motion-master-client 0.0.378 → 0.0.380

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 (10) hide show
  1. package/package.json +1 -1
  2. package/src/api.js +15 -3
  3. package/src/api.js.map +1 -1
  4. package/src/lib/motion-master-client.d.ts +58 -18
  5. package/src/lib/motion-master-client.js +67 -18
  6. package/src/lib/motion-master-client.js.map +1 -1
  7. package/src/lib/motion-master-req-res-client.d.ts +17 -0
  8. package/src/lib/motion-master-req-res-client.js +41 -33
  9. package/src/lib/motion-master-req-res-client.js.map +1 -1
  10. package/src/lib/types.d.ts +27 -15
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": "0.0.378",
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+ "version": "0.0.380",
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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
@@ -704,8 +704,12 @@ app.get('/api/devices/:deviceRef/run-torque-profile', asyncHandler((req, res) =>
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  const deviceRef = (0, device_1.ensureDeviceRef)(req.params['deviceRef']);
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  const target = parseInt(((_53 = req.query['target']) !== null && _53 !== void 0 ? _53 : '100'));
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  const holdingDuration = parseInt(req.query['holding-duration']) || undefined;
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- const skipQuickStop = asBoolean(req.query['skip-quick-stop']);
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+ const skipQuickStop = req.query['skip-quick-stop'] !== undefined ? asBoolean(req.query['skip-quick-stop']) : true;
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  const targetReachTimeout = parseInt(req.query['target-reach-timeout']) || undefined;
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+ if (!skipQuickStop && !targetReachTimeout) {
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+ res.status(400).send('target-reach-timeout is required when skip-quick-stop is false');
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+ return;
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+ }
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  const slope = parseInt(((_54 = req.query['slope']) !== null && _54 !== void 0 ? _54 : '50'));
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  const window = parseInt(req.query['window']) || undefined;
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  const windowTime = parseInt(req.query['window-time']) || undefined;
@@ -740,8 +744,12 @@ app.get('/api/devices/:deviceRef/run-velocity-profile', asyncHandler((req, res)
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  const target = parseInt(((_56 = req.query['target']) !== null && _56 !== void 0 ? _56 : '1000'));
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  const deceleration = parseInt(((_57 = req.query['deceleration']) !== null && _57 !== void 0 ? _57 : '1000'));
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  const holdingDuration = parseInt(req.query['holding-duration']) || undefined;
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- const skipQuickStop = asBoolean(req.query['skip-quick-stop']);
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+ const skipQuickStop = req.query['skip-quick-stop'] !== undefined ? asBoolean(req.query['skip-quick-stop']) : true;
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  const targetReachTimeout = parseInt(req.query['target-reach-timeout']) || undefined;
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+ if (!skipQuickStop && !targetReachTimeout) {
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+ res.status(400).send('target-reach-timeout is required when skip-quick-stop is false');
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+ return;
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+ }
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  const window = parseInt(req.query['window']) || undefined;
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  const windowTime = parseInt(req.query['window-time']) || undefined;
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  const monitoringParameterIds = yield createDefaultDataMonitoringParameterIds(deviceRef);
@@ -777,8 +785,12 @@ app.get('/api/devices/:deviceRef/run-position-profile', asyncHandler((req, res)
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  const deceleration = parseInt(((_60 = req.query['deceleration']) !== null && _60 !== void 0 ? _60 : '1000'));
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  const holdingDuration = parseInt(req.query['holding-duration']) || undefined;
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  const relative = asBoolean(req.query['relative']);
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- const skipQuickStop = asBoolean(req.query['skip-quick-stop']);
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+ const skipQuickStop = req.query['skip-quick-stop'] !== undefined ? asBoolean(req.query['skip-quick-stop']) : true;
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  const targetReachTimeout = parseInt(req.query['target-reach-timeout']) || undefined;
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+ if (!skipQuickStop && !targetReachTimeout) {
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+ res.status(400).send('target-reach-timeout is required when skip-quick-stop is false');
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+ return;
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+ }
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  const velocity = parseInt(((_61 = req.query['velocity']) !== null && _61 !== void 0 ? _61 : '100'));
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  const window = parseInt(req.query['window']) || undefined;
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  const windowTime = parseInt(req.query['window-time']) || undefined;
package/src/api.js.map CHANGED
@@ -1 +1 @@
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package/src/lib/motion-master-client.d.ts CHANGED
@@ -111,39 +111,79 @@ export declare class MotionMasterClient {
111
111
  waitUntilParameterValueEquals(id: string | [DeviceRef, number, number], value: number, window?: number, monitoringInterval?: number, requestTimeout?: number): Observable<true>;
112
112
  whenParameterValueEquals(id: string | [DeviceRef, number, number], value: number, window?: number, monitoringInterval?: number, requestTimeout?: number): Promise<true>;
113
113
  /**
114
- * Executes a torque profile on the specified device based on the provided configuration.
