motion-master-client 0.0.324 → 0.0.325

package/src/lib/limited-range-system-identification.js

@@ -0,0 +1,302 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.LimitedRangeSystemIdentification = void 0;
+const tslib_1 = require("tslib");
+const rxjs_1 = require("rxjs");
+const os_command_1 = require("./os-command");
+const cia402_1 = require("./cia402");
+const util_1 = require("./util");
+const device_1 = require("./device");
+/**
+ * Formats a number as a hexadecimal string, prefixed with `0x`.
+ *
+ * @param value - The numeric value to format.
+ * @returns The hexadecimal string representation of the value.
+ */
+function hex(value) {
+    return `0x${value === null || value === void 0 ? void 0 : value.toString(16).toUpperCase()}`;
+}
+/**
+ * Performs a limited-range system identification procedure on a device.
+ *
+ * This class safely executes the system identification process while preserving
+ * the device's original configuration (PID parameters, encoder settings, position
+ * feedback filter). It emits notifications about progress and status updates, which
+ * can be displayed in a UI or logged for debugging.
+ */
+class LimitedRangeSystemIdentification {
+    /**
+     * Creates a new instance of the limited-range system identification routine.
+     *
+     * @param client - The Motion Master client used for communication with the device.
+     * @param deviceRef - A reference to the target device.
+     * @param options - Configuration options for the procedure.
+     */
+    constructor(client, deviceRef, options = {
+        hrdStreamingDuration: 4000,
+        modesOfOperation: cia402_1.ModesOfOperation.CYCLIC_SYNC_POSITION_MODE,
+        rangeLimitEff: 10000,
+        rangeLimitMin: 1000,
+        signalType: os_command_1.SystemIdentificationOsCommandSignalType.LOGARITHMIC_WITH_AMPLITUDE_MODULATION,
+        startFrequency: 1000,
+        startProcedure: os_command_1.SystemIdentificationOsCommandStartProcedure.WAIT_FOR_HRD_STREAMING_TO_START,
+        targetAmplitude: 300,
+        targetFrequency: 100000,
+        transitionTime: 3000,
+    }) {
+        this.client = client;
+        this.deviceRef = deviceRef;
+        this.options = options;
+        /**
+         * Emits status and progress messages during the procedure.
+         * Subscribers can display these messages in a UI or log them.
+         */
+        this.notifications$ = new rxjs_1.Subject();
+        /**
+         * Indicates whether the system identification procedure is currently running.
+         */
+        this.isRunning = false;
+    }
+    /**
+     * Starts the limited-range system identification procedure.
+     *
+     * This method:
+     * - Ensures the device is in a safe state.
+     * - Computes and sets initial PID values.
+     * - Starts data monitoring for position feedback.
+     * - Runs the chirp signal on the device.
+     * - Computes the plant model without the chirp signal.
+     * - Restores all device settings to their original values.
+     *
+     * Emits notifications to `notifications$` for each major step and error.
+     *
+     * @throws Will throw an error if any of the device requests fail.
