motion-master-client 0.0.43 → 0.0.44

package/package.json

@@ -1,6 +1,21 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.43",
+  "version": "0.0.44",
   "type": "commonjs",
-  "description": "A library and CLI program used for communicating with Motion Master."
+  "description": "A library and CLI program used for communicating with Motion Master.",
+  "dependencies": {
+    "fast-deep-equal": "^3.1.3",
+    "lodash": "^4.17.21",
+    "papaparse": "^5.4.1",
+    "protobufjs": "^7.2.3",
+    "roarr": "^7.15.0",
+    "rxjs": "^7.8.1",
+    "semver": "^7.5.1",
+    "uuid": "^9.0.0"
+  },
+  "peerDependencies": {
+    "tslib": "2.5.3"
+  },
+  "main": "./src/index.js",
+  "types": "./src/index.d.ts"
 }

package/src/index.js

@@ -0,0 +1,29 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+const tslib_1 = require("tslib");
+tslib_1.__exportStar(require("./lib/cia402"), exports);
+tslib_1.__exportStar(require("./lib/config-file"), exports);
+tslib_1.__exportStar(require("./lib/device-log-line"), exports);
+tslib_1.__exportStar(require("./lib/device-parameter"), exports);
+tslib_1.__exportStar(require("./lib/device"), exports);
+tslib_1.__exportStar(require("./lib/hardware-description"), exports);
+tslib_1.__exportStar(require("./lib/monitoring-config"), exports);
+tslib_1.__exportStar(require("./lib/monitoring-entry"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-client"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-pub-sub-client"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-pub-sub-socket"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-pub-sub-web-socket"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-pub-sub-worker-socket"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-req-res-client"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-req-res-socket"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-req-res-web-socket"), exports);
+tslib_1.__exportStar(require("./lib/motion-master-req-res-worker-socket"), exports);
+tslib_1.__exportStar(require("./lib/operators"), exports);
+tslib_1.__exportStar(require("./lib/options"), exports);
+tslib_1.__exportStar(require("./lib/parameter"), exports);
+tslib_1.__exportStar(require("./lib/request-status-resolver"), exports);
+tslib_1.__exportStar(require("./lib/system-log-line"), exports);
+tslib_1.__exportStar(require("./lib/types"), exports);
+tslib_1.__exportStar(require("./lib/urls"), exports);
+tslib_1.__exportStar(require("./lib/util"), exports);
+//# sourceMappingURL=index.js.map

package/src/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../libs/motion-master-client/src/index.ts"],"names":[],"mappings":";;;AAAA,uDAA6B;AAC7B,4DAAkC;AAClC,gEAAsC;AACtC,iEAAuC;AACvC,uDAA6B;AAC7B,qEAA2C;AAC3C,kEAAwC;AACxC,iEAAuC;AACvC,qEAA2C;AAC3C,6EAAmD;AACnD,6EAAmD;AACnD,iFAAuD;AACvD,oFAA0D;AAC1D,6EAAmD;AACnD,6EAAmD;AACnD,iFAAuD;AACvD,oFAA0D;AAC1D,0DAAgC;AAChC,wDAA8B;AAC9B,0DAAgC;AAChC,wEAA8C;AAC9C,gEAAsC;AACtC,sDAA4B;AAC5B,qDAA2B;AAC3B,qDAA2B"}

package/src/lib/cia402.d.ts

@@ -0,0 +1,182 @@
+export declare const statuswordBits: string[];
+/**
+ * CIA402 refers to the CANopen application profile for drives and motion control.
+ * It defines various states that a CiA402-compliant device, such as a motor drive, can be in.
+ *
+ * @enum
+ */
+export declare enum Cia402State {
+    /**
+     * Not ready to switch on (NRS).
+     *
+     * This is the initial state where the drive is not ready to be switched on.
+     * In this state, the drive is not powered or initialized.
+     */
+    NOT_READY_TO_SWITCH_ON = "NOT_READY_TO_SWITCH_ON",
+    /**
+     * Switch on disabled (SOD).
+     *
+     * In this state, the drive is powered and initialized but cannot be switched on.
+     * This state is usually used for safety purposes or when certain conditions need to be met before enabling the drive.
+     */
+    SWITCH_ON_DISABLED = "SWITCH_ON_DISABLED",
+    /**
+     * Ready to switch on (RTS).
