d, name: '', ramAddress: 0x0d, value: 0x00 },
+    { eepromAddress: 0x0e, name: '', ramAddress: 0x0e, value: 0x00 },
+    { eepromAddress: 0x0f, name: '', ramAddress: 0x0f, value: 0x00 },
+    { eepromAddress: 0x10, name: '', ramAddress: 0x10, value: 0x00 },
+    { eepromAddress: 0x11, name: '', ramAddress: 0x11, value: 0x00 },
+    { eepromAddress: 0x12, name: '', ramAddress: 0x12, value: 0x00 },
+    { eepromAddress: 0x13, name: '', ramAddress: 0x13, value: 0x00 },
+    { eepromAddress: 0x14, name: '', ramAddress: 0x14, value: 0x00 },
+    { eepromAddress: 0x15, name: '', ramAddress: 0x15, value: 0x00 },
+    { eepromAddress: 0x16, name: '', ramAddress: 0x16, value: 0x00 },
+    { eepromAddress: 0x17, name: '', ramAddress: 0x17, value: 0x00 },
+    { eepromAddress: 0x18, name: '', ramAddress: 0x18, value: 0x00 },
+    { eepromAddress: 0x19, name: '', ramAddress: 0x52, value: 0x00 },
+    { eepromAddress: 0x1a, name: '', ramAddress: 0x53, value: 0x00 },
+    { eepromAddress: 0x1b, name: '', ramAddress: 0x54, value: 0x00 },
+    { eepromAddress: 0x1c, name: '', ramAddress: 0x55, value: 0x00 },
+    { eepromAddress: 0x1d, name: '', ramAddress: 0x56, value: 0x00 },
+    { eepromAddress: 0x1e, name: '', ramAddress: 0x57, value: 0x00 },
+    { eepromAddress: 0x1f, name: '', ramAddress: 0x58, value: 0x00 },
+    { eepromAddress: 0x20, name: '', ramAddress: 0x59, value: 0x00 },
+];
 //# sourceMappingURL=device-parameter.js.map

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package/src/lib/ethercat.d.ts

@@ -23,6 +23,7 @@ export declare const baseDataTypes: BaseDataType[];
  * List of base data types with variable length, as specified in ETG.1020 Protocol Enhancements, Table 99.
  */
 export declare const baseDataTypesWithVariableLength: BaseDataType[];
+export declare const preDefinedRecords: BaseDataType[];
 /**
  * Combines all base data types, including those from Table 98 and Table 99.
  */
@@ -44,16 +45,141 @@ export declare enum ObjectCodeDefinition {
     ARRAY = 8,
     RECORD = 9
 }
+/**
+ * Flags used to describe object access rights, mapping, and startup behavior.
+ * These can be combined using bitwise OR to form compound flags.
+ */
+/**
+ * Flags used to describe object access rights, mapping, and startup behavior.
+ * These can be combined using bitwise OR to form compound flags.
+ */
+export declare enum ObjectFlags {
+    /**
+     * No flags set.
+     */
+    NONE = 0,
+    /**
+     * Pre-operational read access.
+     */
+    PO_RD = 1,
+    /**
+     * Safe-operational read access.
+     */
+    SO_RD = 2,
+    /**
+     * Operational read access.
+     */
+    OP_RD = 4,
+    /**
+     * All read access (pre-op, safe-op, operational).
+     */
+    ALL_RD = 7,
+    /**
+     * Pre-operational write access.
+     */
+    PO_WR = 8,
+    /**
+     * Safe-operational write access.
+     */
+    SO_WR = 16,
+    /**
+     * Operational write access.
+     */
+    OP_WR = 32,
+    /**
+     * All write access (pre-op, safe-op, operational).
+     */
+    ALL_WR = 56,
+    /**
+     * Pre-operational read/write access.
+     */
+    PO_RDWR = 9,
+    /**
+     * Safe-operational read/write access.
+     */
+    SO_RDWR = 18,
+    /**
+     * Operational read/write access.
