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    Hello Aiser,<br>
    <br>
    you can do this in one process with different threads. One of your
    thread, maybe your main thread, calls ecrt_request_master(). You
    register each EtherCAT board in a separate domain. Then you are able
    to access the different boards individually through the different
    domains. The only thing you have to consider is that every time you
    call the master with one thread, you need to lock it with a global
    mutex, so that it cannot be accessed the same time by different
    threads.<br>
    <br>
    Best regards,<br>
    Jürgen<br>
    <br>
    <div class="moz-cite-prefix">Am 14.11.2013 13:37, schrieb Asier
      Tamayo:<br>
    </div>
    <blockquote
cite="mid:4F6C25B906613147991AA0B688C61D1F1D9BF8CD@SRVEXCHANGE.ona-electroerosion.com"
      type="cite">
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        <p class="MsoNormal"><font face="Arial" size="2"><span
              style="font-size:10.0pt;
              font-family:Arial">Hello all,<o:p></o:p></span></font></p>
        <p class="MsoNormal"><font face="Arial" size="2"><span
              style="font-size:10.0pt;
              font-family:Arial"><o:p> </o:p></span></font></p>
        <p class="MsoNormal"><font face="Arial" size="2"><span
              style="font-size:
              10.0pt;font-family:Arial" lang="EN-GB">I’m a new user to
              the EtherCAT Master, so I beg your pardon if this question
              has already been answered or it is a RT*M type question.
              I’m using the master with Xenomai.<o:p></o:p></span></font></p>
        <p class="MsoNormal"><font face="Arial" size="2"><span
              style="font-size:
              10.0pt;font-family:Arial" lang="EN-GB"><o:p> </o:p></span></font></p>
        <p class="MsoNormal"><font face="Arial" size="2"><span
              style="font-size:
              10.0pt;font-family:Arial" lang="EN-GB">I want to access
              EtherCAT from two different tasks, each one accessing to
              different EtherCAT boards. Is there any way I can do it?
              The ecrt_request_master() function reserves the EtherCAT
              master for exclusive use, and therefore I can’t call it
              again from the second task. Do I have to create a Xenomai
              RTDM driver that would reserve the master for itself and
              then let the tasks execute ioctl’s to that driver? Is it
              possible?<o:p></o:p></span></font></p>
        <p class="MsoNormal"><font face="Arial" size="2"><span
              style="font-size:
              10.0pt;font-family:Arial" lang="EN-GB"><o:p> </o:p></span></font></p>
        <p class="MsoNormal"><font face="Arial" size="2"><span
              style="font-size:
              10.0pt;font-family:Arial" lang="EN-GB">Best regards,<o:p></o:p></span></font></p>
        <p class="MsoNormal"><font face="Arial" size="2"><span
              style="font-size:
              10.0pt;font-family:Arial" lang="EN-GB"><o:p> </o:p></span></font></p>
        <p class="MsoNormal"><font face="Arial" size="2"><span
              style="font-size:10.0pt;
              font-family:Arial">Asier<o:p></o:p></span></font></p>
        <p class="MsoNormal"><font face="Arial" size="2"><span
              style="font-size:10.0pt;
              font-family:Arial"><o:p> </o:p></span></font></p>
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      <br>
      <pre wrap="">_______________________________________________
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</pre>
    </blockquote>
    <br>
    <div class="moz-signature">-- <br>
      Dipl.-Inform. Jürgen Kunz<br>
      <br>
      <a href="http://www.tu-darmstadt.de">Technische Universität
        Darmstadt</a><br>
      <a href="http://www.sim.tu-darmstadt.de">FG Simulation,
        Systemoptimierung und Robotik</a><br>
      Hochschulstr. 10<br>
      64289 Darmstadt<br>
      <br>
      Tel.: ++49 (0) 6151-16-70383<br>
      Fax: ++49 (0) 6151-16-6648<br>
      E-Mail: kunz(at)sim.tu-darmstadt.de<br>
      Homepage: <a href="http://www.sim.tu-darmstadt.de">http://www.sim.tu-darmstadt.de</a></div>
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