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<p>Hello Clement,</p>
<p>you should be able to call the SDO functions, but they must NOT
be called from the cyclic task thread. AFAIR, they are blocking
and they need several cyclic task thread cycles to execute.</p>
<p>Best regards,<br>
Ian<br>
</p>
<p><br>
</p>
<div class="moz-cite-prefix">On 5/16/24 17:56, Clement Gaspard
wrote:<br>
</div>
<blockquote type="cite" cite="mid:1100747287.759688.1715874978418.JavaMail.zimbra@u-bordeaux.fr">
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<div>You don't often get email from
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<div>Good afternoon everyone,</div>
<div><br>
</div>
<div>I am controlling ZeroErr eRob Actuators using the IgH
EtherCAT Master from the stable-1.5 branch.</div>
<div><br>
</div>
<div>I have defined Tx and Rx PDO registers to read/write
informations during the cyclic task.</div>
<div><br>
</div>
<div>However, is it possible to use SDO download and upload
while the cyclic task is running?</div>
<div><br>
</div>
<div>If not, what is the best way to consult SDO information
in the shortest possible time?</div>
<div><br>
</div>
<div>(I have tried to use <strong>ecrt_master_sdo_upload</strong>
and <strong>ecrt_master_sdo_download</strong> during the
cyclic task without much success. However, it works if I
use these functions before calling
<strong>ecrt_master_activate</strong>.)</div>
<div><br>
</div>
<div>For example, I would like to know the temperature of
the drive regularly (only accessible via SDO and not PDO
mappable as described in the actuator documentation).</div>
<div><br>
</div>
<div>Thank you very much in advance.</div>
<div><br>
</div>
<div>Best regards,</div>
</div>
<div><br>
</div>
<div>---------------------------------</div>
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