motion-master-client 0.0.66 → 0.0.67

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.66",
+  "version": "0.0.67",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/lib/encoder-register.d.ts

@@ -0,0 +1,16 @@
+export declare enum EncoderRegisterAddress {
+    STATUS0 = 118,
+    STATUS1 = 119,
+    OUT_ZERO_OUT_MSB = 17
+}
+export interface EncoderRegisterError {
+    name: string;
+    error: string;
+    description: string;
+    remedy: string;
+    fullDescription: string;
+}
+export declare const encoderRegisterErrors: {
+    [key: number]: EncoderRegisterError;
+}[];
+export declare function mapEncoderRegisterValueToErrors(registerValue: number, statusIndex: 0 | 1): EncoderRegisterError[];

package/src/lib/encoder-register.js

@@ -0,0 +1,117 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.mapEncoderRegisterValueToErrors = exports.encoderRegisterErrors = exports.EncoderRegisterAddress = void 0;
+var EncoderRegisterAddress;
+(function (EncoderRegisterAddress) {
+    EncoderRegisterAddress[EncoderRegisterAddress["STATUS0"] = 118] = "STATUS0";
+    EncoderRegisterAddress[EncoderRegisterAddress["STATUS1"] = 119] = "STATUS1";
+    EncoderRegisterAddress[EncoderRegisterAddress["OUT_ZERO_OUT_MSB"] = 17] = "OUT_ZERO_OUT_MSB";
+})(EncoderRegisterAddress = exports.EncoderRegisterAddress || (exports.EncoderRegisterAddress = {}));
+;
+;
+exports.encoderRegisterErrors = [
+    {
+        1: {
+            name: "AM_MIN",
+            error: "Signal error: poor level (master track)",
+            description: "Magnetic field strength is too low for encoder operation.",
+            remedy: "Check positioning of the encoder ring.",
+            fullDescription: "An encoder magnetic ring is too far from the encoder chip or isn't detected. Check the mechanical assembly. In some rare cases can be provoked by demagnetized ring or field strength drop due to high temperatures. A magnetic ring is too far from the encoder chip. Check the mechanical assembly."
+        },
+        2: {
+            name: "AM_MAX",
+            error: "Signal error: clipping (master track)",
+            description: "Magnetic field strength is too high.",
+            remedy: "Check mechanical assembly and external fields.",
+            fullDescription: "The outer track of the encoder chip detects too strong a field. Typically, it can't be generated by the magnetic ring itself at normal conditions. Please check the influence of external fields, especially brakes. A magnetic ring is too close to the encoder chip. Check the mechanical assembly."
+        },
+        4: {
+            name: "AN_MIN",
+            error: "Signal error: poor level (nonius track)",
+            description: "Magnetic field strength is too low for encoder operation.",
+            remedy: "Check positioning of the encoder ring.",
+            fullDescription: "An encoder magnetic ring is too far from the encoder chip or isn't detected. Check the mechanical assembly. In some rare cases can be provoked by demagnetized ring or field strength drop due to high temperatures."
+        },
+        8: {
+            name: "AN_MAX",
+            error: "Signal error: clipping (nonius track)",
+            description: "Magnetic field strength is too high.",
+            remedy: "Check mechanical assembly and external fields.",
+            fullDescription: "The inner track of the encoder chip detects too strong a field. Typically, it can't be generated by the magnetic ring itself at normal conditions. Please check the influence of external fields, especially brakes."
+        },
+        16: {
+            name: "STUP",
+            error: "Startup iC-MU",
+            description: "Encoder startup error. Can appear during Multiturn configuration.",
+            remedy: "Power cycle the drive.",
+            fullDescription: "Encoder initialization error. The typical reason is: not saved Multiturn Counter configuration. Connect the multiturn battery, check the battery voltage, configure the multiturn bits in OBLAC Drives, configure internal encoder and save changes. Power cycle the drive. If the error is always present, contact support."
+        },
+    },
+    {
+        2: {
+            name: "FRQ_CNV",
+            error: "Excessive signal frequency for internal 12 Bit converter",
+            description: "Encoder maximum speed was exceeded.",
+            remedy: "",
+            fullDescription: "Encoder maximum speed was exceeded. Circulo 7 - 12000 RPM or Circulo 9 - 6000 RPM"
+        },
+        4: {
+            name: "FRQ_ABZ",
+            error: "Excessive signal frequency for ABZ-converter",
+            description: "Encoder maximum speed was exceeded.",
+            remedy: "",
+            fullDescription: "Encoder maximum speed was exceeded. Circulo 7 - 12000 RPM or Circulo 9 - 6000 RPM"
+        },
+        8: {
+            name: "NON_CTR",
+            error: "Period counter consistency error: counted period <-> calculated Nonius position",
+            description: "Internal Encoder calibration parameters are outdated or non-existing.",
+            remedy: "Please calibrate the internal encoder.",
+            fullDescription: "The absolute position value can't be computed reliably at the current position. This can be caused by: encoder wasn't calibrated, change of encoder mechanics, severe thermal expansion or magnetic target damage. Run diagnostics and repeat the calibration procedure. If this error prevents you from performing calibration - disable it or contact support."
+        },
+        16: {
+            name: "MT_CTR",
+            error: "Multiturn data consistency error: counted multiturn <-> external MT data",
+            description: "Multiturn Counter synchronization error.",
+            remedy: "Check MT configuration, connect a battery. Power cycle the drive.",
+            fullDescription: "Can happen because of not saved Multiturn Counter configuration. Connect the multiturn battery, check the battery voltage, configure the multiturn bits in OBLAC Drives, configure internal encoder and save changes. If the error is still present, please contact support."
+        },
+        32: {
+            name: "MT_ERR",
+            error: "Multiturn communication error: MTD line not 1 when trying to read MT data, MTD line is not 0 right after the last clock pulse, or SSI error bit active on MT interface",
+            description: "Multiturn Counter communication error.",
+            remedy: "Check MT configuration, connect a battery. Power cycle the drive.",
+            fullDescription: "The Multiturn counter is in error state. Connect the multiturn battery, check the battery voltage, configure the multiturn bits in OBLAC Drives, configure internal encoder and save changes. Power cycle the drive. If the error is still present, please contact support."
+        },
+        64: {
+            name: "EPR_ERR",
+            error: "I2C communication error: No EEPROM or I2C communication error",
+            description: "Encoder EEPROM memory communication error.",
+            remedy: "Power Cycle the drive.",
+            fullDescription: "Communication with the EEPROM memory of the chip is distorted. Power Cycle the drive. If this can't be reset, there is a hardware problem. Please contact support."
+        },
+        128: {
+            name: "",
+            error: "Invalid check sum internal RAM",
+            description: "Invalid check sum internal RAM",
+            remedy: "",
+            fullDescription: ""
+        },
+    }
+];
+function mapEncoderRegisterValueToErrors(registerValue, statusIndex) {
+    const errors = [];
+    let i = 1;
+    while (i < 256) {
+        if ((registerValue & i) === i) {
+            const error = exports.encoderRegisterErrors[statusIndex][i];
+            if (error) {
+                errors.push(error);
+            }
+        }
+        i *= 2;
+    }
+    return errors;
+}
+exports.mapEncoderRegisterValueToErrors = mapEncoderRegisterValueToErrors;
+//# sourceMappingURL=encoder-register.js.map

