motion-master-client 0.0.340 → 0.0.342

package/src/lib/device.d.ts

@@ -5,18 +5,21 @@ import { UIFeaturesConfig } from './parameter';
 import { DeviceRef, DeviceRefObj } from './types';
 export declare const filenamePartRegExp: RegExp;
 /**
- * Represents a single device with extended properties beyond those provided by the Motion Master API.
- * Certain properties, such as the ID (serial number), hardware description, and integro variant, require additional file requests from Motion Master.
+ * Represents a single device with extended metadata beyond what the Motion Master API provides.
+ *
+ * Some properties—such as the serial number, hardware description, and variant—must be retrieved
+ * through additional file requests from Motion Master.
  */
 export interface Device {
     /**
-     * The EtherCAT alias number of the device.
+     * The EtherCAT alias of the device, if configured.
      */
     alias?: number;
     /**
-     * The unique address assigned to the device in the network.
-     * This number is included in messages to Motion Master to reference the device.
-     * Since the device address changes with each power cycle, the client library uses {@link DeviceRef} for consistent device referencing.
+     * The device address assigned by the EtherCAT master.
+     *
+     * Used when sending commands to Motion Master. Since the address changes after each
+     * power cycle, the client library uses {@link DeviceRef} as a stable reference.
      */
     deviceAddress: number;
     /**
@@ -25,7 +28,7 @@ export interface Device {
      */
     deviceProductId?: string;
     /**
-     * The firmware ID for the device, used to identify and resolve the corresponding firmware package.
+     * Firmware ID used to identify and resolve the firmware package for the device.
      */
     fwid?: string;
     /**
@@ -33,75 +36,148 @@ export interface Device {
      */
     hardwareDescription?: HardwareDescription;
     /**
-     * A unique identifier for the device.
-     * The device serial number is a strong candidate for this identifier.
+     * Unique identifier of the device, typically its serial number.
      */
     id: string;
     /**
-     * Identifier for the image file associated with the device.
-     * Retrieved from the assembly or device entries in the hardware description file.
+     * Identifier of the image associated with this device.
+     * Retrieved from the assembly or device entries of the hardware description file.
      */
     imageId?: string;
     /**
-     * Parsed `.variant` file containing variant-specific information.
+     * Parsed `.variant` file describing variant-specific information.
      */
     integroVariant?: IntegroVariant;
     /**
-     * Device position in the network stack.
-     * Note: In SOEM, the position starts at 1, as 0 is reserved for broadcasting.
-     * In the IgH EtherCAT Master, the position starts at 0.
+     * Device position in the EtherCAT topology.
+     *
+     * - SOEM: positions start at 1 (0 is broadcast)
+     * - IgH EtherCAT Master: positions start at 0
      */
     position?: number;
     /**
-     * The product ID of the device or assembly.
+     * Product ID of the device or its assembly.
      * Example: `6000`
      */
     productId?: string;
     /**
-     * The serial number of the device as read from the hardware description file.
+     * Serial number read from the hardware description file.
      */
     serialNumber?: string;
     /**
-     * Parsed `.stack_info.json` file containing stack-related metadata.
+     * Parsed `.stack_info.json` file with stack-related metadata.
      */
     stackInfo?: StackInfo;
     /**
-     * The type of the device, which can be one of the following:
+     * Device type:
      * - `0`: UNSPECIFIED
      * - `1`: SOMANET_CIA401_ETHERCAT
      * - `2`: SOMANET_CIA402_ETHERCAT
      */
     type?: number;
     /**
-     * User interface configuration for device-specific features.
+     * UI configuration for device-specific features.
      */
     uiFeaturesConfig?: UIFeaturesConfig;
     /**
-     * This is a combination of the product ID and revision for a device.
+     * Product ID and revision combined.
      * Example: `8506-01`
      */
     versionedDeviceProductId?: string;
     /**
-     * This is a combination of the product ID and revision for a device or assembly.
+     * Product or assembly ID and revision combined.
      * Example: `6000-01`
