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QUYVN
2026-07-13 09:25:40 +07:00
parent c08ff54676
commit bccfb156d7
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srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Devices/CiA402ServoDataDto.cs Normal file
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namespace RobotNet10.RobotApp.Client.Shared.Devices;
/// <summary>
/// DTO cho CiA402Servo data
/// </summary>
public struct CiA402ServoDataDto
{
public ushort Statusword { get; set; }
public string DriveState { get; set; }
public string OperationMode { get; set; }
public int Position { get; set; }
public int Velocity { get; set; }
public short Torque { get; set; }
public ushort ErrorCode { get; set; }
public bool IsConnected { get; set; }
/// <summary>Profile Speed (0x6081) - đọc từ drive khi GetServoData</summary>
public uint ProfileSpeed { get; set; }
/// <summary>Profile Acceleration (0x6083) - đọc từ drive khi GetServoData</summary>
public uint ProfileAcceleration { get; set; }
/// <summary>Profile Deceleration (0x6084) - đọc từ drive khi GetServoData</summary>
public uint ProfileDeceleration { get; set; }
}