package/src/lib/encoder-register.js.map

@@ -0,0 +1 @@
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package/src/lib/motion-master-pub-sub-web-socket.d.ts

@@ -11,8 +11,27 @@ export declare class MotionMasterPubSubWebSocket implements MotionMasterPubSubSo
     private webSocket$?;
     private _url?;
     get url(): string | undefined;
+    /**
+     * Open a WebSocket connection on the provided URL.
+     */
     open(url: string): void;
+    /**
+     * Close WebSocket connection.
+     */
     close(): void;
+    /**
+     * Reopen will recreate the WebSocket connection if the current connection is not open.
+     */
     reopen(): void;
+    /**
+     * Create WebSocket connection.
+     *
+     * Every message received on this socket will be deserialized into a tuple of topic and Motion Master Message.
+     *
+     * Bytes of the received data:
+     * - The 1st byte contains the length of the topic string.
+     * - The 2nd byte and subsequent bytes up to the length of the topic string contain the topic.
+     * - Bytes following the length of the topic and the topic itself contain the encoded proto message.
+     */
     private createWebSocket;
 }

package/src/lib/motion-master-pub-sub-web-socket.js

@@ -15,6 +15,9 @@ class MotionMasterPubSubWebSocket {
     get url() {
         return this._url;
     }
+    /**
+     * Open a WebSocket connection on the provided URL.
+     */
     open(url) {
         this._url = url;
         this.webSocket$ = this.createWebSocket(url);
@@ -25,15 +28,31 @@ class MotionMasterPubSubWebSocket {
             },
         });
     }
+    /**
+     * Close WebSocket connection.
+     */
     close() {
         var _a;
         (_a = this.webSocket$) === null || _a === void 0 ? void 0 : _a.complete();
     }
+    /**
+     * Reopen will recreate the WebSocket connection if the current connection is not open.
+     */
     reopen() {
         if (this.url && this.opened$.value === false) {
             this.open(this.url);
         }
     }
+    /**
+     * Create WebSocket connection.
+     *
+     * Every message received on this socket will be deserialized into a tuple of topic and Motion Master Message.
+     *
+     * Bytes of the received data:
+     * - The 1st byte contains the length of the topic string.
+     * - The 2nd byte and subsequent bytes up to the length of the topic string contain the topic.
+     * - Bytes following the length of the topic and the topic itself contain the encoded proto message.
+     */
     createWebSocket(url) {
         const decoder = new TextDecoder('utf-8');
         const webSocketConfig = {

package/src/lib/motion-master-pub-sub-web-socket.js.map

@@ -1 +1 @@
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package/src/lib/motion-master-req-res-client.d.ts