+     *
+     * In this state, the drive is ready to be switched on.
+     * It has been powered and initialized, and it is waiting for the switch-on command.
+     */
+    READY_TO_SWITCH_ON = "READY_TO_SWITCH_ON",
+    /**
+     * Switched on (SWO).
+     *
+     * When the switch-on command is received, the drive enters this state.
+     * In this state, the drive is energized and ready to start motion.
+     */
+    SWITCHED_ON = "SWITCHED_ON",
+    /**
+     * Operation enabled (OP).
+     *
+     * This state indicates that the drive is enabled and ready to perform its intended operation.
+     * It can receive motion commands and execute them.
+     */
+    OPERATION_ENABLED = "OPERATION_ENABLED",
+    /**
+     * Quick stop active (QSA).
+     *
+     * This state is used to bring the drive to an immediate stop.
+     * It is typically triggered by an emergency stop or a quick stop command.
+     */
+    QUICK_STOP_ACTIVE = "QUICK_STOP_ACTIVE",
+    /**
+     * Fault reaction active (FRA).
+     *
+     * When a fault or error condition occurs, the drive enters this state.
+     * It indicates that the drive is responding to the fault by taking appropriate actions,
+     * such as shutting down or entering a safe state.
+     */
+    FAULT_REACTION_ACTIVE = "FAULT_REACTION_ACTIVE",
+    /**
+     * Fault (FLT).
+     *
+     * This state signifies that a fault condition has been detected and the drive is no longer operational.
+     * It requires manual intervention or troubleshooting to resolve the fault
+     * and bring the drive back to a functional state.
+     */
+    FAULT = "FAULT"
+}
+export declare const cia402StateMap: Map<number, Cia402State>;
+export declare function getCia402State(value: number): Cia402State;
+export declare function isInternalLimitActive(statusword: number): boolean;
+export declare const controlwordBits: string[];
+/**
+ * In the CiA402 standard for drives and motion control, the controlword is a key component
+ * used to command and control the operation of a CiA402-compliant device, such as a motor drive.
+ * The controlword is typically a 16-bit value,
+ * and it consists of several bits that represent different control commands.
+ *
+ * @enum
+ */
+export declare enum ControlwordCommand {
+    SHUTDOWN = "SHUTDOWN",
+    SWITCH_ON = "SWITCH_ON",
+    SWITCH_ON_ENABLE_OPERATION = "SWITCH_ON_ENABLE_OPERATION",
+    DISABLE_VOLTAGE = "DISABLE_VOLTAGE",
+    /**
+     * Quick Stop.
+     *
+     * This command initiates a quick stop of the drive.
+     * When this bit is set to 1, the drive enters the "Quick stop active" state,
+     * causing the motor to decelerate and come to a stop as quickly as possible.
+     */
+    QUICK_STOP = "QUICK_STOP",
+    DISABLE_OPERATION = "DISABLE_OPERATION",
+    /**
+     * Enable Operation.
+     *
+     * This command enables the drive to perform its intended operation.
+     * When this bit is set to 1, the drive transitions from the "Ready to switch on" state to the "Operation enabled" state.
+     */
+    ENABLE_OPERATION = "ENABLE_OPERATION",
+    /**
+     * Fault Reset.
+     *
+     * This command resets a fault condition and clears any fault flags or errors that may have occurred.
+     * When this bit is set to 1, the drive attempts to recover from a fault and return to an operational state.
+     */
+    FAULT_RESET = "FAULT_RESET"
+}
+/**
+ * Return one of the controlword commands based its value.
+ *
+ * NOTE: DISABLE_OPERATION and ENABLE_OPERATION are never returned.
+ * Their values are the same as SWITCH_ON and SWITCH_ON_ENABLE_OPERATION.
+ * What controlword is commanded depends on the transition.