114
+ * Executes a torque profile on the specified device.
115
115
  *
116
- * Prior to modifying the Modes of Operation and transitioning to the Operation Enabled state in CiA402,
117
- * this function updates the device parameters with the given values.
116
+ * Downloads target torque and slope first, then sets Torque Profile Mode and transitions to
117
+ * Operation Enabled. The brake is released automatically by the drive in PT mode. What happens
118
+ * next depends on the combination of skipQuickStop and targetReachTimeout:
118
119
  *
119
- * If no target reached timeout is specified, the device will remain in the Operation Enabled state.
120
- * If a timeout is provided, the function will optionally send a quick stop once the target is reached and the holding duration has elapsed.
120
+ * - skipQuickStop: false (default) + targetReachTimeout set:
121
+ * Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration
122
+ * if set, then issues a quick stop. Throws if the target is not reached in time.
121
123
  *
122
- * @throws Error if the target is not reached within the specified targetReachTimeout.
124
+ * - skipQuickStop: false (default) + no targetReachTimeout:
125
+ * Throws immediately — the function cannot determine when to issue the quick stop.
126
+ *
127
+ * - skipQuickStop: true + targetReachTimeout set:
128
+ * Waits for the target reached bit within the given timeout but does not issue a quick stop.
129
+ * The device remains in the Operation Enabled state.
130
+ *
131
+ * - skipQuickStop: true + no targetReachTimeout:
132
+ * Returns immediately after enabling the drive. The device remains in the Operation Enabled state.
133
+ *
134
+ * @throws Error if skipQuickStop is false and targetReachTimeout is not provided.
135
+ * @throws Error if the target is not reached within targetReachTimeout.
123
136
  */
124
137
  runTorqueProfile(deviceRef: DeviceRef, config: TorqueProfileConfig): Promise<void>;
125
138
  /**
126
- * Executes a velocity profile on the specified device based on the provided configuration.
139
+ * Executes a velocity profile on the specified device.
140
+ *
141
+ * Downloads target velocity, acceleration and deceleration first, then sets Profile Velocity Mode
142
+ * and transitions to Operation Enabled. The brake is released automatically by the drive in PV mode.
143
+ * What happens next depends on the combination of skipQuickStop and targetReachTimeout:
144
+ *
145
+ * - skipQuickStop: false (default) + targetReachTimeout set:
146
+ * Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration
147
+ * if set, then issues a quick stop. Throws if the target is not reached in time.
127
148
  *
128
- * Prior to modifying the Modes of Operation and transitioning to the Operation Enabled state in CiA402,
129
- * this function updates the device parameters with the given values.
149
+ * - skipQuickStop: false (default) + no targetReachTimeout:
150
+ * Throws immediately — the function cannot determine when to issue the quick stop.
130
151
  *
131
- * If no target reached timeout is specified, the device will remain in the Operation Enabled state.
132
- * If a timeout is provided, the function will optionally send a quick stop once the target is reached and the holding duration has elapsed.
152
+ * - skipQuickStop: true + targetReachTimeout set:
153
+ * Waits for the target reached bit within the given timeout but does not issue a quick stop.
154
+ * The device remains in the Operation Enabled state.
133
155
  *
134
- * @throws Error if the target is not reached within the specified targetReachTimeout.
156
+ * - skipQuickStop: true + no targetReachTimeout:
157
+ * Returns immediately after enabling the drive. The device remains in the Operation Enabled state.
158
+ *
159
+ * @throws Error if skipQuickStop is false and targetReachTimeout is not provided.
160
+ * @throws Error if the target is not reached within targetReachTimeout.
135
161
  */
136
162
  runVelocityProfile(deviceRef: DeviceRef, config: VelocityProfileConfig): Promise<void>;
137
163
  /**
138
- * Executes a position profile on the specified device based on the provided configuration.
164
+ * Executes a position profile on the specified device.
165
+ *
166
+ * Downloads target position, velocity, acceleration and deceleration first, then sets Profile
167
+ * Position Mode, transitions to Operation Enabled and applies the set point. The brake is released
168
+ * automatically by the drive in PP mode. What happens next depends on the combination of
169
+ * skipQuickStop and targetReachTimeout:
170
+ *
171
+ * - skipQuickStop: false (default) + targetReachTimeout set:
172
+ * Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration
173
+ * if set, then issues a quick stop. Throws if the target is not reached in time.
