motion-master-client 0.0.363 → 0.0.366

package/src/lib/sii.js

@@ -25,6 +25,32 @@ var SiiCategoryType;
     SiiCategoryType[SiiCategoryType["APPLICATION_SPECIFIC"] = 8192] = "APPLICATION_SPECIFIC";
     SiiCategoryType[SiiCategoryType["END"] = 65535] = "END";
 })(SiiCategoryType = exports.SiiCategoryType || (exports.SiiCategoryType = {}));
+/**
+ * Resolve a raw SII category type value into a normalized {@link SiiCategoryType}.
+ *
+ * @param value Raw 16-bit category type value from SII.
+ * @returns Resolved category type, or `undefined` if not recognized.
+ *
+ * @remarks
+ * - The SII specification defines both fixed category IDs and value ranges:
+ *
+ *   **Mapped ranges:**
+ *   - 0x0001–0x0009 → DEVICE_SPECIFIC
+ *   - 0x0800–0x1FFF → VENDOR_SPECIFIC
+ *   - 0x2000–0x2FFF → APPLICATION_SPECIFIC
+ *   - 0x3000–0xFFFE → VENDOR_SPECIFIC
+ *
+ * - For values outside these ranges, a direct enum lookup is attempted:
+ *   - Matches known categories such as STRINGS, GENERAL, FMMU, etc.
+ *
+ * - The END marker (0xFFFF) is handled via direct enum lookup.
+ *
+ * @note
+ * - Range-based values are normalized to a single enum representative
+ *   (e.g. all vendor-specific values map to `VENDOR_SPECIFIC`).
+ * - The original numeric value is not preserved.
+ * - Unknown values return `undefined` and should be treated as unsupported categories.
+ */
 function resolveSiiCategoryType(value) {
     if (value >= 1 && value <= 9) {
         return SiiCategoryType.DEVICE_SPECIFIC;
@@ -44,6 +70,58 @@ function resolveSiiCategoryType(value) {
     return;
 }
 exports.resolveSiiCategoryType = resolveSiiCategoryType;
+/**
+ * Parse a raw EtherCAT Slave Information Interface (SII) EEPROM buffer.
+ *
+ * @param buffer Full SII EEPROM content.
+ * @returns Parsed {@link SlaveInformationInterface}.
+ *
+ * @remarks
+ * The SII structure consists of:
+ *
+ * 1. **Fixed header (first 128 bytes)**
+ *    Parsed using:
+ *    `@HHHHH4xHLLLL8xHHHHHHHHH66xHHHH`
+ *
+ *    Contains:
+ *    - PDI configuration and control
+ *    - Vendor/product identification
+ *    - Mailbox configuration
+ *    - EEPROM size and version
+ *
+ * 2. **Category section (starting at offset 128)**
+ *    A sequence of variable-length categories:
+ *
+ *    Category layout:
+ *    - uint16 categoryType
+ *    - uint16 categoryWordSize (number of 16-bit words)
+ *    - payload (categoryWordSize * 2 bytes)
+ *
+ *    Parsing continues sequentially until:
+ *    - Category type `0xFFFF` (END), or
+ *    - Category type resolves to {@link SiiCategoryType.NOP}
+ *
+ * - Recognized categories are dispatched to dedicated parsers:
+ *   - STRINGS → {@link parseSiiCategoryStrings}
+ *   - GENERAL → {@link parseSiiCategoryGeneral}
+ *   - FMMU → {@link parseSiiCategoryFmmu}
+ *   - SYNC_M → {@link parseSiiCategorySyncManager}
+ *   - RXPDO / TXPDO → {@link parseSiiCategoryPdo}
+ *   - DC → {@link parseSiiCategoryDc}
+ *
+ * - Multiple PDO categories are supported and accumulated.
+ *
+ * @note
+ * - Unrecognized categories are skipped.
