npm - motion-master-client - Versions diffs - 0.0.368 → 0.0.370 - Mend

motion-master-client 0.0.368 → 0.0.370

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 (7) hide show

package/package.json +1 -1
package/src/lib/motion-master-req-res-client.d.ts +1 -0
package/src/lib/motion-master-req-res-client.js +75 -33
package/src/lib/motion-master-req-res-client.js.map +1 -1
package/src/lib/units.d.ts +1 -0
package/src/lib/units.js +37 -11
package/src/lib/units.js.map +1 -1

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.368",
+  "version": "0.0.370",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

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

@@ -2328,6 +2328,7 @@ export declare class MotionMasterReqResClient {
      *   `OPERATION ENABLED` state before executing steps.
      * - Restores the brake state and transitions the device to
      *   `SWITCH_ON_DISABLED` after completion, error, or cancellation.
+     * - Certain steps may temporarily release or engage the brake as needed during execution.
      *
      * Cancellation
      * - Unsubscribing from the returned observable cancels further step execution.

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

@@ -4561,6 +4561,7 @@ class MotionMasterReqResClient {
      *   `OPERATION ENABLED` state before executing steps.
      * - Restores the brake state and transitions the device to
      *   `SWITCH_ON_DISABLED` after completion, error, or cancellation.
+     * - Certain steps may temporarily release or engage the brake as needed during execution.
      *
      * Cancellation
      * - Unsubscribing from the returned observable cancels further step execution.
@@ -4582,42 +4583,45 @@ class MotionMasterReqResClient {
      * without mutation side effects.
      */
     runOffsetDetection(deviceRef, stepIds = []) {
-        // Mapping of step IDs to their corresponding execution functions and result value keys
-        const stepCommand = {
-            openPhaseDetection: { execute: () => this.runOpenPhaseDetectionOsCommand(deviceRef), valueKey: 'phaseOpened' },
-            phaseResistanceMeasurement: {
-                execute: () => this.runPhaseResistanceMeasurementOsCommand(deviceRef),
-                valueKey: 'phaseResistance',
-            },
-            phaseInductanceMeasurement: {
-                execute: () => this.runPhaseInductanceMeasurementOsCommand(deviceRef),
-                valueKey: 'phaseInductance',
-            },
-            polePairDetection: {
-                execute: () => this.runPolePairDetectionOsCommand(deviceRef),
-                valueKey: 'numberOfPolePairs',
-            },
-            motorPhaseOrderDetection: {
-                execute: () => this.runMotorPhaseOrderDetectionOsCommand(deviceRef),
-                valueKey: 'motorPhaseOrder',
-            },
-            commutationOffsetMeasurement: {
-                execute: () => this.runCommutationOffsetMeasurementOsCommand(deviceRef),
-                valueKey: 'commutationAngleOffset',
-            },
-        };
         return new rxjs_1.Observable((subscriber) => {
             let isCancelled = false;
             // Brake-related state restored in finally block
             let brakeReleaseStrategy = 0;
             let brakeStatusInit = 0;
             let brakePullTime = 0;
+            let measurementMethod = 0;
             // Throws if cancellation was requested
             const checkCancelled = () => {
                 if (isCancelled) {
                     throw new Error('Offset detection procedure was cancelled.');
                 }
             };
+            // Helper function for brake control based on the initial configuration.
+            //
+            // This function is only executed when the brake release strategy is not 0,
+            // meaning the brake can be controlled via software.
+            //
+            // The function reads the current brake status and releases the brake if it is
+            // not already released, then waits for the configured pull time.
+            const releaseBrake = () => tslib_1.__awaiter(this, void 0, void 0, function* () {
+                if (brakeReleaseStrategy !== 0) {
+                    const brakeStatus = yield this.upload(deviceRef, 0x2004, 7);
+                    if (brakeStatus !== 2) {
+                        yield this.download(deviceRef, 0x2004, 7, 2);
+                        yield (0, util_1.resolveAfter)(brakePullTime);
+                    }
+                }
+            });
+            // Helper function for brake control based on the initial configuration.
+            //
+            // This function engages the brake if it is not already engaged, then waits
+            // briefly to ensure the brake is fully applied before continuing.
+            const engageBrake = () => tslib_1.__awaiter(this, void 0, void 0, function* () {
+                if (brakeReleaseStrategy !== 0) {
+                    yield this.download(deviceRef, 0x2004, 7, 1);
+                    yield (0, util_1.resolveAfter)(150); // Wait for 150ms to ensure brake is fully engaged
+                }
+            });
             const runInternal = () => tslib_1.__awaiter(this, void 0, void 0, function* () {
                 // Determine active steps (either provided subset or all steps)