+ */
+export declare function getCommandFromControlword(value: number): ControlwordCommand | undefined;
+export declare const controlwordOptions: {
+    Shutdown: number;
+    'Switch on': number;
+    'Switch on + enable operation': number;
+    'Disable voltage': number;
+    'Quick stop': number;
+    'Disable operation': number;
+    'Enable operation': number;
+    'Fault reset': number;
+};
+export declare const controlwordCommandOptions: ControlwordCommand[];
+export declare const controlwordCommandBitmasks: {
+    SHUTDOWN: number[];
+    SWITCH_ON: number[];
+    SWITCH_ON_ENABLE_OPERATION: number[];
+    DISABLE_VOLTAGE: number[];
+    QUICK_STOP: number[];
+    DISABLE_OPERATION: number[];
+    ENABLE_OPERATION: number[];
+    FAULT_RESET: number[];
+};
+export declare function createControlwordCommand(value: number, command: ControlwordCommand): number;
+/**
+ * CiA402 transitions.
+ *
+ * List of allowed transitions with controlword command.
+ *
+ * The following transitions are automatic:
+ * - 0: START -> NOT_READY_TO_SWITCH_ON
+ * - 1: NOT_READY_TO_SWITCH_ON -> SWITCH_ON_DISABLED
+ * - 13: ANY -> FAULT_REACTION_ACTIVE
+ * - 14: FAULT_REACTION_ACTIVE -> FAULT
+ */
+export declare const cia402Transitions: {
+    from: Cia402State;
+    to: Cia402State;
+    transitions: number[];
+    command: ControlwordCommand;
+}[];
+export declare enum ModesOfOperation {
+    OPEN_LOOP_FIELD_MODE = -3,
+    DIAGNOSTICS_MODE = -2,
+    COGGING_COMPENSATION_RECORDING_MODE = -1,
+    NO_MODE_ASSIGNED = 0,
+    PROFILE_POSITION_MODE = 1,
+    PROFILE_VELOCITY_MODE = 3,
+    TORQUE_PROFILE_MODE = 4,
+    HOMING_MODE = 6,
+    CYCLIC_SYNC_POSITION_MODE = 8,
+    CYCLIC_SYNC_VELOCITY_MODE = 9,
+    CYCLIC_SYNC_TORQUE_MODE = 10
+}
+export declare const modesOfOperationOptions: {
+    'Open loop field mode': ModesOfOperation;
+    'Diagnostics mode': ModesOfOperation;
+    'Cogging compensation recording mode': ModesOfOperation;
+    'No mode assigned': ModesOfOperation;
+    'Profile position mode': ModesOfOperation;
+    'Profile velocity mode': ModesOfOperation;
+    'Torque profile mode': ModesOfOperation;
+    'Homing mode': ModesOfOperation;
+    'Cyclic synchronous position mode': ModesOfOperation;
+    'Cyclic synchronous velocity mode': ModesOfOperation;
+    'Cyclic synchronous torque mode': ModesOfOperation;
+};
+export declare const supportedDriveModesBits: string[];

package/src/lib/cia402.js

@@ -0,0 +1,392 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.supportedDriveModesBits = exports.modesOfOperationOptions = exports.ModesOfOperation = exports.cia402Transitions = exports.createControlwordCommand = exports.controlwordCommandBitmasks = exports.controlwordCommandOptions = exports.controlwordOptions = exports.getCommandFromControlword = exports.ControlwordCommand = exports.controlwordBits = exports.isInternalLimitActive = exports.getCia402State = exports.cia402StateMap = exports.Cia402State = exports.statuswordBits = void 0;
+exports.statuswordBits = [
+    'rtso = ready to switch on',
+    'so = switched on',
+    'oe = operation enabled',
+    'f = fault',
+    've = voltage enabled',
+    'qs = quick stop',
+    'sod = switch on disabled',
+    'w = warning',
+    'ms = manufacturer-specific',
+    'rm = remote',
+    'tr = target reached',
+    'ila = internal limit active',
+    'oms = operation-mode-specific',
+    'oms = operation-mode-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+];
+/**
+ * CIA402 refers to the CANopen application profile for drives and motion control.
+ * It defines various states that a CiA402-compliant device, such as a motor drive, can be in.
+ *
+ * @enum
+ */
+var Cia402State;
+(function (Cia402State) {
+    /**
+     * Not ready to switch on (NRS).
+     *
+     * This is the initial state where the drive is not ready to be switched on.
+     * In this state, the drive is not powered or initialized.
+     */
+    Cia402State["NOT_READY_TO_SWITCH_ON"] = "NOT_READY_TO_SWITCH_ON";
+    /**
+     * Switch on disabled (SOD).
+     *
+     * In this state, the drive is powered and initialized but cannot be switched on.