+     */
+    start() {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            // Small delay to ensure subscribers to notifications$ are ready
+            yield (0, util_1.resolveAfter)(1);
+            // Prevent concurrent executions of the procedure
+            if (this.isRunning) {
+                this.notifications$.next('Limited Range System Identification is already running.');
+                return;
+            }
+            // Mark the procedure as running
+            this.isRunning = true;
+            // Validate and adjust HRD streaming duration if necessary
+            if (this.options.hrdStreamingDuration < this.options.transitionTime) {
+                this.notifications$.next(`Warning: hrdStreamingDuration (${this.options.hrdStreamingDuration} ms) is shorter than transitionTime (${this.options.transitionTime} ms). Increasing hrdStreamingDuration by 1 second to ensure proper timing.`);
+                this.options.hrdStreamingDuration = this.options.transitionTime + 1000; // 1-second buffer
+            }
+            // Ensure the required Modes of Operation is set
+            if (this.options.modesOfOperation !== cia402_1.ModesOfOperation.CYCLIC_SYNC_POSITION_MODE) {
+                this.notifications$.next(`Warning: modesOfOperation is set to ${this.options.modesOfOperation}, but CYCLIC_SYNC_POSITION_MODE (8) is required for this procedure. Applying the required mode automatically.`);
+                this.options.modesOfOperation = cia402_1.ModesOfOperation.CYCLIC_SYNC_POSITION_MODE;
+            }
+            // Ensure the required Start Procedure is set
+            if (this.options.startProcedure !== os_command_1.SystemIdentificationOsCommandStartProcedure.WAIT_FOR_HRD_STREAMING_TO_START) {
+                this.notifications$.next(`Warning: startProcedure is currently ${this.options.startProcedure}, but WAIT_FOR_HRD_STREAMING_TO_START (2) is required. Setting the correct start procedure automatically.`);
+                this.options.startProcedure = os_command_1.SystemIdentificationOsCommandStartProcedure.WAIT_FOR_HRD_STREAMING_TO_START;
+            }
+            // Variables to hold original configurations for restoration later
+            let encCom;
+            let encPos;
+            const dataMonitoring = this.client.createDataMonitoring([[this.deviceRef, 0x6064, 0x00]], 50000); // 50 ms interval
+            let positionFeedbackFilterType;
+            let pKp;
+            let pKi;
+            let pKd;
+            let pCtrlStrategy;
+            try {
+                // Ensure the drive is in the "Switch On Disabled" state before any motion commands
+                this.notifications$.next('Transitioning to "Switch On Disabled" state...');
+                yield this.client.request.transitionToCia402State(this.deviceRef, cia402_1.Cia402State.SWITCH_ON_DISABLED);
+                this.notifications$.next('"Switch On Disabled" state reached.');
+                // Compute the feed constant required for motion control
+                this.notifications$.next('Computing feed constant...');
+                const feedConstant = yield (0, rxjs_1.lastValueFrom)(this.client.request.computeFeedConstant(this.deviceRef));
+                this.notifications$.next(`Feed constant computed: ${feedConstant}`);
+                // Disable the position feedback filter
+                this.notifications$.next('Disabling the position feedback filter...');
+                positionFeedbackFilterType = yield this.client.request.upload(this.deviceRef, 0x2022, 0x01);
+                yield this.client.request.download(this.deviceRef, 0x2022, 0x01, 0);
+                this.notifications$.next('Position feedback filter disabled.');
+                // Retrieve encoder ordinal values for commutation (ENC_COM) and position (ENC_POS) configurations
+                this.notifications$.next('Retrieving encoder configurations...');
+                encCom = yield this.client.request.upload(this.deviceRef, 0x2010, 0x0c);
+                encPos = yield this.client.request.upload(this.deviceRef, 0x2012, 0x09);
+                this.notifications$.next(`Encoder configurations retrieved: ENC_COM = ${encCom}, ENC_POS = ${encPos}`);
+                // If ENC_COM and ENC_POS do not match, update ENC_POS to match ENC_COM
+                if (encCom !== encPos) {
+                    this.notifications$.next('Encoder configurations do not match. Updating ENC_POS to match ENC_COM...');
+                    yield this.client.request.download(this.deviceRef, 0x2012, 0x09, encCom);
+                    this.notifications$.next('ENC_POS updated to match ENC_COM.');
+                }
+                // Retrieve the encoder resolution based on the ENC_COM configuration
+                const encConfigObjIdx = encCom === 1 ? 0x2110 : 0x2112;
+                this.notifications$.next(`Getting the encoder resolution from ${hex(encConfigObjIdx)}...`);
+                const resolution = yield this.client.request.upload(this.deviceRef, encConfigObjIdx, 0x03);
+                this.notifications$.next(`Encoder resolution: ${resolution}`);
+                // Calculate adjusted limit range min based on feed constant and encoder resolution
+                this.notifications$.next('Calculating limit range  based on feed constant and resolution...');
+                const rangeLimitEff = this.options.rangeLimitEff;
+                // feed constant is not disabled and greater than resolution