+ * - No validation is performed for:
+ *   - Buffer size correctness
+ *   - Category alignment or integrity
+ *   - Semantic correctness of parsed values
+ *
+ * - String indices in parsed structures refer to entries from the STRINGS category.
+ *
+ * - This function assumes little-endian layout and native alignment as used by `python-struct`.
+ */
 function parseSiiBuffer(buffer) {
     let strings = [];
     let general = {
@@ -64,7 +142,8 @@ function parseSiiBuffer(buffer) {
     };
     let fmmus = [];
     let syncManagers = [];
-    let pdos = [];
+    let rxPdos = [];
+    let txPdos = [];
     let dcs = [];
     const data = (0, python_struct_1.unpack)('@HHHHH4xHLLLL8xHHHHHHHHH66xHHHH', buffer);
     const info = {
@@ -112,8 +191,11 @@ function parseSiiBuffer(buffer) {
         else if (categoryType === SiiCategoryType.SYNC_M) {
             syncManagers = parseSiiCategorySyncManager(categoryDataBuffer);
         }
-        else if (categoryType === SiiCategoryType.RXPDO || categoryType === SiiCategoryType.TXPDO) {
-            // TODO: Implement.
+        else if (categoryType === SiiCategoryType.RXPDO) {
+            rxPdos.push(...parseSiiCategoryPdo(categoryDataBuffer));
+        }
+        else if (categoryType === SiiCategoryType.TXPDO) {
+            txPdos.push(...parseSiiCategoryPdo(categoryDataBuffer));
         }
         else if (categoryType === SiiCategoryType.DC) {
             dcs = parseSiiCategoryDc(categoryDataBuffer);
@@ -130,12 +212,38 @@ function parseSiiBuffer(buffer) {
             general,
             fmmus,
             syncManagers,
-            pdos,
+            rxPdos,
+            txPdos,
             distributedClocks: dcs,
         },
     };
 }
 exports.parseSiiBuffer = parseSiiBuffer;
+/**
+ * Parse string table from SII (Category 10).
+ *
+ * @param buffer Raw category payload buffer.
+ * @returns Array of decoded strings.
+ *
+ * @remarks
+ * - The buffer layout is:
+ *   - uint8 numberOfStrings
+ *   - Repeated `numberOfStrings` times:
+ *     - uint8 length
+ *     - `length` bytes ASCII string (no null terminator)
+ *
+ * - Strings are stored sequentially and referenced by index from other categories.
+ * - The parser advances linearly using a pointer (`p`).
+ *
+ * - No bounds checking is performed:
+ *   - Assumes `numberOfStrings` matches actual content.
+ *   - Assumes each string length fits within the buffer.
+ *
+ * @note
+ * - Returned array is zero-based, while SII indices typically start from 1.
+ *   Consumers may need to adjust indexing accordingly.
+ * - Encoding is assumed to be ASCII; no decoding/validation is performed.
+ */
 function parseSiiCategoryStrings(buffer) {
     const numberOfStrings = buffer[0];
     let p = 1;
@@ -148,6 +256,38 @@ function parseSiiCategoryStrings(buffer) {
     }
     return strings;
 }
+/**
+ * Parse General device information from SII (Category 30).
+ *
+ * @param buffer Raw category payload buffer.
+ * @returns Parsed general device information structure.
+ *
+ * @remarks
+ * - The structure is decoded using the format string `@12BhB1xHH12x`.
+ * - Layout (little-endian, native alignment via `@`):
+ *   - uint8  groupIdx              Index into string table (group)
+ *   - uint8  imgIdx                Index into string table (image)
+ *   - uint8  orderIdx              Index into string table (order number)
+ *   - uint8  nameIdx               Index into string table (device name)
+ *   - uint8  coeDetails            CoE capability flags
+ *   - uint8  foeDetails            FoE capability flags
+ *   - uint8  eoeDetails            EoE capability flags
+ *   - uint8  soeChannels           Number of SoE channels
+ *   - uint8  ds402Channels         Number of DS402 channels
+ *   - uint8  sysmanClass           Sync manager class
+ *   - uint8  flags                 General device flags
+ *   - uint8  currentOnEBus         Current consumption on E-Bus (mA)
+ *   - uint16 physicalPort          Physical port configuration
+ *   - uint16 physicalMemoryAddress Physical memory address
+ *   - 12 bytes padding/reserved
+ *
+ * - The function assumes the buffer is correctly sized and aligned.