+     * This state is usually used for safety purposes or when certain conditions need to be met before enabling the drive.
+     */
+    Cia402State["SWITCH_ON_DISABLED"] = "SWITCH_ON_DISABLED";
+    /**
+     * Ready to switch on (RTS).
+     *
+     * In this state, the drive is ready to be switched on.
+     * It has been powered and initialized, and it is waiting for the switch-on command.
+     */
+    Cia402State["READY_TO_SWITCH_ON"] = "READY_TO_SWITCH_ON";
+    /**
+     * Switched on (SWO).
+     *
+     * When the switch-on command is received, the drive enters this state.
+     * In this state, the drive is energized and ready to start motion.
+     */
+    Cia402State["SWITCHED_ON"] = "SWITCHED_ON";
+    /**
+     * Operation enabled (OP).
+     *
+     * This state indicates that the drive is enabled and ready to perform its intended operation.
+     * It can receive motion commands and execute them.
+     */
+    Cia402State["OPERATION_ENABLED"] = "OPERATION_ENABLED";
+    /**
+     * Quick stop active (QSA).
+     *
+     * This state is used to bring the drive to an immediate stop.
+     * It is typically triggered by an emergency stop or a quick stop command.
+     */
+    Cia402State["QUICK_STOP_ACTIVE"] = "QUICK_STOP_ACTIVE";
+    /**
+     * Fault reaction active (FRA).
+     *
+     * When a fault or error condition occurs, the drive enters this state.
+     * It indicates that the drive is responding to the fault by taking appropriate actions,
+     * such as shutting down or entering a safe state.
+     */
+    Cia402State["FAULT_REACTION_ACTIVE"] = "FAULT_REACTION_ACTIVE";
+    /**
+     * Fault (FLT).
+     *
+     * This state signifies that a fault condition has been detected and the drive is no longer operational.
+     * It requires manual intervention or troubleshooting to resolve the fault
+     * and bring the drive back to a functional state.
+     */
+    Cia402State["FAULT"] = "FAULT";
+})(Cia402State = exports.Cia402State || (exports.Cia402State = {}));
+;
+exports.cia402StateMap = new Map([
+    [0b00000000, Cia402State.NOT_READY_TO_SWITCH_ON],
+    [0b01000000, Cia402State.SWITCH_ON_DISABLED],
+    [0b00100001, Cia402State.READY_TO_SWITCH_ON],
+    [0b00100011, Cia402State.SWITCHED_ON],
+    [0b00100111, Cia402State.OPERATION_ENABLED],
+    [0b00000111, Cia402State.QUICK_STOP_ACTIVE],
+    [0b00001111, Cia402State.FAULT_REACTION_ACTIVE],
+    [0b00001000, Cia402State.FAULT],
+]);
+function getCia402State(value) {
+    var _a, _b;
+    return (_b = ((_a = exports.cia402StateMap.get(value & 0b01101111)) !== null && _a !== void 0 ? _a : exports.cia402StateMap.get(value & 0b01001111))) !== null && _b !== void 0 ? _b : Cia402State.NOT_READY_TO_SWITCH_ON;
+}
+exports.getCia402State = getCia402State;
+function isInternalLimitActive(statusword) {
+    return (0x800 & statusword) === 0x800;
+}
+exports.isInternalLimitActive = isInternalLimitActive;
+exports.controlwordBits = [
+    'so = switch on',
+    'ev = enable voltage',
+    'qs = quick stop',
+    'eo = enable operation',
+    'oms = operation mode specific',
+    'oms = operation mode specific',
+    'oms = operation mode specific',
+    'fr = fault reset',
+    'h = halt',
+    'oms = operation mode specific',
+    'r = reserved',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+];
+/**
+ * In the CiA402 standard for drives and motion control, the controlword is a key component
+ * used to command and control the operation of a CiA402-compliant device, such as a motor drive.
+ * The controlword is typically a 16-bit value,
+ * and it consists of several bits that represent different control commands.
+ *
+ * @enum
+ */
+var ControlwordCommand;
+(function (ControlwordCommand) {
+    ControlwordCommand["SHUTDOWN"] = "SHUTDOWN";
+    ControlwordCommand["SWITCH_ON"] = "SWITCH_ON";
+    ControlwordCommand["SWITCH_ON_ENABLE_OPERATION"] = "SWITCH_ON_ENABLE_OPERATION";
+    ControlwordCommand["DISABLE_VOLTAGE"] = "DISABLE_VOLTAGE";
+    /**
+     * Quick Stop.
