motion-master-client 0.0.299 → 0.0.300-hanging-load-tuner.1

package/src/lib/hanging-load-tuner.js

@@ -0,0 +1,236 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.HangingLoadTuner = void 0;
+const tslib_1 = require("tslib");
+const rxjs_1 = require("rxjs");
+const cia402_1 = require("./cia402");
+class HangingLoadTuner {
+    constructor(client) {
+        this.client = client;
+        this.notifications$ = new rxjs_1.Subject();
+        this.isRunning$ = new rxjs_1.BehaviorSubject(false);
+        this.monitoringCsvData = null;
+        this.timePrePostTrigger = 500; // Pre and post trigger for chirp signal recording in ms
+        this.controlGainUpdateTime = 10; // Control gain update cycle time in ms
+    }
+    /**
+     * Performs a hanging load tuning procedure on the specified device.
+     *
+     * The procedure:
+     * 1. Forces on-demand parameter update and disables the position feedback filter.
+     * 2. Checks and adjusts position encoder to match commutation encoder.
+     * 3. Reads commutation encoder resolution and feed constants to compute effective lambda.
+     * 4. Reads and stores initial controller parameters for restoration after the tuner is finished.
+     * 5. Calculates initial proportional gain (kpInit) based on torque limits, lambda, and encoder configuration.
+     * 6. Sets initial P-controller parameters on the device.
+     * 7. Starts monitoring the actual position during chirp signal injection.
+     * 8. Dynamically updates P-gain during execution based on actual error.
+     * 9. Executes a chirp signal.
+     * 10. Transitions device state back to SWITCH_ON_DISABLED.
+     * 11. Restores original encoder configuration, feedback filter, and controller parameters.
+     * 12. Returns the monitored data as a CSV string.
+     *
+     * @param deviceRef Target device reference (string | number).
+     * @param startFrequency Chirp signal start frequency (Hz).
+     * @param targetFrequency Chirp signal target frequency (Hz).
+     * @param targetAmplitude Chirp signal target amplitude.
+     * @param transitionTime Chirp signal transition time (ms).
+     * @param motionRangeLimit Chirp signal motion range limit (Inc or Feed).
+     * @returns Promise<boolean> indicating success or failure of the tuning procedure.
+     */
+    runHangingLoadTuner(deviceRef, startFrequency, targetFrequency, targetAmplitude, transitionTime, motionRangeLimit) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            this.isRunning$.next(true);
+            yield this.client.request.forceOnDemandParametersUpdate(deviceRef);
+            try {
+                yield this.client.request.download(deviceRef, 0x2022, 1, 0);
+                this.notifications$.next('Position feedback filter (0x2022:1) disabled.');
+            }
+            catch (error) {
+                this.handleAbortAndCleanup('Aborting: Unable to turn off position feedback filter (0x2022:1).');
+            }
+            const commutationEncoder = yield this.client.request.upload(deviceRef, 0x2010, 12);
+            const positionEncoder = yield this.client.request.upload(deviceRef, 0x2012, 9);
+            if (positionEncoder === 0) {
+                this.handleAbortAndCleanup('Aborting: No position encoder (0x2012:9) configured.');
+            }
+            if (positionEncoder !== commutationEncoder) {
+                yield this.client.request.download(deviceRef, 0x2012, 9, commutationEncoder);
+                yield this.client.request.forceOnDemandParametersUpdate(deviceRef);
+            }
+            else {
+                this.notifications$.next('Position feedback source already set to commutation encoder.');
+            }
+            let commutationEncoderResolution;
+            if (commutationEncoder === 1) {
+                commutationEncoderResolution = yield this.client.request.upload(deviceRef, 0x2110, 3);
+            }
+            else if (commutationEncoder === 2) {
+                commutationEncoderResolution = yield this.client.request.upload(deviceRef, 0x2112, 3);
+            }
+            else {
+                this.handleAbortAndCleanup('Invalid commutation encoder configuration detected.', false);
+                return false;
+            }
+            this.notifications$.next(`Commutation encoder resolution: ${commutationEncoderResolution}.`);
+            const lambdaMin = 1000; // Minimum permissable movement range
+            const feedConstantFeed = yield this.client.request.upload(deviceRef, 0x6092, 1);
+            const feedConstantShaftRevolutions = yield this.client.request.upload(deviceRef, 0x6092, 2);
