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

[Ian Prochazka]

Hello Clement,

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.

Best regards,
Ian


On 5/16/24 17:56, Clement Gaspard wrote:
>
> 	
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>
> 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
> clement.gaspard at u-bordeaux.fr <mailto:clement.gaspard at u-bordeaux.fr>
> 	Département Mécatronique | ENS Rennes
> clement.gaspard at ens-rennes.fr <mailto:clement.gaspard at ens-rennes.fr>
>
>
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