npm - motion-master-client - Versions diffs - 0.0.342 → 0.0.343 - Mend

motion-master-client 0.0.342 → 0.0.343

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 (3) hide show

package/package.json +1 -1
package/src/lib/limited-range-system-identification.js +65 -38
package/src/lib/limited-range-system-identification.js.map +1 -1

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.342",
+  "version": "0.0.343",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

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

@@ -120,6 +120,14 @@ class LimitedRangeSystemIdentification {
             let minPosLmt;
             let maxPosLmt;
             try {
+                // 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 = ${encPos}`);
+                if (encPos === 0) {
+                    throw new Error('ENC_POS is set to 0 (no position feedback). A valid position feedback configuration is required.');
+                }
                 // Ensure the drive is in the "Switch On Disabled" state before any motion commands
                 this.notifications$.next('Transitioning to "Switch On Disabled" state...');
                 yield this.client.request.transitionToCia402State(this.deviceRef, cia402_1.Cia402State.SWITCH_ON_DISABLED);
@@ -133,60 +141,79 @@ class LimitedRangeSystemIdentification {
                 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 = ${encPos}`);
-                // ENC_POS is set to a valid but different configuration than ENC_COM
-                // Adjust position limits to account for differing encoder resolutions before switching to ENC_COM
-                if (encPos > 0 && encPos !== encCom) {
+                // Retrieve the encoder resolution based on the ENC_COM configuration
+                this.notifications$.next('Reading encoder resolution for commutation configuration...');
+                const resCom = yield this.client.request.upload(this.deviceRef, encCom === 1 ? 0x2110 : 0x2112, 0x03);
+                this.notifications$.next(`Encoder resolution for commutation configuration: ${resCom}`);
+                // Check if the position encoder (ENC_POS) is synchronized with the commutation encoder (ENC_COM).
+                // If not, update ENC_POS to match ENC_COM to ensure correct electrical/mechanical alignment.
+                // Then adjust software position limits to account for any scaling differences.
+                if (encPos !== encCom) {
+                    // Variables to hold position limit deltas
+                    let minPosDelta = 0;
+                    let maxPosDelta = 0;
+                    // Read the current software position limits from device
                     this.notifications$.next('Reading software position limits...');
                     minPosLmt = yield this.client.request.upload(this.deviceRef, 0x607d, 0x01);
                     maxPosLmt = yield this.client.request.upload(this.deviceRef, 0x607d, 0x02);
                     this.notifications$.next(`Software position limits: Min = ${minPosLmt}, Max = ${maxPosLmt}`);
-                    if (minPosLmt !== -2147483648 || maxPosLmt === 2147483647) {
-                        this.notifications$.next('Reading encoder resolution for commutation configuration...');
-                        const resCom = yield this.client.request.upload(this.deviceRef, encCom === 1 ? 0x2110 : 0x2112, 0x03);
-                        this.notifications$.next(`Encoder resolution for commutation configuration: ${resCom}`);
+                    // Determine if any software position limit is enabled
+                    const anyLimitEnabled = minPosLmt !== -2147483648 || maxPosLmt !== 2147483647;
+                    if (anyLimitEnabled) {
+                        // Read encoder resolution for mechanical position scaling
                         this.notifications$.next('Reading encoder resolution for position configuration...');
                         const resPos = yield this.client.request.upload(this.deviceRef, encPos === 1 ? 0x2110 : 0x2112, 0x03);
                         this.notifications$.next(`Encoder resolution for position configuration: ${resPos}`);
+                        // Read current position before ENC_POS update (old scaling)
+                        this.notifications$.next('Reading current position actual value...');
+                        const posActOld = yield this.client.request.upload(this.deviceRef, 0x6064, 0x00);
+                        this.notifications$.next(`Current position actual value: ${posActOld}`);
+                        // Calculate delta for min software limit if enabled
                         if (minPosLmt !== -2147483648) {
-                            let adjustedMinPosLmt = Math.round(minPosLmt * gearRatio * (resCom / resPos));
-                            if (adjustedMinPosLmt < -2147483648) {
-                                adjustedMinPosLmt = -2147483648;
-                            }
-                            this.notifications$.next(`Adjusting minimum position limit from ${minPosLmt} to ${adjustedMinPosLmt}...`);
-                            yield this.client.request.download(this.deviceRef, 0x607d, 0x01, adjustedMinPosLmt);
-                            this.notifications$.next('Minimum position limit adjusted.');
+                            this.notifications$.next('Calculating minimum position limit delta...');
+                            minPosDelta = Math.round(((posActOld - minPosLmt) / resPos) * gearRatio * resCom);
