motion-master-client 0.0.379 → 0.0.380

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Files changed (4) hide show
  1. package/package.json +1 -1
  2. package/src/lib/motion-master-client.d.ts +9 -9
  3. package/src/lib/motion-master-client.js +9 -12
  4. package/src/lib/motion-master-client.js.map +1 -1
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": "0.0.379",
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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/lib/motion-master-client.d.ts CHANGED
@@ -113,9 +113,9 @@ export declare class MotionMasterClient {
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  /**
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  * Executes a torque profile on the specified device.
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  *
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- * Downloads target torque and slope first, releases the brake if one is configured (0x2004:04 != 0),
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- * then sets Torque Profile Mode and transitions to Operation Enabled. What happens next depends on
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- * the combination of skipQuickStop and targetReachTimeout:
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+ * Downloads target torque and slope first, then sets Torque Profile Mode and transitions to
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+ * Operation Enabled. The brake is released automatically by the drive in PT mode. What happens
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+ * next depends on the combination of skipQuickStop and targetReachTimeout:
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  *
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  * - skipQuickStop: false (default) + targetReachTimeout set:
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  * Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration
@@ -138,8 +138,8 @@ export declare class MotionMasterClient {
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  /**
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  * Executes a velocity profile on the specified device.
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  *
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- * Downloads target velocity, acceleration and deceleration first, releases the brake if one is
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- * configured (0x2004:04 != 0), then sets Profile Velocity Mode and transitions to Operation Enabled.
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+ * Downloads target velocity, acceleration and deceleration first, then sets Profile Velocity Mode
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+ * and transitions to Operation Enabled. The brake is released automatically by the drive in PV mode.
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  * What happens next depends on the combination of skipQuickStop and targetReachTimeout:
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  *
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  * - skipQuickStop: false (default) + targetReachTimeout set:
@@ -163,10 +163,10 @@ export declare class MotionMasterClient {
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  /**
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  * Executes a position profile on the specified device.
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  *
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- * Downloads target position, velocity, acceleration and deceleration first, releases the brake if
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- * one is configured (0x2004:04 != 0), then sets Profile Position Mode, transitions to Operation
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- * Enabled and applies the set point. What happens next depends on the combination of skipQuickStop
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- * and targetReachTimeout:
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+ * Downloads target position, velocity, acceleration and deceleration first, then sets Profile
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+ * Position Mode, transitions to Operation Enabled and applies the set point. The brake is released
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+ * automatically by the drive in PP mode. What happens next depends on the combination of
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+ * skipQuickStop and targetReachTimeout:
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  *
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  * - skipQuickStop: false (default) + targetReachTimeout set:
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  * Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration
package/src/lib/motion-master-client.js CHANGED
@@ -252,9 +252,9 @@ class MotionMasterClient {
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  /**
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  * Executes a torque profile on the specified device.
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  *
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- * Downloads target torque and slope first, releases the brake if one is configured (0x2004:04 != 0),
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- * then sets Torque Profile Mode and transitions to Operation Enabled. What happens next depends on
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- * the combination of skipQuickStop and targetReachTimeout:
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+ * Downloads target torque and slope first, then sets Torque Profile Mode and transitions to
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+ * Operation Enabled. The brake is released automatically by the drive in PT mode. What happens
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+ * next depends on the combination of skipQuickStop and targetReachTimeout:
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  *
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  * - skipQuickStop: false (default) + targetReachTimeout set:
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  * Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration
@@ -286,7 +286,6 @@ class MotionMasterClient {
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  if (config.windowTime) {
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  yield this.request.download(deviceRef, 0x2014, 2, config.windowTime);
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  }
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- yield this.request.releaseBrake(deviceRef);
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  yield (0, rxjs_1.lastValueFrom)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.TORQUE_PROFILE_MODE));
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  yield this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
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  if (config.targetReachTimeout && config.targetReachTimeout > 0) {
@@ -307,8 +306,8 @@ class MotionMasterClient {
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  /**
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  * Executes a velocity profile on the specified device.
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  *
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- * Downloads target velocity, acceleration and deceleration first, releases the brake if one is
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- * configured (0x2004:04 != 0), then sets Profile Velocity Mode and transitions to Operation Enabled.
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+ * Downloads target velocity, acceleration and deceleration first, then sets Profile Velocity Mode
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+ * and transitions to Operation Enabled. The brake is released automatically by the drive in PV mode.
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  * What happens next depends on the combination of skipQuickStop and targetReachTimeout:
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  *
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  * - skipQuickStop: false (default) + targetReachTimeout set:
@@ -342,7 +341,6 @@ class MotionMasterClient {
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  if (config.windowTime) {
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  yield this.request.download(deviceRef, 0x606e, 0, config.windowTime);
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  }
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- yield this.request.releaseBrake(deviceRef);
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  yield (0, rxjs_1.lastValueFrom)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.PROFILE_VELOCITY_MODE));
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  yield this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
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  if (config.targetReachTimeout && config.targetReachTimeout > 0) {
@@ -363,10 +361,10 @@ class MotionMasterClient {
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  /**
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  * Executes a position profile on the specified device.
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  *
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- * Downloads target position, velocity, acceleration and deceleration first, releases the brake if
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- * one is configured (0x2004:04 != 0), then sets Profile Position Mode, transitions to Operation
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- * Enabled and applies the set point. What happens next depends on the combination of skipQuickStop
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- * and targetReachTimeout:
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+ * Downloads target position, velocity, acceleration and deceleration first, then sets Profile
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+ * Position Mode, transitions to Operation Enabled and applies the set point. The brake is released
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+ * automatically by the drive in PP mode. What happens next depends on the combination of
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+ * skipQuickStop and targetReachTimeout:
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  *
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  * - skipQuickStop: false (default) + targetReachTimeout set:
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  * Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration
@@ -406,7 +404,6 @@ class MotionMasterClient {
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  if (config.windowTime) {
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  yield this.request.download(deviceRef, 0x6068, 0, config.windowTime);
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  }
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- yield this.request.releaseBrake(deviceRef);
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  yield (0, rxjs_1.lastValueFrom)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.PROFILE_POSITION_MODE));
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  yield this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
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  yield this.request.applySetPoint(deviceRef);
package/src/lib/motion-master-client.js.map CHANGED
@@ -1 +1 @@
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