+                const ratio = feedConstant !== 0xffffffff && feedConstant > resolution ? feedConstant / resolution : 1;
+                const rangeLimitMin = Math.round(this.options.rangeLimitMin * ratio);
+                this.notifications$.next(`Adjusted range limit: min=${rangeLimitMin}, eff=${rangeLimitEff}`);
+                // Retrieve the PID controller parameters
+                this.notifications$.next('Retrieving the PID values...');
+                [pKp, pKi, pKd, pCtrlStrategy] = (yield this.client.request.uploadMany([
+                    [this.deviceRef, 0x2012, 0x01],
+                    [this.deviceRef, 0x2012, 0x02],
+                    [this.deviceRef, 0x2012, 0x03],
+                    [this.deviceRef, 0x2002, 0x00],
+                ]));
+                this.notifications$.next(`PID values retrieved: Kp=${pKp}, Ki=${pKi}, Kd=${pKd}, CtrlStrategy=${pCtrlStrategy}`);
+                // Retrieve the maximum torque value from the drive
+                this.notifications$.next('Retrieving the maximum torque value...');
+                const maxTorque = yield this.client.request.upload(this.deviceRef, 0x6072, 0x00);
+                this.notifications$.next(`Maximum torque value retrieved: ${maxTorque}`);
+                // Compute the initial kp value and xi squared based on the retrieved parameters
+                this.notifications$.next('Computing the initial kp value and xi squared...');
+                let kpInit;
+                let xiSquared;
+                if (feedConstant === 0xffffffff) {
+                    xiSquared = Math.min(maxTorque, 1000 * Math.sqrt(rangeLimitEff / rangeLimitMin)) * rangeLimitEff;
+                    kpInit = xiSquared / Math.pow(rangeLimitEff, 2);
+                }
+                else {
+                    xiSquared =
+                        ((Math.min(maxTorque, 1000 * Math.sqrt(rangeLimitEff / rangeLimitMin)) * rangeLimitEff) / feedConstant) *
+                            resolution;
+                    kpInit = xiSquared / Math.pow((rangeLimitEff / feedConstant) * resolution, 2);
+                }
+                this.notifications$.next(`Initial kp value: ${kpInit}, xi squared: ${xiSquared}`);
+                // Set the initial PID controller parameters for the procedure
+                this.notifications$.next('Setting initial PID values...');
+                yield this.client.request.downloadMany([
+                    [this.deviceRef, 0x2012, 1, kpInit],
+                    [this.deviceRef, 0x2012, 2, 0],
+                    [this.deviceRef, 0x2012, 3, 0],
+                    [this.deviceRef, 0x2002, 0, 1],
+                ]);
+                this.notifications$.next('Initial PID values set.');
+                // Force an on-demand parameters update to apply all settings
+                this.notifications$.next('Forcing on-demand parameters update...');
+                yield this.client.request.forceOnDemandParametersUpdate(this.deviceRef);
+                this.notifications$.next('On-demand parameters update forced.');
+                // Start data monitoring for position actual value (0x6064:00) and update Kp based on position error
+                this.notifications$.next('Starting data monitoring for position actual value...');
+                const posRef = yield this.client.request.upload(this.deviceRef, 0x6064, 0x00);
+                dataMonitoring
+                    .start()
+                    .pipe(
+                // Convert each emitted actual position into a download request to update the position loop Kp,
+                // ignoring new emissions until the previous request completes
+                (0, rxjs_1.exhaustMap)((data) => {
+                    const posAct = data[0];
+                    const e = posRef - posAct;
+                    let kp;
+                    if (feedConstant === 0xffffffff) {
+                        kp = xiSquared / Math.pow(Math.max(rangeLimitEff - Math.abs(e), 1), 2);
+                    }
+                    else {
+                        kp = xiSquared / Math.pow((Math.max(rangeLimitEff - Math.abs(e), 1) / feedConstant) * resolution, 2);
+                    }
+                    return (0, rxjs_1.from)(this.client.request.download(this.deviceRef, 0x2012, 0x01, kp));
+                }))
+                    .subscribe();
+                this.notifications$.next('Data monitoring started.');
+                // Read the current position and set it as the target position to prevent sudden movement
+                this.notifications$.next('Setting current position as target position...');
+                const positionActualValue = yield this.client.request.upload(this.deviceRef, 0x6064, 0x00);
+                yield this.client.request.download(this.deviceRef, 0x607a, 0x00, positionActualValue);
+                this.notifications$.next(`Target position set to ${positionActualValue}.`);
+                // Run the chirp signal on the device
+                this.notifications$.next('Running the chirp signal...');
+                yield (0, rxjs_1.lastValueFrom)(this.client.request.runChirpSignal(this.deviceRef, this.options));
+                this.notifications$.next('Chirp signal procedure completed.');
+                // Stop data monitoring
+                this.notifications$.next('Stopping data monitoring...');
+                dataMonitoring.stop();
+                this.notifications$.next('Data monitoring stopped.');
+                // Start the system identification procedure without the chirp signal in order to only compute the plant model
