motion-master-client 0.0.395 → 0.0.397

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

@@ -267,10 +267,11 @@ class MotionMasterClient {
      *
      * - skipQuickStop: false (default) + targetReachTimeout set:
      *   Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration
-     *   if set, then issues a quick stop and waits for the CiA402 state to reach Switch On Disabled.
+     *   if set, then issues a quick stop. The state waited for after the quick stop depends on the
+     *   quick stop option code (0x605A): Quick Stop Active if the code is 6, Switch On Disabled otherwise.
      *   Throws if the target is not reached in time.
      *
-     * - skipQuickStop: false (default) + no targetReachTimeout:
+     * - skipQuickStop: false (default) + no positive targetReachTimeout:
      *   Throws immediately — the function cannot determine when to issue the quick stop.
      *
      * - skipQuickStop: true + targetReachTimeout set:
@@ -280,35 +281,44 @@ class MotionMasterClient {
      * - skipQuickStop: true + no targetReachTimeout:
      *   Returns immediately after enabling the drive. The device remains in the Operation Enabled state.
      *
-     * @throws Error if skipQuickStop is false and targetReachTimeout is not provided.
+     * When skipQuickStop is true and an error is thrown (e.g. target not reached in time), the drive
+     * remains in Operation Enabled. The caller is responsible for issuing a quick stop or transitioning
+     * the drive to a safe state.
+     *
+     * @param deviceRef - Reference to the target device.
+     * @param config - Torque profile configuration.
+     * @throws Error if skipQuickStop is false and targetReachTimeout is not a positive number.
      * @throws Error if the target is not reached within targetReachTimeout.
      */
     runTorqueProfile(deviceRef, config) {
+        var _a;
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            if (!config.skipQuickStop && !config.targetReachTimeout) {
+            if (!config.skipQuickStop && (config.targetReachTimeout == null || config.targetReachTimeout <= 0)) {
                 throw new Error('targetReachTimeout is required when skipQuickStop is false');
             }
             yield this.request.download(deviceRef, 0x6071, 0, config.target);
             yield this.request.download(deviceRef, 0x6087, 0, config.slope);
-            if (config.window) {
+            if (config.window !== undefined) {
                 yield this.request.download(deviceRef, 0x2014, 1, config.window);
             }
-            if (config.windowTime) {
+            if (config.windowTime !== undefined) {
                 yield this.request.download(deviceRef, 0x2014, 2, config.windowTime);
             }
             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) {
                 try {
-                    yield this.whenTargetReached(deviceRef, 1000, config.targetReachTimeout);
+                    yield this.whenTargetReached(deviceRef, (_a = config.monitoringInterval) !== null && _a !== void 0 ? _a : 1000, config.targetReachTimeout);
                     if (config.holdingDuration && config.holdingDuration > 0) {
                         yield (0, util_1.resolveAfter)(config.holdingDuration);
                     }
                 }
                 finally {
                     if (!config.skipQuickStop) {
+                        const quickStopOptionCode = yield this.request.upload(deviceRef, 0x605a, 0);
                         yield this.request.quickStop(deviceRef);
-                        yield this.whenCia402StateReached(deviceRef, cia402_1.Cia402State.SWITCH_ON_DISABLED);
+                        const targetState = quickStopOptionCode === 6 ? cia402_1.Cia402State.QUICK_STOP_ACTIVE : cia402_1.Cia402State.SWITCH_ON_DISABLED;
+                        yield this.whenCia402StateReached(deviceRef, targetState);
                     }
                 }
             }
@@ -323,10 +333,11 @@ class MotionMasterClient {
      *
      * - skipQuickStop: false (default) + targetReachTimeout set:
      *   Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration
-     *   if set, then issues a quick stop and waits for the CiA402 state to reach Switch On Disabled.
+     *   if set, then issues a quick stop. The state waited for after the quick stop depends on the
+     *   quick stop option code (0x605A): Quick Stop Active if the code is 6, Switch On Disabled otherwise.
      *   Throws if the target is not reached in time.
      *
-     * - skipQuickStop: false (default) + no targetReachTimeout:
+     * - skipQuickStop: false (default) + no positive targetReachTimeout:
      *   Throws immediately — the function cannot determine when to issue the quick stop.
      *
      * - skipQuickStop: true + targetReachTimeout set:
@@ -336,36 +347,45 @@ class MotionMasterClient {
      * - skipQuickStop: true + no targetReachTimeout:
      *   Returns immediately after enabling the drive. The device remains in the Operation Enabled state.
      *
-     * @throws Error if skipQuickStop is false and targetReachTimeout is not provided.
+     * When skipQuickStop is true and an error is thrown (e.g. target not reached in time), the drive
+     * remains in Operation Enabled. The caller is responsible for issuing a quick stop or transitioning
+     * the drive to a safe state.
+     *
+     * @param deviceRef - Reference to the target device.
+     * @param config - Velocity profile configuration.
+     * @throws Error if skipQuickStop is false and targetReachTimeout is not a positive number.
      * @throws Error if the target is not reached within targetReachTimeout.
      */
     runVelocityProfile(deviceRef, config) {
+        var _a;
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            if (!config.skipQuickStop && !config.targetReachTimeout) {
+            if (!config.skipQuickStop && (config.targetReachTimeout == null || config.targetReachTimeout <= 0)) {
                 throw new Error('targetReachTimeout is required when skipQuickStop is false');
             }
             yield this.request.download(deviceRef, 0x60ff, 0, config.target);