      */
     versionedProductId?: string;
 }
+/**
+ * Returns the first defined value from a {@link DeviceRefObj}.
+ */
 export declare function getDeviceRefFromDeviceRefObj(deviceRefObj: DeviceRefObj): string | number | null;
+/**
+ * Ensures that a {@link DeviceRef} is numeric if possible.
+ *
+ * If the value is numeric-like, it is converted to a number; otherwise the original string is returned.
+ */
 export declare function ensureDeviceRef(deviceRef: DeviceRef): DeviceRef;
+/**
+ * Converts a {@link DeviceRef} into a structured {@link DeviceRefObj}.
+ *
+ * - Numbers ≤ `0xffff` are treated as device positions.
+ * - Larger numbers are treated as device addresses.
+ * - Strings are treated as serial numbers.
+ */
 export declare function makeDeviceRefObj(deviceRef: DeviceRef): DeviceRefObj;
+/**
+ * Type guard verifying that a value is a valid {@link DeviceRef}.
+ */
 export declare function isDeviceRef(deviceRef: any): deviceRef is DeviceRef;
+/**
+ * Validates the structure of a {@link DeviceRefObj}.
+ */
 export declare function isValidDeviceRefObj(obj: DeviceRefObj): boolean;
+/**
+ * Parses a single device log line.
+ *
+ * Expected format:
+ * `HH:MM:SS.mmm LEVEL|MESSAGE`
+ */
 export declare function parseDeviceLog(line: string): DeviceLogLine | undefined;
+/**
+ * Parses multi-line log content into an array of {@link DeviceLogLine}.
+ */
 export declare function parseDeviceLogContent(content: string): DeviceLogLine[];
+/**
+ * Computes the "zero home offset" given a home offset and the current device position.
+ */
 export declare function computeZeroHomeOffsetFromPosition(homeOffset: number, position: number): number;
 /**
- * The FoE read command with the filename "fs-stackunlock=DD1317" enables writing or deleting protected files (i.e., files that begin with a dot ".").
+ * Name of the FoE file used to unlock protected filesystem operations.
+ *
+ * Sending a FoE read command with this filename allows writing or deleting
+ * protected files (i.e., files whose names start with a dot).
  */
 export declare const stackUnlockFilename = "fs-stackunlock=DD1317";
 /**
- * Base64-encoded empty firmware binary used during a Factory Reset to remove the currently installed firmware.
+ * Base64-encoded empty firmware image used during Factory Reset
+ * to remove the currently installed firmware.
  */
 export declare const emptyAppBase64 = "UEsDBBQACAAIABBye08AAAAAAAAAAAAAAAANACAAYXBwX2VtcHR5LmJpblVUDQAHMHfeXTB33l0wd95ddXgLAAEE6AMAAAToAwAAAwBQSwcIAAAAAAIAAAAAAAAAUEsBAhQDFAAIAAgAEHJ7TwAAAAACAAAAAAAAAA0AIAAAAAAAAAAAAKSBAAAAAGFwcF9lbXB0eS5iaW5VVA0ABzB33l0wd95dMHfeXXV4CwABBOgDAAAE6AMAAFBLBQYAAAAAAQABAFsAAABdAAAAAAA=";
+/**
+ * Returns `true` if the filename represents a multi-part ZIP file.
+ */
 export declare function isFilenamePart(filename: string): boolean;
+/**
+ * Default set of files preserved during Factory Reset.
+ */
 export declare const factoryResetDefaultFilesToKeep: string[];
+/**
+ * Computes the effective mechanical gear ratio between motor revolutions and
+ * shaft revolutions. The returned value represents:
+ *
+ *    gearRatio = motorRevolutions / shaftRevolutions
+ *
+ * Special handling is applied when both the torque controller and the position
+ * controller use the same encoder source. In that case, there is no physical
+ * external gearing, meaning both controllers observe identical positions, so
+ * the gear ratio is considered to be 1.
+ *
+ * If shaft revolutions equals 0 (invalid or unavailable data), a default gear
+ * ratio of 1 is returned as a safe fallback.
+ *
+ * @param props Object containing:
+ * - `motorRevolutions` Number of motor-side revolutions defined in device parameters.
+ * - `shaftRevolutions` Number of shaft-side revolutions defined in device parameters.
+ * - `torqueControllerEncoderSource` Encoder source used by the torque controller. A value of 0 means no assigned encoder.
+ * - `positionControllerEncoderSource` Encoder source used by the position controller. A value of 0 means no assigned encoder.
+ *
+ * @returns The computed gear ratio. Produces:
+ * - `1` if both controllers use the same encoder source, or if shaftRevolutions is `0`.
+ * - `(motorRevolutions / shaftRevolutions)` otherwise.
+ */
+export declare function computeGearRatio(props: {
+    motorRevolutions: number;
+    shaftRevolutions: number;
+    torqueControllerEncoderSource: number;
+    positionControllerEncoderSource: number;
+}): number;