+ * - No validation is performed on buffer length or field values.
+ *
+ * @note
+ * - String indices reference entries from the STRINGS category (Category 10).
+ * - Capability fields (CoE, FoE, EoE) are bitfields and may require further decoding.
+ */
 function parseSiiCategoryGeneral(buffer) {
     const data = (0, python_struct_1.unpack)('@12BhB1xHH12x', buffer);
     return {
@@ -167,9 +307,46 @@ function parseSiiCategoryGeneral(buffer) {
         physicalMemoryAddress: data[13],
     };
 }
+/**
+ * Parse FMMU configuration entries from SII (Category 40).
+ *
+ * @param buffer Raw category payload buffer.
+ * @returns Array of 16-bit FMMU values.
+ *
+ * @remarks
+ * - The buffer is interpreted as a contiguous array of uint16 values.
+ * - Each value represents part of the FMMU configuration as defined in the SII.
+ * - The total number of entries is `buffer.length / 2`.
+ * - No structural decoding is performed; values are returned as raw words.
+ *
+ * @note
+ * - The caller is responsible for interpreting the returned values according
+ *   to the EtherCAT FMMU configuration layout.
+ * - Buffer length must be even; otherwise unpacking will be invalid.
+ */
 function parseSiiCategoryFmmu(buffer) {
     return (0, python_struct_1.unpack)(`@${buffer.length / 2}H`, buffer);
 }
+/**
+ * Parse Sync Manager definitions from SII (Category 41).
+ *
+ * @param buffer Raw category payload buffer.
+ * @returns Array of parsed Sync Manager elements.
+ *
+ * @remarks
+ * - Each Sync Manager entry is 8 bytes long.
+ * - Layout (little-endian, native alignment via `@`):
+ *   - uint16 physicalStartAddress   Start address in DPRAM
+ *   - uint16 length                 Length in bytes
+ *   - uint8  controlRegister        Sync Manager control register value
+ *   - uint8  statusRegister         Sync Manager status register value
+ *   - uint8  enableSyncManager      Enable flag (non-zero = enabled)
+ *   - uint8  syncManagerType        Type (e.g. mailbox, process data)
+ *
+ * - The function iterates linearly over the buffer in 8-byte steps.
+ * - No validation is performed to ensure buffer length is a multiple of 8.
+ *   Caller is responsible for providing a well-formed buffer.
+ */
 function parseSiiCategorySyncManager(buffer) {
     const elements = [];
     for (let i = 0; i < buffer.length; i += 8) {
@@ -185,6 +362,101 @@ function parseSiiCategorySyncManager(buffer) {
     }
     return elements;
 }
+/**
+ * Parse PDO definitions (RxPDO or TxPDO) from an SII category buffer.
+ *
+ * @param buffer Raw category payload buffer.
+ * @returns Array of parsed PDO elements.
+ *
+ * @remarks
+ * - The buffer contains a sequence of PDO blocks.
+ * - Each PDO consists of:
+ *
+ *   PDO header (8 bytes):
+ *   - uint16 pdoIndex         PDO index (object dictionary)
+ *   - uint8  nEntries         Number of mapped entries
+ *   - uint8  syncM            Assigned Sync Manager
+ *   - uint8  synchronization  Synchronization type
+ *   - uint8  nameIdx          Index into string table (PDO name)
+ *   - uint16 flags            PDO flags
+ *
+ *   Followed by `nEntries` PDO entry descriptors:
+ *
+ *   PDO entry (8 bytes each):
+ *   - uint16 entryIndex       Object index
+ *   - uint8  subindex         Object subindex
+ *   - uint8  entryNameIdx     Index into string table
+ *   - uint8  dataType         EtherCAT data type
+ *   - uint8  bitLen           Bit length of the entry
+ *   - uint16 flags            Entry flags
+ *
+ * - Parsing continues until the buffer is exhausted.