+            let feedConstant = feedConstantFeed / feedConstantShaftRevolutions;
+            let lambdaMinEff;
+            if (feedConstant === 0 || feedConstant === 4294967295) {
+                this.notifications$.next('Feed constant is disabled.');
+                lambdaMinEff = lambdaMin;
+            }
+            else {
+                this.notifications$.next(`Feed constant: ${feedConstant}.`);
+                if (feedConstant / commutationEncoderResolution > 1) {
+                    lambdaMinEff = Math.round((lambdaMin * feedConstant) / commutationEncoderResolution);
+                }
+                else {
+                    lambdaMinEff = lambdaMin;
+                }
+            }
+            const initialControllerParameters = yield this.client.request.uploadMany([
+                [deviceRef, 0x2012, 1],
+                [deviceRef, 0x2012, 2],
+                [deviceRef, 0x2012, 3],
+                [deviceRef, 0x2002, 0],
+            ]);
+            const kpp = initialControllerParameters[0];
+            const kip = initialControllerParameters[1];
+            const kdp = initialControllerParameters[2];
+            const controlMode = initialControllerParameters[3];
+            const maxTorque = yield this.client.request.upload(deviceRef, 0x6072, 0);
+            const motorRevolutions = yield this.client.request.upload(deviceRef, 0x6091, 1);
+            const shaftRevolutions = yield this.client.request.upload(deviceRef, 0x6091, 2);
+            const gearRatio = motorRevolutions / shaftRevolutions;
+            const lambda = motionRangeLimit * gearRatio;
+            let kpInit;
+            let xiSquared;
+            if (feedConstant === 0 || feedConstant === 4294967295) {
+                xiSquared = Math.min(maxTorque, 1000 * Math.sqrt(lambda / lambdaMinEff)) * lambda;
+                kpInit = xiSquared / Math.pow(lambda, 2);
+            }
+            else {
+                xiSquared =
+                    ((Math.min(maxTorque, 1000 * Math.sqrt(lambda / lambdaMinEff)) * lambda) / feedConstant) *
+                        commutationEncoderResolution;
+                kpInit = xiSquared / Math.pow((lambda / feedConstant) * commutationEncoderResolution, 2);
+            }
+            this.notifications$.next(`Xi squared: ${xiSquared}`);
+            this.notifications$.next(`Initial P-gain: ${kpInit}`);
+            yield this.client.request.downloadMany([
+                [deviceRef, 0x2002, 0, 1],
+                [deviceRef, 0x2012, 1, kpInit],
+                [deviceRef, 0x2012, 2, 0],
+                [deviceRef, 0x2012, 3, 0],
+            ]);
+            this.notifications$.next(`Initial P-controller set with gain ${kpInit.toFixed(6)}.`);
+            let actualPosition;
+            const dataMonitoring = this.client.createDataMonitoring([
+                [deviceRef, 0x20f0, 0],
+                [deviceRef, 0x6064, 0], // Position actual value
+            ], 1);
+            dataMonitoring.start(true).subscribe((data) => {
+                actualPosition = data[1];
+            });
+            const positionActualValue = yield this.client.request.upload(deviceRef, 0x6064, 0);
+            this.updateControlGain(() => tslib_1.__awaiter(this, void 0, void 0, function* () {
+                const e = positionActualValue - actualPosition;
+                let kp;
+                if (feedConstant === 0 || feedConstant === 4294967295) {
+                    kp = xiSquared / Math.pow(Math.max(lambda - Math.abs(e), 1), 2);
+                }
+                else {
+                    kp =
+                        xiSquared / Math.pow((Math.max(lambda - Math.abs(e), 1) / feedConstant) * commutationEncoderResolution, 2);
+                }
+                yield this.client.request.download(deviceRef, 0x2012, 1, kp);
+            }), () => this.isRunning$.getValue());
+            try {
+                yield this.client.request.download(deviceRef, 0x607a, 0, positionActualValue);
+                this.notifications$.next(`Target position set to actual position: ${positionActualValue}.`);
+            }
+            catch (_a) {
+                this.handleAbortAndCleanup('Aborting: Failed to set target position.', true, true, dataMonitoring);
+            }
+            let hrdStreamingDuration = transitionTime + this.timePrePostTrigger * 2;
+            if (hrdStreamingDuration > 10000) {
+                this.notifications$.next('Warning: HRD Streaming Duration exceeded 10000 ms, capping to 10000 ms.');