+                this.notifications$.next('Starting system identification procedure on Motion Master to compute plant model...');
+                const deviceRefObj = (0, device_1.makeDeviceRefObj)(this.deviceRef);
+                const props = Object.assign(Object.assign({}, deviceRefObj), { skipChirpSignal: true, nextGenSysId: true, durationSeconds: this.options.transitionTime / 1000, endFrequency: this.options.targetFrequency / 1000, startFrequency: this.options.startFrequency / 1000, torqueAmplitude: this.options.targetAmplitude });
+                yield (0, rxjs_1.lastValueFrom)(this.client.request.startSystemIdentification(props, 10000));
+                this.notifications$.next('Computing plant model completed.');
+            }
+            catch (error) {
+                this.notifications$.next(`Error during procedure: ${error instanceof Error ? error.message : error}`);
+                throw error;
+            }
+            finally {
+                // Mark the procedure as not running
+                this.isRunning = false;
+                // Stop data monitoring
+                this.notifications$.next('Stopping data monitoring...');
+                dataMonitoring.stop();
+                this.notifications$.next('Data monitoring stopped.');
+                // Ensure the drive is in the "Switch On Disabled" after the procedure
+                this.notifications$.next('Transitioning to "Switch On Disabled" state...');
+                try {
+                    yield this.client.request.transitionToCia402State(this.deviceRef, cia402_1.Cia402State.SWITCH_ON_DISABLED);
+                    this.notifications$.next('"Switch On Disabled" state reached.');
+                }
+                catch (err) {
+                    this.notifications$.next(`Failed to transition to "Switch On Disabled": ${err instanceof Error ? err.message : err}`);
+                }
+                // Restore original ENC_POS configuration if it was changed
+                if (encCom !== undefined && encPos !== undefined && encCom !== encPos) {
+                    this.notifications$.next(`Restoring original ENC_POS configuration ${encPos}...`);
+                    try {
+                        yield this.client.request.download(this.deviceRef, 0x2012, 0x09, encPos);
+                        this.notifications$.next('ENC_POS configuration restored.');
+                    }
+                    catch (err) {
+                        this.notifications$.next(`Failed to restore ENC_POS: ${err instanceof Error ? err.message : err}`);
+                    }
+                }
+                // Restore the position feedback filter if it was changed
+                if (positionFeedbackFilterType !== undefined && positionFeedbackFilterType !== 0) {
+                    this.notifications$.next('Restoring the position feedback filter...');
+                    try {
+                        yield this.client.request.download(this.deviceRef, 0x2022, 0x01, positionFeedbackFilterType);
+                        this.notifications$.next('Position feedback filter restored.');
+                    }
+                    catch (err) {
+                        this.notifications$.next(`Failed to restore position feedback filter: ${err instanceof Error ? err.message : err}`);
+                    }
+                }
+                // Restore the original PID controller parameters
+                if (pKp !== undefined && pKi !== undefined && pKd !== undefined && pCtrlStrategy !== undefined) {
+                    this.notifications$.next('Restoring original PID values...');
+                    try {
+                        yield this.client.request.downloadMany([
+                            [this.deviceRef, 0x2012, 0x01, pKp],
+                            [this.deviceRef, 0x2012, 0x02, pKi],
+                            [this.deviceRef, 0x2012, 0x03, pKd],
+                            [this.deviceRef, 0x2002, 0x00, pCtrlStrategy],
+                        ]);
+                        this.notifications$.next('Original PID values restored.');
+                    }
+                    catch (err) {
+                        this.notifications$.next(`Failed to restore PID values: ${err instanceof Error ? err.message : err}`);
+                    }
+                }
+                // Force an on-demand parameters update to apply all restored settings
+                this.notifications$.next('Forcing on-demand parameters update...');
+                try {
+                    yield this.client.request.forceOnDemandParametersUpdate(this.deviceRef);
+                    this.notifications$.next('On-demand parameters update forced.');
+                }
+                catch (err) {
+                    this.notifications$.next(`Failed to force on-demand parameters update: ${err instanceof Error ? err.message : err}`);
+                }
+            }
+        });
+    }
+}
+exports.LimitedRangeSystemIdentification = LimitedRangeSystemIdentification;
+//# sourceMappingURL=limited-range-system-identification.js.map

package/src/lib/limited-range-system-identification.js.map

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

@@ -1258,9 +1258,29 @@ export declare class MotionMasterReqResClient {
      */
     factoryReset(deviceRef: DeviceRef, filesToKeep?: string[], installEmptyFirmware?: boolean, reloadFirmware?: boolean): Observable<RequestStatusMessage>;
     /**
-     * Computes the Feed Constant as the quotient of Feed (0x6092:01) and Shaft Revolutions (0x6092:02).