+     */
+    OP_RDWR = 36,
+    /**
+     * All read/write access (pre-op, safe-op, operational).
+     */
+    ALL_RDWR = 63,
+    /**
+     * Mapped to Receive PDO.
+     */
+    RXPDO_MAP = 64,
+    /**
+     * Mapped to Transmit PDO.
+     */
+    TXPDO_MAP = 128,
+    /**
+     * Mapped to both Receive and Transmit PDO.
+     */
+    RXTXPDO_MAP = 192,
+    /**
+     * Include in device backup.
+     */
+    BACKUP = 256,
+    /**
+     * Set on device startup.
+     */
+    STARTUP = 512,
+    /**
+     * All list flags (mapping, backup, and startup).
+     */
+    ALL_LIST_FLAGS = 960
+}
+/**
+ * Returns the names of individual base flags that are set in a given bitmask.
+ *
+ * This function filters out composite flags (e.g., `ALL_RD`, `PO_RDWR`)
+ * and returns only the names of "base" flags — flags that represent a single bit.
+ *
+ * @param flagsValue - The bitmask containing one or more `ObjectFlags`.
+ * @returns An array of `ObjectFlags` key names corresponding to individual set flags.
+ *
+ * @example
+ * ```ts
+ * const flags = ObjectFlags.PO_RD | ObjectFlags.SO_WR | ObjectFlags.TXPDO_MAP;
+ * const names = getObjectFlagNames(flags);
+ * // names => ["PO_RD", "SO_WR", "TXPDO_MAP"]
+ * ```
+ */
+export declare function getObjectFlagNames(flagsValue: number): string[];
+/**
+ * Returns the name of any flag (base or compound) that exactly matches the given value.
+ *
+ * This includes both single-bit flags (e.g., `PO_RD`) and combined flags (e.g., `ALL_RDWR`, `RXTXPDO_MAP`).
+ *
+ * @param flagsValue - The exact value to match.
+ * @returns The matching flag name, or `undefined` if no exact match exists.
+ *
+ * @example
+ * ```ts
+ * getExactFlagName(ObjectFlags.PO_RD);       // "PO_RD"
+ * getExactFlagName(ObjectFlags.ALL_RDWR);    // "ALL_RDWR"
+ * getExactFlagName(ObjectFlags.PO_RD | ObjectFlags.SO_WR); // undefined
+ * ```
+ */
+export declare function getExactObjectFlagName(flagsValue: number): string | undefined;
 /**
  * Represents the EtherCAT State Machine (ESM) states.
  * These states define the different phases in the EtherCAT communication process,
  * determining the level of access and functionality available at each stage.
  */
 export declare enum EthercatState {
+    /** No specific state assigned; the device is inactive or uninitialized. */
     NONE = 0,
+    /** Initialization state. Only EtherCAT Slave Controller (ESC) registers are accessible. */
     INIT = 1,
+    /** Pre-operational state. Mailbox communication is available, but cyclic process data exchange is disabled. */
     PREOP = 2,
+    /** Boot state, primarily used for firmware updates or special configurations. */
     BOOT = 3,
+    /** Safe-operational state. Inputs are updated cyclically, but outputs are held in a safe (inactive) state. */
     SAFEOP = 4,
+    /** Operational state. Full duplex process data exchange is active; device is fully functional. */
     OP = 8
 }

package/src/lib/ethercat.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.EthercatState = exports.ObjectCodeDefinition = exports.findBaseDataTypeByIndex = exports.allBaseDataTypes = exports.baseDataTypesWithVariableLength = exports.baseDataTypes = void 0;
+exports.EthercatState = exports.getExactObjectFlagName = exports.getObjectFlagNames = exports.ObjectFlags = exports.ObjectCodeDefinition = exports.findBaseDataTypeByIndex = exports.allBaseDataTypes = exports.preDefinedRecords = exports.baseDataTypesWithVariableLength = exports.baseDataTypes = void 0;
 /**
  * List of base data types as defined in ETG.1020 Protocol Enhancements, Table 98.
