motion-master-client 0.0.337 → 0.0.338

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (6) hide show
  1. package/package.json +1 -1
  2. package/src/api.js +2 -2
  3. package/src/api.js.map +1 -1
  4. package/src/lib/limited-range-system-identification.d.ts +2 -2
  5. package/src/lib/limited-range-system-identification.js +54 -2
  6. package/src/lib/limited-range-system-identification.js.map +1 -1
package/package.json CHANGED
@@ -1,6 +1,6 @@
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  {
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  "name": "motion-master-client",
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- "version": "0.0.337",
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+ "version": "0.0.338",
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  "type": "commonjs",
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  "description": "A library and CLI program used for communicating with Motion Master.",
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  "dependencies": {
package/src/api.js CHANGED
@@ -968,7 +968,7 @@ app.get('/api/devices/:deviceRef/start-limited-range-system-identification', asy
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  const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
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  const hrdStreamingDuration = parseInt(((_88 = req.query['hrd-streaming-duration']) !== null && _88 !== void 0 ? _88 : '3200'));
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  const modesOfOperation = cia402_1.ModesOfOperation.CYCLIC_SYNC_POSITION_MODE;
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- const rangeLimitEff = parseInt(((_89 = req.query['range-limit-eff']) !== null && _89 !== void 0 ? _89 : '100000'));
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+ const rangeLimit = parseInt(((_89 = req.query['range-limit']) !== null && _89 !== void 0 ? _89 : '10000'));
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  const rangeLimitMin = parseInt(((_90 = req.query['range-limit-min']) !== null && _90 !== void 0 ? _90 : '1000'));
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  const signalType = os_command_1.SystemIdentificationOsCommandSignalType.LINEAR_WITH_CONSTANT_AMPLITUDE;
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  const startFrequency = parseInt(((_91 = req.query['start-frequency']) !== null && _91 !== void 0 ? _91 : '1000'));
@@ -979,7 +979,7 @@ app.get('/api/devices/:deviceRef/start-limited-range-system-identification', asy
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  const options = {
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  hrdStreamingDuration,
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  modesOfOperation,
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- rangeLimitEff,
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+ rangeLimit,
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  rangeLimitMin,
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  signalType,
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  startFrequency,
package/src/api.js.map CHANGED
@@ -1 +1 @@
1
- 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package/src/lib/limited-range-system-identification.d.ts CHANGED
@@ -12,13 +12,13 @@ import { DeviceRef } from './types';
12
12
  */
13
13
  export interface LimitedRangeSystemIdentificationOptions extends ChirpSignalOptions {
14
14
  /**
15
- * The effective symmetric position excursion limit (±value), expressed in
15
+ * The symmetric position excursion limit (±value), expressed in
16
16
  * position units. This defines the maximum allowable deviation from the
17
17
  * reference position during chirp excitation. As the position error approaches
18
18
  * this limit, the adaptive algorithm reduces the position-loop Kp to keep the
19
19
  * joint within the bounded range.
20
20
  */
21
- rangeLimitEff: number;
21
+ rangeLimit: number;
22
22
  /**
23
23
  * The minimum admissible excursion limit used as a lower bound in internal
24
24
  * scaling calculations. This value prevents division by very small ranges and
package/src/lib/limited-range-system-identification.js CHANGED
@@ -35,7 +35,7 @@ class LimitedRangeSystemIdentification {
35
35
  constructor(client, deviceRef, options = {
36
36
  hrdStreamingDuration: 3200,
37
37
  modesOfOperation: cia402_1.ModesOfOperation.CYCLIC_SYNC_POSITION_MODE,
38
- rangeLimitEff: 100000,
38
+ rangeLimit: 10000,
39
39
  rangeLimitMin: 1000,
40
40
  signalType: os_command_1.SystemIdentificationOsCommandSignalType.LINEAR_WITH_CONSTANT_AMPLITUDE,
41
41
  startFrequency: 1000,
@@ -99,6 +99,9 @@ class LimitedRangeSystemIdentification {
99
99
  this.notifications$.next(`Warning: startProcedure is currently ${this.options.startProcedure}, but WAIT_FOR_HRD_STREAMING_TO_START (2) is required. Setting the correct start procedure automatically.`);
100
100
  this.options.startProcedure = os_command_1.SystemIdentificationOsCommandStartProcedure.WAIT_FOR_HRD_STREAMING_TO_START;
101
101
  }
102
+ const gearRatio = yield this.client.request.getGearRatio(this.deviceRef);
103
+ const rangeLimitEff = this.options.rangeLimit * gearRatio;
104