+                hrdStreamingDuration = 10000;
+            }
+            try {
+                this.notifications$.next('Running chirp signal...');
+                const chirpSignalResult = yield (0, rxjs_1.lastValueFrom)(this.client.request.runChirpSignal(deviceRef, startFrequency, targetFrequency, targetAmplitude, transitionTime, 0, hrdStreamingDuration));
+                if (!chirpSignalResult) {
+                    this.handleAbortAndCleanup('Aborting: Chirp signal failed.', true, true, dataMonitoring);
+                }
+                else if ('request' in chirpSignalResult && chirpSignalResult.request === 'succeeded') {
+                    this.notifications$.next('Chirp signal executed successfully.');
+                }
+                else {
+                    const errorName = chirpSignalResult && 'errorName' in chirpSignalResult ? chirpSignalResult.errorName : 'Unknown';
+                    const errorDescription = chirpSignalResult && 'errorDescription' in chirpSignalResult
+                        ? chirpSignalResult.errorDescription
+                        : 'No description';
+                    this.handleAbortAndCleanup(`Aborting: ${errorName} - ${errorDescription}.`, true, true, dataMonitoring);
+                    return false;
+                }
+            }
+            catch (_b) {
+                this.handleAbortAndCleanup('Aborting: Failed to run chirp signal.', true, true, dataMonitoring);
+            }
+            try {
+                yield this.client.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.SWITCH_ON_DISABLED);
+                this.notifications$.next('Transitioned to SWITCH_ON_DISABLED state.');
+            }
+            catch (_c) {
+                this.handleAbortAndCleanup('Aborting: Failed to transition to SWITCH_ON_DISABLED state.', true, true, dataMonitoring);
+            }
+            dataMonitoring.stop();
+            if (positionEncoder !== commutationEncoder) {
+                yield this.client.request.download(deviceRef, 0x2012, 9, positionEncoder);
+                yield this.client.request.forceOnDemandParametersUpdate(deviceRef);
+                this.notifications$.next('Original position encoder configuration has been restored.');
+            }
+            yield this.client.request.download(deviceRef, 0x2022, 1, 1);
+            this.notifications$.next('Position feedback filter has been turned on again.');
+            yield this.client.request.downloadMany([
+                [deviceRef, 0x2002, 0, controlMode],
+                [deviceRef, 0x2012, 1, kpp],
+                [deviceRef, 0x2012, 2, kip],
+                [deviceRef, 0x2012, 3, kdp],
+            ]);
+            this.notifications$.next('Original controller parameters have been restored.');
+            this.isRunning$.next(false);
+            this.monitoringCsvData = dataMonitoring.csv;
+            return true;
+        });
+    }
+    handleAbortAndCleanup(notificationEntry, stopTheFunction = true, isMonitoringRunning, dataMonitoring) {
+        this.isRunning$.next(false);
+        this.notifications$.next(notificationEntry);
+        if (isMonitoringRunning) {
+            this.monitoringCsvData = (dataMonitoring === null || dataMonitoring === void 0 ? void 0 : dataMonitoring.csv) || null;
+            dataMonitoring === null || dataMonitoring === void 0 ? void 0 : dataMonitoring.stop();
+        }
+        if (stopTheFunction) {
+            return false;
+        }
+        else {
+            return true;
+        }
+    }
+    updateControlGain(calculateControlGain, stopFlag) {
+        const intervalId = setInterval(() => {
+            if (stopFlag()) {
+                clearInterval(intervalId);
+                return;
+            }
+            calculateControlGain();
+        }, 100);
+    }
+}
+exports.HangingLoadTuner = HangingLoadTuner;
+//# sourceMappingURL=hanging-load-tuner.js.map

package/src/lib/hanging-load-tuner.js.map

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

@@ -6,7 +6,7 @@ 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, UiPdoMapping, UiConfig } 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, UiPdoMapping, UiConfig, RequestStatus } 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, SmmAcyclicHandlerLoadParametersForVerificationOsCommandResponse } from './os-command';
 import { IntegroVariant } from './integro-variant';
@@ -1836,17 +1836,6 @@ export declare class MotionMasterReqResClient {
      * @returns An observable that emits an array of `EncoderRegisterCommunicationOsCommandResponse` objects.