+ * - A safety check prevents reading beyond buffer bounds for entries.
+ * - If the buffer is truncated, remaining entries in the current PDO are skipped.
+ *
+ * @note
+ * - `nEntry` reflects the declared number of entries, even if fewer were parsed
+ *   due to buffer truncation.
+ * - No validation is performed for semantic correctness of indices or types.
+ */
+function parseSiiCategoryPdo(buffer) {
+    const pdos = [];
+    let offset = 0;
+    while (offset + 8 <= buffer.length) {
+        const pdoHeader = (0, python_struct_1.unpack)('@HBBBBH', buffer.subarray(offset, offset + 8));
+        const nEntries = pdoHeader[1];
+        const entries = [];
+        offset += 8;
+        for (let i = 0; i < nEntries; i++) {
+            if (offset + 8 > buffer.length) {
+                break; // Safety check
+            }
+            const entryData = (0, python_struct_1.unpack)('@HBBBBH', buffer.subarray(offset, offset + 8));
+            entries.push({
+                entryIndex: entryData[0],
+                subindex: entryData[1],
+                entryNameIdx: entryData[2],
+                dataType: entryData[3],
+                bitLen: entryData[4],
+                flags: entryData[5],
+            });
+            offset += 8;
+        }
+        pdos.push({
+            pdoIndex: pdoHeader[0],
+            nEntry: nEntries,
+            syncM: pdoHeader[2],
+            synchronization: pdoHeader[3],
+            nameIdx: pdoHeader[4],
+            flags: pdoHeader[5],
+            entries,
+        });
+    }
+    return pdos;
+}
+/**
+ * Parse Distributed Clocks (DC) configuration entries from SII (Category 60).
+ *
+ * @param buffer Raw category payload buffer.
+ * @returns Array of parsed Distributed Clock elements.
+ *
+ * @remarks
+ * - Each DC entry is 24 bytes long.
+ * - Layout (little-endian, native alignment via `@`):
+ *   - uint32 cycleTime0         Sync0 cycle time (ns)
+ *   - uint32 shiftTime0         Sync0 shift time (ns)
+ *   - uint32 shiftTime1         Sync1 shift time (ns)
+ *   - int16  sync1CycleFactor   Sync1 cycle factor
+ *   - uint16 assignActivate     DC assign/activate register value
+ *   - int16  sync0CycleFactor   Sync0 cycle factor
+ *   - uint8  nameIdx            Index into string table (name)
+ *   - uint8  descIdx            Index into string table (description)
+ *   - 4 bytes padding
+ *
+ * - The function iterates linearly over the buffer in 24-byte steps.
+ * - No bounds validation is performed beyond stride stepping.
+ *   Caller must ensure buffer length is a multiple of 24.