@@ -4,7 +4,8 @@ import { DeviceParameter } from "./device-parameter";
 import { MotionMasterReqResSocket } from "./motion-master-req-res-socket";
 import { SystemLogLine } from "./system-log-line";
 import { MotionMasterMessage, ParameterValueType, ParameterTypeValue, DeviceParameterValuesStatus, ParameterTypeValueKey, DeviceRefObj, DeviceRef, FullAutoTuningStatus, SystemVersionStatus, DeviceInfoStatus, DeviceParameterInfoStatus, GetDeviceParameterInfoRequest, GetDeviceParameterValuesRequest, GetMultiDeviceParameterValuesRequest, MultiDeviceParameterValuesStatus, SetDeviceParameterValuesRequest, SetMultiDeviceParameterValuesRequest, GetDeviceFileListRequest, DeviceFileListStatus, GetDeviceFileRequest, DeviceFileStatus, SetDeviceFileRequest, DeleteDeviceFileRequest, ResetDeviceFaultRequest, DeviceFaultResetStatus, StopDeviceRequest, DeviceStopStatus, StartDeviceFirmwareInstallationRequest, DeviceFirmwareInstallationStatus, GetDeviceLogRequest, DeviceLogStatus, StartCoggingTorqueRecordingRequest, CoggingTorqueRecordingStatus, GetCoggingTorqueDataRequest, CoggingTorqueDataStatus, StartOffsetDetectionRequest, OffsetDetectionStatus, StartPlantModelIdentificationRequest, PlantIdentificationStatus, ComputeAutoTuningGainsRequest, AutoTuningStatus, SetMotionControllerParametersRequest, MotionControllerStatus, EnableMotionControllerRequest, SetSignalGeneratorParametersRequest, SignalGeneratorStatus, StopSignalGeneratorRequest, StartMonitoringDeviceParameterValuesRequest, MonitoringParameterValuesStatus, StopMonitoringDeviceParameterValuesRequest, GetEthercatNetworkStateRequest, EthercatNetworkStateStatus, SetEthercatNetworkStateRequest, StartNarrowAngleCalibrationRequest, NarrowAngleCalibrationStatus, SetSystemClientTimeoutRequest, StartSystemIdentificationRequest, SystemIdentificationStatus, CirculoEncoderMagnetDistanceStatus, StartCirculoEncoderNarrowAngleCalibrationProcedureRequest, CirculoEncoderNarrowAngleCalibrationProcedureStatus, GetDeviceCiA402StateRequest, DeviceCiA402StateStatus, SetDeviceCiA402StateRequest, SystemLogStatus, StartDeviceSiiRestoreRequest, DeviceSiiRestoreStatus, StartOpenLoopFieldControlRequest, OpenLoopFieldControlStatus, ComputeFullAutoTuningGainsRequest, StartFullAutoTuningRequest, StopFullAutoTuningRequest, StartCirculoEncoderConfigurationRequest, CirculoEncoderConfigurationStatus, StopCirculoEncoderNarrowAngleCalibrationProcedureRequest, StartOsCommandRequest, OsCommandStatus, RestoreDefaultParametersType, DeviceParameterAddressValue, DeviceParameterIds, DeviceParameterInfo } from "./types";
-import { Cia402State } from "./cia402";
+import { Cia402State, ModesOfOperation } from "./cia402";
+import { EncoderRegisterCommunicationOsCommandResponse, MotorPhaseOrderDetectionOsCommandResponse, OpenPhaseDetectionOsCommandResponse, OsCommandMode, OsCommandResponse, PhaseResistanceMeasurementOsCommandResponse, PhaseInductanceMeasurementOsCommandResponse, PolePairDetectionOsCommandResponse, CommutationOffsetMeasurementOsCommandResponse } from "./os-command";
 /**
  * This class contains methods for making requests to Motion Master using the injected request/response socket.
  *
@@ -914,13 +915,17 @@ export declare class MotionMasterReqResClient {
      */
     enableMotion(deviceRef: DeviceRef, controllerType: MotionMasterMessage.Request.EnableMotionController.ControllerType, filter?: boolean, requestTimeout?: number, messageId?: string): Observable<MotionControllerStatus>;
     /**
-     * Helper function to disable motion.
+     * A helper function to disable motion.
      */
     disableMotion(deviceRef: DeviceRef, requestTimeout?: number, messageId?: string): Observable<MotionControllerStatus>;
     /**
-     * Helper function to set motion target.
+     * A helper function to set the motion target.
      */
     setMotionTarget(deviceRef: DeviceRef, target: number, messageId?: string): Observable<never>;
+    /**
+     * A helper function to set the value of the Modes of Operation parameter (0x6060:00).
+     */
+    setModesOfOperation(deviceRef: DeviceRef, modesOfOperation: ModesOfOperation): Observable<void>;
     /**
      * Get CiA402 state.
      */
@@ -1024,12 +1029,19 @@ export declare class MotionMasterReqResClient {
      * - 0: Execute the next command immediatelly (default)
      * - 3: Abort the current command and all commands in the buffer
      *
-     * Note that if
-     * TODO: ensure that command was aborted, must switch to 0 after the OS command was aborted
-     *
-     * @returns
+     * Note that if you abort the OS command, you must switch the value of 0x1024 back to 0 before executing another OS command.
      */
-    runOsCommand(): void;
+    runOsCommand<T extends OsCommandResponse>(deviceRef: DeviceRef, command: Uint8Array, commandTimeout: number, responsePollingInterval?: number, executeTheNextOsCommandImmediatelly?: boolean): Observable<T>;
+    setOsCommandMode(deviceRef: DeviceRef, value: OsCommandMode): Observable<void>;
+    abortOsCommand(deviceRef: DeviceRef): Observable<void>;
+    runEncoderRegisterCommunicationOsCommand(deviceRef: DeviceRef, encoderOrdinal?: number, slaveAddress?: number, rw?: number, registerAddress?: number, registerWriteValue?: number, commandTimeout?: number, responsePollingInterval?: number): Observable<EncoderRegisterCommunicationOsCommandResponse>;
+    runMotorPhaseOrderDetectionOsCommand(deviceRef: DeviceRef, commandTimeout?: number, responsePollingInterval?: number): Observable<MotorPhaseOrderDetectionOsCommandResponse>;
+    runCommutationOffsetMeasurementOsCommand(deviceRef: DeviceRef, commandTimeout?: number, responsePollingInterval?: number): Observable<CommutationOffsetMeasurementOsCommandResponse>;
+    runOpenPhaseDetectionOsCommand(deviceRef: DeviceRef, commandTimeout?: number, responsePollingInterval?: number): Observable<OpenPhaseDetectionOsCommandResponse>;
+    runPolePairDetectionOsCommand(deviceRef: DeviceRef, commandTimeout?: number, responsePollingInterval?: number): Observable<PolePairDetectionOsCommandResponse>;
+    runPhaseResistanceMeasurementOsCommand(deviceRef: DeviceRef, commandTimeout?: number, responsePollingInterval?: number): Observable<PhaseResistanceMeasurementOsCommandResponse>;
+    runPhaseInductanceMeasurementOsCommand(deviceRef: DeviceRef, commandTimeout?: number, responsePollingInterval?: number): Observable<PhaseInductanceMeasurementOsCommandResponse>;
+    readOsCommandResponse(deviceRef: DeviceRef): Observable<OsCommandResponse>;
     /**
      * Set halt bit.
      *
@@ -1040,5 +1052,5 @@ export declare class MotionMasterReqResClient {
      * based on the specific operation mode and the conditions of the system.
      */
     setHaltBit(deviceRef: DeviceRef, value: boolean): Promise<void>;
-    private getCachedDeviceByDeviceRefObj;
+    getCachedDeviceByDeviceRefObj(deviceRefObj: DeviceRefObj): Device | undefined;
 }

