<html><body><div style="font-family: arial, helvetica, sans-serif; font-size: 12pt; color: #000000"><div><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><div data-marker="__SIG_PRE__"><div style="width:2.18in;line-height:0.2in"><span style="font-style:normal;font-weight:bold;font-size:13pt;font-family:'verdana';color:#000000">Clément GASPARD</span><span style="font-style:normal;font-weight:bold;font-size:13pt;font-family:'verdana';color:#000000"> </span></div><table style="height:108px"><tbody><tr style="height:24px"><td rowspan="2" style="height:54px"><img style="width:0.57in;height:0.57in" src="cid:2284701f0ae8ae49740e078b8add79e7e3ec3dad@zimbra" data-mce-src="https://webmel.u-bordeaux.fr/home/clement.gaspard@u-bordeaux.fr/Briefcase/identite-visuelle-UBX2.jpg" doc="Briefcase/identite-visuelle-UBX2.jpg"></td><td valign="bottom" style="height:24px"><font face="Verdana"><span style="font-size:13.3333px">Equipe Rhoban - Dpt</span></font><span style="font-style:normal;font-weight:normal;font-size:10pt;font-family:'verdana';color:#000000"> Méthodes et Modèles Formels</span><span style="font-size:10pt;font-family:'verdana' , 'helvetica' , sans-serif"> | LaBRI - Université de Bordeaux</span><span style="font-style:normal;font-weight:normal;font-size:10pt;font-family:'verdana';color:#000000"><br></span></td></tr><tr style="height:30px"><td valign="top" style="height:30px"><img style="width:0.2in;height:0.2in" src="cid:0d08ef0973e017f19299463d8e2e33b87bbdc583@zimbra" data-mce-src="https://webmel.u-bordeaux.fr/home/clement.gaspard@u-bordeaux.fr/Briefcase/Image1.png" doc="Briefcase/Image1.png"> <a href="mailto:clement.gaspard@u-bordeaux.fr" rel="noopener nofollow noopener noreferrer" target="_blank"> <span style="vertical-align:text-top;font-style:normal;font-weight:normal;font-size:9pt;font-family:'verdana';color:#023261"> clement.gaspard@u-bordeaux.fr </span> </a></td></tr><tr style="height:24px"><td rowspan="2" style="height:54px"><img style="width:0.57in;height:0.57in" src="cid:54eb1f5bae9185c60c069cf037693f7658b30154@zimbra" data-mce-src="https://webmel.u-bordeaux.fr/home/clement.gaspard@u-bordeaux.fr/Briefcase/ENS.png" doc="Briefcase/ENS.png"></td><td valign="bottom" style="height:24px"><span style="font-style:normal;font-weight:normal;font-size:10pt;font-family:'verdana';color:#000000">Département Mécatronique | ENS Rennes</span></td></tr><tr style="height:30px"><td valign="top" style="height:30px"><img style="width:0.2in;height:0.2in" src="cid:a165a60e72cf961fd8253af8cbb5d32383eb6d86@zimbra" data-mce-src="https://webmel.u-bordeaux.fr/home/clement.gaspard@u-bordeaux.fr/Briefcase/Image1.png" doc="Briefcase/Image1.png"> <a href="mailto:clement.gaspard@ens-rennes.fr" rel="noopener nofollow noopener noreferrer" target="_blank"><span style="vertical-align:text-top;font-style:normal;font-weight:normal;font-size:9pt;font-family:'verdana';color:#023261">clement.gaspard@ens-rennes.fr</span> </a></td></tr></tbody></table></div></div></body></html>