+     * Computes the Feed Constant for a given device.
+     *
+     * The Feed Constant is calculated as the quotient of:
+     * - `0x6092:01`: Feed
+     * - `0x6092:02`: Shaft Revolutions
+     *
+     * @param deviceRef - Reference to the device for which the Feed Constant is computed.
+     * @param requestTimeout - Optional timeout in milliseconds for the parameter request (default: 5000).
+     * @returns An Observable that emits the computed Feed Constant as a number.
      */
     computeFeedConstant(deviceRef: DeviceRef, requestTimeout?: number): Observable<number>;
+    /**
+     * Computes the Gear Ratio for a given device.
+     *
+     * The Gear Ratio is calculated as the quotient of:
+     * - Gear Ratio Numerator (`0x6091:01` – Motor Revolutions)
+     * - Gear Ratio Denominator (`0x6091:02` – Shaft Revolutions)
+     *
+     * @param deviceRef - Reference to the device for which the Gear Ratio is computed.
+     * @param requestTimeout - Optional timeout in milliseconds for the parameter request (default: 5000).
+     * @returns An Observable that emits the computed Gear Ratio as a number.
+     */
+    computeGearRatio(deviceRef: DeviceRef, requestTimeout?: number): Observable<number>;
     /**
      * Save the modified parameter values to the config.csv file so that they are used the next time the device is power cycled.
      * The configuration is saved using the 0x1010: Store parameters object.
@@ -2099,4 +2119,22 @@ export declare class MotionMasterReqResClient {
      *          will also be executed.
      */
     runChirpSignal(deviceRef: DeviceRef, options: ChirpSignalOptions): Observable<number[][]>;
+    /**
+     * Reads the motor and shaft revolutions from a device and calculates the gear ratio.
+     *
+     * The gear ratio is defined as the number of motor revolutions per one shaft revolution:
+     *
+     *   gearRatio = motorRev / shaftRev
+     *
+     * If either motorRev or shaftRev is zero or negative, the function returns a default value of 1.
+     *
+     * @param deviceRef - Reference to the device from which to read the values.
+     * @returns A Promise that resolves to the gear ratio (positive number). Returns 1 if the readings are invalid.
+     *
+     * @remarks
+     * - Both motorRev and shaftRev are read via `upload()` from the device object dictionary at index 0x6091.
+     * - Ensure that `upload()` returns numeric values and not raw buffers.
+     * - This function assumes positive values; a negative value may indicate an error or reversed rotation.
+     */
+    getGearRatio(deviceRef: DeviceRef): Promise<number>;
 }

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

@@ -1863,6 +1863,7 @@ class MotionMasterReqResClient {
             if (content) {
                 try {
                     const buffer = buffer_1.Buffer.from(content);
+                    // @ts-ignore
                     const text = (0, util_1.decodeTextContent)(buffer);
                     return JSON.parse(text);
                 }
@@ -2521,7 +2522,15 @@ class MotionMasterReqResClient {
         }));
     }
     /**
-     * Computes the Feed Constant as the quotient of Feed (0x6092:01) and Shaft Revolutions (0x6092:02).
+     * Computes the Feed Constant for a given device.
