Class EthernetDevice

Represents a single Ethernet device. Each Ethernet device hosts a web server, and the base URL uniquely identifies the device.

Hierarchy

EthernetDevice

Constructors

constructor

new EthernetDevice(baseUrl: string): EthernetDevice
Creates an instance of the class with the specified base URL.
Parameters
- baseUrl: string
  
  The base URL for accessing the device API.
Returns EthernetDevice
- Defined in libs/motion-master-client/src/lib/ethernet.ts:94

Properties

`Readonly` baseUrl

baseUrl: string

The base URL for accessing the device API.

`Private` `Readonly` headers

headers: {
Accept: string;
Content-Type: string;
} = ...

Default headers for all requests to the Integro device web server.

Type declaration

Accept: string
Content-Type: string

`Optional` parameters

parameters?: EthernetDeviceParameter[]

A collection of previously retrieved device parameters. These cached parameters assist in determining the correct data type and decoding parameter values during parameter upload. They are also used to identify the list of PDO entries and their configurations.

`Optional` rxPdoEntries

rxPdoEntries?: EthernetPdoEntry[]

Cached RxPDO entries used to determine the type and size when sending PDO values.

`Optional` txPdoEntries

txPdoEntries?: EthernetPdoEntry[]

Cached TxPDO entries used to determine the type and size when receiving PDO values.

Methods

clearCache

clearCache(): void
Clears the internal cache by resetting parameters and PDO entries.

This method sets the parameters, rxPdoEntries, and txPdoEntries to undefined, effectively clearing any stored configuration or data for these properties.

Returns void
- Defined in libs/motion-master-client/src/lib/ethernet.ts:102

download

download(index: number, subindex: number, value: ParameterValueType, uid?: string): Promise<void>
Downloads the specified parameter value to the device.

Command Code: CMD=0x02

Returns
A promise that resolves when the download is complete.
Parameters
- index: number
  
  The index of the parameter to be downloaded.
- subindex: number
  
  The subindex of the parameter to be downloaded.
- value: ParameterValueType
  
  The value to set for the parameter.
- Optional uid: string
  
  An optional unique identifier for the request.
Returns Promise<void>
- Defined in libs/motion-master-client/src/lib/ethernet.ts:285

getCachedParameters

getCachedParameters(): Promise<EthernetDeviceParameter[]>
Retrieves the cached parameters. If the parameters are not cached, a request is made to the device to fetch them.

Returns
A promise that resolves to an array of cached parameters.

Returns Promise<EthernetDeviceParameter[]>
- Defined in libs/motion-master-client/src/lib/ethernet.ts:165

getCachedPdoEntries

getCachedPdoEntries(key: "rxPdoEntries" | "txPdoEntries"): Promise<EthernetPdoEntry[]>
Retrieves and caches PDO entries, including index, subindex, bit length, and data type, for efficient reuse in operations like sending and receiving PDO values.

Note that requests to NetX must be made sequentially; otherwise, a fetch call in Node.js may time out, resulting in a 'ConnectTimeoutError'.

Returns
A promise that resolves to an array of cached PDO entries.
Parameters
- key: "rxPdoEntries" | "txPdoEntries"
  
  Specifies which PDO entries to retrieve ('rxPdoEntries' or 'txPdoEntries').
Returns Promise<EthernetPdoEntry[]>
- Defined in libs/motion-master-client/src/lib/ethernet.ts:184

getParameters

getParameters(uid?: string): Promise<EthernetDeviceParameter[]>
Retrieves the list of available parameters on the device.

Command Code: CMD=0x05

Returns
A promise that resolves to the list of available parameters.
Parameters
- Optional uid: string
  
  An optional unique identifier for the request.
Returns Promise<EthernetDeviceParameter[]>
- Defined in libs/motion-master-client/src/lib/ethernet.ts:142

getState

getState(uid?: string): Promise<number>
Retrieves the EtherCAT-compatible state of the device as defined by EthercatState.

Command Code: CMD=0x06

Returns
A promise that resolves to the current state as a number.
Parameters
- Optional uid: string
  
  An optional unique identifier for the request.
Returns Promise<number>
- Defined in libs/motion-master-client/src/lib/ethernet.ts:365

parseEthernetDeviceParameterEntry

parseEthernetDeviceParameterEntry(entry: string[]): EthernetDeviceParameter
Parses a single entry (array of strings) representing information about a parameter from the GET /odl endpoint. For example, the following entry corresponds to "0x2111:1" (Encoder 1 feedback - Raw position): [ "2111", // Index in hexadecimal format "1", // Subindex in decimal format "Raw position", // Parameter name "0", // Object code "7", // Value type "87" // Flags ]

Returns
An object of type EthernetDeviceParameter containing the parsed values.
Parameters
- entry: string[]
  
  An array of strings containing the parameter information.
Returns EthernetDeviceParameter
- Defined in libs/motion-master-client/src/lib/ethernet.ts:123

readFile

readFile(filename: string, uid?: string): Promise<Uint8Array>
Reads a file from the specified device.

Command Code: CMD=0x03

Todo
Implement the function to fetch the file data from the device.

Returns
A promise that resolves to a Uint8Array containing the file data.
Parameters
- filename: string
  
  The name of the file to be read.
- Optional uid: string
  
  An optional unique identifier for the request.
Returns Promise<Uint8Array>
- Defined in libs/motion-master-client/src/lib/ethernet.ts:451

receivePdoValues

receivePdoValues(uid?: string): Promise<number[]>
Receives PDO values from the device.

The device sends an array of bytes, and this function processes the parameters, their data types, and the PDO entries to convert the byte array into an array of received PDO entry values.