+     *
+     * This command initiates a quick stop of the drive.
+     * When this bit is set to 1, the drive enters the "Quick stop active" state,
+     * causing the motor to decelerate and come to a stop as quickly as possible.
+     */
+    ControlwordCommand["QUICK_STOP"] = "QUICK_STOP";
+    ControlwordCommand["DISABLE_OPERATION"] = "DISABLE_OPERATION";
+    /**
+     * Enable Operation.
+     *
+     * This command enables the drive to perform its intended operation.
+     * When this bit is set to 1, the drive transitions from the "Ready to switch on" state to the "Operation enabled" state.
+     */
+    ControlwordCommand["ENABLE_OPERATION"] = "ENABLE_OPERATION";
+    /**
+     * Fault Reset.
+     *
+     * This command resets a fault condition and clears any fault flags or errors that may have occurred.
+     * When this bit is set to 1, the drive attempts to recover from a fault and return to an operational state.
+     */
+    ControlwordCommand["FAULT_RESET"] = "FAULT_RESET";
+})(ControlwordCommand = exports.ControlwordCommand || (exports.ControlwordCommand = {}));
+/**
+ * Return one of the controlword commands based its value.
+ *
+ * NOTE: DISABLE_OPERATION and ENABLE_OPERATION are never returned.
+ * Their values are the same as SWITCH_ON and SWITCH_ON_ENABLE_OPERATION.
+ * What controlword is commanded depends on the transition.
+ */
+function getCommandFromControlword(value) {
+    if ((value & 0b1000111) === 0b0000110) {
+        return ControlwordCommand.SHUTDOWN;
+    }
+    if ((value & 0b1001111) === 0b0000111) {
+        return ControlwordCommand.SWITCH_ON;
+    }
+    if ((value & 0b1001111) === 0b0001111) {
+        return ControlwordCommand.SWITCH_ON_ENABLE_OPERATION;
+    }
+    if ((value & 0b1000010) === 0b0000000) {
+        return ControlwordCommand.DISABLE_VOLTAGE;
+    }
+    if ((value & 0b1000110) === 0b0000010) {
+        return ControlwordCommand.QUICK_STOP;
+    }
+    if ((value & 0b1001111) === 0b0000111) {
+        return ControlwordCommand.DISABLE_OPERATION;
+    }
+    if ((value & 0b1001111) === 0b0001111) {
+        return ControlwordCommand.ENABLE_OPERATION;
+    }
+    if ((value & 0b1000000) === 0b1000000) {
+        return ControlwordCommand.FAULT_RESET;
+    }
+    return;
+}
+exports.getCommandFromControlword = getCommandFromControlword;
+exports.controlwordOptions = {
+    'Shutdown': 0b00000110,
+    'Switch on': 0b00000111,
+    'Switch on + enable operation': 0b00001111,
+    'Disable voltage': 0b00000000,
+    'Quick stop': 0b00000010,
+    'Disable operation': 0b00000111,
+    'Enable operation': 0b00001111,
+    'Fault reset': 0b10000000, // fault reset 15
+};
+exports.controlwordCommandOptions = Object.values(ControlwordCommand);
+exports.controlwordCommandBitmasks = {
+    [ControlwordCommand.SHUTDOWN]: [
+        0b1111111101111110,
+        0b0000000000000110,
+    ],
+    [ControlwordCommand.SWITCH_ON]: [
+        0b1111111101110111,
+        0b0000000000000111,
+    ],
+    [ControlwordCommand.SWITCH_ON_ENABLE_OPERATION]: [
+        0b1111111101111111,
+        0b0000000000001111,
+    ],
+    [ControlwordCommand.DISABLE_VOLTAGE]: [
+        0b1111111101111101,
+        0b0000000000000000,
+    ],
+    [ControlwordCommand.QUICK_STOP]: [
+        0b1111111101111011,
+        0b0000000000000010,
+    ],
+    [ControlwordCommand.DISABLE_OPERATION]: [
+        0b1111111101110111,
+        0b0000000000000111,
+    ],
+    [ControlwordCommand.ENABLE_OPERATION]: [
+        0b1111111101111111,
+        0b0000000000001111,
+    ],
+    [ControlwordCommand.FAULT_RESET]: [
+        0b1111111111111111,
+        0b0000000010000000,
+    ],
+};
+function createControlwordCommand(value, command) {
+    const bitmasks = exports.controlwordCommandBitmasks[command];
+    return ((value & bitmasks[0]) | bitmasks[1]);
+}
+exports.createControlwordCommand = createControlwordCommand;
+/**
+ * CiA402 transitions.