             yield this.request.download(deviceRef, 0x6083, 0, config.acceleration);
             yield this.request.download(deviceRef, 0x6084, 0, config.deceleration);
-            if (config.window) {
+            if (config.window !== undefined) {
                 yield this.request.download(deviceRef, 0x606d, 0, config.window);
             }
-            if (config.windowTime) {
+            if (config.windowTime !== undefined) {
                 yield this.request.download(deviceRef, 0x606e, 0, config.windowTime);
             }
             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) {
                 try {
-                    yield this.whenTargetReached(deviceRef, 1000, config.targetReachTimeout);
+                    yield this.whenTargetReached(deviceRef, (_a = config.monitoringInterval) !== null && _a !== void 0 ? _a : 1000, config.targetReachTimeout);
                     if (config.holdingDuration && config.holdingDuration > 0) {
                         yield (0, util_1.resolveAfter)(config.holdingDuration);
                     }
                 }
                 finally {
                     if (!config.skipQuickStop) {
+                        const quickStopOptionCode = yield this.request.upload(deviceRef, 0x605a, 0);
                         yield this.request.quickStop(deviceRef);
-                        yield this.whenCia402StateReached(deviceRef, cia402_1.Cia402State.SWITCH_ON_DISABLED);
+                        const targetState = quickStopOptionCode === 6 ? cia402_1.Cia402State.QUICK_STOP_ACTIVE : cia402_1.Cia402State.SWITCH_ON_DISABLED;
+                        yield this.whenCia402StateReached(deviceRef, targetState);
                     }
                 }
             }
@@ -381,10 +401,11 @@ class MotionMasterClient {
      *
      * - skipQuickStop: false (default) + targetReachTimeout set:
      *   Waits for the target reached bit (0x6041) within the given timeout, waits for holdingDuration
-     *   if set, then issues a quick stop and waits for the CiA402 state to reach Switch On Disabled.
+     *   if set, then issues a quick stop. The state waited for after the quick stop depends on the
+     *   quick stop option code (0x605A): Quick Stop Active if the code is 6, Switch On Disabled otherwise.
      *   Throws if the target is not reached in time.
      *
-     * - skipQuickStop: false (default) + no targetReachTimeout:
+     * - skipQuickStop: false (default) + no positive targetReachTimeout:
      *   Throws immediately — the function cannot determine when to issue the quick stop.
      *
      * - skipQuickStop: true + targetReachTimeout set:
@@ -394,12 +415,19 @@ class MotionMasterClient {
      * - skipQuickStop: true + no targetReachTimeout:
      *   Returns immediately after applying the set point. The device remains in the Operation Enabled state.
      *
-     * @throws Error if skipQuickStop is false and targetReachTimeout is not provided.
+     * When skipQuickStop is true and an error is thrown (e.g. target not reached in time), the drive
+     * remains in Operation Enabled. The caller is responsible for issuing a quick stop or transitioning
+     * the drive to a safe state.
+     *
+     * @param deviceRef - Reference to the target device.
+     * @param config - Position profile configuration.
+     * @throws Error if skipQuickStop is false and targetReachTimeout is not a positive number.
      * @throws Error if the target is not reached within targetReachTimeout.
      */
     runPositionProfile(deviceRef, config) {
+        var _a;
         return tslib_1.__awaiter(this, void 0, void 0, function* () {
-            if (!config.skipQuickStop && !config.targetReachTimeout) {
+            if (!config.skipQuickStop && (config.targetReachTimeout == null || config.targetReachTimeout <= 0)) {
                 throw new Error('targetReachTimeout is required when skipQuickStop is false');
             }
             if (config.relative) {
@@ -412,10 +440,10 @@ class MotionMasterClient {
             yield this.request.download(deviceRef, 0x6081, 0, config.velocity);
             yield this.request.download(deviceRef, 0x6083, 0, config.acceleration);
             yield this.request.download(deviceRef, 0x6084, 0, config.deceleration);
-            if (config.window) {
+            if (config.window !== undefined) {
                 yield this.request.download(deviceRef, 0x6067, 0, config.window);
             }
-            if (config.windowTime) {
+            if (config.windowTime !== undefined) {
                 yield this.request.download(deviceRef, 0x6068, 0, config.windowTime);
             }
             yield (0, rxjs_1.lastValueFrom)(this.request.setModesOfOperation(deviceRef, cia402_1.ModesOfOperation.PROFILE_POSITION_MODE));
@@ -423,15 +451,17 @@ class MotionMasterClient {
             yield this.request.applySetPoint(deviceRef);
             if (config.targetReachTimeout && config.targetReachTimeout > 0) {
                 try {
-                    yield this.whenTargetReached(deviceRef, 1000, config.targetReachTimeout);
+                    yield this.whenTargetReached(deviceRef, (_a = config.monitoringInterval) !== null && _a !== void 0 ? _a : 1000, config.targetReachTimeout);
                     if (config.holdingDuration && config.holdingDuration > 0) {
                         yield (0, util_1.resolveAfter)(config.holdingDuration);
                     }
                 }
                 finally {
                     if (!config.skipQuickStop) {
+                        const quickStopOptionCode = yield this.request.upload(deviceRef, 0x605a, 0);
                         yield this.request.quickStop(deviceRef);
-                        yield this.whenCia402StateReached(deviceRef, cia402_1.Cia402State.SWITCH_ON_DISABLED);
+                        const targetState = quickStopOptionCode === 6 ? cia402_1.Cia402State.QUICK_STOP_ACTIVE : cia402_1.Cia402State.SWITCH_ON_DISABLED;
+                        yield this.whenCia402StateReached(deviceRef, targetState);
                     }
                 }
             }