package/src/lib/device.js

@@ -1,7 +1,10 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.factoryResetDefaultFilesToKeep = exports.isFilenamePart = exports.emptyAppBase64 = exports.stackUnlockFilename = exports.computeZeroHomeOffsetFromPosition = exports.parseDeviceLogContent = exports.parseDeviceLog = exports.isValidDeviceRefObj = exports.isDeviceRef = exports.makeDeviceRefObj = exports.ensureDeviceRef = exports.getDeviceRefFromDeviceRefObj = exports.filenamePartRegExp = void 0;
+exports.computeGearRatio = exports.factoryResetDefaultFilesToKeep = exports.isFilenamePart = exports.emptyAppBase64 = exports.stackUnlockFilename = exports.computeZeroHomeOffsetFromPosition = exports.parseDeviceLogContent = exports.parseDeviceLog = exports.isValidDeviceRefObj = exports.isDeviceRef = exports.makeDeviceRefObj = exports.ensureDeviceRef = exports.getDeviceRefFromDeviceRefObj = exports.filenamePartRegExp = void 0;
 exports.filenamePartRegExp = /^(.*?)(?:\.zip(?:\.part\d+)?)$/;
+/**
+ * Returns the first defined value from a {@link DeviceRefObj}.
+ */
 function getDeviceRefFromDeviceRefObj(deviceRefObj) {
     for (const [_, value] of Object.entries(deviceRefObj)) {
         if (value !== undefined) {
@@ -11,11 +14,23 @@ function getDeviceRefFromDeviceRefObj(deviceRefObj) {
     return null;
 }
 exports.getDeviceRefFromDeviceRefObj = getDeviceRefFromDeviceRefObj;
+/**
+ * Ensures that a {@link DeviceRef} is numeric if possible.
+ *
+ * If the value is numeric-like, it is converted to a number; otherwise the original string is returned.
+ */
 function ensureDeviceRef(deviceRef) {
     const n = Number(deviceRef);
     return isNaN(n) ? deviceRef : n;
 }
 exports.ensureDeviceRef = ensureDeviceRef;
+/**
+ * Converts a {@link DeviceRef} into a structured {@link DeviceRefObj}.
+ *
+ * - Numbers ≤ `0xffff` are treated as device positions.
+ * - Larger numbers are treated as device addresses.
+ * - Strings are treated as serial numbers.
+ */
 function makeDeviceRefObj(deviceRef) {
     deviceRef = ensureDeviceRef(deviceRef);
     if (typeof deviceRef === 'number') {
@@ -31,18 +46,30 @@ function makeDeviceRefObj(deviceRef) {
     }
 }
 exports.makeDeviceRefObj = makeDeviceRefObj;
+/**
+ * Type guard verifying that a value is a valid {@link DeviceRef}.
+ */
 function isDeviceRef(deviceRef) {
     return (deviceRef !== undefined &&
         deviceRef !== null &&
         (typeof deviceRef === 'string' || (typeof deviceRef === 'number' && deviceRef >= 0)));
 }
 exports.isDeviceRef = isDeviceRef;
+/**
+ * Validates the structure of a {@link DeviceRefObj}.
+ */
 function isValidDeviceRefObj(obj) {
     return (Number.isFinite(Number(obj.deviceAddress)) ||
         (typeof obj.devicePosition === 'number' && obj.devicePosition >= 0) ||
         typeof obj.deviceSerialNumber === 'string');
 }
 exports.isValidDeviceRefObj = isValidDeviceRefObj;
+/**
+ * Parses a single device log line.
+ *
+ * Expected format:
+ * `HH:MM:SS.mmm LEVEL|MESSAGE`
+ */
 function parseDeviceLog(line) {
     const re = /^(\d{2}:\d{2}:\d{2}\.\d+)\s(.*)\|(.*)$/gm;
     const result = re.exec(line);
@@ -56,6 +83,9 @@ function parseDeviceLog(line) {
     return;
 }
 exports.parseDeviceLog = parseDeviceLog;
+/**
+ * Parses multi-line log content into an array of {@link DeviceLogLine}.
+ */
 function parseDeviceLogContent(content) {
     return content
         .split('\n')
@@ -63,22 +93,35 @@ function parseDeviceLogContent(content) {
         .filter((l) => l !== undefined);
 }
 exports.parseDeviceLogContent = parseDeviceLogContent;
+/**
+ * Computes the "zero home offset" given a home offset and the current device position.
+ */
 function computeZeroHomeOffsetFromPosition(homeOffset, position) {
     return homeOffset - position;
 }
 exports.computeZeroHomeOffsetFromPosition = computeZeroHomeOffsetFromPosition;