  */
@@ -46,6 +46,14 @@ exports.baseDataTypes = [
         description: 'Integer',
         range: [-32768, 32767],
     },
+    {
+        index: 0x0010,
+        name: 'INTEGER24',
+        baseDataType: 'INT24',
+        bitSize: 24,
+        description: '',
+        range: [-8388608, 8388607],
+    },
     { index: 0x0010, name: 'INTEGER24', baseDataType: 'INT24', bitSize: 24, range: [-8388608, 8388607] },
     {
         index: 0x0004,
@@ -76,6 +84,14 @@ exports.baseDataTypes = [
         description: 'Unsigned Integer / Word',
         range: [0, 65535],
     },
+    {
+        index: 0x0016,
+        name: 'UNSIGNED24',
+        baseDataType: 'UIN24',
+        bitSize: 24,
+        description: '',
+        range: [0, 16777215],
+    },
     { index: 0x0016, name: 'UNSIGNED24', baseDataType: 'UINT24', bitSize: 24 },
     {
         index: 0x0007,
@@ -157,10 +173,121 @@ exports.baseDataTypesWithVariableLength = [
         description: 'Sequence of UDINT',
     },
 ];
+exports.preDefinedRecords = [
+    {
+        index: 0x0021,
+        name: 'PDO_MAPPING',
+        baseDataType: '',
+        bitSize: 0,
+        description: 'For PDO_MAPPING definition see ETG.1000',
+    },
+    {
+        index: 0x0023,
+        name: 'IDENTITY',
+        baseDataType: '',
+        bitSize: 0,
+        description: 'For IDENTITY definition see ETG.1000',
+    },
+    {
+        index: 0x0025,
+        name: 'COMMAND_PAR',
+        baseDataType: '',
+        bitSize: 0,
+        description: 'For COMMAND_PAR definition see ETG.1000',
+    },
+    {
+        index: 0x0027,
+        name: 'PDO_PARAMETER',
+        baseDataType: '',
+        bitSize: 0,
+        description: 'For PDO_PARAMETER definition see ETG.1020',
+    },
+    {
+        index: 0x0028,
+        name: 'ENUM',
+        baseDataType: '',
+        bitSize: 0,
+        description: 'For DEFTYPE_ENUM definition see ETG.1020',
+    },
+    {
+        index: 0x0029,
+        name: 'SM_SYNCHRONIZATION',
+        baseDataType: '',
+        bitSize: 0,
+        description: 'For SYNC_PAR definition see ETG.1000',
+    },
+    {
+        index: 0x002a,
+        name: 'RECORD',
+        baseDataType: '',
+        bitSize: 0,
+        description: 'No pre-defined Record structure. Can be used as a general data type for Records.',
+    },
+    {
+        index: 0x002b,
+        name: 'BACKUP_PARAMETER',
+        baseDataType: '',
+        bitSize: 0,
+        description: 'For BACKUP_PARAMETE definition see ETG.1020, Object 0x10F0',
+    },
+    {
+        index: 0x002c,
+        name: 'MODULAR_DEVICE_PROFILE',
+        baseDataType: '',
+        bitSize: 0,
+        description: 'For MODULAR_DEVICE_PROFILE definition see ETG.5001, Object 0xF000',
+    },
+    {
+        index: 0x0281,
+        name: 'ERROR_SETTING',
+        baseDataType: '',
+        bitSize: 0,
+        description: 'For DEFTYPE_ERRORHANDLING definition see ETG.1020, Object 0x10F1',
+    },
+    {
+        index: 0x0282,
+        name: 'DIAGNOSIS_HISTORY',
+        baseDataType: '',
+        bitSize: 0,
+        description: 'For DEFTYPE_DIAGHISTORY definition see ETG.1020, Object 0x10F3',
+    },
+    {
+        index: 0x0283,
+        name: 'EXTERNAL_SYNC_STATUS',
+        baseDataType: '',
+        bitSize: 0,
+        description: 'For DEFTYPE_SYNCSTATUS definition see ETG.1020, Object 0x10F4',
+    },
+    {
+        index: 0x0284,
+        name: 'EXTERNAL_SYNC_SETTINGS',
+        baseDataType: '',
+        bitSize: 0,
+        description: 'For DEFTYPE_SYNCSETTINGS definition see ETG.1020, Object 0x10F5',
+    },
+    {
+        index: 0x0285,
+        name: 'DEFTYPE_FSOEFRAME',
+        baseDataType: '',
+        bitSize: 0,
+        description: 'For DEFTYPE_FSOEFRAME definition see ETG.5120',
+    },
+    {
+        index: 0x0286,
+        name: 'DEFTYPE_FSOECOMMPAR',
+        baseDataType: '',
+        bitSize: 0,
+        description: 'For DEFTYPE_FSOECOMMPA definition see ETG.5120',
+    },
+];
 /**
  * Combines all base data types, including those from Table 98 and Table 99.
