motion-master-client 0.0.392 → 0.0.394

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

@@ -31,6 +31,7 @@ const encoder_1 = require("./encoder");
 const pdo_1 = require("./pdo");
 const integro_1 = require("./integro");
 const offset_detection_1 = require("./offset-detection");
+const units_1 = require("./units");
 const { xmlToEsi } = require('ecatmod');
 /**
  * This class contains methods for making requests to Motion Master using the injected request/response socket.
@@ -4640,13 +4641,16 @@ class MotionMasterReqResClient {
      *
      * @param deviceRef - Reference to the target device.
      * @param stepIds - Optional list of step IDs to execute. If omitted or empty, all steps are executed.
+     * @param brakeReleaseWaitMs - Time in milliseconds to wait after releasing the brake before proceeding
+     *   with each diagnostic step that requires an open brake. Increase this value if the brake does not
+     *   fully release within the default period (default: 150).
      * @returns An observable that emits the progress and final state of each offset detection step.
      *
      * @remarks
      * Each emission contains a cloned snapshot of all steps to allow safe external consumption
      * without mutation side effects.
      */
-    runOffsetDetection(deviceRef, stepIds = []) {
+    runOffsetDetection(deviceRef, stepIds = [], brakeReleaseWaitMs = 150) {
         return new rxjs_1.Observable((subscriber) => {
             let isCancelled = false;
             // Brake-related state restored in finally block
@@ -4704,21 +4708,21 @@ class MotionMasterReqResClient {
                         },
                         polePairDetection: {
                             execute: () => tslib_1.__awaiter(this, void 0, void 0, function* () {
-                                yield this.releaseBrake(deviceRef);
+                                yield this.releaseBrake(deviceRef, brakeReleaseWaitMs);
                                 return yield (0, rxjs_1.lastValueFrom)(this.runPolePairDetectionOsCommand(deviceRef));
                             }),
                             valueKey: 'numberOfPolePairs',
                         },
                         motorPhaseOrderDetection: {
                             execute: () => tslib_1.__awaiter(this, void 0, void 0, function* () {
-                                yield this.releaseBrake(deviceRef);
+                                yield this.releaseBrake(deviceRef, brakeReleaseWaitMs);
                                 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 this.engageBrake(deviceRef) : yield this.releaseBrake(deviceRef);
+                                measurementMethod === 2 ? yield this.engageBrake(deviceRef) : yield this.releaseBrake(deviceRef, brakeReleaseWaitMs);
                                 return yield (0, rxjs_1.lastValueFrom)(this.runCommutationOffsetMeasurementOsCommand(deviceRef));
                             }),
                             valueKey: 'commutationAngleOffset',
@@ -4819,6 +4823,28 @@ class MotionMasterReqResClient {
             };
         });
     }
+    /**
+     * Returns the display unit string for a device parameter, adjusted for the device's current
+     * SI unit velocity setting (0x60A9) and feed constant configuration (0x6092:01).
+     *
+     * The feed constant is considered enabled when 0x6092:01 is a positive value other than 0xFFFFFFFF.
+     * When enabled, velocity and position units are expressed in feed units (e.g. `mm/min`) instead of
+     * the raw SI unit (e.g. `rpm`). Parameters not affected by these settings are returned unchanged.
+     *
+     * @param deviceRef - Reference to the device to read configuration from.
+     * @param index - Object dictionary index of the parameter.
+     * @param subindex - Object dictionary subindex of the parameter.
+     * @param unit - Base unit string as stored in the parameter metadata (e.g. `"Inc"`, `"rpm"`).
+     * @returns The formatted unit string for display purposes.
+     */
+    getDeviceParameterFormattedUnitDisplay(deviceRef, index, subindex, unit) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            const siUnitVelocityValue = (yield this.upload(deviceRef, 0x60a9, 0));
+            const feedConstantFeed = (yield this.upload(deviceRef, 0x6092, 1));
+            const feedConstantEnabled = feedConstantFeed !== 0xffffffff && feedConstantFeed > 0;
+            return (0, units_1.getParameterFormattedUnitDisplay)(index, subindex, unit, siUnitVelocityValue, feedConstantEnabled);
+        });
+    }
 }
 exports.MotionMasterReqResClient = MotionMasterReqResClient;
 /**