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

@@ -14,6 +14,7 @@ const util_1 = require("./util");
 const cia402_1 = require("./cia402");
 const cia402_2 = require("./cia402");
 const cia402_3 = require("./cia402");
+const os_command_1 = require("./os-command");
 /**
  * This class contains methods for making requests to Motion Master using the injected request/response socket.
  *
@@ -1134,7 +1135,7 @@ class MotionMasterReqResClient {
      *
      * Refer to the description of this class for more information.
      */
-    resolveDeviceAddress(deviceRef, requestTimeout = 5000) {
+    resolveDeviceAddress(deviceRef, requestTimeout = 60000) {
         const deviceRefObj = (typeof deviceRef === 'object') ? deviceRef : (0, util_1.makeDeviceRefObj)(deviceRef);
         return this.resolveDevice(deviceRefObj, requestTimeout).pipe((0, operators_1.map)((device) => device.deviceAddress));
     }
@@ -1589,19 +1590,25 @@ class MotionMasterReqResClient {
         return this.enableMotionController(Object.assign(Object.assign({}, deviceRefObj), { controllerType, filter }), requestTimeout, messageId);
     }
     /**
-     * Helper function to disable motion.
+     * A helper function to disable motion.
      */
     disableMotion(deviceRef, requestTimeout = 3000, messageId) {
         const deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceRef);
         return this.disableMotionController(deviceRefObj, requestTimeout, messageId);
     }
     /**
-     * Helper function to set motion target.
+     * A helper function to set the motion target.
      */
     setMotionTarget(deviceRef, target, messageId) {
         const deviceRefObj = (0, util_1.makeDeviceRefObj)(deviceRef);
         return this.setMotionControllerParameters(Object.assign(Object.assign({}, deviceRefObj), { target }), messageId);
     }
+    /**
+     * A helper function to set the value of the Modes of Operation parameter (0x6060:00).
+     */
+    setModesOfOperation(deviceRef, modesOfOperation) {
+        return this.setParameterValue(deviceRef, 0x6060, 0, modesOfOperation);
+    }
     /**
      * Get CiA402 state.
      */
@@ -1653,7 +1660,7 @@ class MotionMasterReqResClient {
             if (targetState === cia402_1.Cia402State.QUICK_STOP_ACTIVE) {
                 expectedStates.push(cia402_1.Cia402State.SWITCH_ON_DISABLED);
             }
-            yield (0, rxjs_1.lastValueFrom)(this.setParameterValue(deviceRef, 0x6040, 0, command).pipe((0, operators_1.mergeMap)(() => this.matchCia402States(deviceRef, expectedStates).pipe((0, operators_1.retry)({ count: 5, delay: 1000 }))), (0, operators_1.catchError)(() => {
+            yield (0, rxjs_1.lastValueFrom)(this.setParameterValue(deviceRef, 0x6040, 0, command).pipe((0, operators_1.mergeMap)(() => this.matchCia402States(deviceRef, expectedStates).pipe((0, operators_1.retry)({ count: 10, delay: 1000 }))), (0, operators_1.catchError)(() => {
                 throw new Error(`Timeout occurred while transitioning from ${currentState} state to ${targetState} state.`);
             })));
         });
@@ -1787,13 +1794,117 @@ class MotionMasterReqResClient {
      * - 0: Execute the next command immediatelly (default)
      * - 3: Abort the current command and all commands in the buffer
      *
-     * Note that if
-     * TODO: ensure that command was aborted, must switch to 0 after the OS command was aborted
-     *
-     * @returns
-     */
-    runOsCommand() {
-        return;
+     * Note that if you abort the OS command, you must switch the value of 0x1024 back to 0 before executing another OS command.
+     */
+    runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval = 1000, executeTheNextOsCommandImmediatelly = true) {
+        let response;
+        // defer must be used to make a request to Motion Master on each repeat step
+        const getResponse$ = (0, rxjs_1.defer)(() => this.getParameterValue(deviceRef, 0x1023, 3).pipe((0, operators_1.map)(os_command_1.parseOsCommandResponse), (0, rxjs_1.tap)((r) => response = r)));
+        return (0, rxjs_1.concat)(executeTheNextOsCommandImmediatelly ? this.setOsCommandMode(deviceRef, os_command_1.OsCommandMode.EXECUTE_THE_NEXT_COMMAND_IMMEDIATELY) : rxjs_1.EMPTY, this.setParameterValue(deviceRef, 0x1023, 1, command), getResponse$.pipe((0, operators_1.repeat)({
+            delay: () => (response && (response.request === 'succeeded' || response.request === 'failed'))
+                ? rxjs_1.EMPTY
+                : (0, rxjs_1.timer)(responsePollingInterval),
+        }))).pipe((0, operators_1.takeUntil)((0, rxjs_1.timer)(commandTimeout).pipe((0, operators_1.mergeMap)(() => (0, rxjs_1.throwError)(() => new Error(`A timeout has occured for the OS command ${JSON.stringify(command)} on device ${deviceRef}.`))))), (0, operators_1.filter)(Boolean));
+    }
+    setOsCommandMode(deviceRef, value) {
+        return this.setParameterValue(deviceRef, 0x1024, 0, value);
+    }
+    abortOsCommand(deviceRef) {
+        return this.setOsCommandMode(deviceRef, os_command_1.OsCommandMode.ABORT_THE_CURRENT_COMMAND_AND_ALL_COMMANDS_IN_THE_BUFFER);
+    }
+    runEncoderRegisterCommunicationOsCommand(deviceRef, encoderOrdinal = 1, slaveAddress = 0, rw = 0, registerAddress = 0, registerWriteValue = 0, commandTimeout = 10000, responsePollingInterval = 1000) {
+        const command = (0, os_command_1.createEncoderRegisterCommunicationOsCommand)(encoderOrdinal, slaveAddress, rw, registerAddress, registerWriteValue);