+     *
+     * The Feed Constant is calculated as the quotient of:
+     * - `0x6092:01`: Feed
+     * - `0x6092:02`: Shaft Revolutions
+     *
+     * @param deviceRef - Reference to the device for which the Feed Constant is computed.
+     * @param requestTimeout - Optional timeout in milliseconds for the parameter request (default: 5000).
+     * @returns An Observable that emits the computed Feed Constant as a number.
      */
     computeFeedConstant(deviceRef, requestTimeout = 5000) {
         return this.getParameterValues([
@@ -2529,6 +2538,23 @@ class MotionMasterReqResClient {
             [deviceRef, 0x6092, 2], // Shaft revolutions
         ], false, requestTimeout).pipe((0, operators_1.map)((values) => values[0] / values[1]));
     }
+    /**
+     * Computes the Gear Ratio for a given device.
+     *
+     * The Gear Ratio is calculated as the quotient of:
+     * - Gear Ratio Numerator (`0x6091:01` – Motor Revolutions)
+     * - Gear Ratio Denominator (`0x6091:02` – Shaft Revolutions)
+     *
+     * @param deviceRef - Reference to the device for which the Gear Ratio is computed.
+     * @param requestTimeout - Optional timeout in milliseconds for the parameter request (default: 5000).
+     * @returns An Observable that emits the computed Gear Ratio as a number.
+     */
+    computeGearRatio(deviceRef, requestTimeout = 5000) {
+        return this.getParameterValues([
+            [deviceRef, 0x6091, 1],
+            [deviceRef, 0x6091, 2], // Gear Ratio Denominator (`0x6091:02` – Shaft Revolutions)
+        ], false, requestTimeout).pipe((0, operators_1.map)((values) => values[0] / values[1]));
+    }
     /**
      * Save the modified parameter values to the config.csv file so that they are used the next time the device is power cycled.
      * The configuration is saved using the 0x1010: Store parameters object.
@@ -2981,6 +3007,7 @@ class MotionMasterReqResClient {
     loginToSmmForParameterDownload(deviceRef, username, password, commandTimeout = 5000, responsePollingInterval = 500) {
         const command = (0, os_command_1.createSmmAcyclicHandlerOsCommand)(os_command_1.SmmAcyclicHandlerSubcommandId.PARAMETER_DOWNLOAD_LOGIN);
         const content = (0, smm_1.packSmmCredentials)(username, password);
+        // @ts-ignore
         return this.runOsCommandAndWriteFsBuffer(deviceRef, command, content, commandTimeout, responsePollingInterval).pipe((0, operators_1.last)(), (0, operators_1.map)((response) => {
             if (response.request !== 'succeeded') {
                 throw new Error('Login to SMM for parameter download failed.');
@@ -3008,6 +3035,7 @@ class MotionMasterReqResClient {
     loginToSmmForSoftwareUpdate(deviceRef, username, password, commandTimeout = 10000, responsePollingInterval = 500) {
         const command = (0, os_command_1.createSmmAcyclicHandlerOsCommand)(os_command_1.SmmAcyclicHandlerSubcommandId.SOFTWARE_UPDATE_LOGIN);
         const content = (0, smm_1.packSmmCredentials)(username, password);
+        // @ts-ignore
         return this.runOsCommandAndWriteFsBuffer(deviceRef, command, content, commandTimeout, responsePollingInterval).pipe((0, operators_1.last)(), (0, operators_1.map)((response) => {
             if (response.request !== 'succeeded') {
                 throw new Error('Login to SMM for software update failed.');
@@ -3072,6 +3100,7 @@ class MotionMasterReqResClient {
     changeSmmPassword(deviceRef, oldPassword, newPassword, commandTimeout = 10000, responsePollingInterval = 500) {
         const command = (0, os_command_1.createSmmAcyclicHandlerOsCommand)(os_command_1.SmmAcyclicHandlerSubcommandId.CHANGE_PASSWORD);
         const content = (0, smm_1.packSmmChangePassword)(newPassword, oldPassword);
+        // @ts-ignore
         return this.runOsCommandAndWriteFsBuffer(deviceRef, command, content, commandTimeout, responsePollingInterval).pipe((0, operators_1.last)(), (0, operators_1.mergeMap)(() => this.triggerSmmRestart(deviceRef)));
     }
     /**
@@ -3194,7 +3223,9 @@ class MotionMasterReqResClient {
         const packedCrc = (0, smm_1.packSmmSoftwareUpdateCrc)(crc);
         const finalizeSoftwareUpdateCommand = (0, os_command_1.createSmmAcyclicHandlerOsCommand)(os_command_1.SmmAcyclicHandlerSubcommandId.FINALIZE_SOFTWARE_UPDATE);
         // Step 6: Send the CRC to validate data integrity.