      */
     readCirculoIntegratedEncoderKeyConfigurationRegisters(deviceRef: DeviceRef, encoderOrdinal: number, commandTimeout?: number): Observable<EncoderRegisterCommunicationOsCommandResponse[]>;
-    /**
-     * Retrieves the supported encoder configuration types for the specified device.
-     *
-     * Resolves the device reference, fetches the supported encoder options and firmware version,
-     * then combines these to determine which encoder configurations are supported.
-     *
-     * @param deviceRef - A reference to the device for which to fetch supported encoder configurations.
-     * @returns An Observable emitting a two-dimensional array of numbers, where each inner array corresponds to
-     *          the supported encoder configuration types for a specific encoder port.
-     */
-    getSupportedEncoderConfigurationTypes(deviceRef: DeviceRef): Observable<number[][]>;
     /**
      * Retrieves the supported analog input (AI) modes for the specified device.
      *
@@ -1885,4 +1874,72 @@ export declare class MotionMasterReqResClient {
      *          all errors found in the queried encoder status registers.
      */
     checkCirculoEncoderErrors(deviceRef: DeviceRef, encoderOrdinal: number): Observable<EncoderRegisterError[]>;
+    /**
+     * Uploads and configures SMM parameters on the specified device from a CSV configuration file.
+     *
+     * This function performs the following steps in sequence:
+     * 1. Parses the CSV config file into structured parameters.
+     * 2. Resolves the SMM parameter structure version for the device.
+     * 3. Groups and maps parameters according to the SMM Object Dictionary.
+     * 4. Validates that the parameter counts match between the config and SMM structure.
+     * 5. Logs out from the SMM if already logged in.
+     * 6. Logs in for parameter download using provided credentials.
+     * 7. Transmits the parameters to the device.
+     * 8. Verifies transmitted parameters by reloading and matching values.
+     * 9. Sequentially verifies each parameter group on the device.
+     * 10. Loads and validates the safety parameters validation file.
+     * 11. Reloads the SMM parameters to refresh the stored values.
+     * 12. Ensures proper logout in all cases, including errors.
+     *
+     * @param deviceRef - Reference to the target device to configure.
+     * @param username - Username used to log in for parameter download.
+     * @param password - Password used to log in for parameter download.
+     * @param configFileContent - The raw CSV content of the configuration file.
+     *
+     * @returns An Observable that emits a status object:
+     *          - `{ request: 'succeeded' }` on successful configuration.
+     *          - `{ request: 'failed', error: { message } }` on failure with an error message.
+     *
+     * @remarks
+     * This method uses RxJS operators to ensure that each asynchronous step completes before the next begins.
+     * It also guarantees logout from the device when the operation finishes or if any error occurs.
+     */
+    configureSmmFromFile(deviceRef: DeviceRef, username: string, password: string, configFileContent: string): Observable<{
+        request: RequestStatus;
+        error?: {
+            message?: string;
+        };
+    }>;
+    /**
+     * Executes a sequential system identification chirp signal workflow on the specified device.
+     *
+     * This method performs the following steps in strict sequence:
+     * 1. Sets the device's mode of operation to CYCLIC_SYNC_POSITION_MODE.
+     * 2. Transitions the device to the OPERATION_ENABLED state.
+     * 3. Configures the chirp signal parameters:
+     *    - Start frequency
+     *    - Target frequency
+     *    - Target amplitude
+     *    - Transition time
+     *    - Signal type
+     *    - Start the procedure
+     * 4. Sends start commands for system identification.
+     * 5. Configures HRD streaming for system identification data with the specified streaming duration.
+     * 6. Starts HRD streaming for data collection.
+     *
+     * This ensures the device is fully prepared and triggered for executing a chirp signal for system identification,
+     * while strictly maintaining the required execution order to prevent device misconfiguration.
+     *
+     * @param deviceRef - Reference to the device on which the chirp signal should be executed.
+     * @param startFrequency - The starting frequency of the chirp signal (mHz).
+     * @param targetFrequency - The target frequency of the chirp signal (mHz).
+     * @param targetAmplitude - The target amplitude of the chirp signal (permils of rated torque).
+     * @param transitionTime - The time in milliseconds for the signal to transition from start to target frequency (ms).
