Motion Master Client

Library and CLI tool for interacting with Motion Master.

Install

sudo npm --unsafe-perm=true install -g @synapticon/motion-master-client

Command line usage

See the examples in test.sh.

Usage: cli [options] [command]

Options:
  -V, --version                                                                                                   output the version number
  -c, --config <path>                                                                                             path to JSON config file to read and replace     the default values with
  -d, --device-address <address>                                                                                  device address (uint32) generated by Motion     Master - takes precedence over
                                                                                                                  device position
  -f, --output-format <json|yaml>                                                                                 if left unspecified the output format is the     default colored message
                                                                                                                  inspect
  -p, --device-position <position>                                                                                used when device address is not specified     (default: 0)
  -h, --help                                                                                                      display help for command

Commands:
  request [options] <type> [args...]
  upload [options] [params...]
  download [paramValues...]
  getDeviceFileContent <filename>
  getDeviceLogContent
  getCoggingTorqueDataContent
  startCoggingTorqueRecording [options]
  startOffsetDetection
  startPlantIdentification <durationSeconds> <torqueAmplitude> <startFrequency> <endFrequency> <cutoffFrequency>
  startSystemIdentification <durationSeconds> <torqueAmplitude> <startFrequency> <endFrequency>
  startCirculoEncoderNarrowAngleCalibrationProcedure <encoderOrdinal>
  monitor [options] <topic> [params...]
  help [command]                                                                                                  display help for command

request

Usage: cli request [options] <type> [args...]

Options:
  -i, --interval <value>  sending interval in microseconds (default:     1000000)
  -h, --help              display help for command

Request <type>s:
  pingSystem
  getSystemVersion
  getDeviceInfo
  getDeviceParameterInfo
  getDeviceParameterValues
  getMultiDeviceParameterValues
  setDeviceParameterValues
  setMultiDeviceParameterValues
  getDeviceFileList
  getDeviceFile
  setDeviceFile
  deleteDeviceFile
  resetDeviceFault
  stopDevice
  startDeviceFirmwareInstallation
  getDeviceLog
  startCoggingTorqueRecording
  getCoggingTorqueData
  startOffsetDetection
  startPlantIdentification
  startSystemIdentification
  computeAutoTuningGains
  setMotionControllerParameters
  enableMotionController
  disableMotionController
  setSignalGeneratorParameters
  startSignalGenerator
  stopSignalGenerator
  startMonitoringDeviceParameterValues
  stopMonitoringDeviceParameterValues
  getEthercatNetworkState
  setEthercatNetworkState
  startNarrowAngleCalibration
  setSystemClientTimeout
  getCirculoEncoderMagnetDistance
  startCirculoEncoderNarrowAngleCalibrationProcedure
  getDeviceCiA402State
  setDeviceCiA402State
  getSystemLog
  startDeviceSiiRestore
  startOpenLoopFieldControl
  computeFullAutoTuningGains
  startFullAutoTuning
  stopFullAutoTuning
  startCirculoEncoderConfiguration
  stopCirculoEncoderNarrowAngleCalibrationProcedure
  startOsCommand

monitor

Usage: monitor [options] <topic> [params...]

Options:
  -i, --interval <value>  sending interval in microseconds (default: 1000000)
  -h, --help              output usage information

Library usage

const input = new rxjs.Subject<Buffer>();
const output = new rxjs.Subject<Buffer>();
const motionMasterClient = new MotionMasterClient(input, output);
const messageId = v4(); // '4e4d938e-1021-4b68-ad01-38c7ed2c5ee4'
const getSystemVersion: motionmaster.MotionMasterMessage.Request.IGetSystemVersion = {};
motionMasterClient.sendRequest({ getSystemVersion }, messageId);
motionMasterClient.systemVersion$.subscribe(console.log);

Publish

npm publish --access=public