+ */
 function parseSiiCategoryDc(buffer) {
     const elements = [];
     for (let i = 0; i < buffer.length; i += 24) {
@@ -202,18 +474,4 @@ function parseSiiCategoryDc(buffer) {
     }
     return elements;
 }
-// function parseSiiPdo(buffer: Buffer): SiiCategoryPdoElement[] {
-//   const data = unpack('@HBBBBH', buffer);
-//   return [];
-// }
-// function parseSiiPdoEntry(): SiiCategoryPdoEntryElement {
-//   return {
-//     bitLen: 0,
-//     dataType: 0,
-//     entryIndex: 0,
-//     entryNameIdx: 0,
-//     flags: 0,
-//     subindex: 0,
-//   };
-// }
 //# sourceMappingURL=sii.js.map

package/src/lib/sii.js.map

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package/src/lib/types.d.ts

@@ -127,6 +127,7 @@ export type StopCirculoEncoderNarrowAngleCalibrationProcedureRequest = MotionMas
 export type StartOsCommandRequest = MotionMasterMessage.Request.IStartOsCommand & DeviceRefObj;
 export type ExecuteForwardCallRequest = MotionMasterMessage.Request.IExecuteForwardCall & DeviceRefObj;
 export type SetPdoModeRequest = MotionMasterMessage.Request.ISetPdoMode & DeviceRefObj;
+export type GetDeviceSiiRequest = MotionMasterMessage.Request.IGetDeviceSii & DeviceRefObj;
 export type SystemVersionStatus = MotionMasterMessage.Status.ISystemVersion & RequestStatusMessage;
 export type SystemInformationStatus = MotionMasterMessage.Status.ISystemInformation & RequestStatusMessage;
 export type DeviceInfoStatus = MotionMasterMessage.Status.IDeviceInfo & RequestStatusMessage;
@@ -161,6 +162,7 @@ export type CirculoEncoderConfigurationStatus = MotionMasterMessage.Status.ICirc
 export type OsCommandStatus = MotionMasterMessage.Status.IOsCommand & RequestStatusMessage;
 export type ForwardCallStatus = MotionMasterMessage.Status.IForwardCall & RequestStatusMessage;
 export type PdoModeStatus = MotionMasterMessage.Status.IPdoMode & RequestStatusMessage;
+export type DeviceSiiStatus = MotionMasterMessage.Status.IDeviceSii & RequestStatusMessage;
 export import ValueType = MotionMasterMessage.Status.DeviceParameterInfo.Parameter.ValueType;
 export declare function isArrayOfDeviceSerialNumbers(ids: DeviceParameterIds): ids is string[];
 export declare function isObjectOfDeviceSerialNumberToValues(ids: {
@@ -559,3 +561,27 @@ export type SmmBinaryHeaderValues = [
     crcA: number,
     crcB: number
 ];
+/**
+ * Represents the possible statuses of a progress step in a process.
+ *
+ * - `'idle'`: The step has not started yet.
+ * - `'running'`: The step is currently in progress.
+ * - `'succeeded'`: The step has completed successfully.
+ * - `'failed'`: The step has completed with an error.
+ */
+export type ProgressStepStatus = 'idle' | 'running' | 'succeeded' | 'failed';
+/**
+ * Represents a single step in a progress sequence, typically used to track the status of multi-step operations.
+ *
+ * @property label - A human-readable label describing the step.
+ * @property status - The current status of the step, represented by a `ProgressStepStatus` value.
+ * @property value - Optional. An arbitrary value associated with the step, such as a result or intermediate data.
+ * @property error - Optional. An error message if the step encountered a problem.
+ */
+export interface ProgressStep<T = number> {
+    readonly id: string;
+    readonly label: string;
+    status: ProgressStepStatus;
+    value?: T;
+    error?: string;
+}

package/src/lib/types.js.map

@@ -1 +1 @@