  */
-exports.allBaseDataTypes = [...exports.baseDataTypes, ...exports.baseDataTypesWithVariableLength];
+exports.allBaseDataTypes = [
+    ...exports.baseDataTypes,
+    ...exports.baseDataTypesWithVariableLength,
+    ...exports.preDefinedRecords,
+];
 /**
  * Finds a base data type that matches the specified index.
  * @param index - The index to search for.
@@ -182,6 +309,153 @@ var ObjectCodeDefinition;
     ObjectCodeDefinition[ObjectCodeDefinition["ARRAY"] = 8] = "ARRAY";
     ObjectCodeDefinition[ObjectCodeDefinition["RECORD"] = 9] = "RECORD";
 })(ObjectCodeDefinition = exports.ObjectCodeDefinition || (exports.ObjectCodeDefinition = {}));
+/**
+ * Flags used to describe object access rights, mapping, and startup behavior.
+ * These can be combined using bitwise OR to form compound flags.
+ */
+/**
+ * Flags used to describe object access rights, mapping, and startup behavior.
+ * These can be combined using bitwise OR to form compound flags.
+ */
+var ObjectFlags;
+(function (ObjectFlags) {
+    /**
+     * No flags set.
+     */
+    ObjectFlags[ObjectFlags["NONE"] = 0] = "NONE";
+    // ───── Read Access Flags ─────
+    /**
+     * Pre-operational read access.
+     */
+    ObjectFlags[ObjectFlags["PO_RD"] = 1] = "PO_RD";
+    /**
+     * Safe-operational read access.
+     */
+    ObjectFlags[ObjectFlags["SO_RD"] = 2] = "SO_RD";
+    /**
+     * Operational read access.
+     */
+    ObjectFlags[ObjectFlags["OP_RD"] = 4] = "OP_RD";
+    /**
+     * All read access (pre-op, safe-op, operational).
+     */
+    ObjectFlags[ObjectFlags["ALL_RD"] = 7] = "ALL_RD";
+    // ───── Write Access Flags ─────
+    /**
+     * Pre-operational write access.
+     */
+    ObjectFlags[ObjectFlags["PO_WR"] = 8] = "PO_WR";
+    /**
+     * Safe-operational write access.
+     */
+    ObjectFlags[ObjectFlags["SO_WR"] = 16] = "SO_WR";
+    /**
+     * Operational write access.
+     */
+    ObjectFlags[ObjectFlags["OP_WR"] = 32] = "OP_WR";
+    /**
+     * All write access (pre-op, safe-op, operational).
+     */
+    ObjectFlags[ObjectFlags["ALL_WR"] = 56] = "ALL_WR";
+    // ───── Read/Write Combinations ─────
+    /**
+     * Pre-operational read/write access.
+     */
+    ObjectFlags[ObjectFlags["PO_RDWR"] = 9] = "PO_RDWR";
+    /**
+     * Safe-operational read/write access.
+     */
+    ObjectFlags[ObjectFlags["SO_RDWR"] = 18] = "SO_RDWR";
+    /**
+     * Operational read/write access.
+     */
+    ObjectFlags[ObjectFlags["OP_RDWR"] = 36] = "OP_RDWR";
+    /**
+     * All read/write access (pre-op, safe-op, operational).
