public DryveStatus(string binaryStatus, DryveModeOfOperation opMode)
{
if (!Regex.IsMatch(binaryStatus, "^[01]{16}$"))
{
throw new Exception("Invalid dryveStatus");
}
bool[] statusArray = binaryStatus.Select(c => c == '1').ToArray();
_modeOfOperation = opMode;
_binaryStatus = binaryStatus;
ReadySwitchOn = statusArray[15];
IsOn = statusArray[14];
IsOpEnabled = statusArray[13];
Fault = statusArray[12];
VoltageEnabled = statusArray[11];
QuickStop = statusArray[10];
SwitchOnDiabled = statusArray[9];
Warning = statusArray[8];
MotorEnabled = statusArray[6];
TargetReached = statusArray[5];
InternalLimitActive = statusArray[4];
SetpointApplied = opMode == DryveModeOfOperation.Mode_ProfilePosition ? (bool?)statusArray[3] : null;
IsMoving = opMode == DryveModeOfOperation.Mode_ProfileVelocity ? (bool?)!statusArray[3] : null;
HomingAttained = opMode == DryveModeOfOperation.Mode_Homing ? (bool?)statusArray[3] : null;
}
public DryveModeOfOperation GetModeOfOperation()
{
byte[] result = SendAndReceive(DryveObject.ModesOfOperationDisplay);
string modeVal = ParseReadData(result, ResultFormat.Integer);
DryveModeOfOperation modeOfOperation = ModeDict.FirstOrDefault(x => x.Value == short.Parse(modeVal)).Key;
return(modeOfOperation);
}
public DryveStatus GetStatus()
{
DryveModeOfOperation modeOfOperation = GetModeOfOperation();
byte[] result = SendAndReceive(DryveObject.Statusword);
DryveStatus dryveStatus = new DryveStatus(ParseReadData(result), modeOfOperation);
return(dryveStatus);
}
public byte[] SetModeOfOperation(DryveModeOfOperation modeOfOperation)
{
short modeByte = ModeDict[modeOfOperation];
byte[] modeBytes = new byte[1] {
(byte)modeByte
};
var result = SendAndReceive(messageType: DryveObject.ModesOfOperation, accessType: ObjectAccess.Write, dataValue: modeBytes);
return(result);
}
public void SetModeOfOperation(DryveModeOfOperation modeName)
{
var result = _msgHandler.SetModeOfOperation(modeName);
}