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+{"version":3,"file":"types.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/types.ts"],"names":[],"mappings":";;;AAAA,+DAAqD;AAEvC,QAAA,mBAAmB,GAAG,kCAAY,CAAC,mBAAmB,CAAC;AA8BrE,MAAa,YAAa,SAAQ,KAAK;CAAG;AAA1C,oCAA0C;AA6D1C,6DAA6D;AAC/C,QAAA,oBAAoB,GAAG,2BAAmB,CAAC,OAAO,CAAC,uBAAuB,CAAC,KAAK,CAAC;AAE/F,6DAA6D;AAC/C,QAAA,cAAc,GAAG,2BAAmB,CAAC,OAAO,CAAC,sBAAsB,CAAC,cAAc,CAAC;AAsGjG,6DAA6D;AAC/C,QAAA,SAAS,GAAG,2BAAmB,CAAC,MAAM,CAAC,mBAAmB,CAAC,SAAS,CAAC,SAAS,CAAC;AAE7F,SAAgB,4BAA4B,CAAC,GAAuB;IAClE,OAAO,GAAG,CAAC,MAAM,GAAG,CAAC,IAAI,OAAO,GAAG,CAAC,CAAC,CAAC,KAAK,QAAQ,CAAC;AACtD,CAAC;AAFD,oEAEC;AAED,SAAgB,oCAAoC,CAClD,GAAwF;IAExF,OAAO,CAAC,KAAK,CAAC,OAAO,CAAC,GAAG,CAAC,CAAC;AAC7B,CAAC;AAJD,oFAIC;AAED,IAAY,4BAGX;AAHD,WAAY,4BAA4B;IACtC,mIAAkC,CAAA;IAClC,qJAA2C,CAAA;AAC7C,CAAC,EAHW,4BAA4B,GAA5B,oCAA4B,KAA5B,oCAA4B,QAGvC"}

package/src/lib/units.d.ts

@@ -135,14 +135,18 @@ export interface UnitConverters {
         motorRatedCurrent: number;
     }>;
     friction: UnitConverter<unknown>;
+    inductance: UnitConverter<unknown>;
     inertia: UnitConverter<unknown>;
     position: UnitConverter<{
         resolution: number;
         feed?: number;
     }>;
+    resistance: UnitConverter<unknown>;
     torque: UnitConverter<{
         motorRatedTorque: number;
+        motorRatedCurrent: number;
     }>;
+    torqueConstant: UnitConverter<unknown>;
     velocity: UnitConverter<{
         siUnitVelocity: number;
         feed?: number;

package/src/lib/units.js

@@ -345,6 +345,9 @@ exports.unitConverters = {
             if (unit === 'mA') {
                 return (0, util_1.toFixedFormat)(Math.round((value / 1000) * data.motorRatedCurrent));
             }
+            else if (unit === 'A') {
+                return (0, util_1.toFixedFormat)(Math.round(((value / 1000) * data.motorRatedCurrent) / 1000));
+            }
             else {
                 return (0, util_1.toFixedFormat)(value);
             }
@@ -352,12 +355,16 @@ exports.unitConverters = {
         options: [
             { value: '‰', text: 'Per mille (native)' },
             { value: 'mA', text: 'Milliampere' },
+            { value: 'A', text: 'Ampere' },
         ],
         parser: (unit, value, data) => {
             value = typeof value === 'string' ? parseFloat(value) : value;
             if (unit === 'mA') {
                 return (value / data.motorRatedCurrent) * 1000;
             }
+            else if (unit === 'A') {
+                return (value / data.motorRatedCurrent) * 1000 * 1000;
+            }
             else {
                 return value;
             }
@@ -426,6 +433,9 @@ exports.unitConverters = {
                 if (unit === 'deg') {
                     feed = 360;
                 }
+                else if (unit === 'mdeg') {
+                    feed = 360000;
+                }
                 else if (unit === 'rev') {
                     feed = 1;
                 }
@@ -438,6 +448,7 @@ exports.unitConverters = {
         options: [
             { value: 'inc', text: 'Increments (native)' },
             { value: 'deg', text: 'Degrees' },
+            { value: 'mdeg', text: 'Millidegrees' },
             { value: 'rev', text: 'Revolutions' },
         ],
         parser: (unit, value, data) => {
@@ -447,6 +458,9 @@ exports.unitConverters = {
                 if (unit === 'deg') {
                     feed = 360;
                 }
+                else if (unit === 'mdeg') {
+                    feed = 360000;
+                }
                 else if (unit === 'rev') {
                     feed = 1;
                 }
@@ -457,6 +471,68 @@ exports.unitConverters = {
             return Math.round((value / feed) * data.resolution);
         },
     },
+    resistance: {
+        id: 'resistance',
+        formatter: (unit, value) => {
+            if (unit === 'Ω') {
+                return (0, util_1.toFixedFormat)(value / 1000 / 1000);
+            }
+            else if (unit === 'mΩ') {
+                return (0, util_1.toFixedFormat)(value / 1000);
+            }
+            else {
+                return (0, util_1.toFixedFormat)(value);