+     * @param signalType - The type of signal to use for the chirp (e.g., logarithmic, linear).
+     * @param hrdStreamingDuration - The duration in milliseconds for HRD streaming during system identification.
+     *
+     * @returns An Observable that emits the last emitted `SystemIdentificationOsCommandResponse` or `HrdStreamingOsCommandResponse`
+     *          from the sequence, or `void` if the underlying command emits no payload.
+     */
+    runChirpSignal(deviceRef: DeviceRef, startFrequency: number, targetFrequency: number, targetAmplitude: number, transitionTime: number, signalType: number, hrdStreamingDuration: number): Observable<void | SystemIdentificationOsCommandResponse | HrdStreamingOsCommandResponse>;
 }

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

@@ -3488,26 +3488,6 @@ class MotionMasterReqResClient {
         const defferedOsCommands = registerAddresses.map((registerAddress) => (0, rxjs_1.defer)(() => this.runEncoderRegisterCommunicationOsCommand(deviceRef, encoderOrdinal, 0, 0, registerAddress, undefined, commandTimeout).pipe((0, operators_1.last)())));
         return (0, rxjs_1.concat)(...defferedOsCommands).pipe((0, operators_1.toArray)());
     }
-    /**
-     * Retrieves the supported encoder configuration types for the specified device.
-     *
-     * Resolves the device reference, fetches the supported encoder options and firmware version,
-     * then combines these to determine which encoder configurations are supported.
-     *
-     * @param deviceRef - A reference to the device for which to fetch supported encoder configurations.
-     * @returns An Observable emitting a two-dimensional array of numbers, where each inner array corresponds to
-     *          the supported encoder configuration types for a specific encoder port.
-     */
-    getSupportedEncoderConfigurationTypes(deviceRef) {
-        return this.resolveDevice(deviceRef).pipe((0, operators_1.mergeMap)((device) => {
-            if (!device.versionedDeviceProductId) {
-                return [];
-            }
-            const supportedOptionsPromise = (0, fetch_1.fetchSupportedEncoderConfigurationTypes)();
-            const firmwareVersionPromise = this.upload(deviceRef, 0x100a, 0);
-            return extractFirmwareProductSupportedOptions(supportedOptionsPromise, firmwareVersionPromise, device.versionedDeviceProductId);
-        }));
-    }
     /**
      * Retrieves the supported analog input (AI) modes for the specified device.
      *
@@ -3632,6 +3612,151 @@ class MotionMasterReqResClient {
             ];
         }));
     }
+    /**
+     * Uploads and configures SMM parameters on the specified device from a CSV configuration file.
+     *
+     * This function performs the following steps in sequence:
+     * 1. Parses the CSV config file into structured parameters.
+     * 2. Resolves the SMM parameter structure version for the device.
+     * 3. Groups and maps parameters according to the SMM Object Dictionary.
+     * 4. Validates that the parameter counts match between the config and SMM structure.
+     * 5. Logs out from the SMM if already logged in.
+     * 6. Logs in for parameter download using provided credentials.
+     * 7. Transmits the parameters to the device.
+     * 8. Verifies transmitted parameters by reloading and matching values.
+     * 9. Sequentially verifies each parameter group on the device.
+     * 10. Loads and validates the safety parameters validation file.
+     * 11. Reloads the SMM parameters to refresh the stored values.
+     * 12. Ensures proper logout in all cases, including errors.
+     *
+     * @param deviceRef - Reference to the target device to configure.
+     * @param username - Username used to log in for parameter download.
+     * @param password - Password used to log in for parameter download.
+     * @param configFileContent - The raw CSV content of the configuration file.
+     *
+     * @returns An Observable that emits a status object:
+     *          - `{ request: 'succeeded' }` on successful configuration.
+     *          - `{ request: 'failed', error: { message } }` on failure with an error message.
+     *
+     * @remarks
+     * This method uses RxJS operators to ensure that each asynchronous step completes before the next begins.
+     * It also guarantees logout from the device when the operation finishes or if any error occurs.
+     */
+    configureSmmFromFile(deviceRef, username, password, configFileContent) {
+        // Parse the configuration file content into a ConfigFile object.
+        const configFile = new config_file_1.ConfigFile(configFileContent);
+        // Fail lambda to handle errors in a consistent way.