+ *
+ * List of allowed transitions with controlword command.
+ *
+ * The following transitions are automatic:
+ * - 0: START -> NOT_READY_TO_SWITCH_ON
+ * - 1: NOT_READY_TO_SWITCH_ON -> SWITCH_ON_DISABLED
+ * - 13: ANY -> FAULT_REACTION_ACTIVE
+ * - 14: FAULT_REACTION_ACTIVE -> FAULT
+ */
+exports.cia402Transitions = [
+    {
+        from: Cia402State.SWITCH_ON_DISABLED,
+        to: Cia402State.READY_TO_SWITCH_ON,
+        transitions: [2],
+        command: ControlwordCommand.SHUTDOWN,
+    },
+    {
+        from: Cia402State.READY_TO_SWITCH_ON,
+        to: Cia402State.SWITCHED_ON,
+        transitions: [3],
+        command: ControlwordCommand.SWITCH_ON,
+    },
+    {
+        from: Cia402State.READY_TO_SWITCH_ON,
+        to: Cia402State.OPERATION_ENABLED,
+        transitions: [3, 4],
+        command: ControlwordCommand.SWITCH_ON_ENABLE_OPERATION,
+    },
+    {
+        from: Cia402State.SWITCHED_ON,
+        to: Cia402State.OPERATION_ENABLED,
+        transitions: [4],
+        command: ControlwordCommand.ENABLE_OPERATION,
+    },
+    {
+        from: Cia402State.OPERATION_ENABLED,
+        to: Cia402State.SWITCHED_ON,
+        transitions: [5],
+        command: ControlwordCommand.DISABLE_OPERATION,
+    },
+    {
+        from: Cia402State.SWITCHED_ON,
+        to: Cia402State.READY_TO_SWITCH_ON,
+        transitions: [6],
+        command: ControlwordCommand.SHUTDOWN,
+    },
+    {
+        from: Cia402State.READY_TO_SWITCH_ON,
+        to: Cia402State.SWITCH_ON_DISABLED,
+        transitions: [7],
+        command: ControlwordCommand.DISABLE_VOLTAGE,
+    },
+    {
+        from: Cia402State.OPERATION_ENABLED,
+        to: Cia402State.READY_TO_SWITCH_ON,
+        transitions: [8],
+        command: ControlwordCommand.SHUTDOWN,
+    },
+    {
+        from: Cia402State.OPERATION_ENABLED,
+        to: Cia402State.SWITCH_ON_DISABLED,
+        transitions: [9],
+        command: ControlwordCommand.DISABLE_VOLTAGE,
+    },
+    {
+        from: Cia402State.SWITCHED_ON,
+        to: Cia402State.SWITCH_ON_DISABLED,
+        transitions: [10],
+        command: ControlwordCommand.DISABLE_VOLTAGE,
+    },
+    {
+        from: Cia402State.OPERATION_ENABLED,
+        to: Cia402State.QUICK_STOP_ACTIVE,
+        transitions: [11],
+        command: ControlwordCommand.QUICK_STOP,
+    },
+    {
+        from: Cia402State.QUICK_STOP_ACTIVE,
+        to: Cia402State.SWITCH_ON_DISABLED,
+        transitions: [12],
+        command: ControlwordCommand.DISABLE_VOLTAGE,
+    },
+    {
+        from: Cia402State.FAULT,
+        to: Cia402State.SWITCH_ON_DISABLED,
+        transitions: [15],
+        command: ControlwordCommand.FAULT_RESET,
+    },
+    {
+        from: Cia402State.QUICK_STOP_ACTIVE,
+        to: Cia402State.OPERATION_ENABLED,
+        transitions: [16],
+        command: ControlwordCommand.ENABLE_OPERATION,
+    },
+];
+var ModesOfOperation;
+(function (ModesOfOperation) {
+    ModesOfOperation[ModesOfOperation["OPEN_LOOP_FIELD_MODE"] = -3] = "OPEN_LOOP_FIELD_MODE";