+                            this.notifications$.next(`Minimum position limit delta: ${minPosDelta}`);
                         }
+                        // Calculate delta for max software limit if enabled
                         if (maxPosLmt !== 2147483647) {
-                            let adjustedMaxPosLmt = Math.round(maxPosLmt * gearRatio * (resCom / resPos));
-                            if (adjustedMaxPosLmt > 2147483647) {
-                                adjustedMaxPosLmt = 2147483647;
-                            }
-                            this.notifications$.next(`Adjusting maximum position limit from ${maxPosLmt} to ${adjustedMaxPosLmt}...`);
-                            yield this.client.request.download(this.deviceRef, 0x607d, 0x02, adjustedMaxPosLmt);
-                            this.notifications$.next('Maximum position limit adjusted.');
+                            this.notifications$.next('Calculating maximum position limit delta...');
+                            maxPosDelta = Math.round(((maxPosLmt - posActOld) / resPos) * gearRatio * resCom);
+                            this.notifications$.next(`Maximum position limit delta: ${maxPosDelta}`);
                         }
                     }
-                }
-                // If ENC_COM and ENC_POS do not match, update ENC_POS to match ENC_COM
-                if (encCom !== encPos) {
+                    // Force an on-demand parameters update to apply the new encoder configuration
                     this.notifications$.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$.next('ENC_POS updated to match ENC_COM.');
+                    // Force an on-demand parameters update to apply the new encoder configuration
+                    this.notifications$.next('Forcing on-demand parameters update...');
+                    yield this.client.request.forceOnDemandParametersUpdate(this.deviceRef);
+                    this.notifications$.next('On-demand parameters update forced.');
+                    // Adjust software position limits based on calculated deltas (if any)
+                    if (minPosDelta !== 0 || maxPosDelta !== 0) {
+                        this.notifications$.next('Reading current position actual value...');
+                        const posActNew = yield this.client.request.upload(this.deviceRef, 0x6064, 0x00);
+                        this.notifications$.next(`Current position actual value: ${posActNew}`);
+                        // Adjust minimum position limit if delta exists
+                        if (minPosDelta !== 0) {
+                            const value = posActNew - minPosDelta;
+                            this.notifications$.next(`Adjusting minimum position limit by delta: ${minPosDelta}...`);
+                            yield this.client.request.download(this.deviceRef, 0x607d, 0x01, Math.max(value, -2147483648));
+                            this.notifications$.next('Minimum position limit adjusted.');
+                        }
+                        // Adjust maximum position limit if delta exists
+                        if (maxPosDelta !== 0) {
+                            const value = posActNew + maxPosDelta;
+                            this.notifications$.next(`Adjusting maximum position limit by delta: ${maxPosDelta}...`);
+                            yield this.client.request.download(this.deviceRef, 0x607d, 0x02, Math.min(value, 2147483647));
+                            this.notifications$.next('Maximum position limit adjusted.');
+                        }
+                    }
                 }
-                // 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...');
                 // feed constant is not disabled and greater than resolution
-                const ratio = feedConstant !== 0xffffffff && feedConstant > resolution ? feedConstant / resolution : 1;
+                const ratio = feedConstant !== 0xffffffff && feedConstant > resCom ? feedConstant / resCom : 1;
                 const rangeLimitMin = Math.round(this.options.rangeLimitMin * ratio);
                 this.notifications$.next(`Adjusted range limit: min=${rangeLimitMin}, eff=${rangeLimitEff}`);
                 // Retrieve the PID controller parameters
@@ -213,8 +240,8 @@ class LimitedRangeSystemIdentification {
                 else {
                     xiSquared =
                         ((Math.min(maxTorque, 1000 * Math.sqrt(rangeLimitEff / rangeLimitMin)) * rangeLimitEff) / feedConstant) *
-                            resolution;
-                    kpInit = xiSquared / Math.pow((rangeLimitEff / feedConstant) * resolution, 2);
+                            resCom;
+                    kpInit = xiSquared / Math.pow((rangeLimitEff / feedConstant) * resCom, 2);
                 }
                 this.notifications$.next(`Initial kp value: ${kpInit}, xi squared: ${xiSquared}`);
                 // Set the initial PID controller parameters for the procedure
@@ -258,7 +285,7 @@ class LimitedRangeSystemIdentification {
                             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);
+                            kp = xiSquared / Math.pow((Math.max(rangeLimitEff - Math.abs(e), 1) / feedConstant) * resCom, 2);
                         }
                         // Update Kp only if it has changed to minimize downloads
                         if (kp !== prevKp) {

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

	@@ -1 +1 @@
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