174
+ *
175
+ * - skipQuickStop: false (default) + no targetReachTimeout:
176
+ * Throws immediately — the function cannot determine when to issue the quick stop.
139
177
  *
140
- * Prior to modifying the Modes of Operation and transitioning to the Operation Enabled state in CiA402,
141
- * this function updates the device parameters with the given values.
178
+ * - skipQuickStop: true + targetReachTimeout set:
179
+ * Waits for the target reached bit within the given timeout but does not issue a quick stop.
180
+ * The device remains in the Operation Enabled state.
142
181
  *
143
- * If no target reached timeout is specified, the device will remain in the Operation Enabled state.
144
- * If a timeout is provided, the function will optionally send a quick stop once the target is reached and the holding duration has elapsed.
182
+ * - skipQuickStop: true + no targetReachTimeout:
183
+ * Returns immediately after applying the set point. The device remains in the Operation Enabled state.
145
184
  *
146
- * @throws Error if the target is not reached within the specified targetReachTimeout.
185
+ * @throws Error if skipQuickStop is false and targetReachTimeout is not provided.
186
+ * @throws Error if the target is not reached within targetReachTimeout.
147
187
  */
148
188
  runPositionProfile(deviceRef: DeviceRef, config: PositionProfileConfig): Promise<void>;
149
189
  /**
package/src/lib/motion-master-client.js CHANGED
@@ -250,18 +250,34 @@ class MotionMasterClient {
250
250
  return (0, rxjs_1.firstValueFrom)(this.waitUntilParameterValueEquals(id, value, window, monitoringInterval, requestTimeout));
251
251
  }
252
252
  /**
253
- * Executes a torque profile on the specified device based on the provided configuration.
253
+ * Executes a torque profile on the specified device.
254
254
  *
255
- * Prior to modifying the Modes of Operation and transitioning to the Operation Enabled state in CiA402,
256
- * this function updates the device parameters with the given values.
255
+ * Downloads target torque and slope first, then sets Torque Profile Mode and transitions to
256
+ * Operation Enabled. The brake is released automatically by the drive in PT mode. What happens
257
+ * next depends on the combination of skipQuickStop and targetReachTimeout:
257
258
  *
258
- * If no target reached timeout is specified, the device will remain in the Operation Enabled state.
259
- * If a timeout is provided, the function will optionally send a quick stop once the target is reached and the holding duration has elapsed.
259
+ * - skipQuickStop: false (default) + targetReachTimeout set:
260
+ * Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration
261
+ * if set, then issues a quick stop. Throws if the target is not reached in time.
260
262
  *
261
- * @throws Error if the target is not reached within the specified targetReachTimeout.
263
+ * - skipQuickStop: false (default) + no targetReachTimeout:
264
+ * Throws immediately — the function cannot determine when to issue the quick stop.
265
+ *
266
+ * - skipQuickStop: true + targetReachTimeout set:
267
+ * Waits for the target reached bit within the given timeout but does not issue a quick stop.
268
+ * The device remains in the Operation Enabled state.
269
+ *
270
+ * - skipQuickStop: true + no targetReachTimeout:
271
+ * Returns immediately after enabling the drive. The device remains in the Operation Enabled state.
272
+ *
273
+ * @throws Error if skipQuickStop is false and targetReachTimeout is not provided.
274
+ * @throws Error if the target is not reached within targetReachTimeout.
262
275
  */
263
276
  runTorqueProfile(deviceRef, config) {
264
277
  return tslib_1.__awaiter(this, void 0, void 0, function* () {
278
+ if (!config.skipQuickStop && !config.targetReachTimeout) {
279
+ throw new Error('targetReachTimeout is required when skipQuickStop is false');
280
+ }
265
281
  yield this.request.download(deviceRef, 0x6071, 0, config.target);
266
282
  yield this.request.download(deviceRef, 0x6087, 0, config.slope);
267
283
  if (config.window) {
@@ -288,18 +304,34 @@ class MotionMasterClient {
288
304
  });
289
305
  }
290
306
  /**
291
- * Executes a velocity profile on the specified device based on the provided configuration.
307
+ * Executes a velocity profile on the specified device.
308
+ *
309
+ * Downloads target velocity, acceleration and deceleration first, then sets Profile Velocity Mode
310
+ * and transitions to Operation Enabled. The brake is released automatically by the drive in PV mode.