 /**
- * The FoE read command with the filename "fs-stackunlock=DD1317" enables writing or deleting protected files (i.e., files that begin with a dot ".").
+ * Name of the FoE file used to unlock protected filesystem operations.
+ *
+ * Sending a FoE read command with this filename allows writing or deleting
+ * protected files (i.e., files whose names start with a dot).
  */
 exports.stackUnlockFilename = 'fs-stackunlock=DD1317';
 /**
- * Base64-encoded empty firmware binary used during a Factory Reset to remove the currently installed firmware.
+ * Base64-encoded empty firmware image used during Factory Reset
+ * to remove the currently installed firmware.
  */
 exports.emptyAppBase64 = 'UEsDBBQACAAIABBye08AAAAAAAAAAAAAAAANACAAYXBwX2VtcHR5LmJpblVUDQAHMHfeXTB33l0wd95ddXgLAAEE6AMAAAToAwAAAwBQSwcIAAAAAAIAAAAAAAAAUEsBAhQDFAAIAAgAEHJ7TwAAAAACAAAAAAAAAA0AIAAAAAAAAAAAAKSBAAAAAGFwcF9lbXB0eS5iaW5VVA0ABzB33l0wd95dMHfeXXV4CwABBOgDAAAE6AMAAFBLBQYAAAAAAQABAFsAAABdAAAAAAA=';
+/**
+ * Returns `true` if the filename represents a multi-part ZIP file.
+ */
 function isFilenamePart(filename) {
     return exports.filenamePartRegExp.test(filename);
 }
 exports.isFilenamePart = isFilenamePart;
+/**
+ * Default set of files preserved during Factory Reset.
+ */
 exports.factoryResetDefaultFilesToKeep = [
     '.assembly_config',
     '.factory_config',
@@ -86,4 +129,47 @@ exports.factoryResetDefaultFilesToKeep = [
     '.variant',
     'stack_info.json',
 ];
+/**
+ * Computes the effective mechanical gear ratio between motor revolutions and
+ * shaft revolutions. The returned value represents:
+ *
+ *    gearRatio = motorRevolutions / shaftRevolutions
+ *
+ * Special handling is applied when both the torque controller and the position
+ * controller use the same encoder source. In that case, there is no physical
+ * external gearing, meaning both controllers observe identical positions, so
+ * the gear ratio is considered to be 1.
+ *
+ * If shaft revolutions equals 0 (invalid or unavailable data), a default gear
+ * ratio of 1 is returned as a safe fallback.
+ *
+ * @param props Object containing:
+ * - `motorRevolutions` Number of motor-side revolutions defined in device parameters.
+ * - `shaftRevolutions` Number of shaft-side revolutions defined in device parameters.
+ * - `torqueControllerEncoderSource` Encoder source used by the torque controller. A value of 0 means no assigned encoder.
+ * - `positionControllerEncoderSource` Encoder source used by the position controller. A value of 0 means no assigned encoder.
+ *
+ * @returns The computed gear ratio. Produces:
+ * - `1` if both controllers use the same encoder source, or if shaftRevolutions is `0`.
+ * - `(motorRevolutions / shaftRevolutions)` otherwise.
+ */
+function computeGearRatio(props) {
+    const { motorRevolutions, shaftRevolutions, torqueControllerEncoderSource, positionControllerEncoderSource } = props;
+    // Encoder source is considered assigned when value is non-zero.
+    // If both controllers reference the same encoder configuration,
+    // there is effectively no external gearing observed.
+    const bothControllersUseSameEncoderConfiguration = torqueControllerEncoderSource !== 0 && torqueControllerEncoderSource === positionControllerEncoderSource;
+    if (bothControllersUseSameEncoderConfiguration) {
+        // Both controllers read the same encoder signals, therefore no mechanical ratio exists.
+        return 1;
+    }
+    // If shaftRevolutions is valid, compute actual ratio.
+    if (shaftRevolutions !== 0) {
+        return motorRevolutions / shaftRevolutions;
+    }
+    // Fallback: Cannot compute ratio due to invalid denominator.
+    // Safe assumption is to return unity.
+    return 1;
+}
+exports.computeGearRatio = computeGearRatio;
 //# sourceMappingURL=device.js.map

