24 lines
921 B
C#
24 lines
921 B
C#
namespace RobotNet10.RobotApp.Client.Shared.Devices;
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/// <summary>
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/// DTO cho CiA402Servo data
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/// </summary>
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public struct CiA402ServoDataDto
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{
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public ushort Statusword { get; set; }
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public string DriveState { get; set; }
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public string OperationMode { get; set; }
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public int Position { get; set; }
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public int Velocity { get; set; }
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public short Torque { get; set; }
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public ushort ErrorCode { get; set; }
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public bool IsConnected { get; set; }
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/// <summary>Profile Speed (0x6081) - đọc từ drive khi GetServoData</summary>
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public uint ProfileSpeed { get; set; }
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/// <summary>Profile Acceleration (0x6083) - đọc từ drive khi GetServoData</summary>
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public uint ProfileAcceleration { get; set; }
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/// <summary>Profile Deceleration (0x6084) - đọc từ drive khi GetServoData</summary>
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public uint ProfileDeceleration { get; set; }
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}
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