-        observables.push((0, rxjs_1.defer)(() => this.runOsCommandAndWriteFsBuffer(deviceRef, finalizeSoftwareUpdateCommand, packedCrc).pipe((0, operators_1.last)(), (0, operators_1.map)((response) => {
+        observables.push((0, rxjs_1.defer)(() => 
+        // @ts-ignore
+        this.runOsCommandAndWriteFsBuffer(deviceRef, finalizeSoftwareUpdateCommand, packedCrc).pipe((0, operators_1.last)(), (0, operators_1.map)((response) => {
             if (response.request !== 'succeeded') {
                 throw new Error('Finalizing SMM software update failed.');
             }
@@ -3226,7 +3257,9 @@ class MotionMasterReqResClient {
         return (parameterStructureVersion ? (0, rxjs_1.of)(parameterStructureVersion) : this.resolveSmmParameterStructureVersion(deviceRef)).pipe((0, operators_1.mergeMap)((version) => {
             const command = (0, os_command_1.createSmmAcyclicHandlerOsCommand)(os_command_1.SmmAcyclicHandlerSubcommandId.TRANSMIT_PARAMETERS);
             const { buffer: content } = (0, smm_1.packSmmParameterValues)(values, version);
-            return this.runOsCommandAndWriteFsBuffer(deviceRef, command, content, commandTimeout, responsePollingInterval).pipe((0, operators_1.last)(), (0, operators_1.map)((response) => {
+            return this.runOsCommandAndWriteFsBuffer(deviceRef, command, 
+            // @ts-ignore
+            content, commandTimeout, responsePollingInterval).pipe((0, operators_1.last)(), (0, operators_1.map)((response) => {
                 if (response.request !== 'succeeded') {
                     throw new Error('Transmitting SMM parameters failed.');
                 }
@@ -3727,6 +3760,7 @@ class MotionMasterReqResClient {
             }));
         }));
     }
+    // TODO: Move to another file
     getMaxValuePercentageColor(percentage) {
         if (percentage >= 50 && percentage <= 100) {
             return '#6ba853';
@@ -3742,6 +3776,7 @@ class MotionMasterReqResClient {
         }
         return '';
     }
+    // TODO: Move to another file
     getMaxValuePercentageLabel(percentage) {
         if (percentage >= 50 && percentage <= 100) {
             return 'Calibration was successful. Encoder system is robust to mechanical displacements and temperature expansions.';
@@ -4131,6 +4166,35 @@ class MotionMasterReqResClient {
             }
         }));
     }
+    /**
+     * Reads the motor and shaft revolutions from a device and calculates the gear ratio.
+     *
+     * The gear ratio is defined as the number of motor revolutions per one shaft revolution:
+     *
+     *   gearRatio = motorRev / shaftRev
+     *
+     * If either motorRev or shaftRev is zero or negative, the function returns a default value of 1.
+     *
+     * @param deviceRef - Reference to the device from which to read the values.
+     * @returns A Promise that resolves to the gear ratio (positive number). Returns 1 if the readings are invalid.
+     *
+     * @remarks
+     * - Both motorRev and shaftRev are read via `upload()` from the device object dictionary at index 0x6091.
+     * - Ensure that `upload()` returns numeric values and not raw buffers.
+     * - This function assumes positive values; a negative value may indicate an error or reversed rotation.
+     */
+    getGearRatio(deviceRef) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            const motorRev = yield this.upload(deviceRef, 0x6091, 1);
+            const shaftRev = yield this.upload(deviceRef, 0x6091, 2);
+            if (motorRev > 0 && shaftRev > 0) {
+                return motorRev / shaftRev;
+            }
+            else {
+                return 1;
+            }
+        });
+    }
 }
 exports.MotionMasterReqResClient = MotionMasterReqResClient;
 /**