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

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

@@ -32,6 +32,7 @@ const pdo_1 = require("./pdo");
 const integro_1 = require("./integro");
 const offset_detection_1 = require("./offset-detection");
 const units_1 = require("./units");
+const gpio_1 = require("./gpio");
 const { xmlToEsi } = require('ecatmod');
 /**
  * This class contains methods for making requests to Motion Master using the injected request/response socket.
@@ -1705,6 +1706,17 @@ class MotionMasterReqResClient {
                             min: Number.MIN_SAFE_INTEGER,
                             max: Number.MAX_SAFE_INTEGER,
                         };
+                    /**
+                     * Configure GPIO voltage (obj 0x2214:1) with device-aware labels.
+                     * Circulo supports 3.3V/5.0V selection; Node is fixed at 3.3V; Integro is fixed at 24V.
+                     * Use abstract labels ("default"/"alternative") with actual voltages appended per device to
+                     * prevent user confusion.
+                     */
+                    if (index === 0x2214 && subindex === 1) {
+                        const product = (0, product_1.findSomanetProductById)(device.deviceProductId);
+                        const gpioOptions = gpio_1.gpioVoltageLevelOptions[product === null || product === void 0 ? void 0 : product.family];
+                        esiExtension.options = gpioOptions !== null && gpioOptions !== void 0 ? gpioOptions : esiExtension.options;
+                    }
                     const parameterId = (0, parameter_1.makeParameterId)(index, subindex);
                     const plot = {
                         axis: (_a = parameter_1.parameterIdToPlotAxis[parameterId]) !== null && _a !== void 0 ? _a : 'y2',