AxoDrive extended by linear and rotary motion

src/components.abstractions/ctrl/src/AxoDrives/eAxoDriveAxisType.st

@@ -0,0 +1,11 @@
+NAMESPACE AXOpen.Components.Abstractions.Drives
+    TYPE PUBLIC
+        eAxoDriveAxisType : INT
+        (		
+            Error := -1,
+            Undefined := 0,
+            Linear := 1,
+            Rotary := 2
+        ) := Undefined;
+    END_TYPE
+END_NAMESPACE

src/components.drives/ctrl/src/AxoDrives/AxoDrive_Status.st

@@ -1,4 +1,5 @@
 USING AXOpen.Core;
+USING AXOpen.Components.Drives.Abstractions;
 NAMESPACE AXOpen.Components.Drives
     {#ix-attr:[Container(Layout.Stack)]}
     {S7.extern=ReadWrite}

src/components.festo.drives/src/AXOpen.Components.Festo.Drives.blazor/AxoCmmtAs/AxoCmmtAsView.razor.cs

@@ -1,8 +1,9 @@
-using System;
-using System.Globalization;
-using AXOpen.Core.Blazor;
+using AXOpen.Components.Abstractions.Drives;
 using AXOpen.Components.Drives;
+using AXOpen.Core.Blazor;
 using AXSharp.Connector.ValueTypes;
+using System;
+using System.Globalization;
 
 namespace AXOpen.Components.Festo.Drives
 {
@@ -34,9 +35,27 @@ public partial class AxoCmmtAsView : AxoComponentViewBase<AxoCmmtAs>
             _ => "badge-secondary"
         };
 
-        public string FormattedPosition => FormatValue(Component?.ActualPosition, "mm");
+        public string PositionUnit => (eAxoDriveAxisType)Component.AxisType.Cyclic switch
+        {
+            eAxoDriveAxisType.Linear => "mm",
+            eAxoDriveAxisType.Rotary => "deg",
+            eAxoDriveAxisType.Error => "!!!",
+            eAxoDriveAxisType.Undefined => "???",
+            _ => "???"
+        };
+
+        public string VelocityUnit => (eAxoDriveAxisType)Component.AxisType.Cyclic switch
+        {
+            eAxoDriveAxisType.Linear => "mm/s",
+            eAxoDriveAxisType.Rotary => "deg/s",
+            eAxoDriveAxisType.Error => "!!!",
+            eAxoDriveAxisType.Undefined => "???",
+            _ => "???"
+        };
+
+        public string FormattedPosition => FormatValue(Component?.ActualPosition, PositionUnit);
 
-        public string FormattedVelocity => FormatValue(Component?.ActualVelocity, "mm/s");
+        public string FormattedVelocity => FormatValue(Component?.ActualVelocity, VelocityUnit);
 
         public string FormattedTorque => FormatValue(Component?.ActualTorque, "Nm");
 

src/components.festo.drives/src/AXOpen.Components.Festo.Drives/AxoCmmtAs/AxoCmmtAs.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Net.NetworkInformation;
@@ -557,6 +557,7 @@ private void InitializeMessenger()
 
 
                 new KeyValuePair<ulong, AxoMessengerTextItem>(1800, new AxoMessengerTextItem("Scaling parameters not yet read out of the drive"                                                                                                                             ,"Check  proper value of the Module access point Hardware ID")),
+                new KeyValuePair<ulong, AxoMessengerTextItem>(1801, new AxoMessengerTextItem("Invalid user units specified."                                                                                                                             ,"Possible configurations: \nUser unit position (P1.7851.0.0)\t\t:\t SI Unit METER \t\t\t(256)  AND\nUser unit velocity (P1.7852.0.0)\t\t:\t SI Unit METER 1/s \t\t(259)  AND\nUser unit acceleration (P1.7853.0.0)\t:\t SI Unit METER 1/s2\t\t(343)  AND\nUser unit jerk (P1.7854.0.0)\t\t\t:\t SI Unit METER 1/s3\t\t(416)  OR\nUser unit position (P1.7851.0.0)\t\t:\t SI Unit DEGREE \t\t(16640)  AND\nUser unit velocity (P1.7852.0.0)\t\t:\t SI Unit DEGREE 1/s \t(16643)  AND\nUser unit acceleration (P1.7853.0.0)\t:\t SI Unit DEGREE 1/s2\t(16727)  AND\nUser unit jerk (P1.7854.0.0)\t\t\t:\t SI Unit DEGREE 1/s3\t(16800)  \n")),
 
                 new KeyValuePair<ulong, AxoMessengerTextItem>(2000, new AxoMessengerTextItem("Movement in positive direction is disabled"                                                                                                                                   ,"Check the safety condition")),
                 new KeyValuePair<ulong, AxoMessengerTextItem>(2001, new AxoMessengerTextItem("Movement in negative direction is disabled"                                                                                                                                   ,"Check the safety condition")),