[Etherlab-users] Read/Write SDO during cyclic task

[Clement Gaspard]

Good afternoon everyone, 

I am controlling ZeroErr eRob Actuators using the IgH EtherCAT Master from the stable-1.5 branch. 

I have defined Tx and Rx PDO registers to read/write informations during the cyclic task. 

However, is it possible to use SDO download and upload while the cyclic task is running? 

If not, what is the best way to consult SDO information in the shortest possible time? 

(I have tried to use ecrt_master_sdo_upload and ecrt_master_sdo_download during the cyclic task without much success. However, it works if I use these functions before calling ecrt_master_activate .) 

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). 

Thank you very much in advance. 

Best regards, 

--------------------------------- 
Clément GASPARD 
	Equipe Rhoban - Dpt Méthodes et Modèles Formels | LaBRI - Université de Bordeaux 

[ mailto:clement.gaspard at u-bordeaux.fr |   clement.gaspard at u-bordeaux.fr   ] 
	Département Mécatronique | ENS Rennes 
[ mailto:clement.gaspard at ens-rennes.fr | clement.gaspard at ens-rennes.fr  ] 
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