+        const fail = (message) => (0, rxjs_1.throwError)(() => new Error(message));
+        // Resolve the SMM parameter structure version for getting the correct SMM OD.
+        return this.resolveSmmParameterStructureVersion(deviceRef).pipe((0, operators_1.concatMap)((parameterStructureVersion) => {
+            const smmOd = (0, smm_1.resolveSmmOd)(parameterStructureVersion);
+            // Group SMM safety parameters by their 'group' property,
+            // then for each group, map the SMM OD parameters to the matching
+            // config file values (or 0 if missing). Also add the structure version
+            // as a special 'None' group used for transmission.
+            const groupedValues = {};
+            for (const [group, smmOdParameters] of (0, util_1.mapByProperty)(smmOd.parameters.safety, 'group')) {
+                const values = smmOdParameters.map(({ index, subindex }) => { var _a, _b; return (_b = (_a = configFile.parameters.find((p) => p.index === index && p.subindex === subindex)) === null || _a === void 0 ? void 0 : _a.value) !== null && _b !== void 0 ? _b : 0; });
+                groupedValues[group] = values;
+            }
+            groupedValues['None'] = [parameterStructureVersion];
+            // Convert the grouped values into a format suitable for transmission.
+            const values = (0, smm_1.convertGroupedSmmParametersToTransmitData)(groupedValues);
+            // Ensure the number of values (excluding the structure version) matches the config file parameter count.
+            if (values.length - 1 !== configFile.parameters.length) {
+                return fail(`Mismatch: the configuration file contains ${configFile.parameters.length} parameters, but the SMM parameter structure expects ${values.length - 1}.`);
+            }
+            // Log out from SMM if already logged in, then log in for parameter download.
+            return this.logoutFromSmm(deviceRef).pipe((0, operators_1.concatMap)(() => this.loginToSmmForParameterDownload(deviceRef, username, password)), (0, operators_1.concatMap)((loginSuccess) => {
+                if (!loginSuccess) {
+                    return fail('Failed to log in for parameter download.');
+                }
+                // Transmit the SMM parameters, then verify them by loading and checking against the original values.
+                return this.transmitSmmParameters(deviceRef, values, parameterStructureVersion).pipe((0, operators_1.concatMap)((transmitSuccess) => {
+                    if (!transmitSuccess) {
+                        return fail('Failed to transmit SMM parameters.');
+                    }
+                    // Load the SMM parameters for verification.
+                    return this.loadSmmParametersForVerification(deviceRef).pipe((0, operators_1.concatMap)((status) => {
+                        if (status.request === 'failed') {
+                            const message = status.errorName && status.errorDescription
+                                ? `${status.errorName}: ${status.errorDescription}`
+                                : status.errorName || status.errorDescription || '';
+                            return fail(message);
+                        }
+                        // Verify that the loaded values match the original values.
+                        if (status.values.join(',') !== values.join(',')) {
+                            return fail('Verification mismatch after loading parameters.');
+                        }
+                        // Group entries excluding the structure version for verification.
+                        const groupEntries = Object.entries(groupedValues).slice(1);
+                        // Sequentially verify each parameter group on the SMM.
+                        // For each group entry, call verifySmmParameters and fail if any group fails verification.
+                        // Uses concatMap to ensure groups are verified one after another in order.
+                        return (0, rxjs_1.from)(groupEntries).pipe((0, operators_1.concatMap)(([_, groupValues], i) => this.verifySmmParameters(deviceRef, groupValues, i + 1, // Skipping the first group (None).
+                        parameterStructureVersion).pipe((0, operators_1.concatMap)((verifySuccess) => {
+                            if (!verifySuccess) {
+                                return fail(`Verification failed for parameter group ${i + 1}.`);
+                            }
+                            return (0, rxjs_1.of)(true);
+                        }))), (0, operators_1.toArray)(), // Collect all verification results.
+                        (0, operators_1.concatMap)(() => this.loadSmmValidationFileAndReadSafetyParametersReportFile(deviceRef).pipe((0, operators_1.concatMap)((validationFile) => {
+                            if (!validationFile) {
+                                return fail('Failed to load the safety parameters validation file.');
+                            }
+                            // Encode validation file content as Uint8Array for transmission.