+     */
+    ObjectFlags[ObjectFlags["ALL_RDWR"] = 63] = "ALL_RDWR";
+    // ───── PDO Mapping Flags ─────
+    /**
+     * Mapped to Receive PDO.
+     */
+    ObjectFlags[ObjectFlags["RXPDO_MAP"] = 64] = "RXPDO_MAP";
+    /**
+     * Mapped to Transmit PDO.
+     */
+    ObjectFlags[ObjectFlags["TXPDO_MAP"] = 128] = "TXPDO_MAP";
+    /**
+     * Mapped to both Receive and Transmit PDO.
+     */
+    ObjectFlags[ObjectFlags["RXTXPDO_MAP"] = 192] = "RXTXPDO_MAP";
+    // ───── Other Flags ─────
+    /**
+     * Include in device backup.
+     */
+    ObjectFlags[ObjectFlags["BACKUP"] = 256] = "BACKUP";
+    /**
+     * Set on device startup.
+     */
+    ObjectFlags[ObjectFlags["STARTUP"] = 512] = "STARTUP";
+    /**
+     * All list flags (mapping, backup, and startup).
+     */
+    ObjectFlags[ObjectFlags["ALL_LIST_FLAGS"] = 960] = "ALL_LIST_FLAGS";
+})(ObjectFlags = exports.ObjectFlags || (exports.ObjectFlags = {}));
+/**
+ * Returns the names of individual base flags that are set in a given bitmask.
+ *
+ * This function filters out composite flags (e.g., `ALL_RD`, `PO_RDWR`)
+ * and returns only the names of "base" flags — flags that represent a single bit.
+ *
+ * @param flagsValue - The bitmask containing one or more `ObjectFlags`.
+ * @returns An array of `ObjectFlags` key names corresponding to individual set flags.
+ *
+ * @example
+ * ```ts
+ * const flags = ObjectFlags.PO_RD | ObjectFlags.SO_WR | ObjectFlags.TXPDO_MAP;
+ * const names = getObjectFlagNames(flags);
+ * // names => ["PO_RD", "SO_WR", "TXPDO_MAP"]
+ * ```
+ */
+function getObjectFlagNames(flagsValue) {
+    const result = [];
+    for (const [key, value] of Object.entries(ObjectFlags)) {
+        // Ensure value is a number (some keys come from reverse-mapping enums)
+        if (typeof value === 'number') {
+            // Only include base flags (power of two or 0)
+            const isBaseFlag = value !== 0 && (value & (value - 1)) === 0;
+            if (isBaseFlag && (flagsValue & value) !== 0) {
+                result.push(key);
+            }
+        }
+    }
+    return result;
+}
+exports.getObjectFlagNames = getObjectFlagNames;
+/**
+ * Returns the name of any flag (base or compound) that exactly matches the given value.
+ *
+ * This includes both single-bit flags (e.g., `PO_RD`) and combined flags (e.g., `ALL_RDWR`, `RXTXPDO_MAP`).
+ *
+ * @param flagsValue - The exact value to match.
+ * @returns The matching flag name, or `undefined` if no exact match exists.
+ *
+ * @example
+ * ```ts
+ * getExactFlagName(ObjectFlags.PO_RD);       // "PO_RD"
+ * getExactFlagName(ObjectFlags.ALL_RDWR);    // "ALL_RDWR"
+ * getExactFlagName(ObjectFlags.PO_RD | ObjectFlags.SO_WR); // undefined
+ * ```
+ */
+function getExactObjectFlagName(flagsValue) {
+    for (const [key, value] of Object.entries(ObjectFlags)) {
+        if (typeof value === 'number' && value === flagsValue) {
+            return key;
+        }
+    }
+    return undefined;
+}
+exports.getExactObjectFlagName = getExactObjectFlagName;
 /**
  * Represents the EtherCAT State Machine (ESM) states.
