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QUYVN
2026-07-13 09:25:40 +07:00
parent c08ff54676
commit bccfb156d7
1938 changed files with 641646 additions and 0 deletions
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31
srcs/RobotNet10/RobotApp/Communication/RobotNet10.CANOpen.CiA402/Models/Controlword.cs Normal file
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namespace RobotNet10.CANOpen.CiA402.Models;
public readonly struct Controlword
{
public ushort Value { get; init; }
public Controlword(ushort value)
{
Value = value;
}
public bool SwitchOn => (Value & 0x0001) != 0;
public bool EnableVoltage => (Value & 0x0002) != 0;
public bool QuickStop => (Value & 0x0004) != 0;
public bool EnableOperation => (Value & 0x0008) != 0;
public bool FaultReset => (Value & 0x0080) != 0;
public bool Halt => (Value & 0x0100) != 0;
public static Controlword Shutdown => new(0x0006);
public static Controlword SwitchOnCmd => new(0x0007);
public static Controlword DisableVoltage => new(0x0000);
public static Controlword QuickStopCmd => new(0x0002);
public static Controlword DisableOperation => new(0x0007);
public static Controlword EnableOperationCmd => new(0x000F);
public static Controlword FaultResetCmd => new(0x0080);
public override string ToString() => $"0x{Value:X4}";
public static implicit operator ushort(Controlword cw) => cw.Value;
public static implicit operator Controlword(ushort value) => new(value);
}