+                            const report = new TextEncoder().encode(validationFile);
+                            return this.validateSmmConfiguration(deviceRef, report, new Date(), username, password).pipe((0, operators_1.concatMap)((validateSuccess) => {
+                                if (!validateSuccess) {
+                                    return fail('SMM configuration validation failed.');
+                                }
+                                // Re-read the SMM parameters to update the values stored on the Motion Master.
+                                return this.getSmmOdParameters(deviceRef, parameterStructureVersion, 'device', false).pipe((0, operators_1.map)(() => ({
+                                    request: 'succeeded',
+                                })));
+                            }));
+                        }))));
+                    }));
+                }));
+            }));
+        }), (0, operators_1.catchError)((error) => (0, rxjs_1.of)({ request: 'failed', error: { message: error.message } })), (0, operators_1.finalize)(() => {
+            this.logoutFromSmm(deviceRef).subscribe();
+        }));
+    }
+    /**
+     * Executes a sequential system identification chirp signal workflow on the specified device.
+     *
+     * This method performs the following steps in strict sequence:
+     * 1. Sets the device's mode of operation to CYCLIC_SYNC_POSITION_MODE.
+     * 2. Transitions the device to the OPERATION_ENABLED state.
+     * 3. Configures the chirp signal parameters:
+     *    - Start frequency
+     *    - Target frequency
+     *    - Target amplitude
+     *    - Transition time
+     *    - Signal type
+     *    - Start the procedure
+     * 4. Sends start commands for system identification.
+     * 5. Configures HRD streaming for system identification data with the specified streaming duration.
+     * 6. Starts HRD streaming for data collection.
+     *
+     * This ensures the device is fully prepared and triggered for executing a chirp signal for system identification,
+     * while strictly maintaining the required execution order to prevent device misconfiguration.
+     *
+     * @param deviceRef - Reference to the device on which the chirp signal should be executed.
+     * @param startFrequency - The starting frequency of the chirp signal (mHz).
+     * @param targetFrequency - The target frequency of the chirp signal (mHz).
+     * @param targetAmplitude - The target amplitude of the chirp signal (permils of rated torque).
+     * @param transitionTime - The time in milliseconds for the signal to transition from start to target frequency (ms).
+     * @param signalType - The type of signal to use for the chirp (e.g., logarithmic, linear).
+     * @param hrdStreamingDuration - The duration in milliseconds for HRD streaming during system identification.
+     *
+     * @returns An Observable that emits the last emitted `SystemIdentificationOsCommandResponse` or `HrdStreamingOsCommandResponse`
+     *          from the sequence, or `void` if the underlying command emits no payload.
+     */
+    runChirpSignal(deviceRef, startFrequency, targetFrequency, targetAmplitude, transitionTime, signalType, hrdStreamingDuration) {
+        return (0, rxjs_1.concat)(this.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.CYCLIC_SYNC_POSITION_MODE), this.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED), this.runSystemIdentificationOsCommand(deviceRef, 0, startFrequency, 30000), this.runSystemIdentificationOsCommand(deviceRef, 1, targetFrequency, 30000), this.runSystemIdentificationOsCommand(deviceRef, 2, targetAmplitude, 30000), this.runSystemIdentificationOsCommand(deviceRef, 3, transitionTime, 30000), this.runSystemIdentificationOsCommand(deviceRef, 4, signalType, 30000), this.runSystemIdentificationOsCommand(deviceRef, 5, 0, 30000), this.runSystemIdentificationOsCommand(deviceRef, 5, 2, 30000), this.runHrdStreamingOsCommand(deviceRef, os_command_1.HrdStreamingOsCommandAction.CONFIGURE_STREAM, os_command_1.HrdStreamingOsCommandDataIndex.SYSTEM_IDENTIFICATION_DATA, hrdStreamingDuration !== null && hrdStreamingDuration !== void 0 ? hrdStreamingDuration : 5000, 30000), this.runHrdStreamingOsCommand(deviceRef, os_command_1.HrdStreamingOsCommandAction.START_STREAM, os_command_1.HrdStreamingOsCommandDataIndex.SYSTEM_IDENTIFICATION_DATA, hrdStreamingDuration !== null && hrdStreamingDuration !== void 0 ? hrdStreamingDuration : 5000, 30000));
+    }
 }
 exports.MotionMasterReqResClient = MotionMasterReqResClient;
 /**