  * These states define the different phases in the EtherCAT communication process,
@@ -189,11 +463,17 @@ var ObjectCodeDefinition;
  */
 var EthercatState;
 (function (EthercatState) {
+    /** No specific state assigned; the device is inactive or uninitialized. */
     EthercatState[EthercatState["NONE"] = 0] = "NONE";
+    /** Initialization state. Only EtherCAT Slave Controller (ESC) registers are accessible. */
     EthercatState[EthercatState["INIT"] = 1] = "INIT";
+    /** Pre-operational state. Mailbox communication is available, but cyclic process data exchange is disabled. */
     EthercatState[EthercatState["PREOP"] = 2] = "PREOP";
+    /** Boot state, primarily used for firmware updates or special configurations. */
     EthercatState[EthercatState["BOOT"] = 3] = "BOOT";
+    /** Safe-operational state. Inputs are updated cyclically, but outputs are held in a safe (inactive) state. */
     EthercatState[EthercatState["SAFEOP"] = 4] = "SAFEOP";
+    /** Operational state. Full duplex process data exchange is active; device is fully functional. */
     EthercatState[EthercatState["OP"] = 8] = "OP";
 })(EthercatState = exports.EthercatState || (exports.EthercatState = {}));
 //# sourceMappingURL=ethercat.js.map

package/src/lib/ethercat.js.map

@@ -1 +1 @@
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package/src/lib/motion-master-req-res-client.d.ts

@@ -1744,4 +1744,15 @@ export declare class MotionMasterReqResClient {
      * and transmits them to the device.
      */
     factoryResetSmm(deviceRef: DeviceRef, parameterStructureVersion?: number | undefined): Observable<boolean>;
+    /**
+     * This is a special function that reads the key configuration registers of a Circulo integrated encoder.
+     * It sends a series of commands to the device to read the registers and returns the responses as an array.
+     * It was added as part of a fix for the EEPROM issue in Circulo integrated encoders.
+     *
+     * @param deviceRef - The reference to the device to which the command will be sent.
+     * @param encoderOrdinal - The ordinal number of the encoder.
+     * @param commandTimeout - The timeout in milliseconds for the command to complete.
+     * @returns An observable that emits an array of `EncoderRegisterCommunicationOsCommandResponse` objects.
+     */
+    readCirculoEncoderKeyConfigurationRegisters(deviceRef: DeviceRef, encoderOrdinal: number, commandTimeout?: number): Observable<EncoderRegisterCommunicationOsCommandResponse[]>;
 }

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

@@ -3271,6 +3271,21 @@ class MotionMasterReqResClient {
             return this.transmitSmmParameters(deviceRef, values, version);
         }));
     }
+    /**
+     * This is a special function that reads the key configuration registers of a Circulo integrated encoder.
+     * It sends a series of commands to the device to read the registers and returns the responses as an array.
+     * It was added as part of a fix for the EEPROM issue in Circulo integrated encoders.
+     *
+     * @param deviceRef - The reference to the device to which the command will be sent.
+     * @param encoderOrdinal - The ordinal number of the encoder.
+     * @param commandTimeout - The timeout in milliseconds for the command to complete.
+     * @returns An observable that emits an array of `EncoderRegisterCommunicationOsCommandResponse` objects.
+     */
+    readCirculoEncoderKeyConfigurationRegisters(deviceRef, encoderOrdinal, commandTimeout = 2000) {
+        const registerAddresses = device_parameter_1.circuloIntegratedEncoderRegisters.map((register) => register.ramAddress);
+        const defferedOsCommands = registerAddresses.map((registerAddress) => (0, rxjs_1.defer)(() => this.runEncoderRegisterCommunicationOsCommand(deviceRef, encoderOrdinal, 0, 0, registerAddress, undefined, commandTimeout)));
+        return (0, rxjs_1.concat)(...defferedOsCommands).pipe((0, operators_1.toArray)());
+    }
 }
 exports.MotionMasterReqResClient = MotionMasterReqResClient;
 //# sourceMappingURL=motion-master-req-res-client.js.map

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

@@ -1 +1 @@
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