                 let activeStepIds = stepIds.length > 0 ? [...stepIds] : offset_detection_1.offsetDetectionSteps.map((s) => s.id);
@@ -4634,18 +4638,56 @@ class MotionMasterReqResClient {
                     subscriber.next(steps);
                 }
                 try {
-                    // Read brake configuration from device
-                    [brakeReleaseStrategy, brakeStatusInit, brakePullTime] = (yield this.uploadMany([
+                    // Read inital brake configuration from device
+                    [brakeReleaseStrategy, brakeStatusInit, brakePullTime, measurementMethod] = (yield this.uploadMany([
                         [deviceRef, 0x2004, 4],
                         [deviceRef, 0x2004, 7],
                         [deviceRef, 0x2004, 3],
+                        [deviceRef, 0x2009, 3],
                     ]));
                     checkCancelled();
-                    // Temporarily release brake if required
-                    if (brakeReleaseStrategy > 0) {
-                        yield this.download(deviceRef, 0x2004, 7, 2);
-                        yield (0, util_1.resolveAfter)(brakePullTime + 500);
-                    }
+                    // Mapping of step IDs to their corresponding execution functions and result value keys
+                    const stepCommand = {
+                        openPhaseDetection: {
+                            execute: () => tslib_1.__awaiter(this, void 0, void 0, function* () {
+                                return yield (0, rxjs_1.lastValueFrom)(this.runOpenPhaseDetectionOsCommand(deviceRef));
+                            }),
+                            valueKey: 'phaseOpened',
+                        },
+                        phaseResistanceMeasurement: {
+                            execute: () => tslib_1.__awaiter(this, void 0, void 0, function* () {
+                                return yield (0, rxjs_1.lastValueFrom)(this.runPhaseResistanceMeasurementOsCommand(deviceRef));
+                            }),
+                            valueKey: 'phaseResistance',
+                        },
+                        phaseInductanceMeasurement: {
+                            execute: () => tslib_1.__awaiter(this, void 0, void 0, function* () {
+                                return yield (0, rxjs_1.lastValueFrom)(this.runPhaseInductanceMeasurementOsCommand(deviceRef));
+                            }),
+                            valueKey: 'phaseInductance',
+                        },
+                        polePairDetection: {
+                            execute: () => tslib_1.__awaiter(this, void 0, void 0, function* () {
+                                yield releaseBrake();
+                                return yield (0, rxjs_1.lastValueFrom)(this.runPolePairDetectionOsCommand(deviceRef));
+                            }),
+                            valueKey: 'numberOfPolePairs',
+                        },
+                        motorPhaseOrderDetection: {
+                            execute: () => tslib_1.__awaiter(this, void 0, void 0, function* () {
+                                yield releaseBrake();
+                                return yield (0, rxjs_1.lastValueFrom)(this.runMotorPhaseOrderDetectionOsCommand(deviceRef));
+                            }),
+                            valueKey: 'motorPhaseOrder',
+                        },
+                        commutationOffsetMeasurement: {
+                            execute: () => tslib_1.__awaiter(this, void 0, void 0, function* () {
+                                measurementMethod === 2 ? yield engageBrake() : yield releaseBrake();
+                                return yield (0, rxjs_1.lastValueFrom)(this.runCommutationOffsetMeasurementOsCommand(deviceRef));
+                            }),
+                            valueKey: 'commutationAngleOffset',
+                        },
+                    };
                     checkCancelled();
                     // Switch device into diagnostics mode and ensure OPERATION ENABLED state
                     yield (0, rxjs_1.lastValueFrom)(this.setModesOfOperationAndTransitionToCia402State(deviceRef, cia402_1.ModesOfOperation.DIAGNOSTICS_MODE, cia402_1.Cia402State.OPERATION_ENABLED));
@@ -4669,7 +4711,7 @@ class MotionMasterReqResClient {
                         step.status = 'running';
                         subscriber.next(structuredClone(steps));
                         // Execute diagnostic command
-                        const response = yield (0, rxjs_1.lastValueFrom)(command.execute());
+                        const response = yield command.execute();
                         checkCancelled();
                         if (response.request === 'succeeded') {
                             // Mark success and store result value
@@ -4717,7 +4759,7 @@ class MotionMasterReqResClient {
                 }
                 finally {
                     // Always restore brake state if it was modified
-                    if (brakeReleaseStrategy > 0) {
+                    if (brakeReleaseStrategy !== 0) {
                         try {
                             yield this.download(deviceRef, 0x2004, 7, brakeStatusInit);
                         }

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

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package/src/lib/units.d.ts CHANGED Viewed