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
+                return Object.assign(Object.assign({}, osCommandResponse), { registerValue: osCommandResponse.data[0] });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runMotorPhaseOrderDetectionOsCommand(deviceRef, commandTimeout = 10000, responsePollingInterval = 1000) {
+        const command = (0, os_command_1.createMotorPhaseOrderDetectionOsCommand)();
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
+                return Object.assign(Object.assign({}, osCommandResponse), { motorPhaseOrder: osCommandResponse.data[0] });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runCommutationOffsetMeasurementOsCommand(deviceRef, commandTimeout = 30000, responsePollingInterval = 1000) {
+        const command = (0, os_command_1.createCommutationOffsetMeasurementOsCommand)();
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
+                const [b0, b1] = osCommandResponse.data;
+                const commutationAngleOffset = (b0 << 8) | b1;
+                return Object.assign(Object.assign({}, osCommandResponse), { commutationAngleOffset });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runOpenPhaseDetectionOsCommand(deviceRef, commandTimeout = 10000, responsePollingInterval = 1000) {
+        const command = (0, os_command_1.createMotorPhaseOrderDetectionOsCommand)();
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded') {
+                return Object.assign(Object.assign({}, osCommandResponse), { phaseOpened: false });
+            }
+            if (osCommandResponse.request === 'failed') {
+                if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) && osCommandResponse.errorCode <= 250) {
+                    const { errorName, errorDescription } = os_command_1.openPhaseDetectionErrors[osCommandResponse.errorCode];
+                    return Object.assign(Object.assign({}, osCommandResponse), { phaseOpened: true, errorName, errorDescription });
+                }
+                return Object.assign(Object.assign({}, osCommandResponse), { phaseOpened: true });
+            }
+            return osCommandResponse;
+        }));
+    }
+    runPolePairDetectionOsCommand(deviceRef, commandTimeout = 60000, responsePollingInterval = 1000) {
+        const command = (0, os_command_1.createPolePairDetectionOsCommand)();
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
+                return Object.assign(Object.assign({}, osCommandResponse), { numberOfPolePairs: osCommandResponse.data[0] });
+            }
+            if (osCommandResponse.request === 'failed') {
+                if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) && osCommandResponse.errorCode === 0) {
+                    return Object.assign(Object.assign({}, osCommandResponse), { errorName: 'Current amplitude error', errorDescription: 'The drive is not able to increase the amplitude of motor phase currents to the required value. This problem can occur due to limited Vdc or high motor phase impedances.' });
+                }
+            }
+            return osCommandResponse;
+        }));
+    }
+    runPhaseResistanceMeasurementOsCommand(deviceRef, commandTimeout = 10000, responsePollingInterval = 1000) {
+        const command = (0, os_command_1.createPhaseResistanceMeasurementOsCommand)();
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
+                const [b0, b1, b2, b3] = osCommandResponse.data;
+                const phaseResistance = (b0 << 24) | (b1 << 16) | (b2 << 8) | b3;
+                return Object.assign(Object.assign({}, osCommandResponse), { phaseResistance });
+            }
+            if (osCommandResponse.request === 'failed') {
+                if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) && osCommandResponse.errorCode === 0) {
+                    return Object.assign(Object.assign({}, osCommandResponse), { errorName: 'Current amplitude error', errorDescription: 'Unable to increase the current amplitude.' });
+                }
+            }
+            return osCommandResponse;
+        }));
+    }
+    runPhaseInductanceMeasurementOsCommand(deviceRef, commandTimeout = 10000, responsePollingInterval = 1000) {
+        const command = (0, os_command_1.createPhaseInductanceMeasurementOsCommand)();
+        return this.runOsCommand(deviceRef, command, commandTimeout, responsePollingInterval).pipe((0, operators_1.map)((osCommandResponse) => {
+            if (osCommandResponse.request === 'succeeded' && osCommandResponse.data) {
+                const [b0, b1, b2, b3] = osCommandResponse.data;
+                const phaseInductance = (b0 << 24) | (b1 << 16) | (b2 << 8) | b3;
+                return Object.assign(Object.assign({}, osCommandResponse), { phaseInductance });
+            }
+            if (osCommandResponse.request === 'failed') {
+                if ((osCommandResponse === null || osCommandResponse === void 0 ? void 0 : osCommandResponse.errorCode) && osCommandResponse.errorCode === 0) {
+                    return Object.assign(Object.assign({}, osCommandResponse), { errorName: 'Current amplitude error', errorDescription: 'Unable to increase the current amplitude.' });
+                }
+            }
+            return osCommandResponse;
+        }));
+    }
+    readOsCommandResponse(deviceRef) {
+        return this.getParameterValue(deviceRef, 0x1023, 3).pipe((0, operators_1.map)(os_command_1.parseOsCommandResponse));
     }
     /**
      * Set halt bit.