+    ModesOfOperation[ModesOfOperation["DIAGNOSTICS_MODE"] = -2] = "DIAGNOSTICS_MODE";
+    ModesOfOperation[ModesOfOperation["COGGING_COMPENSATION_RECORDING_MODE"] = -1] = "COGGING_COMPENSATION_RECORDING_MODE";
+    ModesOfOperation[ModesOfOperation["NO_MODE_ASSIGNED"] = 0] = "NO_MODE_ASSIGNED";
+    ModesOfOperation[ModesOfOperation["PROFILE_POSITION_MODE"] = 1] = "PROFILE_POSITION_MODE";
+    ModesOfOperation[ModesOfOperation["PROFILE_VELOCITY_MODE"] = 3] = "PROFILE_VELOCITY_MODE";
+    ModesOfOperation[ModesOfOperation["TORQUE_PROFILE_MODE"] = 4] = "TORQUE_PROFILE_MODE";
+    ModesOfOperation[ModesOfOperation["HOMING_MODE"] = 6] = "HOMING_MODE";
+    ModesOfOperation[ModesOfOperation["CYCLIC_SYNC_POSITION_MODE"] = 8] = "CYCLIC_SYNC_POSITION_MODE";
+    ModesOfOperation[ModesOfOperation["CYCLIC_SYNC_VELOCITY_MODE"] = 9] = "CYCLIC_SYNC_VELOCITY_MODE";
+    ModesOfOperation[ModesOfOperation["CYCLIC_SYNC_TORQUE_MODE"] = 10] = "CYCLIC_SYNC_TORQUE_MODE";
+})(ModesOfOperation = exports.ModesOfOperation || (exports.ModesOfOperation = {}));
+exports.modesOfOperationOptions = {
+    'Open loop field mode': ModesOfOperation.OPEN_LOOP_FIELD_MODE,
+    'Diagnostics mode': ModesOfOperation.DIAGNOSTICS_MODE,
+    'Cogging compensation recording mode': ModesOfOperation.COGGING_COMPENSATION_RECORDING_MODE,
+    'No mode assigned': ModesOfOperation.NO_MODE_ASSIGNED,
+    'Profile position mode': ModesOfOperation.PROFILE_POSITION_MODE,
+    'Profile velocity mode': ModesOfOperation.PROFILE_VELOCITY_MODE,
+    'Torque profile mode': ModesOfOperation.TORQUE_PROFILE_MODE,
+    'Homing mode': ModesOfOperation.HOMING_MODE,
+    'Cyclic synchronous position mode': ModesOfOperation.CYCLIC_SYNC_POSITION_MODE,
+    'Cyclic synchronous velocity mode': ModesOfOperation.CYCLIC_SYNC_VELOCITY_MODE,
+    'Cyclic synchronous torque mode': ModesOfOperation.CYCLIC_SYNC_TORQUE_MODE,
+};
+exports.supportedDriveModesBits = [
+    'pp = profile position mode',
+    'vl = velocity mode',
+    'pv = profile velocity mode',
+    'tq = torque mode',
+    'r = reserved',
+    'hm = homing mode',
+    'ip = interpolated position mode',
+    'csp = cyclic synchronous position mode',
+    'csv = cyclic synchronous velocity mode',
+    'cst = cyclic synchronous torque mode',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+];
+//# sourceMappingURL=cia402.js.map

package/src/lib/cia402.js.map

@@ -0,0 +1 @@
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package/src/lib/config-file.d.ts

@@ -0,0 +1,13 @@
+import { Parameter } from './parameter';
+import { Optional } from './types';
+export type ConfigParameter = Optional<Parameter, 'name' | 'typeValueKey'>;
+export declare class ConfigFile {
+    readonly content: string;
+    readonly file?: Pick<File, "name" | "type" | "size" | "lastModified"> | undefined;
+    readonly apiId?: string;
+    readonly firmwareVersion?: string;
+    readonly header?: string;
+    parameters: ConfigParameter[];
+    constructor(content: string, file?: Pick<File, "name" | "type" | "size" | "lastModified"> | undefined);
+    toString(): string;
+}