311
+ * What happens next depends on the combination of skipQuickStop and targetReachTimeout:
312
+ *
313
+ * - skipQuickStop: false (default) + targetReachTimeout set:
314
+ * Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration
315
+ * if set, then issues a quick stop. Throws if the target is not reached in time.
292
316
  *
293
- * Prior to modifying the Modes of Operation and transitioning to the Operation Enabled state in CiA402,
294
- * this function updates the device parameters with the given values.
317
+ * - skipQuickStop: false (default) + no targetReachTimeout:
318
+ * Throws immediately — the function cannot determine when to issue the quick stop.
295
319
  *
296
- * If no target reached timeout is specified, the device will remain in the Operation Enabled state.
297
- * If a timeout is provided, the function will optionally send a quick stop once the target is reached and the holding duration has elapsed.
320
+ * - skipQuickStop: true + targetReachTimeout set:
321
+ * Waits for the target reached bit within the given timeout but does not issue a quick stop.
322
+ * The device remains in the Operation Enabled state.
298
323
  *
299
- * @throws Error if the target is not reached within the specified targetReachTimeout.
324
+ * - skipQuickStop: true + no targetReachTimeout:
325
+ * Returns immediately after enabling the drive. The device remains in the Operation Enabled state.
326
+ *
327
+ * @throws Error if skipQuickStop is false and targetReachTimeout is not provided.
328
+ * @throws Error if the target is not reached within targetReachTimeout.
300
329
  */
301
330
  runVelocityProfile(deviceRef, config) {
302
331
  return tslib_1.__awaiter(this, void 0, void 0, function* () {
332
+ if (!config.skipQuickStop && !config.targetReachTimeout) {
333
+ throw new Error('targetReachTimeout is required when skipQuickStop is false');
334
+ }
303
335
  yield this.request.download(deviceRef, 0x60ff, 0, config.target);
304
336
  yield this.request.download(deviceRef, 0x6083, 0, config.acceleration);
305
337
  yield this.request.download(deviceRef, 0x6084, 0, config.deceleration);
@@ -327,18 +359,35 @@ class MotionMasterClient {
327
359
  });
328
360
  }
329
361
  /**
330
- * Executes a position profile on the specified device based on the provided configuration.
362
+ * Executes a position profile on the specified device.
363
+ *
364
+ * Downloads target position, velocity, acceleration and deceleration first, then sets Profile
365
+ * Position Mode, transitions to Operation Enabled and applies the set point. The brake is released
366
+ * automatically by the drive in PP mode. What happens next depends on the combination of
367
+ * skipQuickStop and targetReachTimeout:
331
368
  *
332
- * Prior to modifying the Modes of Operation and transitioning to the Operation Enabled state in CiA402,
333
- * this function updates the device parameters with the given values.
369
+ * - skipQuickStop: false (default) + targetReachTimeout set:
370
+ * Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration
371
+ * if set, then issues a quick stop. Throws if the target is not reached in time.
334
372
  *
335
- * If no target reached timeout is specified, the device will remain in the Operation Enabled state.
336
- * If a timeout is provided, the function will optionally send a quick stop once the target is reached and the holding duration has elapsed.
373
+ * - skipQuickStop: false (default) + no targetReachTimeout:
374
+ * Throws immediately — the function cannot determine when to issue the quick stop.
337
375
  *
338
- * @throws Error if the target is not reached within the specified targetReachTimeout.
376
+ * - skipQuickStop: true + targetReachTimeout set:
377
+ * Waits for the target reached bit within the given timeout but does not issue a quick stop.
378
+ * The device remains in the Operation Enabled state.
379
+ *
380
+ * - skipQuickStop: true + no targetReachTimeout:
381
+ * Returns immediately after applying the set point. The device remains in the Operation Enabled state.
382
+ *
383
+ * @throws Error if skipQuickStop is false and targetReachTimeout is not provided.
384
+ * @throws Error if the target is not reached within targetReachTimeout.
339
385
  */
340
386
  runPositionProfile(deviceRef, config) {
341
387
  return tslib_1.__awaiter(this, void 0, void 0, function* () {
388
+ if (!config.skipQuickStop && !config.targetReachTimeout) {
389
+ throw new Error('targetReachTimeout is required when skipQuickStop is false');
390
+ }
342
391
  if (config.relative) {
343
392
  const positionActualValue = yield this.request.upload(deviceRef, 0x6064, 0);
344
393
  yield this.request.download(deviceRef, 0x607a, 0, config.target + positionActualValue);