Command Code: CMD=0x0A

Returns
An array of received PDO entry values.
Parameters
- Optional uid: string
  
  An optional unique identifier for the request.
Returns Promise<number[]>
- Defined in libs/motion-master-client/src/lib/ethernet.ts:542

reset

reset(clearCache??: boolean): Promise<void>
Resets or restarts both NetX firmware components: COM and CORE. This operation is typically performed after completing a firmware installation.

Note that the device will respond before the actual restart occurs, so please allow a few seconds for the restart to complete.

Command Code: CMD=0x09

Returns
A promise that resolves when the reset request is complete.
Parameters
- Optional clearCache: boolean = true
  
  Specifies whether to clear the parameters and PDO entries cache during the reset.
Returns Promise<void>
- Defined in libs/motion-master-client/src/lib/ethernet.ts:421

sendPdoValues

sendPdoValues(values: number[], uid?: string): Promise<void>
Send PDO values to the device.

The provided array of values will be converted into a byte array based on parameters' data types.

Command Code: CMD=0x0B

Returns
Parameters
- values: number[]
- Optional uid: string
Returns Promise<void>
- Defined in libs/motion-master-client/src/lib/ethernet.ts:482

setState

setState(state: EthercatState, uid?: string): Promise<void>
Sets the EtherCAT-compatible state of the device as defined by EthercatState.

Command Code: CMD=0x07

Returns
A promise that resolves when the state has been successfully set.
Parameters
- state: EthercatState
  
  The target state to set for the device, based on the EthercatState enumeration.
- Optional uid: string
  
  An optional unique identifier for the request.
Returns Promise<void>
- Defined in libs/motion-master-client/src/lib/ethernet.ts:390

updateFirmware

updateFirmware(buffer: ArrayBuffer, filename: string): Promise<void>
Updates the firmware by uploading it to the device and restarting the NetX.

Todo
This function has not been tested. Verify its functionality by uploading a firmware file.
Parameters
- buffer: ArrayBuffer
  
  The firmware data to upload.
- filename: string
  
  The name of the firmware file.
Returns Promise<void>
- Defined in libs/motion-master-client/src/lib/ethernet.ts:625

upload

upload(index: number, subindex: number, uid?: string): Promise<ParameterValueType>
Uploads a single parameter value from the device.

Command Code: CMD=0x01

Returns
- A promise that resolves with the uploaded parameter value.
Parameters
- index: number
  
  The index of the parameter to upload.
- subindex: number
  
  The subindex of the parameter to upload.
- Optional uid: string
  
  An optional unique identifier for the request.
Returns Promise<ParameterValueType>
- Defined in libs/motion-master-client/src/lib/ethernet.ts:219

uploadFirmware

uploadFirmware(buffer: ArrayBuffer, filename: string): Promise<void>
Uploads the firmware file to the device. Call the reset method to apply the changes.

Todo
This function has not been tested. Verify its functionality by uploading a firmware file.

Returns
A promise that resolves when the upload is complete.
Parameters
- buffer: ArrayBuffer
  
  The firmware data to upload.
- filename: string
  
  The name of the firmware file.
Returns Promise<void>
- Defined in libs/motion-master-client/src/lib/ethernet.ts:597

writeFile

writeFile(filename: string, content: Uint8Array, uid?: string): Promise<void>
Writes the specified file content to the device.

Command Code: CMD=0x04

Todo
Implement the function to write the file content to the device.

Returns
A promise that resolves when the file has been successfully written.
Parameters
- filename: string
  
  The name of the file to be created or overwritten on the device.
- content: Uint8Array
  
  The file content to be written, provided as a Uint8Array.
- Optional uid: string
  
  An optional unique identifier for the request.
Returns Promise<void>
- Defined in libs/motion-master-client/src/lib/ethernet.ts:467

Class EthernetDevice

Hierarchy

Index

Constructors

Properties

Methods

Constructors

constructor

Parameters

baseUrl: string

Returns EthernetDevice

Properties

Readonly baseUrl

Private Readonly headers

Type declaration

Accept: string

Content-Type: string

Optional parameters

Optional rxPdoEntries

Optional txPdoEntries

Methods

clearCache

Returns void

download

Returns

Parameters

index: number

subindex: number

value: ParameterValueType

Optional uid: string

Returns Promise<void>

getCachedParameters

Returns

Returns Promise<EthernetDeviceParameter[]>

getCachedPdoEntries

Returns

Parameters

key: "rxPdoEntries" | "txPdoEntries"

Returns Promise<EthernetPdoEntry[]>

getParameters

Returns

Parameters

Optional uid: string

Returns Promise<EthernetDeviceParameter[]>

getState

Returns

Parameters

Optional uid: string

Returns Promise<number>

parseEthernetDeviceParameterEntry

Returns

Parameters

entry: string[]

Returns EthernetDeviceParameter

readFile

Todo

Returns

Parameters

filename: string

Optional uid: string

Returns Promise<Uint8Array>

receivePdoValues

Returns

Parameters

Optional uid: string

Returns Promise<number[]>

reset

Returns

Parameters

Optional clearCache: boolean = true

Returns Promise<void>

sendPdoValues

Returns

Parameters

values: number[]

Optional uid: string

Returns Promise<void>

setState

Returns

Parameters

`Readonly` baseUrl

`Private` `Readonly` headers

`Optional` parameters

`Optional` rxPdoEntries

`Optional` txPdoEntries

`Optional` uid: string

`Optional` uid: string

`Optional` uid: string

`Optional` uid: string

`Optional` uid: string

`Optional` clearCache: boolean = true

`Optional` uid: string

`Optional` uid: string

`Optional` uid: string

`Optional` uid: string