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

@@ -1 +1 @@
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package/src/lib/os-command.d.ts

@@ -1,3 +1,36 @@
+import { RequestStatus } from "./types";
+export interface OsCommandResponse {
+    data?: number[];
+    errorCode?: number;
+    errorName?: string;
+    errorDescription?: string;
+    progress?: number;
+    request: RequestStatus;
+    response: Uint8Array;
+}
+export declare function parseOsCommandResponse(response: Uint8Array): OsCommandResponse;
+export declare enum OsCommandMode {
+    EXECUTE_THE_NEXT_COMMAND_IMMEDIATELY = 0,
+    ABORT_THE_CURRENT_COMMAND_AND_ALL_COMMANDS_IN_THE_BUFFER = 3
+}
+export declare enum OsCommandId {
+    ENCODER_REGISTER_COMMUNICATION = 0,
+    ICMU_CALIBRATION_MODE = 1,
+    OPEN_LOOP_FIELD_MODE = 2,
+    HRD_STREAMING = 3,
+    MOTOR_PHASE_ORDER_DETECTION = 4,
+    COMMUTATION_OFFSET_MEASUREMENT = 5,
+    OPEN_PHASE_DETECTION = 6,
+    POLE_PAIR_DETECTION = 7,
+    PHASE_RESISTANCE_MEASUREMENT = 8,
+    PHASE_INDUCTANCE_MEASUREMENT = 9,
+    TORQUE_CONSTANT_MEASUREMENT = 10,
+    SMM = 11
+}
+export declare const osCommandErrorCode: {
+    [key: number]: string;
+};
+export declare function createOsCommandTypedArray(elements: number[]): Uint8Array;
 /**
  * OS command 0: Encoder register communication
  *
@@ -23,3 +56,118 @@
  * @param registerWriteValue (E) The value to write to the register. This value is ignored when reading a register (when rw is set to 0).
  */
 export declare function createEncoderRegisterCommunicationOsCommand(encoderOrdinal?: number, slaveAddress?: number, rw?: number, registerAddress?: number, registerWriteValue?: number): Uint8Array;
+export interface EncoderRegisterCommunicationOsCommandResponse extends OsCommandResponse {
+    registerValue?: number;
+}
+/**
+ * Command 4: Motor phase order detection
+ *
+ * This command is used to detect the order of the motor phases.
+ * When this command finishes successfully, the found value is automatically written to the object 0x2003:5 Motor phases inverted.
+ * This command rotates the motor.
+ *
+ * This OS command has no arguments.
+ *
+ * When the command finishes successfully, it will return a value of 0 for normal and 1 for inverted motor phases.
+ *
+ * This command doesn't have any command-specific OS error code, so this status will only happen when a general OS error code occurs.
+ *
+ * This command will report its progress without indicating a percentage.
+ *
+ * This command can only be run when the opmode is -2 (OPMODE_DIAGNOSTICS), the CIA402 state is Operation enabled, there is no active limit switch,
+ * and the brake status is disengaged (in case there is a configured brake). If any of these conditions is not true during the execution of the command,
+ * the execution will stop, and it will return the OS error code 251 (command not allowed).
+ */
+export declare function createMotorPhaseOrderDetectionOsCommand(): Uint8Array;
+export interface MotorPhaseOrderDetectionOsCommandResponse extends OsCommandResponse {
+    motorPhaseOrder?: number;
+}
+/**
+ * Command 5: Commutation offset measurement
+ *
+ * This command is used to measure the commutation angle offset.
+ * The configuration of the procedure is derived from the pre-existing and previously used commutation offset objects in the object dictionary.
+ * Upon successful completion of this command, the determined value is automatically written to:
+ * - 0x2001:00 Commutation angle offset
+ * - 0x2009:01 State is set to OFFSET_VALID
+ *
+ * In version 5.0, three different methods can be selected for command 5. These methods are named:
+ * - Commutation offset measurement - method 0
+ * - Commutation offset measurement - method 1
+ * - Commutation offset measurement - method 2
+ * Among these three methods, "method 0" and "method 1" involve rotating the rotor.
+ *
+ * This command can only be run when the opmode is -2 (OPMODE_DIAGNOSTICS) and the CIA402 state is Operation enabled.
+ * Additionally, if the commutation offset measurement method (0x2009:3) is set to 0 or 1,
+ * the command is permissible only when there are no active limit switches, and the brake status is disengaged (in case a brake is configured).
+ * If any of these conditions is not met during the execution of the command, the execution will be halted,
+ * and it will return the OS error code 251 (Command not allowed).
+ */
+export declare function createCommutationOffsetMeasurementOsCommand(): Uint8Array;
+export interface CommutationOffsetMeasurementOsCommandResponse extends OsCommandResponse {
+    commutationAngleOffset?: number;
+}
+/**
+ * Command 6: Open phase detection
+ *
+ * This command is used to detect whether one of the phases is open.
+ * It might rotate the motor if there is no brake or if it is disengaged.
+ *
+ * If this command finishes successfully, it indicates that all motor phases seem to be fine.
+ *
+ * This command can only be run when the opmode is -2 (OPMODE_DIAGNOSTICS), the CIA402 state is Operation enabled,
+ * and there is no limit switch active. If any of these conditions is not true during the execution of the command,
+ * the execution will stop, and it will return the OS error code 251 (Command not allowed).
+ */
+export declare function createOpenPhaseDetectionOsCommand(): Uint8Array;
+export interface OpenPhaseDetectionOsCommandResponse extends OsCommandResponse {
+    phaseOpened?: boolean;
+}
+export declare const openPhaseDetectionErrors: {
+    [key: number]: {
+        errorName: string;
+        errorDescription: string;
+    };
+};
+/**
+ * Command 7: Pole pair detection
+ *
+ * This command is used to detect the number of pole pairs that the connected motor has.
+ * It requires the rotation of the rotor.
+ *
+ * This command can only be run when the opmode is -2 (OPMODE_DIAGNOSTICS), the CIA402 state is Operation enabled,
+ * and there is no limit switch active. If any of these conditions is not true during the execution of the command,
+ * the execution will stop, and it will return the OS error code 251 (Command not allowed).
+ */
+export declare function createPolePairDetectionOsCommand(): Uint8Array;
+export interface PolePairDetectionOsCommandResponse extends OsCommandResponse {
+    numberOfPolePairs?: number;
+}
+/**
+ * Command 8: Phase resistance measurement
+ *
+ * This command is used to measure the phase resistance of the motor in milliohms (mΩ).
+ * It might rotate the motor if there is no brake or if it is disengaged.
+ *
+ * This command can only be run when the opmode is -2 (OPMODE_DIAGNOSTICS), the CIA402 state is Operation enabled,
+ * and there is no limit switch active. If any of these conditions is not true during the execution of the command,
+ * the execution will stop, and it will return the OS error code 251 (Command not allowed).
+ */
+export declare function createPhaseResistanceMeasurementOsCommand(): Uint8Array;
+export interface PhaseResistanceMeasurementOsCommandResponse extends OsCommandResponse {
+    phaseResistance?: number;
+}
+/**
+ * Command 9: Phase inductance measurement
+ *
+ * This command is used to measure the phase inductance of the motor in microhenries (μH).
+ * It might rotate the motor if there is no brake or if it is disengaged.
+ *
+ * This command can only be run when the opmode is -2 (OPMODE_DIAGNOSTICS), the CIA402 state is Operation enabled,
+ * and there is no limit switch active. If any of these conditions is not true during the execution of the command,
+ * the execution will stop, and it will return the OS error code 251 (Command not allowed).
+ */
+export declare function createPhaseInductanceMeasurementOsCommand(): Uint8Array;
+export interface PhaseInductanceMeasurementOsCommandResponse extends OsCommandResponse {
+    phaseInductance?: number;
+}