@@ -137,6 +137,7 @@ export interface UnitConverters {
     friction: UnitConverter<unknown>;
     inductance: UnitConverter<unknown>;
     inertia: UnitConverter<unknown>;
+    motorRatedCurrent: UnitConverter<unknown>;
     position: UnitConverter<{
         resolution: number;
         feed?: number;

package/src/lib/units.js CHANGED Viewed

@@ -343,10 +343,10 @@ exports.unitConverters = {
         id: 'current',
         formatter: (unit, value, data) => {
             if (unit === 'mA') {
-                return (0, util_1.toFixedFormat)(Math.round((value / 1000) * data.motorRatedCurrent));
+                return (0, util_1.toFixedFormat)(Math.round((value / 1e3) * data.motorRatedCurrent));
             }
             else if (unit === 'A') {
-                return (0, util_1.toFixedFormat)(Math.round(((value / 1000) * data.motorRatedCurrent) / 1000));
+                return (0, util_1.toFixedFormat)(Math.round(((value / 1e3) * data.motorRatedCurrent) / 1e3));
             }
             else {
                 return (0, util_1.toFixedFormat)(value);
@@ -360,10 +360,10 @@ exports.unitConverters = {
         parser: (unit, value, data) => {
             value = typeof value === 'string' ? parseFloat(value) : value;
             if (unit === 'mA') {
-                return (value / data.motorRatedCurrent) * 1000;
+                return (value / data.motorRatedCurrent) * 1e3;
             }
             else if (unit === 'A') {
-                return (value / data.motorRatedCurrent) * 1000 * 1000;
+                return (value / data.motorRatedCurrent) * 1e6;
             }
             else {
                 return value;
@@ -475,17 +475,17 @@ exports.unitConverters = {
         id: 'resistance',
         formatter: (unit, value) => {
             if (unit === 'Ω') {
-                return (0, util_1.toFixedFormat)(value / 1000 / 1000);
+                return (0, util_1.toFixedFormat)(value / 1e6);
             }
             else if (unit === 'mΩ') {
-                return (0, util_1.toFixedFormat)(value / 1000);
+                return (0, util_1.toFixedFormat)(value / 1e3);
             }
             else {
                 return (0, util_1.toFixedFormat)(value);
             }
         },
         options: [
-            { value: 'μΩ', text: 'Microohm' },
+            { value: 'μΩ', text: 'Micro-ohm' },
             { value: 'mΩ', text: 'Milliohm' },
             { value: 'Ω', text: 'Ohm' },
         ],
@@ -533,6 +533,30 @@ exports.unitConverters = {
             }
         },
     },
+    motorRatedCurrent: {
+        id: 'motorRatedCurrent',
+        formatter: (unit, value) => {
+            if (unit === 'A') {
+                return (0, util_1.toFixedFormat)(value / 1e3);
+            }
+            else {
+                return (0, util_1.toFixedFormat)(value);
+            }
+        },
+        options: [
+            { value: 'mA', text: 'Milliampere' },
+            { value: 'A', text: 'Ampere' },
+        ],
+        parser: (unit, value) => {
+            value = typeof value === 'string' ? parseFloat(value) : value;
+            if (unit === 'A') {
+                return value * 1e3;
+            }
+            else {
+                return value;
+            }
+        },
+    },
     torque: {
         id: 'torque',
         formatter: (unit, value, data) => {
@@ -561,10 +585,10 @@ exports.unitConverters = {
         id: 'torqueConstant',
         formatter: (unit, value) => {
             if (unit === 'Nm/A') {
-                return (0, util_1.toFixedFormat)(value / 1000 / 1000);
+                return (0, util_1.toFixedFormat)(value / 1e6);
             }
             else if (unit === 'mNm/A') {
-                return (0, util_1.toFixedFormat)(value / 1000);
+                return (0, util_1.toFixedFormat)(value / 1e3);
             }
             else {
                 return (0, util_1.toFixedFormat)(value);
@@ -646,14 +670,16 @@ exports.unitConverters = {
 exports.unitConverterParameters = {
     acceleration: exports.unitConverterAccelerationParameters,
     current: [
-        [0x6073, 0],
-        [0x6075, 0], // Motor rated current
+        [0x6073, 0], // Max current
     ],
     friction: [],
     inductance: [
         [0x2003, 4], // Phase inductance
     ],
     inertia: [],
+    motorRatedCurrent: [
+        [0x6075, 0], // Motor rated current
+    ],
     position: [
         ...exports.unitConverterPositionParameters,
         [0x2004, 8], // Minimum displacement (pin brake)

package/src/lib/units.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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