+            }
+        },
+        options: [
+            { value: 'μΩ', text: 'Microohm' },
+            { value: 'mΩ', text: 'Milliohm' },
+            { value: 'Ω', text: 'Ohm' },
+        ],
+        parser: (unit, value) => {
+            value = typeof value === 'string' ? parseFloat(value) : value;
+            if (unit === 'Ω') {
+                return value * 1e6;
+            }
+            else if (unit === 'mΩ') {
+                return value * 1e3;
+            }
+            else {
+                return value;
+            }
+        },
+    },
+    inductance: {
+        id: 'inductance',
+        formatter: (unit, value) => {
+            if (unit === 'H') {
+                return (0, util_1.toFixedFormat)(value / 1000 / 1000);
+            }
+            else if (unit === 'mH') {
+                return (0, util_1.toFixedFormat)(value / 1000);
+            }
+            else {
+                return (0, util_1.toFixedFormat)(value);
+            }
+        },
+        options: [
+            { value: 'μH', text: 'Microhenry' },
+            { value: 'mH', text: 'Millihenry' },
+            { value: 'H', text: 'Henry' },
+        ],
+        parser: (unit, value) => {
+            value = typeof value === 'string' ? parseFloat(value) : value;
+            if (unit === 'H') {
+                return value * 1e6;
+            }
+            else if (unit === 'mH') {
+                return value * 1e3;
+            }
+            else {
+                return value;
+            }
+        },
+    },
     torque: {
         id: 'torque',
         formatter: (unit, value, data) => {
@@ -481,6 +557,37 @@ exports.unitConverters = {
             }
         },
     },
+    torqueConstant: {
+        id: 'torqueConstant',
+        formatter: (unit, value) => {
+            if (unit === 'Nm/A') {
+                return (0, util_1.toFixedFormat)(value / 1000 / 1000);
+            }
+            else if (unit === 'mNm/A') {
+                return (0, util_1.toFixedFormat)(value / 1000);
+            }
+            else {
+                return (0, util_1.toFixedFormat)(value);
+            }
+        },
+        options: [
+            { value: 'μNm/A', text: 'Micronewton per ampere (RMS)' },
+            { value: 'mNm/A', text: 'Millinewton per ampere (RMS)' },
+            { value: 'Nm/A', text: 'Newton per ampere (RMS)' },
+        ],
+        parser: (unit, value) => {
+            value = typeof value === 'string' ? parseFloat(value) : value;
+            if (unit === 'Nm/A') {
+                return value * 1e6;
+            }
+            else if (unit === 'mNm/A') {
+                return value * 1e3;
+            }
+            else {
+                return value;
+            }
+        },
+    },
     velocity: {
         id: 'velocity',
         formatter: (unit, value, data) => {
@@ -538,16 +645,31 @@ exports.unitConverters = {
 };
 exports.unitConverterParameters = {
     acceleration: exports.unitConverterAccelerationParameters,
-    current: [[0x6073, 0]],
+    current: [
+        [0x6073, 0],
+        [0x6075, 0], // Motor rated current
+    ],
     friction: [],
+    inductance: [
+        [0x2003, 4], // Phase inductance
+    ],
     inertia: [],
-    position: exports.unitConverterPositionParameters,
+    position: [
+        ...exports.unitConverterPositionParameters,
+        [0x2004, 8], // Minimum displacement (pin brake)
+    ],
+    resistance: [
+        [0x2003, 3], // Phase resistance
+    ],
     torque: [
         [0x6071, 0],
         [0x6072, 0],
         [0x6074, 0],
         [0x6077, 0],
-        [0x60b2, 0],
+        [0x60b2, 0], // Torque offset
+    ],
+    torqueConstant: [
+        [0x2003, 2], // Torque constant
     ],
     velocity: exports.unitConverterVelocityParameters,
 };