package/src/lib/os-command.js

@@ -1,6 +1,85 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.createEncoderRegisterCommunicationOsCommand = void 0;
+exports.createPhaseInductanceMeasurementOsCommand = exports.createPhaseResistanceMeasurementOsCommand = exports.createPolePairDetectionOsCommand = exports.openPhaseDetectionErrors = exports.createOpenPhaseDetectionOsCommand = exports.createCommutationOffsetMeasurementOsCommand = exports.createMotorPhaseOrderDetectionOsCommand = exports.createEncoderRegisterCommunicationOsCommand = exports.createOsCommandTypedArray = exports.osCommandErrorCode = exports.OsCommandId = exports.OsCommandMode = exports.parseOsCommandResponse = void 0;
+;
+function parseOsCommandResponse(response) {
+    const status = response.at(0);
+    if (status === undefined) {
+        throw new Error(`No status is available in the typed array response ${JSON.stringify(response)}`);
+    }
+    let data;
+    let errorCode;
+    let errorName;
+    let errorDescription;
+    let progress;
+    let request = 'started';
+    // Determine the status of the OS command.
+    if (status === 0 || status === 1) {
+        request = 'succeeded';
+    }
+    else if (status === 2 || status === 3) {
+        request = 'failed';
+    }
+    else if ((status >= 100 && status <= 200) || status === 255) {
+        request = 'running';
+    }
+    else {
+        throw new Error(`Unknown OS command response status: ${status}`);
+    }
+    // Command in progress with percentage.
+    if (status >= 100 && status <= 200) {
+        progress = status - 100;
+    }
+    // Command completed with error and with response.
+    if (status === 3) {
+        errorCode = response.at(2);
+        if (errorCode !== undefined) {
+            errorName = exports.osCommandErrorCode[errorCode];
+        }
+    }
+    if (status === 1) {
+        // 6 bytes for data when last command completed, no errors, response data available
+        data = Array.from(response.slice(2));
+    }
+    else if (status === 3) {
+        // 5 bytes for data when last command completed, error, response data available
+        data = Array.from(response.slice(3));
+    }
+    return { data, errorCode, errorName, errorDescription, progress, request, response };
+}
+exports.parseOsCommandResponse = parseOsCommandResponse;
+var OsCommandMode;
+(function (OsCommandMode) {
+    OsCommandMode[OsCommandMode["EXECUTE_THE_NEXT_COMMAND_IMMEDIATELY"] = 0] = "EXECUTE_THE_NEXT_COMMAND_IMMEDIATELY";
+    OsCommandMode[OsCommandMode["ABORT_THE_CURRENT_COMMAND_AND_ALL_COMMANDS_IN_THE_BUFFER"] = 3] = "ABORT_THE_CURRENT_COMMAND_AND_ALL_COMMANDS_IN_THE_BUFFER";
+})(OsCommandMode = exports.OsCommandMode || (exports.OsCommandMode = {}));
+;
+var OsCommandId;
+(function (OsCommandId) {
+    OsCommandId[OsCommandId["ENCODER_REGISTER_COMMUNICATION"] = 0] = "ENCODER_REGISTER_COMMUNICATION";
+    OsCommandId[OsCommandId["ICMU_CALIBRATION_MODE"] = 1] = "ICMU_CALIBRATION_MODE";
+    OsCommandId[OsCommandId["OPEN_LOOP_FIELD_MODE"] = 2] = "OPEN_LOOP_FIELD_MODE";
+    OsCommandId[OsCommandId["HRD_STREAMING"] = 3] = "HRD_STREAMING";
+    OsCommandId[OsCommandId["MOTOR_PHASE_ORDER_DETECTION"] = 4] = "MOTOR_PHASE_ORDER_DETECTION";
+    OsCommandId[OsCommandId["COMMUTATION_OFFSET_MEASUREMENT"] = 5] = "COMMUTATION_OFFSET_MEASUREMENT";
+    OsCommandId[OsCommandId["OPEN_PHASE_DETECTION"] = 6] = "OPEN_PHASE_DETECTION";
+    OsCommandId[OsCommandId["POLE_PAIR_DETECTION"] = 7] = "POLE_PAIR_DETECTION";
+    OsCommandId[OsCommandId["PHASE_RESISTANCE_MEASUREMENT"] = 8] = "PHASE_RESISTANCE_MEASUREMENT";
+    OsCommandId[OsCommandId["PHASE_INDUCTANCE_MEASUREMENT"] = 9] = "PHASE_INDUCTANCE_MEASUREMENT";
+    OsCommandId[OsCommandId["TORQUE_CONSTANT_MEASUREMENT"] = 10] = "TORQUE_CONSTANT_MEASUREMENT";
+    OsCommandId[OsCommandId["SMM"] = 11] = "SMM";
+})(OsCommandId = exports.OsCommandId || (exports.OsCommandId = {}));
+;
+exports.osCommandErrorCode = {
+    251: 'Command not allowed',
+    252: 'Command aborted',
+    253: 'Command timeout',
+    254: 'Command unsupported',
+};
+function createOsCommandTypedArray(elements) {
+    return new Uint8Array(elements.concat(new Array(8 - elements.length).fill(0)));
+}
+exports.createOsCommandTypedArray = createOsCommandTypedArray;
 /**
  * OS command 0: Encoder register communication
  *
@@ -25,9 +104,167 @@ exports.createEncoderRegisterCommunicationOsCommand = void 0;
  * @param registerAddress (D) Register to be read/written.
  * @param registerWriteValue (E) The value to write to the register. This value is ignored when reading a register (when rw is set to 0).
  */
-function createEncoderRegisterCommunicationOsCommand(encoderOrdinal = 1, slaveAddress = 0, rw = 0, registerAddress = 0, registerWriteValue) {
-    console.log(encoderOrdinal, slaveAddress, rw, registerAddress, registerWriteValue);
-    return new Uint8Array();
+function createEncoderRegisterCommunicationOsCommand(encoderOrdinal = 1, slaveAddress = 0, rw = 0, registerAddress = 0, registerWriteValue = 0) {
+    const byte2 = (slaveAddress << 1) | rw;
+    const elements = [OsCommandId.ENCODER_REGISTER_COMMUNICATION, encoderOrdinal, byte2, registerAddress, registerWriteValue];
+    return createOsCommandTypedArray(elements);
 }
 exports.createEncoderRegisterCommunicationOsCommand = createEncoderRegisterCommunicationOsCommand;
+;
+/**
+ * Command 4: Motor phase order detection
+ *
+ * This command is used to detect the order of the motor phases.
+ * When this command finishes successfully, the found value is automatically written to the object 0x2003:5 Motor phases inverted.
+ * This command rotates the motor.
+ *
+ * This OS command has no arguments.
+ *
+ * When the command finishes successfully, it will return a value of 0 for normal and 1 for inverted motor phases.
+ *
+ * This command doesn't have any command-specific OS error code, so this status will only happen when a general OS error code occurs.
+ *
+ * This command will report its progress without indicating a percentage.
+ *
+ * This command can only be run when the opmode is -2 (OPMODE_DIAGNOSTICS), the CIA402 state is Operation enabled, there is no active limit switch,
+ * and the brake status is disengaged (in case there is a configured brake). If any of these conditions is not true during the execution of the command,
+ * the execution will stop, and it will return the OS error code 251 (command not allowed).
+ */
+function createMotorPhaseOrderDetectionOsCommand() {
+    const elements = [OsCommandId.MOTOR_PHASE_ORDER_DETECTION];