+ this.notifications$.next(`Effective range limit (considering gear ratio ${gearRatio}): ${rangeLimitEff}`);
102
105
  // Variables to hold original configurations for restoration later
103
106
  let encCom;
104
107
  let encPos;
@@ -114,6 +117,8 @@ class LimitedRangeSystemIdentification {
114
117
  let pKi;
115
118
  let pKd;
116
119
  let pCtrlStrategy;
120
+ let minPosLmt;
121
+ let maxPosLmt;
117
122
  try {
118
123
  // Ensure the drive is in the "Switch On Disabled" state before any motion commands
119
124
  this.notifications$.next('Transitioning to "Switch On Disabled" state...');
@@ -133,6 +138,40 @@ class LimitedRangeSystemIdentification {
133
138
  encCom = yield this.client.request.upload(this.deviceRef, 0x2010, 0x0c);
134
139
  encPos = yield this.client.request.upload(this.deviceRef, 0x2012, 0x09);
135
140
  this.notifications$.next(`Encoder configurations retrieved: ENC_COM = ${encCom}, ENC_POS = ${encPos}`);
141
+ // ENC_POS is set to a valid but different configuration than ENC_COM
142
+ // Adjust position limits to account for differing encoder resolutions before switching to ENC_COM
143
+ if (encPos > 0 && encPos !== encCom) {
144
+ this.notifications$.next('Reading software position limits...');
145
+ minPosLmt = yield this.client.request.upload(this.deviceRef, 0x607d, 0x01);
146
+ maxPosLmt = yield this.client.request.upload(this.deviceRef, 0x607d, 0x02);
147
+ this.notifications$.next(`Software position limits: Min = ${minPosLmt}, Max = ${maxPosLmt}`);
148
+ if (minPosLmt !== -2147483648 || maxPosLmt === 2147483647) {
149
+ this.notifications$.next('Reading encoder resolution for commutation configuration...');
150
+ const resCom = yield this.client.request.upload(this.deviceRef, encCom === 1 ? 0x2110 : 0x2112, 0x03);
151
+ this.notifications$.next(`Encoder resolution for commutation configuration: ${resCom}`);
152
+ this.notifications$.next('Reading encoder resolution for position configuration...');
153
+ const resPos = yield this.client.request.upload(this.deviceRef, encPos === 1 ? 0x2110 : 0x2112, 0x03);
154
+ this.notifications$.next(`Encoder resolution for position configuration: ${resPos}`);
155
+ if (minPosLmt !== -2147483648) {
156
+ let adjustedMinPosLmt = Math.round(minPosLmt * gearRatio * (resCom / resPos));
157
+ if (adjustedMinPosLmt < -2147483648) {
158
+ adjustedMinPosLmt = -2147483648;
159
+ }
160
+ this.notifications$.next(`Adjusting minimum position limit from ${minPosLmt} to ${adjustedMinPosLmt}...`);
161
+ yield this.client.request.download(this.deviceRef, 0x607d, 0x01, adjustedMinPosLmt);
162
+ this.notifications$.next('Minimum position limit adjusted.');
163
+ }
164
+ if (maxPosLmt !== 2147483647) {
165
+ let adjustedMaxPosLmt = Math.round(maxPosLmt * gearRatio * (resCom / resPos));
166
+ if (adjustedMaxPosLmt > 2147483647) {
167
+ adjustedMaxPosLmt = 2147483647;
168
+ }
169
+ this.notifications$.next(`Adjusting maximum position limit from ${maxPosLmt} to ${adjustedMaxPosLmt}...`);
170
+ yield this.client.request.download(this.deviceRef, 0x607d, 0x02, adjustedMaxPosLmt);
171
+ this.notifications$.next('Maximum position limit adjusted.');
172
+ }
173
+ }
174
+ }
136
175
  // If ENC_COM and ENC_POS do not match, update ENC_POS to match ENC_COM
137
176
  if (encCom !== encPos) {
138
177
  this.notifications$.next('Encoder configurations do not match. Updating ENC_POS to match ENC_COM...');
@@ -146,7 +185,6 @@ class LimitedRangeSystemIdentification {
146
185
  this.notifications$.next(`Encoder resolution: ${resolution}`);
147
186
  // Calculate adjusted limit range min based on feed constant and encoder resolution
148
187
  this.notifications$.next('Calculating limit range based on feed constant and resolution...');
149
- const rangeLimitEff = this.options.rangeLimitEff;
150
188
  // feed constant is not disabled and greater than resolution
151
189
  const ratio = feedConstant !== 0xffffffff && feedConstant > resolution ? feedConstant / resolution : 1;
152
190
  const rangeLimitMin = Math.round(this.options.rangeLimitMin * ratio);
@@ -296,6 +334,20 @@ class LimitedRangeSystemIdentification {
296
334
  this.notifications$.next(`Failed to restore ENC_POS: ${err instanceof Error ? err.message : err}`);
297
335
  }
298
336
  }
337
+ // Restore original position limits if they were changed
338
+ if (minPosLmt !== undefined && maxPosLmt !== undefined) {
339
+ this.notifications$.next('Restoring original position limits...');
340
+ try {
341
+ yield this.client.request.downloadMany([
342
+ [this.deviceRef, 0x607d, 0x01, minPosLmt],
343
+ [this.deviceRef, 0x607d, 0x02, maxPosLmt],
344
+ ]);
345
+ this.notifications$.next('Position limits restored.');
346
+ }
347
+ catch (err) {
348
+ this.notifications$.next(`Failed to restore position limits: ${err instanceof Error ? err.message : err}`);
349
+ }
350
+ }
299
351
  // Restore the position feedback filter if it was changed
300
352
  if (positionFeedbackFilterType !== undefined && positionFeedbackFilterType !== 0) {
301
353
  this.notifications$.next('Restoring the position feedback filter...');
package/src/lib/limited-range-system-identification.js.map CHANGED
@@ -1 +1 @@
1
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