npm - motion-master-client - Versions diffs - 0.0.379 → 0.0.381 - Mend

motion-master-client 0.0.379 → 0.0.381

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 (4) hide show

package/package.json +1 -1
package/src/lib/motion-master-client.d.ts +10 -9
package/src/lib/motion-master-client.js +12 -12
package/src/lib/motion-master-client.js.map +1 -1

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.379",
+  "version": "0.0.381",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

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

@@ -104,6 +104,7 @@ export declare class MotionMasterClient {
     startMonitoringValue<T extends ParameterValueType = number>(id: string | [DeviceRef, number, number], monitoringInterval: number, config?: MonitoringConfig, requestTimeout?: number): Observable<T>;
     trackControlword(deviceRef: DeviceRef, monitoringInterval?: number): Observable<number>;
     trackStatusword(deviceRef: DeviceRef, monitoringInterval?: number): Observable<number>;
+    trackOperationEnabled(deviceRef: DeviceRef, monitoringInterval?: number): Observable<boolean>;
     trackHomingProcedureStatus(deviceRef: DeviceRef, monitoringInterval?: number): Observable<HomingProcedureStatus>;
     trackTargetReached(deviceRef: DeviceRef, monitoringInterval?: number): Observable<boolean>;
     waitUntilTargetReached(deviceRef: DeviceRef, monitoringInterval?: number, requestTimeout?: number): Observable<true>;
@@ -113,9 +114,9 @@ export declare class MotionMasterClient {
     /**
      * Executes a torque profile on the specified device.
      *
-     * Downloads target torque and slope first, releases the brake if one is configured (0x2004:04 != 0),
-     * then sets Torque Profile Mode and transitions to Operation Enabled. What happens next depends on
-     * the combination of skipQuickStop and targetReachTimeout:
+     * Downloads target torque and slope first, then sets Torque Profile Mode and transitions to
+     * Operation Enabled. The brake is released automatically by the drive in PT mode. What happens
+     * next depends on the combination of skipQuickStop and targetReachTimeout:
      *
      * - skipQuickStop: false (default) + targetReachTimeout set:
      *   Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration
@@ -138,8 +139,8 @@ export declare class MotionMasterClient {
     /**
      * Executes a velocity profile on the specified device.
      *
-     * Downloads target velocity, acceleration and deceleration first, releases the brake if one is
-     * configured (0x2004:04 != 0), then sets Profile Velocity Mode and transitions to Operation Enabled.
+     * Downloads target velocity, acceleration and deceleration first, then sets Profile Velocity Mode
+     * and transitions to Operation Enabled. The brake is released automatically by the drive in PV mode.
      * What happens next depends on the combination of skipQuickStop and targetReachTimeout:
      *
      * - skipQuickStop: false (default) + targetReachTimeout set:
@@ -163,10 +164,10 @@ export declare class MotionMasterClient {
     /**
      * Executes a position profile on the specified device.
      *
-     * Downloads target position, velocity, acceleration and deceleration first, releases the brake if
-     * one is configured (0x2004:04 != 0), then sets Profile Position Mode, transitions to Operation
-     * Enabled and applies the set point. What happens next depends on the combination of skipQuickStop
-     * and targetReachTimeout:
+     * Downloads target position, velocity, acceleration and deceleration first, then sets Profile
+     * Position Mode, transitions to Operation Enabled and applies the set point. The brake is released
+     * automatically by the drive in PP mode. What happens next depends on the combination of
+     * skipQuickStop and targetReachTimeout:
      *
      * - skipQuickStop: false (default) + targetReachTimeout set:
      *   Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration

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

@@ -228,6 +228,9 @@ class MotionMasterClient {
     trackStatusword(deviceRef, monitoringInterval = 10000) {
         return this.startMonitoringValue([deviceRef, 0x6041, 0], monitoringInterval).pipe((0, rxjs_1.distinctUntilChanged)());
     }
+    trackOperationEnabled(deviceRef, monitoringInterval = 10000) {
+        return this.trackStatusword(deviceRef, monitoringInterval).pipe((0, rxjs_1.map)((statusword) => (0, cia402_1.getCia402State)(statusword) === cia402_1.Cia402State.OPERATION_ENABLED));
+    }
     trackHomingProcedureStatus(deviceRef, monitoringInterval = 50000) {
         return this.trackStatusword(deviceRef, monitoringInterval).pipe((0, rxjs_1.map)(homing_1.createHomingProcedureStatus));
     }
@@ -252,9 +255,9 @@ class MotionMasterClient {
     /**
      * Executes a torque profile on the specified device.
      *
-     * Downloads target torque and slope first, releases the brake if one is configured (0x2004:04 != 0),
-     * then sets Torque Profile Mode and transitions to Operation Enabled. What happens next depends on
-     * the combination of skipQuickStop and targetReachTimeout:
+     * Downloads target torque and slope first, then sets Torque Profile Mode and transitions to
+     * Operation Enabled. The brake is released automatically by the drive in PT mode. What happens
+     * next depends on the combination of skipQuickStop and targetReachTimeout:
      *
      * - skipQuickStop: false (default) + targetReachTimeout set:
      *   Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration
@@ -286,7 +289,6 @@ class MotionMasterClient {
             if (config.windowTime) {
                 yield this.request.download(deviceRef, 0x2014, 2, config.windowTime);
             }
-            yield this.request.releaseBrake(deviceRef);
             yield (0, rxjs_1.lastValueFrom)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.TORQUE_PROFILE_MODE));
             yield this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
             if (config.targetReachTimeout && config.targetReachTimeout > 0) {
@@ -307,8 +309,8 @@ class MotionMasterClient {
     /**
      * Executes a velocity profile on the specified device.
      *
-     * Downloads target velocity, acceleration and deceleration first, releases the brake if one is
-     * configured (0x2004:04 != 0), then sets Profile Velocity Mode and transitions to Operation Enabled.
+     * Downloads target velocity, acceleration and deceleration first, then sets Profile Velocity Mode
+     * and transitions to Operation Enabled. The brake is released automatically by the drive in PV mode.
      * What happens next depends on the combination of skipQuickStop and targetReachTimeout:
      *
      * - skipQuickStop: false (default) + targetReachTimeout set:
@@ -342,7 +344,6 @@ class MotionMasterClient {
             if (config.windowTime) {
                 yield this.request.download(deviceRef, 0x606e, 0, config.windowTime);
             }
-            yield this.request.releaseBrake(deviceRef);
             yield (0, rxjs_1.lastValueFrom)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.PROFILE_VELOCITY_MODE));
             yield this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
             if (config.targetReachTimeout && config.targetReachTimeout > 0) {
@@ -363,10 +364,10 @@ class MotionMasterClient {
     /**
      * Executes a position profile on the specified device.
      *
-     * Downloads target position, velocity, acceleration and deceleration first, releases the brake if
-     * one is configured (0x2004:04 != 0), then sets Profile Position Mode, transitions to Operation
-     * Enabled and applies the set point. What happens next depends on the combination of skipQuickStop
-     * and targetReachTimeout:
+     * Downloads target position, velocity, acceleration and deceleration first, then sets Profile
+     * Position Mode, transitions to Operation Enabled and applies the set point. The brake is released
+     * automatically by the drive in PP mode. What happens next depends on the combination of
+     * skipQuickStop and targetReachTimeout:
      *
      * - skipQuickStop: false (default) + targetReachTimeout set:
      *   Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration
@@ -406,7 +407,6 @@ class MotionMasterClient {
             if (config.windowTime) {
                 yield this.request.download(deviceRef, 0x6068, 0, config.windowTime);
             }
-            yield this.request.releaseBrake(deviceRef);
             yield (0, rxjs_1.lastValueFrom)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.PROFILE_POSITION_MODE));
             yield this.request.transitionToCia402State(deviceRef, cia402_1.Cia402State.OPERATION_ENABLED);
             yield this.request.applySetPoint(deviceRef);

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

	@@ -1 +1 @@
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