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

@@ -99,7 +99,7 @@ class LimitedRangeSystemIdentification {
                 this.notifications$.next(`Warning: startProcedure is currently ${this.options.startProcedure}, but WAIT_FOR_HRD_STREAMING_TO_START (2) is required. Setting the correct start procedure automatically.`);
                 this.options.startProcedure = os_command_1.SystemIdentificationOsCommandStartProcedure.WAIT_FOR_HRD_STREAMING_TO_START;
             }
-            const gearRatio = yield this.client.request.getGearRatio(this.deviceRef);
+            const gearRatio = yield (0, rxjs_1.lastValueFrom)(this.client.request.computeGearRatio(this.deviceRef, true));
             const rangeLimitEff = this.options.rangeLimit * gearRatio;
             this.notifications$.next(`Effective range limit (considering gear ratio ${gearRatio}): ${rangeLimitEff}`);
             // Variables to hold original configurations for restoration later

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

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

@@ -1270,17 +1270,31 @@ export declare class MotionMasterReqResClient {
      */
     computeFeedConstant(deviceRef: DeviceRef, requestTimeout?: number): Observable<number>;
     /**
-     * Computes the Gear Ratio for a given device.
+     * Computes the mechanical Gear Ratio for the specified device.
      *
-     * The Gear Ratio is calculated as the quotient of:
-     * - Gear Ratio Numerator (`0x6091:01` – Motor Revolutions)
-     * - Gear Ratio Denominator (`0x6091:02` – Shaft Revolutions)
+     * The Gear Ratio is derived from device parameters representing:
+     * - Motor-side revolutions (`0x6091:01`)
+     * - Shaft-side revolutions (`0x6091:02`)
      *
-     * @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.
+     * Additionally, encoder assignments for the torque and position control loops
+     * are retrieved to determine whether an external mechanical ratio is present.
+     *
+     * If both control loops use the same encoder source (non-zero and equal),
+     * the returned ratio is `1`, indicating no external mechanical reduction.
+     *
+     * Otherwise, the ratio is computed as:
+     *
+     *    motorRevolutions / shaftRevolutions
+     *
+     * If shaftRevolutions is `0` or unavailable, a fallback value of `1` is returned.
+     *
+     * @param deviceRef Reference to the device whose Gear Ratio is computed.
+     * @param loadFromCache If true, previously cached parameter values will be used instead of initiating device requests.
+     * @param requestTimeout Timeout (in milliseconds) applied when reading parameter values from the device. Defaults to `5000`.
+     *
+     * @returns An Observable emitting a numeric Gear Ratio.
      */
-    computeGearRatio(deviceRef: DeviceRef, requestTimeout?: number): Observable<number>;
+    computeGearRatio(deviceRef: DeviceRef, loadFromCache?: boolean, 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.
@@ -1938,8 +1952,6 @@ export declare class MotionMasterReqResClient {
      *          and lists the supported pin modes. If all pin modes for a pin are disabled, the array defaults to `[0]`.
      */
     getSupportedDios(deviceRef: DeviceRef): Observable<number[][]>;
-    getMaxValuePercentageColor(percentage: number): "" | "#6ba853" | "#aeb303" | "#e69138" | "#fb262e";
-    getMaxValuePercentageLabel(percentage: number): "" | "Calibration was successful. Encoder system is robust to mechanical displacements and temperature expansions." | "Calibration was successful. Encoder system is robust to small mechanical displacements and temperature expansions." | "Calibration was successful. Mechanical displacement and temperature expansions should be avoided." | "Phase error is too high. The absolute position can't be computed reliably. Adjust mechanical position and repeat calibration.";
     /**
      * Checks the Circulo encoder error status registers for a specified encoder ordinal.
      *
@@ -2119,24 +2131,6 @@ 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>;
     /**
      * Retrieves the PDO mapping for the given device.
      *