+    return createOsCommandTypedArray(elements);
+}
+exports.createMotorPhaseOrderDetectionOsCommand = createMotorPhaseOrderDetectionOsCommand;
+;
+/**
+ * Command 5: Commutation offset measurement
+ *
+ * This command is used to measure the commutation angle offset.
+ * The configuration of the procedure is derived from the pre-existing and previously used commutation offset objects in the object dictionary.
+ * Upon successful completion of this command, the determined value is automatically written to:
+ * - 0x2001:00 Commutation angle offset
+ * - 0x2009:01 State is set to OFFSET_VALID
+ *
+ * In version 5.0, three different methods can be selected for command 5. These methods are named:
+ * - Commutation offset measurement - method 0
+ * - Commutation offset measurement - method 1
+ * - Commutation offset measurement - method 2
+ * Among these three methods, "method 0" and "method 1" involve rotating the rotor.
+ *
+ * This command can only be run when the opmode is -2 (OPMODE_DIAGNOSTICS) and the CIA402 state is Operation enabled.
+ * Additionally, if the commutation offset measurement method (0x2009:3) is set to 0 or 1,
+ * the command is permissible only when there are no active limit switches, and the brake status is disengaged (in case a brake is configured).
+ * If any of these conditions is not met during the execution of the command, the execution will be halted,
+ * and it will return the OS error code 251 (Command not allowed).
+ */
+function createCommutationOffsetMeasurementOsCommand() {
+    const elements = [OsCommandId.COMMUTATION_OFFSET_MEASUREMENT];
+    return createOsCommandTypedArray(elements);
+}
+exports.createCommutationOffsetMeasurementOsCommand = createCommutationOffsetMeasurementOsCommand;
+;
+/**
+ * Command 6: Open phase detection
+ *
+ * This command is used to detect whether one of the phases is open.
+ * It might rotate the motor if there is no brake or if it is disengaged.
+ *
+ * If this command finishes successfully, it indicates that all motor phases seem to be fine.
+ *
+ * This command can only be run when the opmode is -2 (OPMODE_DIAGNOSTICS), the CIA402 state is Operation enabled,
+ * and there is no limit switch active. If any of these conditions is not true during the execution of the command,
+ * the execution will stop, and it will return the OS error code 251 (Command not allowed).
+ */
+function createOpenPhaseDetectionOsCommand() {
+    const elements = [OsCommandId.OPEN_PHASE_DETECTION];
+    return createOsCommandTypedArray(elements);
+}
+exports.createOpenPhaseDetectionOsCommand = createOpenPhaseDetectionOsCommand;
+;
+exports.openPhaseDetectionErrors = {
+    0: {
+        errorName: 'Open terminal A',
+        errorDescription: 'Terminal A of the Drive is not connected',
+    },
+    1: {
+        errorName: 'Open terminal B',
+        errorDescription: 'Terminal B of the Drive is not connected',
+    },
+    2: {
+        errorName: 'Open terminal C',
+        errorDescription: 'Terminal C of the Drive is not connected',
+    },
+    3: {
+        errorName: 'Open FET A high',
+        errorDescription: 'Upper FET in leg A of the Drive is not conducting (open circuit fault)',
+    },
+    4: {
+        errorName: 'Open FET A low',
+        errorDescription: 'Lower  FET in leg A of the Drive is not conducting (open circuit fault)',
+    },
+    5: {
+        errorName: 'Open FET B high',
+        errorDescription: 'Upper FET in leg B of the Drive is not conducting (open circuit fault)',
+    },
+    6: {
+        errorName: 'Open FET B low',
+        errorDescription: 'Lower  FET in leg B of the Drive is not conducting (open circuit fault)',
+    },
+    7: {
+        errorName: 'Open FET C high',
+        errorDescription: 'Upper FET in leg C of the Drive is not conducting (open circuit fault)',
+    },
+    8: {
+        errorName: 'Open FET C low',
+        errorDescription: 'Lower  FET in leg C of the Drive is not conducting (open circuit fault)',
+    },
+};
+/**
+ * Command 7: Pole pair detection
+ *
+ * This command is used to detect the number of pole pairs that the connected motor has.
+ * It requires the rotation of the rotor.
+ *
+ * This command can only be run when the opmode is -2 (OPMODE_DIAGNOSTICS), the CIA402 state is Operation enabled,
+ * and there is no limit switch active. If any of these conditions is not true during the execution of the command,
+ * the execution will stop, and it will return the OS error code 251 (Command not allowed).
+ */
+function createPolePairDetectionOsCommand() {
+    const elements = [OsCommandId.POLE_PAIR_DETECTION];
+    return createOsCommandTypedArray(elements);
+}
+exports.createPolePairDetectionOsCommand = createPolePairDetectionOsCommand;
+;
+/**
+ * Command 8: Phase resistance measurement
+ *
+ * This command is used to measure the phase resistance of the motor in milliohms (mΩ).
+ * It might rotate the motor if there is no brake or if it is disengaged.
+ *
+ * This command can only be run when the opmode is -2 (OPMODE_DIAGNOSTICS), the CIA402 state is Operation enabled,
+ * and there is no limit switch active. If any of these conditions is not true during the execution of the command,
+ * the execution will stop, and it will return the OS error code 251 (Command not allowed).
+ */
+function createPhaseResistanceMeasurementOsCommand() {
+    const elements = [OsCommandId.PHASE_RESISTANCE_MEASUREMENT];
+    return createOsCommandTypedArray(elements);
+}
+exports.createPhaseResistanceMeasurementOsCommand = createPhaseResistanceMeasurementOsCommand;
+;
+/**
+ * Command 9: Phase inductance measurement
+ *
+ * This command is used to measure the phase inductance of the motor in microhenries (μH).
+ * It might rotate the motor if there is no brake or if it is disengaged.
+ *
+ * This command can only be run when the opmode is -2 (OPMODE_DIAGNOSTICS), the CIA402 state is Operation enabled,
+ * and there is no limit switch active. If any of these conditions is not true during the execution of the command,
+ * the execution will stop, and it will return the OS error code 251 (Command not allowed).
+ */
+function createPhaseInductanceMeasurementOsCommand() {
+    const elements = [OsCommandId.PHASE_INDUCTANCE_MEASUREMENT];
+    return createOsCommandTypedArray(elements);
+}
+exports.createPhaseInductanceMeasurementOsCommand = createPhaseInductanceMeasurementOsCommand;
+;
 //# sourceMappingURL=os-command.js.map

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